A robot and air-ground collaborative working system

Abstract

The embodiment of the application relates to the technical field of robots, and discloses a robot and an air-ground cooperative operation system, the robot comprising a shell, a charging module and a first displacement module, the shell being provided with a containing cavity and a parking apron, the parking apron being provided with a charging area; the charging module is accommodated in the containing cavity, and in a first direction, a projection of the charging module at least partially overlaps the charging area, the first direction being perpendicular to the parking apron; the first displacement module comprises a first air cylinder and a first fastener, the first air cylinder being arranged on the parking apron, the first fastener being arranged in the first air cylinder along the first direction, and the first fastener being fixed to the parking apron, the first air cylinder being configured to push a device to be charged to move along a second direction to approach the charging area, the second direction being perpendicular to the first direction. Through the above arrangement, the embodiment of the application can reduce the risk that the device to be charged cannot be inductively charged because the device to be charged lands outside the charging area.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a robot and an air-ground collaborative operation system. Background Technology

[0002] With the development of the low-altitude economy, the use of drones has become increasingly widespread, covering many fields such as power line inspection, security patrol, surveying, and search and rescue. In some scenarios, drones and ground robots are needed to work together in an air-ground coordinated manner to maximize coverage.

[0003] During missions, drones need to be charged. When the drone's battery is low, it can return to the ground robot. The ground robot is equipped with a wireless charging module, and the drone can start charging when it lands in the robot's charging area.

[0004] However, due to positioning errors, when the drone lands on the robot, it is easy for the drone to land outside the robot's charging area, making it difficult for the robot to charge the drone. Utility Model Content

[0005] This application provides a robot and an air-ground collaborative operation system that can reduce the risk that the device to be charged will land outside the charging area and will not be able to sense charging.

[0006] To solve the above-mentioned technical problems, one technical solution adopted in this application embodiment is: to provide a robot, including: a shell, a charging module and a first displacement module, the shell being provided with a receiving cavity and a landing pad, the landing pad being provided with a charging area; the charging module is housed in the receiving cavity, and in a first direction, the projection of the charging module at least partially overlaps with the charging area, the first direction being perpendicular to the landing pad; the first displacement module includes a first cylinder and a first fastener, the first cylinder being disposed on the landing pad, the first fastener being inserted through the first cylinder along the first direction and fixed to the landing pad, the first cylinder being configured to push the device to be charged to move closer to the charging area along a second direction, the second direction being perpendicular to the first direction.

[0007] In some embodiments, the robot includes a second displacement module, which includes a second cylinder and a second fastener. The second cylinder is disposed on the landing pad, and the second fastener passes through the second cylinder along a first direction and is fixed to the landing pad. The second cylinder is configured to push the device to be charged to move toward the landing pad along a third direction. The first direction, the second direction, and the third direction are perpendicular to each other.

[0008] In some embodiments, the robot includes a third displacement module, which includes a third cylinder and a third fastener. The third cylinder is disposed on the landing pad. In a second direction, a first cylinder is located on one side of the landing pad, and the third cylinder is located on the other side of the landing pad. The third fastener passes through the third cylinder along a first direction and is fixed to the landing pad. The third cylinder is configured to push the device to be charged to move closer to the landing pad along the second direction; and / or, The robot includes a fourth displacement module, which includes a fourth cylinder and a fourth fastener. The fourth cylinder is located on the landing pad. In a third direction, the first cylinder is located on one side of the landing pad, and the fourth cylinder is located on the other side of the landing pad. The fourth fastener passes through the fourth cylinder in a first direction and is fixed to the landing pad. The fourth cylinder is configured to push the device to be charged to move closer to the landing pad in a third direction.

[0009] In some embodiments, the first cylinder includes a first cylinder body, a first drive shaft, and a first fixing part. The first drive shaft is partially housed in the first cylinder body and is slidable relative to the first cylinder body in a second direction. The first fixing part is disposed at one end of the first cylinder body, and a first fastener passes through the first fixing part and is fixed to the helipad.

[0010] In some embodiments, there are multiple first fasteners, which are distributed at intervals along the second direction. Each first fastener passes through a first fixing part and is fixed to the apron.

[0011] In some embodiments, a first buffer pad is provided at one end of the first drive shaft that protrudes from the first cylinder body.

[0012] In some embodiments, the robot also includes a battery housed within a receiving cavity, and the battery is electrically connected to a charging module.

[0013] In some embodiments, the robot includes a plurality of support legs, one end of which is rotatably connected to the housing, and the support legs are configured to drive the robot to move.

[0014] In some embodiments, the robot further includes a door module, which includes a first door, a second door, a first motor, and a second motor. The first motor is disposed on the housing and the first door is connected to the first motor. The second motor is disposed on the housing and the second door is connected to the second motor. In a second direction, the first door and the second door are opposite to each other. When the first door and the second door are closed, the housing, the first door, and the second door together enclose a receiving space. The receiving space is configured to receive a device to be charged, and the landing pad is located within the receiving space.

[0015] To solve the above-mentioned technical problems, another technical solution adopted in this application embodiment is to provide an air-ground collaborative operation system, including a drone and the robot mentioned above.

[0016] The beneficial effects of this application embodiment are as follows: Unlike the prior art, in this application embodiment, by setting a first shifting module on the tarmac, when the device to be charged lands on the side of the charging area close to the first shifting module, the first cylinder can push the device to be charged toward the charging area, so that it is close to the center of the charging area, which helps to reduce the risk that the device to be charged will land outside the charging area and cannot be charged. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0018] Figure 1 This is a schematic diagram of the air-ground collaborative operation system provided in the embodiments of this application; Figure 2 This is a cross-sectional structural diagram of the air-ground collaborative operation system provided in the embodiments of this application; Figure 3 This is an exploded structural diagram of the robot provided in the embodiments of this application; Figure 4 This is a schematic diagram of the robot's structure when the first and second compartment doors are closed, as provided in the embodiments of this application. Figure 5 This is a schematic diagram of the connection relationship of the door module provided in the embodiments of this application. Detailed Implementation

[0019] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "inner," "outer," "vertical," "horizontal," etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0021] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0022] Please see Figure 1 and Figure 2This application provides a robot 100, which includes a housing 1, a charging module 2, and a first displacement module 3. The housing 1 has a cubic or cuboid box structure, and an internal cavity 11 is provided. The cavity 11 is a hollow space structure used to accommodate functional components such as the charging module 2 and the battery 7. A landing pad 12 is provided on the top of the housing 1. The landing pad 12 is a flat platform structure that provides a place for the device 200 to be charged (e.g., a drone) to land and dock. The landing pad 12 is provided with a charging area 121, which can be marked and divided by marking lines, color codes, or raised structures to indicate the charging position of the device 200 to be charged. The charging module 2 is installed inside the cavity 11. The charging module 2 is a wireless charging module, which includes components such as a charging coil and a power conversion circuit. When viewed along the first direction X, the projection of the charging module 2 at least partially overlaps with the charging area 121, so that when the device to be charged 200 accurately lands within the charging area 121, the charging receiving coil of the device to be charged 200 and the charging transmitting coil of the charging module 2 are aligned in the first direction X, thereby establishing an effective wireless charging coupling channel and realizing the effect of the charging module 2 charging the device to be charged 200. The first direction X is perpendicular to the helipad 12.

[0023] The first displacement module 3 is installed on the helipad 12. The first displacement module 3 includes a first cylinder 31 and a first fastener 32. The first cylinder 31 is fixedly installed at the edge of the helipad 12, and its output shaft (i.e., the first drive shaft 312 described below) is arranged towards the charging area 121. The output shaft of the first cylinder 31 extends along the second direction Y, so that the output shaft of the first cylinder 31 can push the device to be charged 200 to move along the second direction Y towards the center position of the charging area 121. The first fastener 32 passes through a portion of the first cylinder 31 from the first direction X (i.e., the vertical direction) and firmly locks the first cylinder 31 on the helipad 12, so that the first cylinder 31 maintains a stable position during operation. In this embodiment, the device to be charged 200 is affected by GPS positioning errors, airflow disturbances, and other factors during autonomous landing. The actual landing position often deviates from the center point of the charging area 121 and may land at the edge of the charging area 121 or even outside the area. By setting a first displacement module 3 at the edge of the helipad 12, when the device to be charged 200 lands on the helipad 12, the first cylinder 31 can push the device to be charged 200 to move along the second direction Y, so that the device to be charged 200 moves toward the center of the charging area 121. This helps to reduce the risk that the device to be charged 200 lands outside the charging area 121 and cannot be charged, and helps to improve the reliability and success rate of charging.

[0024] In some embodiments, please refer to Figure 1 and Figure 3The first cylinder 31 includes a first cylinder body 311, a first drive shaft 312, and a first fixed part 313. The first cylinder body 311 is made of aluminum alloy or stainless steel and has a hollow cylindrical structure. A cylindrical pneumatic chamber (not shown) is machined inside the first cylinder body 311. One end of the pneumatic chamber has an air inlet connected to an air source pipeline (not shown), and the other end has an exhaust port. A piston assembly (not shown) is installed inside the chamber. The piston is fixedly connected to the first drive shaft 312, and a sealing ring is arranged around the piston to achieve airtight sealing. The first drive shaft 312 is a cylindrical rod-shaped structure made of stainless steel or carbon steel. One end of the first drive shaft 312 is rigidly connected to the piston, and the other end extends outside the first cylinder body 311, forming an actuator end. The first drive shaft 312 can reciprocate linearly relative to the first cylinder body 311 in the second direction Y under pneumatic drive, thereby driving the device to be charged 200 to move in the second direction Y. The first fixing part 313 is disposed at one end of the first cylinder body 311. After the first fastener 32 passes through the first fixing part 313 along the first direction X, the first fastener 32 is connected and fixed to the landing pad 12, so that the first fixing part 313 is pressed against the surface of the landing pad 12, realizing a rigid fixed connection between the first cylinder 31 and the landing pad 12. In this embodiment, the first fixing part 313 is fixed to the landing pad 12 by the screw connection of the first fastener 32, which is reliable and easy to install and maintain, and helps to improve the stability of the installation of the first cylinder 31. When the first cylinder 31 needs to be replaced or maintained, it can be disassembled simply by loosening the first fastener 32, which is simple to operate and helps to reduce maintenance costs and downtime.

[0025] In some embodiments, the number of first fasteners 32 is multiple, typically 2-6, preferably 2 or 4. The multiple first fasteners 32 are spaced apart along the second direction Y, and each first fastener 32 passes through the first fixing part 313 and is fixed to the helipad 12. In this embodiment, by providing multiple first fasteners 32, the stability of the fixation between the first cylinder 311 and the helipad 12 is improved; furthermore, the spaced distribution of multiple first fasteners 32 along the second direction Y allows the fixing force to be evenly distributed along the length of the first fixing part 313, forming a more balanced constraint state. This helps to reduce the overturning moment generated by the thrust reaction of the first cylinder 31 during operation, thus improving the stability of the installation.

[0026] It is worth noting that during the movement of the device to be charged 200, the direct contact between the first drive shaft 312 and the device 200 will generate a rigid impact. Hard contact between metal and metal or metal and plastic can easily generate a large peak impact force at the moment of contact, potentially causing scratches, dents, or even cracks to the casing of the device 200 (especially lightweight devices such as drones). Furthermore, the low coefficient of friction on metal surfaces makes slippage more likely during the pushing process, reducing pushing efficiency and potentially preventing the device 200 from being effectively pushed to the target position.

[0027] To at least partially solve the above problems, in some embodiments, a first buffer pad 315 is provided at one end of the first drive shaft 312 protruding from the first cylinder 311. The first buffer pad 315 is made of an elastic polymer material, including but not limited to at least one of nitrile rubber (NBR), silicone rubber, polyurethane elastomer, or EVA foam. The first buffer pad 315 can be fixedly installed on the end of the first drive shaft 312 protruding from the first cylinder 311 by means of bonding, interference fit, or mechanical locking, forming a contact medium between the first drive shaft 312 and the device to be charged 200. The surface of the first buffer pad 315 can be designed in different shapes such as flat, spherical, or corrugated. The surface of the first buffer pad 315 facing away from the first drive shaft 312 can also be micro-textured, for example, by adding raised particles or stripes, to further improve the coefficient of friction with the housing of the device to be charged 200. In this embodiment, by providing a first buffer pad 315, when the first drive shaft 312 extends to push the device 200 to be charged, the first buffer pad 315 has elastic deformation capability and undergoes local compression deformation at the moment of contact, converting the impact energy into elastic potential energy and prolonging the force's action time. This helps to reduce the instantaneous impact force peak, reduce impact damage to the casing of the device 200 to be charged, and reduce the risk of scratches, dents, or cracks on the surface of the device 200 to be charged. In addition, the first buffer pad 315 has a high coefficient of friction. When the first drive shaft 312 pushes the device 200 to be charged through the first buffer pad 315, the higher friction helps to improve the pushing efficiency, reduce the risk of the device 200 to be charged sliding or rotating laterally during the pushing process, and effectively convert the pushing force into the displacement of the device 200 to be charged along a predetermined direction, improving the accuracy and controllability of position correction.

[0028] It is worth noting that there are limitations to setting up a position correction device in only one direction. When the landing position deviation of the device to be charged 200 is not along a single direction but is obliquely offset, the one-way correction mechanism has difficulty in accurately pushing the device to be charged 200 to the center of the charging area 121, resulting in poor charging effect.

[0029] To at least partially address the above problems, in some embodiments, please refer to Figure 1 and Figure 3The robot 100 also includes a second displacement module 4, which includes a second cylinder 41 and a second fastener 42. The second cylinder 41 is also a pneumatic actuator with an internal piston mechanism, driven by compressed air to achieve telescopic movement. The second cylinder 41 is mounted on the helipad 12, adjacent to the first cylinder 31 but in a different direction. Specifically, the second cylinder 41 pushes the device 200 to be charged towards the center of the charging area 121 along a third direction Z, where the first direction X, the second direction Y, and the third direction Z are all perpendicular to each other. The second fastener 42 passes through the second cylinder 41 along the first direction X and is then fixedly connected to the helipad 12, thereby fixing the second cylinder 41 at a predetermined position on the helipad 12. In this embodiment, the second shift module 4 and the first shift module 3 form a cooperative correction mechanism in mutually perpendicular directions. The first shift module 3 is used to correct the position of the device to be charged 200 in the second direction Y, and the second shift module 4 is used to correct the position of the device to be charged 200 in the third direction Z. The pushing directions of the two shift modules are perpendicular to each other. When the device to be charged 200 has a positional deviation in both directions at the same time, the first shift module 3 and the second shift module 4 can work sequentially or synchronously to push the device to be charged 200 to the center position of the charging area 121. This helps to further reduce the risk that the device to be charged 200 will fall outside the charging area 121, causing the charging module 2 to be unable to charge the device to be charged 200. This also helps to improve the coupling efficiency and charging stability between the charging module 2 and the device to be charged 200.

[0030] In some embodiments, the second cylinder 41 includes a second cylinder body 411, a second drive shaft 412, and a second fixed part 413. The second cylinder body 411 is made of aluminum alloy or stainless steel and has a hollow cylindrical structure. A cylindrical pneumatic chamber (not shown) is machined inside the second cylinder body 411. One end of the pneumatic chamber has an air inlet connected to an air source pipeline (not shown), and the other end has an exhaust port. A piston assembly (not shown) is installed inside the chamber. The piston is fixedly connected to the second drive shaft 412, and a sealing ring is arranged around the piston to achieve airtight sealing. The second drive shaft 412 is a cylindrical rod structure made of stainless steel or carbon steel. One end of the second drive shaft 412 is rigidly connected to the piston, and the other end extends outside the second cylinder body 411, forming an actuator end. The second drive shaft 412 can reciprocate linearly relative to the second cylinder body 411 in the third direction Z under pneumatic drive, thereby pushing the device to be charged 200 to move in the third direction Z. The second fixing part 413 is disposed at one end of the second cylinder body 411. After the second fastener 42 passes through the second fixing part 413 along the first direction X, the second fastener 42 is connected and fixed to the landing pad 12, so that the second fixing part 413 is pressed against the surface of the landing pad 12, realizing a rigid fixed connection between the second cylinder 41 and the landing pad 12. In this embodiment, the second fixing part 413 is fixed to the landing pad 12 by the second fastener 42 through a screw connection, which is reliable and easy to install and maintain, and helps to improve the stability of the installation of the second cylinder 41. When the second cylinder 41 needs to be replaced or maintained, it can be disassembled simply by loosening the second fastener 42, which is simple to operate and helps to reduce maintenance costs and downtime.

[0031] In some embodiments, a second buffer pad 415 is provided at one end of the second drive shaft 412 protruding from the second cylinder 411. The second buffer pad 415 is made of an elastic polymer material, including but not limited to at least one of nitrile rubber (NBR), silicone rubber, polyurethane elastomer, or EVA foam. The second buffer pad 415 can be fixedly installed on the end of the second drive shaft 412 protruding from the second cylinder 411 by means of bonding, interference fit, or mechanical locking, forming a contact medium between the second drive shaft 412 and the device to be charged 200. The surface of the second buffer pad 415 can be designed in different shapes such as flat, spherical, or corrugated. The surface of the second buffer pad 415 facing away from the second drive shaft 412 can also be micro-textured, for example, by adding raised particles or stripes, to further improve the coefficient of friction with the housing of the device to be charged 200. In this embodiment, by providing a second buffer pad 415, when the second drive shaft 412 extends to push the device 200 to be charged, the second buffer pad 415 has elastic deformation capability and undergoes local compression deformation at the moment of contact, converting the impact energy into elastic potential energy and prolonging the force's action time. This helps to reduce the peak value of the instantaneous impact force, reduce impact damage to the casing of the device 200 to be charged, and reduce the risk of scratches, dents, or cracks on the surface of the device 200 to be charged. In addition, the second buffer pad 415 has a high coefficient of friction. When the second drive shaft 412 pushes the device 200 to be charged through the second buffer pad 415, the higher friction helps to improve the pushing efficiency, reduce the risk of the device 200 to be charged sliding or rotating laterally during the pushing process, and effectively convert the pushing force into the displacement of the device 200 to be charged along a predetermined direction, improving the accuracy and controllability of position correction.

[0032] It is worth noting that when the device to be charged 200 lands on the side of the charging area 121 away from the first shift module 3, the first shift module 3 has difficulty correcting the position of the device to be charged 200.

[0033] To at least partially address the above problems, in some embodiments, please refer to Figure 1 and Figure 3The robot 100 includes a third displacement module 5, which includes a third cylinder 51 and a third fastener 52. In the second direction Y, the first cylinder 31 is located at one edge of the charging area 121, and the third cylinder 51 is located at the other edge of the charging area 121; that is, the first cylinder 31 and the third cylinder 51 are located on opposite sides of the charging area 121. The third fastener 52 passes through the third cylinder 51 in the first direction X and is then connected and fixed to the landing pad 12, thereby fixing the third cylinder 51 to the landing pad 12. The direction in which the third cylinder 51 pushes the device 200 to be charged is also the second direction Y, but the direction of the push is opposite to that of the first cylinder 31. That is, the first cylinder 31 pushes the device 200 to be charged from one side of the charging area 121 towards the center, and the third cylinder 51 pushes the device 200 to be charged from the other side of the charging area 121 towards the center. With this configuration, when the device to be charged 200 lands on the side of the charging area 121 away from the first shifting module 3, the third cylinder 51 can push the device to be charged 200 toward the center of the charging area 121, which helps to further reduce the risk that the device to be charged 200 will land outside the charging area 121 and cannot be charged.

[0034] In some embodiments, the third cylinder 51 includes a third cylinder body 511, a third drive shaft 512, and a third fixed part 513. The third cylinder body 511 is made of aluminum alloy or stainless steel and has a hollow cylindrical structure. A cylindrical pneumatic chamber (not shown) is machined inside the third cylinder body 511. One end of the pneumatic chamber has an air inlet connected to an air source pipeline (not shown), and the other end has an exhaust port. A piston assembly (not shown) is installed inside the chamber. The piston is fixedly connected to the third drive shaft 512, and a sealing ring is arranged around the piston to achieve airtight sealing. The third drive shaft 512 is a cylindrical rod-shaped structure made of stainless steel or carbon steel. One end of the third drive shaft 512 is rigidly connected to the piston, and the other end extends outside the third cylinder body 511, forming an actuator end. The third drive shaft 512 can reciprocate linearly relative to the third cylinder body 511 in the second direction Y under pneumatic drive, thereby pushing the device to be charged 200 to move in the second direction Y. The third fixing part 513 is disposed at one end of the third cylinder body 511. After the third fastener 52 passes through the third fixing part 513 along the first direction X, the third fastener 52 is connected and fixed to the landing pad 12, so that the third fixing part 513 is pressed against the surface of the landing pad 12, realizing a rigid fixed connection between the third cylinder 51 and the landing pad 12. In this embodiment, the third fixing part 513 is fixed to the landing pad 12 by the screw connection of the third fastener 52, which is reliable and easy to install and maintain, and helps to improve the stability of the installation of the third cylinder 51. When the third cylinder 51 needs to be replaced or maintained, it can be disassembled simply by loosening the third fastener 52, which is simple to operate and helps to reduce maintenance costs and downtime.

[0035] In some embodiments, a third buffer pad 515 is provided at one end of the third drive shaft 512 protruding from the third cylinder 511. The third buffer pad 515 is made of an elastic polymer material, including but not limited to at least one of nitrile rubber (NBR), silicone rubber, polyurethane elastomer, or EVA foam. The third buffer pad 515 can be fixedly installed on the end of the third drive shaft 512 protruding from the third cylinder 511 by means of bonding, interference fit, or mechanical locking, forming a contact medium between the third drive shaft 512 and the device to be charged 200. The surface of the third buffer pad 515 can be designed in different shapes such as flat, spherical, or corrugated. The surface of the third buffer pad 515 facing away from the third drive shaft 512 can also be micro-textured, for example, by adding raised particles or stripes, to further improve the coefficient of friction with the housing of the device to be charged 200. In this embodiment, by providing a third buffer pad 515, when the third drive shaft 512 extends to push the device 200 to be charged, the third buffer pad 515 has elastic deformation capability and undergoes local compression deformation at the moment of contact, converting the impact energy into elastic potential energy and prolonging the force's action time. This helps to reduce the instantaneous impact force peak, reduce impact damage to the casing of the device 200 to be charged, and reduce the risk of scratches, dents, or cracks on the surface of the device 200 to be charged. In addition, the third buffer pad 515 has a high coefficient of friction. When the third drive shaft 512 pushes the device 200 to be charged through the third buffer pad 515, the higher friction helps to improve the pushing efficiency, reduce the risk of the device 200 to be charged sliding or rotating laterally during the pushing process, and effectively convert the pushing force into the displacement of the device 200 to be charged along a predetermined direction, improving the accuracy and controllability of position correction.

[0036] It is worth noting that when the device to be charged 200 lands on the side of the charging area 121 away from the second shift module 4, the second shift module 4 has difficulty correcting the position of the device to be charged 200.

[0037] To at least partially address the above problems, in some embodiments, please refer to Figure 1 and Figure 3The robot 100 also includes a fourth displacement module 6, which includes a fourth cylinder 61 and a fourth fastener 62. In the third direction Z, the second cylinder 41 is located at one edge of the charging area 121, and the fourth cylinder 61 is located at the other edge of the charging area 121. The fourth cylinder 61 is used to push the device 200 to be charged along the third direction Z, but the direction of the fourth cylinder 61 is opposite to the direction of the second cylinder 41. Specifically, the second cylinder 41 is used to push the device 200 to be charged from one side of the charging area 121 towards the center position of the charging area 121, and the fourth cylinder 61 is used to push the device 200 to be charged from the other side of the charging area 121 towards the center position of the charging area 121. After the fourth fastener 62 passes through the fourth cylinder 61 in the first direction X, the fourth fastener 62 is connected and fixed to the landing pad 12, thereby fixing the fourth cylinder 61 at a predetermined position on the landing pad 12. In this embodiment, by setting a fourth shifting module 61, when the device to be charged 200 lands on the side of the charging area 121 away from the second shifting module 4, the fourth cylinder 61 can push the device to be charged 200 toward the center position of the charging area 121, which helps to further reduce the risk that the device to be charged 200 lands outside the charging area 121 and cannot be charged.

[0038] It is worth noting that by setting the first shift module 3, the second shift module 4, the third shift module 5, and the fourth shift module 6, in addition to jointly pushing the device to be charged 200 to a position close to the center of the charging area 121, the first cylinder 31 and the third cylinder 51 can jointly clamp the device to be charged 200 along the second direction Y, and the second cylinder 41 and the third cylinder 51 can jointly clamp the charging device 200 along the third direction Z, thereby fixing the device to be charged 200 on the landing pad 12, reducing the risk that the device to be charged 200 will slide out of the charging area 121 during the charging process due to the movement of the robot 100.

[0039] In some embodiments, the fourth cylinder 61 includes a fourth cylinder body 611, a fourth drive shaft 612, and a fourth fixing part 613. The fourth cylinder body 611 is made of aluminum alloy or stainless steel and has a hollow cylindrical structure. A cylindrical pneumatic chamber (not shown) is machined inside the fourth cylinder body 611. One end of the pneumatic chamber has an air inlet connected to an air source pipeline (not shown), and the other end has an exhaust port. A piston assembly (not shown) is installed inside the chamber. The piston is fixedly connected to the fourth drive shaft 612, and a sealing ring is arranged around the piston to achieve airtight sealing. The fourth drive shaft 612 is a cylindrical rod-shaped structure made of stainless steel or carbon steel. One end of the fourth drive shaft 612 is rigidly connected to the piston, and the other end extends outside the fourth cylinder body 611, forming an actuator end. The fourth drive shaft 612 can reciprocate linearly relative to the fourth cylinder body 611 in the third direction Z under pneumatic drive, thereby pushing the device to be charged 200 to move in the third direction Z. A fourth fixing part 613 is disposed at one end of the fourth cylinder body 611. After the fourth fastener 62 passes through the fourth fixing part 613 along the first direction X, the fourth fastener 62 is connected and fixed to the landing pad 12, pressing the fourth fixing part 613 against the surface of the landing pad 12, thus achieving a rigid fixed connection between the fourth cylinder 61 and the landing pad 12. In this embodiment, the fourth fixing part 613 is reliably connected to the landing pad 12 via a screw connection using the fourth fastener 62, which facilitates installation and maintenance and improves the stability of the fourth cylinder 61 installation. When the fourth cylinder 61 needs to be replaced or maintained, it can be disassembled simply by loosening the fourth fastener 62, simplifying the operation and reducing maintenance costs and downtime.

[0040] In some embodiments, a fourth buffer pad 615 is provided at one end of the fourth drive shaft 612 protruding from the fourth cylinder 611. The fourth buffer pad 615 is made of an elastic polymer material, including but not limited to at least one of nitrile rubber (NBR), silicone rubber, polyurethane elastomer, or EVA foam. The fourth buffer pad 615 can be fixedly installed on the end of the fourth drive shaft 612 protruding from the fourth cylinder 611 by means of bonding, interference fit, or mechanical locking, forming a contact medium between the fourth drive shaft 612 and the device to be charged 200. The surface of the fourth buffer pad 615 can be designed in different shapes such as flat, spherical, or corrugated. The surface of the fourth buffer pad 615 facing away from the fourth drive shaft 612 can also be micro-textured, for example, by adding raised particles or stripes, to further increase the coefficient of friction with the housing of the device to be charged 200. In this embodiment, by providing a fourth buffer pad 615, when the fourth drive shaft 612 extends to push the device 200 to be charged, the fourth buffer pad 615 has elastic deformation capability and undergoes local compression deformation at the moment of contact, converting the impact energy into elastic potential energy and prolonging the force's action time. This helps to reduce the peak value of the instantaneous impact force, reduce impact damage to the casing of the device 200 to be charged, and reduce the risk of scratches, dents, or cracks on the surface of the device 200 to be charged. In addition, the fourth buffer pad 615 has a high coefficient of friction. When the fourth drive shaft 612 pushes the device 200 to be charged through the fourth buffer pad 615, the higher friction helps to improve the pushing efficiency, reduce the risk of the device 200 to be charged sliding or rotating laterally during the pushing process, and effectively convert the pushing force into the displacement of the device 200 to be charged along a predetermined direction, improving the accuracy and controllability of position correction.

[0041] In some embodiments, the robot 100 includes a plurality of support legs 8, typically four, six, or eight, preferably four. The four support legs 8 are symmetrically distributed at the four corners or four sides of the housing 1. Each support leg 8 includes multiple joint segments, typically two to four joint segments, which are connected by rotary joints to form a multi-degree-of-freedom motion mechanism. One end of each support leg 8 is rotatably connected to the housing 1 via a rotary connector (not shown). The rotary connector includes, but is not limited to, at least one of a rotary bearing, a connecting plate, and a fixing bolt. In this embodiment, by providing a plurality of support legs 8, the support legs 8 provide support for the robot 100; on the other hand, the support legs 8 can drive the robot 100 to move, facilitating the robot 100 to perform ground tasks. Compared to a drive system using tires, using support legs 8 allows the robot 100 to walk on more complex terrain.

[0042] It is worth noting that existing robot charging platforms typically employ an open structure, with the landing pad and charging area directly exposed to the external environment. The devices being charged are susceptible to adverse environmental factors such as wind, rain, dust, and direct sunlight during the charging process. Rainfall may cause short circuits in electronic devices, strong winds may overturn lightweight drones, dust may clog air intakes or wear down precision components, and direct sunlight may cause batteries to overheat.

[0043] To at least partially address the above problems, in some embodiments, please refer to Figure 1 and Figure 4 The robot 100 includes a door module 9, which comprises a first door 91, a second door 92, a first motor 93, and a second motor 94. The first motor 93 is mounted on the housing 1, and the first door 91 is connected to the first motor 93. The first motor 93 drives the first door 91 to rotate, thereby opening or closing the first door 91. The second motor 94 is mounted on the housing 1, and the second door 92 is connected to the second motor 94. The second motor 94 drives the second door 92 to rotate, thereby opening or closing the second door 92. In the second direction Y, the first door 91 and the second door 92 are opposite each other, and the apron 12 is located between the first door 91 and the second door 92. When the first motor 93 drives the first door 91 to rotate and the second motor 94 drives the second door 92 to rotate, so that the first door 91 and the second door 92 are closed, the housing 1, the first door 91 and the second door 92 together enclose and form a receiving space 10. The receiving space 10 is configured to receive the device 200 to be charged, and the apron 12 is located within the receiving space 10. After the first door 91 and the second door 92 are closed, the first door 91 and the second door 92 completely enclose the apron 12, the charging area 121 and the device 200 to be charged parked thereon within the receiving space 10. In this embodiment, by setting up the door module 9, when the device 200 to be charged is being charged or stored on the helipad 12, closing the door can isolate the device 200 from adverse environmental factors such as wind, rain, and dust, which helps to reduce the adverse effects of environmental factors on the charging process and the device itself, and improve charging stability and device safety. In addition, in hot weather, the door module 9 can block direct sunlight, which helps to reduce the surface temperature of the helipad 12 and the device 200 to be charged, and prevent the battery from causing safety hazards due to overheating.

[0044] In some embodiments, please refer to Figure 2The robot 100 is equipped with a battery 7, which is installed inside the receiving cavity 11. The battery 7 is electrically connected to the charging module 2. The charging module 2 obtains DC power from the battery 7, converts it into high-frequency AC power through an inverter and resonant circuit, and drives the charging coil to generate an alternating magnetic field, thereby realizing the wireless charging function of the device 200 to be charged. In addition to powering the charging module 2, the battery 7 also provides power to other functional modules of the robot 100, including but not limited to: powering the cylinder control solenoid valves in the first shift module 3, the second shift module 4, the third shift module 5, and the fourth shift module 6 to control the extension and retraction of the cylinders; powering the drive motors of the support legs 8 to drive the robot 100 to walk; powering the first motor 93 and the second motor 94 of the door module 9 to control the opening and closing of the door; and powering the controllers, sensors, communication modules, and other electronic devices inside the robot 100 to realize the intelligent control function of the robot 100.

[0045] In this embodiment of the application, by setting a first shifting module 3 on the helipad 12, when the device to be charged 200 lands on the side of the charging area 121 near the first shifting module 3, the first cylinder 31 can push the device to be charged 200 to move along the second direction Y, so that the device to be charged 200 moves closer to the center position of the charging area 121. This helps to reduce the risk that the device to be charged 200 lands outside the charging area 121 and cannot establish effective electromagnetic coupling with the charging module 2, resulting in wireless charging failure. This helps to improve the charging success rate and the reliability of the system 1000.

[0046] This application also provides an air-ground collaborative operation system 1000, please refer to [link / reference]. Figure 1 The air-ground collaborative operation system 1000 includes a drone and the aforementioned robot 100. The drone is the aforementioned charging device 200. When the power of the drone 200 is low, it can land in the charging area 121 of the helipad 12 for wireless charging. For the specific structure and function of the robot 100, please refer to the above embodiments, which will not be described in detail here.

[0047] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A robot (100), characterized in that, include: The housing (1) is provided with a receiving cavity (11) and a landing pad (12), wherein the landing pad (12) is provided with a charging area (121). The charging module (2) is housed in the receiving cavity (11), and in the first direction (X), the projection of the charging module (2) at least partially overlaps with the charging area (121), the first direction (X) being perpendicular to the helipad (12). The first shifting module (3) includes a first cylinder (31) and a first fastener (32). The first cylinder (31) is disposed on the helipad (12). The first fastener (32) passes through the first cylinder (31) along the first direction (X) and is fixed to the helipad (12). The first cylinder (31) is configured to push the device to be charged to move closer to the charging area (121) along the second direction (Y). The second direction (Y) is perpendicular to the first direction (X).

2. The robot (100) according to claim 1, characterized in that, The robot (100) includes a second displacement module (4), which includes a second cylinder (41) and a second fastener (42). The second cylinder (41) is disposed on the landing pad (12), and the second fastener (42) passes through the second cylinder (41) along the first direction (X) and is fixed to the landing pad (12). The second cylinder (41) is configured to push the device to be charged to move closer to the landing pad (12) along a third direction (Z). The first direction (X), the second direction (Y), and the third direction (Z) are perpendicular to each other.

3. The robot (100) according to claim 2, characterized in that, The robot (100) includes a third displacement module (5), which includes a third cylinder (51) and a third fastener (52). The third cylinder (51) is disposed on the landing pad (12). In the second direction (Y), the first cylinder (31) is located on one side of the landing pad (12), and the third cylinder (51) is located on the other side of the landing pad (12). The third fastener (52) passes through the third cylinder (51) along the first direction (X) and is fixed to the landing pad (12). The third cylinder (51) is configured to push the device to be charged to move closer to the landing pad (12) along the second direction (Y); and / or The robot (100) includes a fourth displacement module (6), which includes a fourth cylinder (61) and a fourth fastener (62). The fourth cylinder (61) is disposed on the landing pad (12) in the third direction (Z). The first cylinder (31) is located on one side of the landing pad (12), and the fourth cylinder (61) is located on the other side of the landing pad (12). The fourth fastener (62) passes through the fourth cylinder (61) along the first direction (X) and is fixed to the landing pad (12). The fourth cylinder (61) is configured to push the device to be charged to move closer to the landing pad (12) along the third direction (Z).

4. The robot (100) according to claim 1, characterized in that, The first cylinder (31) includes a first cylinder body (311), a first drive shaft (312) and a first fixing part (313). The first drive shaft (312) is partially housed in the first cylinder body (311) and can slide relative to the first cylinder body (311) in the second direction (Y). The first fixing part (313) is disposed at one end of the first cylinder body (311). The first fastener (32) passes through the first fixing part (313) and is fixed to the landing pad (12).

5. The robot (100) according to claim 4, characterized in that, The number of the first fasteners (32) is multiple, and the multiple first fasteners (32) are distributed at intervals along the second direction (Y). Each first fastener (32) is inserted through the first fixing part (313), and each first fastener (32) is fixed to the helipad (12).

6. The robot (100) according to claim 4, characterized in that, The first drive shaft (312) has a first buffer pad (315) at one end protruding from the first cylinder (311).

7. The robot (100) according to claim 1, characterized in that, The robot (100) also includes a battery (7) housed in the receiving cavity (11) and electrically connected to the charging module (2).

8. The robot (100) according to claim 1, characterized in that, The robot (100) includes a plurality of support legs (8), one end of each support leg (8) being rotatably connected to the housing (1), and the support legs (8) being configured to drive the robot (100) to move.

9. The robot (100) according to claim 7, characterized in that, The robot (100) also includes a door module (9), which includes a first door (91), a second door (92), a first motor (93), and a second motor (94). The first motor (93) is disposed on the housing (1), the first door (91) is connected to the first motor (93), the second motor (94) is disposed on the housing (1), and the second door (92) is connected to the second motor (94). In the second direction (Y), the first door (91) and the second door (92) are opposite to each other. When the first door (91) and the second door (92) are closed, the housing (1), the first door (91), and the second door (92) together enclose a receiving space (10). The receiving space (10) is configured to receive the device to be charged. The landing pad (12) is located in the receiving space (10).

10. An air-ground collaborative operation system, characterized in that, Including drones and robots (100) as described in any one of claims 1-9.

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