Charging apparatus and charging docking system

Abstract

The present application is applicable to the technical field of mobile robots. Provided are a charging apparatus and a charging docking system. The charging apparatus is used for docking with a mobile robot, and comprises a base and a guiding portion, wherein the guiding portion comprises a guiding wire; the guiding wire is disposed on the base and encloses a closed guiding area on the base; when the guiding wire is energized, the guiding wire generates an electromagnetic field signal within the closed guiding area; and the electromagnetic field signal is used for guiding the mobile robot to dock with the charging apparatus. By means of adjusting the magnitude of a current introduced into the guiding wire, the charging apparatus provided in the present application can make the strength of the electromagnetic field signal within the closed guiding area much greater than the strength of an interfering electromagnetic field signal in an external environment, so that the mobile robot can accurately identify the electromagnetic field signal within the guiding area, thereby reducing the interference of the interfering electromagnetic field signal in the external environment on the mobile robot and ensuring the stability and reliability of a docking process between the mobile robot and the charging apparatus.

Description

Charging device and charging docking system

[0001] This application claims priority to Chinese Patent Application No. 202410933475.X, filed on July 11, 2024, entitled “Charging Device and Charging Docking System”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application belongs to the field of mobile robot technology, and more specifically, relates to a charging device and a charging docking system. Background Technology

[0003] A mobile robot is an autonomous robot that can move within a work environment. Unlike industrial robots, it is not fixed in one location, offering greater workspace and flexibility. Mobile robot control is divided into two methods: remote control and autonomous navigation. Autonomous navigation mobile robots, when their battery is low, will move to a charging station and dock to recharge. Currently, most charging stations and mobile robots use complex mechanical structures or optical sensors to achieve docking.

[0004] However, using complex mechanical structures or optical sensors to guide mobile robots to dock with charging stations not only increases the cost of the equipment, but also results in low docking accuracy, affecting the charging effect. Technical issues

[0005] The purpose of this application is to provide a charging device and a charging docking system, which aims to solve the technical problem that existing charging stations use complex mechanical structures or optical sensors to guide mobile robots to dock with the charging station for charging, which is not only costly but also has low docking accuracy, affecting the charging effect. Technical solutions

[0006] To achieve the above objectives, according to one aspect of this application, a charging device is provided for docking with a mobile robot. The charging device includes a base and a guide portion. The guide portion includes a guide wire disposed on the base and forming a closed guide area on the base. When the guide wire is energized, the guide wire generates an electromagnetic field signal within the closed guide area. The electromagnetic field signal is used to guide the mobile robot to dock with the charging device.

[0007] Optionally, the guide wire has a first guide segment and a second guide segment arranged symmetrically. When the guide wire is energized, a first electromagnetic field signal is generated between the first guide segment and the second guide segment.

[0008] Optionally, the first guiding segment and the second guiding segment are straight line segments or curved segments, and the first guiding segment and the second guiding segment are parallel to each other.

[0009] Optionally, the length of the first guide segment or the second guide segment is greater than 3 / 4 of the length of the base.

[0010] Optionally, the current direction of the first guide segment is opposite to the current direction of the second guide segment.

[0011] Optionally, the guide line also has a third guide section connecting the first guide section and the second guide section. When the guide line is energized, the guide line generates a second electromagnetic field signal near the third guide section. The second electromagnetic field signal is used to instruct the mobile robot to avoid the charging device or to indicate that the mobile robot is currently near the charging device.

[0012] Optionally, the guide line is set at the bottom of the base, and the guide line is symmetrically arranged along the central axis of the width direction of the base, or the guide line is symmetrically arranged along the central axis of the length direction of the base; the length direction of the closed guide area is parallel to the length direction of the base and / or the width direction of the closed guide area is parallel to the width direction of the base.

[0013] Optionally, the guide unit also includes a guide structure, which is mounted on the base and located within the closed guide area. During the docking process between the mobile robot and the charging device, the guide structure can cooperate with the mobile robot and guide its movement.

[0014] Optionally, the charging device further includes a first charging unit disposed on the base for docking with the mobile robot, wherein the projection of the output end of the first charging unit on the base is at least partially located within the closed guide area.

[0015] According to another aspect of this application, a charging docking system is provided, comprising: the aforementioned charging device and a mobile robot, wherein the mobile robot is provided with a magnetic field detection unit for sensing electromagnetic field signals, so that the mobile robot can dock with the charging device through the electromagnetic field signals.

[0016] Optionally, the magnetic field detection unit includes a first magnetic field sensor and a second magnetic field sensor, both of which can be located within a closed guide area.

[0017] Optionally, the width of the closed guide area is greater than the distance between the first magnetic field sensor and the second magnetic field sensor.

[0018] Optionally, the difference between the width of the closed guide area and the distance between the first magnetic field sensor and the second magnetic field sensor is greater than the installation height of the first magnetic field sensor or the second magnetic field sensor.

[0019] Optionally, the width of the closed guide area is less than twice the installation height of the first magnetic field sensor or the second magnetic field sensor.

[0020] Optionally, the absolute value of the difference between the width of the closed guide area and twice the installation height of the first magnetic field sensor or the second magnetic field sensor is less than the distance between the first magnetic field sensor and the second magnetic field sensor.

[0021] Optionally, the charging device includes a first charging section, and a first magnetic field sensor and a second magnetic field sensor are symmetrically arranged about the first charging section.

[0022] Optionally, the mobile robot has two action wheels, and the distance between the two action wheels is greater than the width of the closed guide area.

[0023] Alternatively, as the mobile robot moves along the central axis of the charging device, the two action wheels are positioned directly above the guide line. Beneficial effects

[0024] The beneficial effects of the charging device provided in this application are as follows: Compared with the prior art, the charging device provided in this application sets a guide line on the base and makes the guide line form a closed guide area on the base. When the guide line is energized, it can generate an electromagnetic field signal for guiding the mobile robot. This allows the mobile robot to dock with the charging device or avoid the charging device under the guidance of the electromagnetic field signal. At the same time, part of the electromagnetic field signal generated after the guide line is energized can be concentrated in the closed guide area, effectively improving the electromagnetic field signal strength in the closed guide area. By adjusting the magnitude of the current flowing through the guide line, the electromagnetic field signal strength in the closed guide area can be made much greater than the intensity of the interfering electromagnetic field signal in the external environment. This allows the mobile robot to accurately distinguish between the electromagnetic field signal in the closed guide area and the interfering electromagnetic field signal in the external environment, ensuring the stability and reliability of the docking process between the mobile robot and the charging device. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 is a schematic diagram of the charging device provided in an embodiment of this application;

[0027] Figure 2 is a schematic diagram of the charging device from another perspective according to an embodiment of this application;

[0028] Figure 3 is a bottom view of the charging device provided in an embodiment of this application;

[0029] Figure 4 is a schematic diagram of the structure of the mobile robot provided in an embodiment of this application;

[0030] Figure 5 is a structural schematic diagram of a mobile robot from another perspective provided in an embodiment of this application;

[0031] Figure 6 is a bottom view of a mobile robot with some parts removed, according to an embodiment of this application;

[0032] Figure 7 is a front view of a mobile robot with some parts removed, according to an embodiment of this application.

[0033] Figure 8 is a schematic diagram of the docking structure between the mobile robot and the charging device provided in an embodiment of this application;

[0034] Figure 9 is a schematic diagram of the docking structure between the mobile robot and the charging device from another perspective provided in an embodiment of this application;

[0035] Figure 10 is a schematic diagram of the distribution of magnetic field strength of the electromagnetic field signal generated by the guide wire provided in the embodiment of this application in the width direction of the base;

[0036] Figure 11 is a schematic diagram of the distribution of magnetic field strength in the width direction of the base of the electromagnetic field signal generated by the guide wire provided in another embodiment of this application;

[0037] The details of the reference numerals used in the above figures are as follows:

[0038] 1. Charging device;

[0039] 2. Mobile robots;

[0040] 10. Base; 11. Closure guide area; 12. Mounting recess; 121. Snap-fit ​​structure;

[0041] 20. Guide section; 21. Guide line; 211. First guide section; 212. Second guide section; 213. Third guide section; 22. Guide structure; 221. Guide protrusion;

[0042] 30. First charging unit;

[0043] 40. Shell;

[0044] 50. Magnetic field detection unit; 51. First magnetic field sensor; 52. Second magnetic field sensor;

[0045] 60. Moving part; 61. Driven wheel assembly; 62. Driven wheel assembly; 621. Moving wheel;

[0046] 70. Second charging unit;

[0047] 80. Power Supply Department. Embodiments of the present invention

[0048] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0049] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly or indirectly on that other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to that other element. Unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0050] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this application.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0052] As described in the background section, a mobile robot is an autonomous robot that can move within a work environment. Unlike industrial robots, it is not fixed in one location, offering greater workspace and flexibility. Mobile robot control is divided into two methods: remote control and autonomous navigation. Autonomous navigation mobile robots, when experiencing low battery levels, will move to a charging station and dock to complete the charging process. Currently, most charging stations and mobile robots use complex mechanical structures or optical sensors to achieve docking. However, using complex mechanical structures or optical sensors to guide the mobile robot to dock with the charging station not only increases equipment costs but also results in low docking accuracy, affecting charging efficiency.

[0053] Referring to Figures 1 to 3, in order to solve the above problems, according to one aspect of this application, an embodiment of this application provides a charging device 1 for docking with a mobile robot 2. The charging device 1 includes a base 10 and a guide part 20. The guide part 20 includes a guide line 21, which is disposed on the base 10 and forms a closed guide area 11 on the base 10. When the guide line 21 is energized, the guide line 21 generates an electromagnetic field signal in the closed guide area 11. The electromagnetic field signal is used to guide the mobile robot 2 to dock with the charging device 1. The charging device 1 provided in this embodiment provides a guide line 21 on the base 10, which forms a closed guide area 11 on the base 10. When the guide line 21 is energized, it generates an electromagnetic field signal to guide the mobile robot 2. This allows the mobile robot 2 to dock with or avoid the charging device 1 under the guidance of the electromagnetic field signal. At the same time, some of the electromagnetic field signal generated after the guide line 21 is energized can be concentrated in the closed guide area 11, effectively increasing the intensity of the electromagnetic field signal within the closed guide area 11. By adjusting the current flowing through the guide line 21, the intensity of the electromagnetic field signal within the closed guide area 11 can be made much greater than the intensity of the interfering electromagnetic field signal in the external environment. This allows the mobile robot 2 to accurately distinguish between the electromagnetic field signal in the closed guide area 11 and the interfering electromagnetic field signal in the external environment, ensuring the stability and reliability of the docking process between the mobile robot 2 and the charging device 1.

[0054] In one specific embodiment, the guide wire 21 provided in this embodiment can generate an electromagnetic field signal near the base 10 after being powered on.

[0055] In an optional embodiment, the charging device 1 provided in this embodiment further includes a power supply unit 80, which is disposed on the base 10 and electrically connected to the guide wire 21 for supplying power to the guide wire 21. The guide wire 21 can form a closed loop with the power supply unit 80. By electrically connecting the power supply unit 80 to the guide wire 21 and forming a closed loop with the power supply unit 80, the guide wire 21 can generate an electromagnetic field signal within the closed guiding area 11 after being energized.

[0056] In one alternative embodiment, the power supply unit 80 provided in this embodiment transmits an AC signal to the guide line 21 so that a corresponding electromagnetic field signal is generated on the guide line 21.

[0057] In one optional embodiment, the AC signal provided in this embodiment is a square wave signal.

[0058] Referring to Figure 3, in one specific embodiment, the guide line 21 has a symmetrically arranged first guide segment 211 and second guide segment 212. When the guide line 21 is energized, a first electromagnetic field signal is generated between the first guide segment 211 and the second guide segment 212. By setting the guide line 21 provided in this embodiment to have a symmetrically arranged first guide segment 211 and second guide segment 212, the stability and directionality of the first electromagnetic field signal can be effectively improved, enabling the mobile robot 2 to find the docking position more accurately.

[0059] In an optional embodiment, the first guide segment 211 and the second guide segment 212 provided in this embodiment are straight guide segments, and the extension directions of the first guide segment 211 and the second guide segment 212 are both parallel to the length direction of the base 10. By setting the first guide segment 211 and the second guide segment 212 as straight guide segments and setting the extension directions of the first guide segment 211 and the second guide segment 212 as parallel to the length direction of the base 10, the directionality of the first magnetic field signal can be effectively improved, which is beneficial for the mobile robot 2 to confirm the relative position with the charging device 1.

[0060] In an optional embodiment, the first guide segment 211 and the second guide segment 212 provided in this embodiment are straight guide segments, and the extension directions of the first guide segment 211 and the second guide segment 212 are both at the same angle (less than 30 degrees) to the length direction of the base 10. By setting the first guide segment 211 and the second guide segment 212 as straight guide segments and setting the extension directions of the first guide segment 211 and the second guide segment 212 as not parallel to the length direction of the base 10, a stronger (or weaker) first electromagnetic field signal can be detected when closer to (or farther away from) the power supply unit 80, so that the mobile robot 2 can more accurately locate its positional relationship with the charging device 1, and then adjust the moving speed of the mobile robot 2 in a timely manner, thereby improving the positioning accuracy and charging efficiency of the mobile robot 2.

[0061] In an optional embodiment, the first guide segment 211 and the second guide segment 212 provided in this embodiment are curved guide segments. The curvature of the curved guide segment not only provides directional guidance for the mobile robot 2, but its unique curvature angle and curvature changes can generate magnetic field signals of different intensities. This design allows the detection of first electromagnetic field signals of different intensities when the mobile robot 2 approaches or moves away from the power supply unit 80. Specifically, as the mobile robot 2 moves along the curved guide segment, the intensity of the generated magnetic field signal will change accordingly due to the different distances of each point on the curved segment from the power supply unit 80. This provides the mobile robot 2 with richer and more accurate navigation information, enabling the mobile robot 2 to more accurately locate its position relative to the charging device 1 and adjust its moving speed in a timely manner, thereby improving the positioning accuracy and charging efficiency of the mobile robot 2.

[0062] Referring to Figure 3, in one specific embodiment, the length of the first guide segment 211 and / or the second guide segment 212 is greater than 3 / 4 of the length of the base 10. By setting the length of the first guide segment 211 and / or the second guide segment 212 to be greater than 3 / 4 of the length of the base 10, the coverage range of the first electromagnetic field signal provided in this embodiment can be increased, thereby effectively increasing the possibility that the mobile robot 2 can detect the electromagnetic field signal generated on the guide line 21, and improving the docking accuracy between the mobile robot 2 and the charging device 1.

[0063] In one specific embodiment, the length of the first guide segment 211 and / or the second guide segment 212 is greater than the length of the mobile robot 2, so that the mobile robot can move along the first guide segment 211 and / or the second guide segment 212.

[0064] In one specific embodiment, the current direction of the first guide segment 211 is opposite to the current direction of the second guide segment 212. Because the current direction of the first guide segment 211 is opposite to the current direction of the second guide segment 212, a signal with the same magnetic field direction can be generated between the first guide segment 211 and the second guide segment 212. This enhances the magnetic field strength and stability between the first guide segment 211 and the second guide segment 212, improving the efficiency and accuracy of docking between the mobile robot 2 and the charging device 1.

[0065] Referring to Figure 3, in a specific embodiment, the guide line 21 in this embodiment also has a third guide section 213 connecting the first guide section 211 and the second guide section 212. When the guide line 21 is energized, the guide line 21 generates a second electromagnetic field signal near the third guide section 213. When the mobile robot 2 is in working mode, the second electromagnetic field signal is used to indicate that the charging device 1 is near the mobile robot 2. At this time, it is necessary to control the mobile robot 2 to avoid the charging device 1. When the mobile robot 2 is in recharging mode, the second electromagnetic field signal is used to indicate that the charging device 1 is near the mobile robot 2. At this time, it is necessary to obtain the offset of the mobile robot 2 relative to the charging device 1 through other navigation devices, and then control the mobile robot 2 to dock with the charging device 1 according to the offset. By setting the guide line 21 to also have a third guide section 213 connecting the first guide section 211 and the second guide section 212, the guide line 21 can generate a second electromagnetic field signal near the third guide section 213 when energized. The second electromagnetic field signal can provide the mobile robot 2 with a clear indication to avoid or approach the charging device 1, thereby improving the safety of the charging docking system, the efficiency of charging docking, and the user experience.

[0066] Referring to Figures 2 and 3, in one specific embodiment, the guide line 21 is disposed at the bottom of the base 10. The guide line 21 is symmetrically disposed along the central axis of the width direction of the base 10, or the guide line 21 is symmetrically disposed along the central axis of the length direction of the base 10. The length direction of the closed guide area 11 is parallel to the length direction of the base 10 and / or the width direction of the closed guide area 11 is parallel to the width direction of the base 10. By placing the guide line 21 provided in this embodiment at the bottom of the base 10, interference from the guide line 2 to the mobile robot 2 during docking with the charging device 1 can be effectively avoided. Furthermore, placing the guide line 21 at the bottom of the base 10 provides sufficient protection for the guide line 21, thereby effectively improving its service life. At the same time, by symmetrically arranging the guide line 21 along the central axis of the width direction of the base 10, or symmetrically arranging the guide line 21 along the central axis of the length direction of the base 10, the spatial distribution of the electromagnetic field signal can be made more uniform, thereby enabling the mobile robot 2 to obtain the same electromagnetic field signal in any direction, thus enabling the mobile robot 2 to accurately navigate to the charging device 1.

[0067] In one optional embodiment, the base 10 provided in this embodiment has a mounting recess 12 at its bottom, and the guide wire 21 provided in this embodiment is installed in the mounting recess 12. By installing the guide wire 21 provided in this embodiment in the mounting recess 12, the guide wire 21 can be prevented from being directly exposed to the external environment, thus providing sufficient protection for the guide wire 21.

[0068] In one optional embodiment, the mounting recess 12 provided in this embodiment is provided with a snap-fit ​​structure 121, and the guide line 21 provided in this embodiment is detachably mounted in the mounting recess 12 through the snap-fit ​​structure 121.

[0069] In one optional embodiment, the snap-fit ​​structure 121 provided in this embodiment is a plurality of snap-fit ​​structures 121, which are arranged at intervals along the circumference of the base 10 in the mounting recess 12.

[0070] Referring to Figure 1, in one specific embodiment, the guide part 20 further includes a guide structure 22. The guide structure 22 is disposed on the base 10 and located within the closed guide area 11. During the docking process between the mobile robot 2 and the charging device 1, the guide structure 22 can cooperate with the mobile robot 2 and guide its movement. By providing the guide structure 22 on the base 10 and positioning it within the guide area, the mobile robot 2 can accurately dock with the charging device 1 under the guidance of the guide structure 22.

[0071] In an optional embodiment, the guide structure 22 provided in this embodiment includes a guide protrusion 211. The guide protrusion 211 provided in this embodiment is disposed on the side of the base 10 away from the bottom. During the docking process between the mobile robot 2 and the charging device 1, the guide protrusion 211 provided in this embodiment can contact and cooperate with the mobile robot 2 and guide the movement of the mobile robot 2 so that the mobile robot 2 can accurately dock with the charging device 1.

[0072] In one optional embodiment, the guide protrusion 211 provided in this embodiment is a plurality of protrusions, and at least two of the plurality of guide protrusions 211 are symmetrically arranged along the central axis of the width of the base 10.

[0073] In one alternative embodiment, the guide protrusion 211 provided in this embodiment extends gradually from the first end of the base 10 to the second end of the base 10 toward the central axis of the width of the base 10.

[0074] In another embodiment, the guide structure 22 provided in this embodiment includes a guide recess. The guide recess provided in this embodiment is located on the side of the base 10 away from the bottom. During the docking process between the mobile robot 2 and the charging device 1, the guide recess provided in this embodiment can contact and cooperate with the mobile robot 2 and guide the movement of the mobile robot 2 so that the mobile robot 2 can accurately dock with the charging device 1.

[0075] In one optional embodiment, the guide recess provided in this embodiment is a plurality of recesses, and at least two of the plurality of guide recesses are symmetrically arranged along the central axis of the width of the base 10.

[0076] In one alternative embodiment, the cross-sectional area of ​​the guide recess provided in this embodiment gradually increases from the first end of the base 10 to the second end of the base 10 along the length direction.

[0077] Referring to Figure 1, in one specific embodiment, the charging device 1 further includes a first charging unit 30, which is disposed on the base 10 for docking with the mobile robot 2. The projection of the output end of the first charging unit 30 onto the base 10 is at least partially located within the closed guide area 11. By providing the first charging unit 30 on the base 10, the charging device 1 can dock with the mobile robot 2 through the output end of the first charging unit 30. Simultaneously, since the projection of the output end of the first charging unit 30 onto the base 10 is at least partially located within the closed guide area 11, even if there is a slight deviation in the movement path or direction during the docking process between the mobile robot 2 and the charging device 1, it can still dock with the output end of the first charging unit 30 under the guidance of the electromagnetic field signal within the closed guide area 11, resulting in high reliability.

[0078] In one specific embodiment, by setting the projection of the output end of the first charging unit 30 onto the base 10 to be at least partially located within the guide area, the mobile robot 2 can complete docking within the guide area. Even if the docking of the mobile robot 2 deviates, its position can be adjusted in a timely manner through the electromagnetic field signal within the guide area, reducing adjustment time and improving docking efficiency. Compared to setting the projection of the output end of the first charging unit 30 onto the base 10 outside the guide area, if the projection of the output end of the first charging unit 30 onto the base 10 is set outside the guide area, the mobile robot 2 may detach from the guide area during docking. If the docking of the mobile robot 2 deviates in this case, the mobile robot 2 needs to be returned to the guide area for position adjustment and then re-dock, which is time-consuming and laborious.

[0079] In one optional embodiment, the first charging unit 30 provided in this embodiment includes charging electrodes. The charging electrodes provided in this embodiment are disposed on the base 10. The charging electrodes are symmetrically arranged along the central axis of the width direction of the base 10, or the charging electrodes are symmetrically arranged along the central axis of the length direction of the base 10. The charging electrodes provided in this embodiment form the output terminal of the first charging unit 30.

[0080] In one optional embodiment, the first charging unit 30 provided in this embodiment is disposed on the first end of the base 10, the charging electrode provided in this embodiment is symmetrically arranged along the central axis of the width direction of the base 10, and the guide area provided in this embodiment is located between the first end and the second end of the base 10.

[0081] In another embodiment, the base 10 provided in this embodiment includes a guide mark. The guide mark provided in this embodiment is disposed on the side of the base 10 away from the bottom. During the docking process between the mobile robot 2 and the charging device 1, the mobile robot 2 provided in this embodiment can identify the guide mark and move under the guidance of the guide mark, so that the mobile robot 2 can accurately dock with the charging device 1.

[0082] In one alternative embodiment, the guide mark provided in this embodiment extends along the central axis of the width of the base 10.

[0083] In one optional embodiment, the guide mark provided in this embodiment is a grating code structure extending along the central axis of the width of the base 10. The mobile robot 2 can detect the grating code structure through a photoelectric sensor, thereby enabling the mobile robot 2 to move along the extension direction of the grating code.

[0084] In another embodiment, the guide mark provided in this embodiment is a strip pattern extending along the central axis of the width of the base 10. The mobile robot 2 can detect the strip pattern through a camera, thereby enabling the mobile robot 2 to move along the extension direction of the strip pattern.

[0085] Referring to Figures 4 to 9, according to another aspect of this application, a charging docking system is provided. The charging docking system includes the aforementioned charging device 1 and a mobile robot 2. The mobile robot 2 is equipped with a magnetic field detection unit 50, which senses electromagnetic field signals within the closed guide area 11, enabling the mobile robot 2 to dock with the charging device 1 via the electromagnetic field signals. By providing a magnetic field detection unit 50 within the mobile robot 2 provided in this embodiment, the mobile robot 2 can sense electromagnetic field signals generated on the guide line 21, thereby automatically docking with or avoiding the charging device 1 under the guidance of the electromagnetic field signals. This reduces the need for manual intervention and improves the charging docking efficiency of the mobile robot 2.

[0086] In one optional embodiment, the mobile robot 2 provided in this embodiment can be an intelligent device that can walk automatically, such as a smart lawnmower, a tillage robot, a weeding robot, a smart snowplow, a cleaning robot, or a service robot.

[0087] In one optional embodiment, the mobile robot 2 provided in this embodiment includes a housing 40, and a receiving cavity is provided inside the housing 40. The magnetic field detection unit 50 provided in this embodiment is disposed inside the receiving cavity.

[0088] In one specific embodiment, the magnetic field detection unit 50 includes a first magnetic field sensor 51 and a second magnetic field sensor 52. During the movement of the mobile robot 2 along the central axis of the charging device 1, both the first magnetic field sensor 51 and the second magnetic field sensor 52 are located within the closed guide area 11. Since the magnetic field direction within the closed guide area 11 is consistent, its magnetic field strength mainly originates from the cumulative effect of the electromagnetic field signal generated after the guide wire is energized. Therefore, compared to the outside of the closed guide area 11, the magnetic field strength within the closed guide area 11 is significantly greater. This enhanced magnetic field strength allows the first magnetic field sensor 51 and the second magnetic field sensor 52 located within the closed guide area 11 to more accurately capture the electromagnetic field signal, thereby greatly improving the accuracy and stability of the docking process between the mobile robot 2 and the charging device 1. Simultaneously, the combined use of the two magnetic field sensors provides the mobile robot 2 with more information input, helping it to better determine its relative position with the charging device 1, further enhancing the safety and reliability of the docking.

[0089] Referring to Figures 3 and 6, in one specific embodiment, the width of the closed guide area 11 provided in this embodiment is a, and the distance between the first magnetic field sensor 51 and the second magnetic field sensor 52 is d.

[0090] Referring to Figure 10, in one specific embodiment, the width 'a' of the closed guide area 11 is greater than the distance 'd' between the first magnetic field sensor 51 and the second magnetic field sensor 52. By setting the width 'a' of the closed guide area 11 to be greater than the distance 'd' between the first magnetic field sensor 51 and the second magnetic field sensor 52, i.e., a > d, it can be ensured that the mobile robot 2 can sense electromagnetic field signals through the two magnetic field sensors even when it is slightly off-center from the centerline of the charging device 1, thus achieving accurate docking.

[0091] Referring to Figure 7, in a specific embodiment, the installation height of the first magnetic field sensor 51 or the second magnetic field sensor 52 provided in this embodiment is e.

[0092] Referring to Figures 7 and 10, in one specific embodiment, the difference between the width 'a' of the closed guide area 11 and the distance 'd' between the first magnetic field sensor 51 and the second magnetic field sensor 52 is greater than the installation height 'e' of either the first magnetic field sensor 51 or the second magnetic field sensor 52. By setting the difference between the width 'a' of the closed guide area 11 and the distance 'd' between the first magnetic field sensor 51 and the second magnetic field sensor 52 to be greater than the installation height 'e' of the magnetic field sensor, i.e., ad > e, it can be ensured that even if there are bumps or tilts during the movement of the mobile robot 2, the first magnetic field sensor 51 and the second magnetic field sensor 52 can maintain a stable detection state, ensuring the accuracy of docking.

[0093] Referring to Figures 7 and 10, in one specific embodiment, the width 'a' of the closed guide region 11 is less than twice the installation height 'e' of the first magnetic field sensor 51 or the second magnetic field sensor 52. By setting the width 'a' of the closed guide region 11 to be less than twice the installation height 'e' of the magnetic field sensor, i.e., 'a < 2e', the strength and stability of the electromagnetic field signal within the closed guide region 11 can be ensured, avoiding excessive dispersion of the electromagnetic field signal that could affect the accuracy of docking.

[0094] Referring to Figures 3, 7, and 10, in one specific embodiment, the absolute value of the difference between the width 'a' of the closed guide area 11 and twice the installation height 'e' of the first magnetic field sensor 51 or the second magnetic field sensor 52 is less than the distance 'd' between the first magnetic field sensor 51 and the second magnetic field sensor 52. By setting the absolute value of the difference between the width 'a' of the closed guide area 11 and twice the installation height 'e' of the first magnetic field sensor 51 or the second magnetic field sensor 52 to be less than the distance 'd' between the first magnetic field sensor 51 and the second magnetic field sensor 52, i.e., |a-2e|<d, the stability of the electromagnetic field signal can be ensured while making the distance between the first magnetic field sensor 51 and the second magnetic field sensor 52 sufficiently large so that the mobile robot 2 can more accurately sense changes in the electromagnetic field signal.

[0095] In one specific embodiment, the first magnetic field sensor 51 and the second magnetic field sensor 52 are symmetrically arranged about the central axis of the mobile robot 2. By symmetrically arranging the first magnetic field sensor 51 and the second magnetic field sensor 52 about the central axis of the mobile robot 2, the mobile robot 2 can obtain balanced sensing information in different directions through the first magnetic field sensor 51 and the second magnetic field sensor 52. That is, the first magnetic field sensor 51 and the second magnetic field sensor 52 can sense consistent electromagnetic field signal strength in different directions, thereby effectively improving the stability of navigation and charging docking of the mobile robot 2.

[0096] In one optional embodiment, the central axis of the mobile robot 2 provided in this embodiment is the central axis in the width direction of the mobile robot 2. Of course, in other embodiments, the central axis of the mobile robot 2 provided in this embodiment is the central axis in the length direction of the mobile robot 2.

[0097] Referring to Figure 10, in a specific embodiment, the electromagnetic field signal generated by the guide line 21 provided in this embodiment can be superimposed within the closed guide area 11. The magnetic field strength distribution of the electromagnetic field signal generated by the guide line 21 in the width direction of the base 10 is shown in Figure 10. The superimposed electromagnetic field signal can form a smooth area within the closed guide area 11, with a width of f. By setting the distance d between the first magnetic field sensor 51 and the second magnetic field sensor 52 to be approximately equal to or slightly less than the width of the smooth area f, during the docking process between the mobile robot 2 and the charging device 1, the first magnetic field sensor 51 and the second magnetic field sensor 52 can be positioned... Within the smooth zone and near two critical points, if the mobile robot 2 deviates, one of the first magnetic field sensor 51 and the second magnetic field sensor 52 will leave the smooth zone. The electromagnetic field signal intensity sensed by the magnetic field sensor outside the smooth zone will decrease, while the magnetic field information intensity sensed by the magnetic field sensor inside the smooth zone will remain unchanged. Therefore, based on this characteristic, it can be determined that the mobile robot 2 has deviated and the direction of deviation can be determined so that the mobile robot 2 can adjust its movement direction in time, thereby ensuring that the central axis of the mobile robot 2 is approximately aligned with the central axis of the charging device 1 during the docking process with the charging device 1.

[0098] Referring to Figure 11, in another specific embodiment, the distance d between the first magnetic field sensor 51 and the second magnetic field sensor 52 is set to be slightly larger than the width f of the flat zone. During the docking process between the mobile robot 2 and the charging device 1, the first magnetic field sensor 51 and the second magnetic field sensor 52 can be positioned outside the flat zone and near the two critical points of the flat zone, respectively. If the mobile robot 2 deviates at this time, the electromagnetic field signal intensity sensed by one of the first magnetic field sensor 51 and the second magnetic field sensor 52 will decrease, while the electromagnetic field signal intensity sensed by the other of the first magnetic field sensor 51 and the second magnetic field sensor 52 will increase. Therefore, based on this feature, it can be determined that the mobile robot 2 has deviated and the direction of deviation can be determined so that the mobile robot 2 can adjust its movement direction in time, thereby ensuring that the central axis of the mobile robot 2 is approximately coincident with the central axis of the first charging unit during the docking process with the charging device 1.

[0099] Referring to Figure 6, the first magnetic field sensor 51 provided in the above two embodiments is located at the front right position in the walking direction of the mobile robot 2, and the second magnetic field sensor 52 is located at the front left position in the walking direction of the mobile robot 2. The magnetic field strength distribution of the electromagnetic field signal generated by the guide line 21 in the width direction of the base 10 provided in this embodiment is shown in Figures 10 and 11. When the electromagnetic field signal strength sensed by the first magnetic field sensor 51 is less than the electromagnetic field signal strength sensed by the second magnetic field sensor 52, the control unit can control the mobile robot 2 to adjust its position to the left. When the electromagnetic field signal strength sensed by the first magnetic field sensor 51 is greater than the electromagnetic field signal strength sensed by the second magnetic field sensor 52, the control unit can control the mobile robot 2 to adjust its position to the right. When the electromagnetic field signal strength sensed by the first magnetic field sensor 51 and the electromagnetic field signal strength sensed by the second magnetic field sensor 52 are not significantly different, the control unit can control the mobile robot 2 to move straight.

[0100] In one optional embodiment, the central axis of the charging device 1 provided in this embodiment is the central axis in the width direction of the charging device 1. Of course, in other embodiments, the central axis of the charging device 1 provided in this embodiment is the central axis in the length direction of the charging device 1.

[0101] In one optional embodiment, the central axis of the charging device 1 provided in this embodiment is collinear with the central axis of the base 10 in the width direction.

[0102] In one optional embodiment, the first magnetic field sensor 51 and the second magnetic field sensor 52 provided in this embodiment are located on the front side of the walking direction of the mobile robot 2.

[0103] In one alternative embodiment, the guide line 21 provided in this embodiment is symmetrically arranged along the central axis of the width direction of the base 10.

[0104] In one specific embodiment, since the guide line 21 provided in this embodiment is symmetrically arranged along the central axis of the width direction of the base 10, the intensity of the electromagnetic field signal generated by the guide line 21 after being energized can be symmetrical along the central axis of the width direction of the base 10. Furthermore, since the first magnetic field sensor 51 and the second magnetic field sensor 52 are symmetrically arranged along the central axis of the mobile robot 2, when the intensity of the electromagnetic field signal sensed by the first magnetic field sensor 51 is not much different from the intensity of the electromagnetic field signal sensed by the second magnetic field sensor 52, the central axis of the mobile robot 2 can approximately coincide with the central axis of the width direction of the base 10.

[0105] In an optional embodiment, during the docking process between the mobile robot 2 and the charging device 1 provided in this embodiment, the central axis of the width direction of the housing 40 of the mobile robot 2 provided in this embodiment can be approximately coincident with the central axis of the width direction of the base 10 of the charging device 1. When the central axis of the width direction of the housing 40 of the mobile robot 2 provided in this embodiment is approximately coincident with the central axis of the width direction of the base 10 of the charging device 1, the first magnetic field sensor 51 and the second magnetic field sensor 52 provided in this embodiment can be located in the closed guide area.

[0106] In one optional embodiment, the first magnetic field sensor 51 and the second magnetic field sensor 52 provided in this embodiment are set at the same height in the height direction of the mobile robot 2.

[0107] Referring to Figures 4 to 9, in one specific embodiment, the mobile robot 2 further includes a control unit and a moving unit 60. Both the control unit and the moving unit 60 are mounted on the housing 40. The mobile robot 2 can move via the moving unit 60. The control unit is electrically connected to both the moving unit 60 and the magnetic field detection unit 50. The control unit can control the moving unit 60 based on the electromagnetic field signal sensed by the magnetic field detection unit 50. By providing a moving unit on the housing 40 provided in this embodiment, the mobile robot 2 can move via the moving unit 60. Simultaneously, by providing a control unit on the housing 40 and electrically connecting it to both the moving unit 60 and the magnetic field detection unit 50, the control unit can determine the offset of the mobile robot 2 relative to the charging device 1 based on the orientation and intensity of the electromagnetic field signal, and then issue a control signal to control the mobile robot 2 to dock with or avoid the charging device 1.

[0108] In an optional embodiment, the moving part 60 provided in this embodiment includes a driving wheel assembly 61 and a driven wheel assembly 62. Both the driving wheel assembly 61 and the driven wheel assembly 62 are disposed on the housing 40, wherein the driven wheel assembly 62 is located on the front side of the mobile robot 2 in the walking direction, and the driving wheel assembly 61 is located on the rear side of the mobile robot 2 in the walking direction.

[0109] In one optional embodiment, the driven wheel assembly 62 provided in this embodiment includes two moving wheels 621, which are symmetrically arranged along the central axis of the mobile robot 2.

[0110] In an optional embodiment, during the docking process between the mobile robot 2 and the charging device 1 provided in this embodiment, the guide protrusion 211 or guide recess can contact the motion wheel 621 and guide the movement direction of the motion wheel 621, so that the mobile robot 2 can accurately dock with the charging device 1.

[0111] Referring to Figures 5 to 8, in one specific embodiment, the mobile robot 2 has two wheels 621, and the distance between the two wheels 621 is greater than the width of the closed guide area 11. By setting the distance between the two wheels 621 to be greater than the width of the closed guide area 11, the wheels 621 can be prevented from blocking the electromagnetic field signal, so that the first magnetic field sensor 51 and the second magnetic field sensor 52 can receive the electromagnetic field signal.

[0112] In one specific embodiment, the distance between the two moving wheels 621 is the distance between the centers of the two moving wheels 621.

[0113] Referring to Figures 8 and 9, in one specific embodiment, as the mobile robot 2 moves along the central axis of the charging device 1, the two motion wheels 621 are located directly above the guide line 21, that is, the guide line 21 is located within the projection range of the two motion wheels 621 on the base 10. By setting the two motion wheels 621 provided in this embodiment to be located directly above the guide line 21 as the mobile robot 2 moves along the central axis of the charging device 1, it can be ensured that the mobile robot 2 maintains a stable driving state during docking, avoiding docking failure due to deviation from the guide line 21.

[0114] Referring to Figure 4, in an optional embodiment, the mobile robot 2 provided in this embodiment further includes a second charging unit 70. The second charging unit 70 provided in this embodiment is disposed on the housing 40, and the position of the second charging unit 70 corresponds to the position of the first charging unit. The mobile robot 2 provided in this embodiment can dock with the charging device 1 through the cooperation of the second charging unit 70 and the first charging unit.

[0115] Referring to Figures 4, 8, and 9, in an optional embodiment, the second charging unit 70 provided in this embodiment includes a charging connector. The charging connector provided in this embodiment is disposed on the housing 40 and located on the front side of the mobile robot 2. When the mobile robot 2 provided in this embodiment docks with the charging device 1, it first senses the electromagnetic field signal generated by the guide line 21 through the first magnetic field sensor 51 and the second magnetic field sensor 52. The control unit controls the movement direction of the mobile robot 2 according to the intensity of the electromagnetic field signal sensed by the first magnetic field sensor 51 and the second magnetic field sensor 52, so that the central axis of the housing 40 in the width direction roughly corresponds to the central axis of the base 10 in the width direction. After the central axis of the housing 40 in the width direction roughly corresponds to the central axis of the base 10 in the width direction, the mobile robot 2 can move linearly along the central axis of the base 10 in the width direction. As the mobile robot 2 moves, the charging connector provided in this embodiment can touch and dock with the charging electrode. After the charging connector docks with the charging electrode, the control unit can control the mobile robot 2 to stop moving.

[0116] In summary, implementing the charging device and charging docking system provided in this embodiment has at least the following beneficial technical effects: The charging device 1 provided in this embodiment, by setting a guide line 21 on the base 10 and forming a closed guide area 11 on the base 10, allows the guide line 21 to generate an electromagnetic field signal for guiding the mobile robot 2 when energized. This enables the mobile robot 2 to dock with the charging device 1 or avoid the charging device 1 under the guidance of the electromagnetic field signal. At the same time, some of the electromagnetic field signal generated after the guide line 21 is energized can be concentrated in the closed guide area 11, effectively increasing the intensity of the electromagnetic field signal in the closed guide area 11. By adjusting the magnitude of the current flowing through the guide line 21, the intensity of the electromagnetic field signal in the closed guide area 11 can be made much greater than the intensity of the interfering electromagnetic field signal in the external environment. This allows the mobile robot 2 to accurately distinguish between the electromagnetic field signal in the closed guide area 11 and the interfering electromagnetic field signal in the external environment, ensuring the stability and reliability of the docking process between the mobile robot 2 and the charging device 1.

[0117] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A charging device for docking with a mobile robot (2), characterized in that, The charging device (1) includes: Base (10); The guide part (20) includes a guide line (21), which is disposed on the base (10) and surrounds a closed guide area (11) on the base (10). When the guide line (21) is energized, the guide line (21) generates an electromagnetic field signal in the closed guide area (11), and the electromagnetic field signal is used to guide the mobile robot (2) to dock with the charging device (1).

2. The charging device according to claim 1, characterized in that, The guide line (21) has a first guide segment (211) and a second guide segment (212) arranged symmetrically. When the guide line (21) is energized, the guide line (21) generates a first electromagnetic field signal between the first guide segment (211) and the second guide segment (212).

3. The charging device according to claim 2, characterized in that, The first guide segment (211) and the second guide segment (212) are straight line segments or curved segments, and the first guide segment (211) and the second guide segment (212) are parallel to each other.

4. The charging device according to claim 3, characterized in that, The length of the first guide segment (211) and / or the second guide segment (212) is greater than 3 / 4 of the length of the base (10).

5. The charging device according to claim 3, characterized in that, The current direction of the first guide segment (211) is opposite to the current direction of the second guide segment (212).

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

7. The charging device according to claim 1, characterized in that, The guide line (21) is disposed at the bottom of the base (10). The guide line (21) is symmetrically disposed along the central axis of the width direction of the base (10), or the guide line (21) is symmetrically disposed along the central axis of the length direction of the base (10). The length direction of the closed guide area (11) is parallel to the length direction of the base (10) and / or the width direction of the closed guide area (11) is parallel to the width direction of the base (10).

8. The charging device according to claim 1, characterized in that, The guide part (20) also includes a guide structure (22), which is disposed on the base (10) and located in the closed guide area (11). During the docking process between the mobile robot (2) and the charging device (1), the guide structure (22) can cooperate with the mobile robot (2) and guide the movement of the mobile robot (2).

9. The charging device according to any one of claims 1 to 8, characterized in that, The charging device (1) further includes a first charging part (30), which is disposed on the base (10) for docking with the mobile robot (2). The projection of the output end of the first charging part (30) on the base (10) is at least partially located within the closed guide area (11).

10. A charging docking system, characterized in that, include: The charging device (1) as described in any one of claims 1 to 9; The mobile robot (2) is provided with a magnetic field detection unit (50). The magnetic field detection unit (50) is used to sense the electromagnetic field signal in the closed guide area (11) so that the mobile robot (2) can dock with the charging device (1) through the electromagnetic field signal.

11. The charging docking system according to claim 10, characterized in that, The magnetic field detection unit (50) includes a first magnetic field sensor (51) and a second magnetic field sensor (52), both of which are located within the closed guide area (11).

12. The charging docking system according to claim 11, characterized in that, The width of the closed guide area (11) is greater than the distance between the first magnetic field sensor (51) and the second magnetic field sensor (52).

13. The charging docking system according to claim 12, characterized in that, The difference between the width of the closed guide area (11) and the distance between the first magnetic field sensor (51) and the second magnetic field sensor (52) is greater than the installation height of the first magnetic field sensor (51) or the second magnetic field sensor (52).

14. The charging docking system according to claim 11, characterized in that, The width of the closed guide area (11) is less than twice the installation height of the first magnetic field sensor (51) or the second magnetic field sensor (52).

15. The charging docking system according to claim 14, characterized in that, The absolute value of the difference between the width of the closed guide area (11) and twice the installation height of the first magnetic field sensor (51) or the second magnetic field sensor (52) is less than the distance between the first magnetic field sensor (51) and the second magnetic field sensor (52).

16. The charging docking system according to any one of claims 11 to 15, characterized in that, The charging device (1) includes a first charging section (30), and the first magnetic field sensor (51) and the second magnetic field sensor (52) are symmetrically arranged about the first charging section (30).

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

18. The charging docking system according to claim 17, characterized in that, During the movement of the mobile robot (2) along the central axis of the charging device (1), the two action wheels (621) are located directly above the guide line (21).

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