Intelligent robot system and docking method for charging same

• US 9,236,750 B2
• Filed: 08/30/2011
• Issued: 01/12/2016
• Est. Priority Date: 09/19/2010
• Status: Active Grant

• Current Assignee: Ecovacs Robotics (Suzhou) Co. Ltd.
• Original Assignee: ECOVACS Robotics Co., Ltd.
• Inventors: Tang, Jinju
• Primary Examiner(s): Tso, Edward
• Assistant Examiner(s): Omar, Ahmed
• Application Number:
  US13/824,721
• Publication Number:
  US 20130221908A1
• Time in Patent Office: 1,596 Days
• Field of Search: 320/107
• US Class Current: 1/1
• CPC Class Codes: A47L 2201/022 Recharging of batteries
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• CPC Class Codes: H02J 7/0042 characterised by the mechanical construction
• CPC Class Codes: H02J 7/0044 specially adapted for holding portable devices containing batteries H02J7/0045 takes precedence

Abstract

An intelligent robot system comprising an intelligent robot (100) and a charging base (200). The intelligent robot (100) comprises a docking electrode (102), a walking mechanism (106) and a control unit (105). The docking electrode (102), the walking mechanism (106) and the control unit (105) are disposed in the body (101) of the intelligent robot (100). The charging base (200) comprises a charging electrode (201) disposed on the body (101) of the charging base (200). The intelligent robot (100) further comprises a gripping mechanism (107). When the docking electrode (102) and the charging electrode (201) dock successfully, the control unit (105) controls the e gripping mechanism (107) to lock the walking mechanism (106) to enable the intelligent robot (100) to maintain a successful docking state in the charging base (200), preventing the charging electrode (201) of the charging base (200) from being separated from the docking electrode (102) due to the improper movement of the walking mechanism (106). Any interference during of the intelligent robot (100) is thus prevented and charging efficiency is improved.

Claims

1. An intelligent robot system, encompassing an intelligent robot (100) and a charging base (200);

the intelligent robot (100) encompasses a docking electrode (102), a walking mechanism (106) and a control unit (105);

the docking electrode (102), the walking mechanism (106) and the control unit (105) are set on the body (101) of the intelligent robot (100);

The charging base (200) encompasses a charging electrode (201), the charging electrode (201) set on the body of the charging base (200), characterized in that, the intelligent robot (100) further encompasses a electrode docking locking actuator (107);

when the docking electrode (102) and the charging electrode (201) dock successfully, the control unit (105) controls the electrode docking locking actuator (107) to lock the walking mechanism (106).

2. The intelligent robot system of claim 1, characterized in that, the control unit (105) encompasses a central processing unit (1051), a detection unit (1052) and a walking control unit (1053);

when it has detected that the docking electrode (102) has docked successfully, the detection unit (1052) sends a message to the central processing unit (1051);

after having received this message, the central processing unit (1051) sends locking control signal to the walking control unit (1053).

3. The intelligent robot system of claim 2, characterized in that, the electrode docking locking actuator (107) is a braking device, wherein the braking device includes a tension rod (1702), a swing rod (1703) and a deceleration pad (1704);

the tension rod (1702) is connected with the swing rod (1703) through the tension rod rotation axis (1702′

), one end of the swing rod (1703) is fixed with the body (101) of the intelligent robot (100) through the swing rod rotation axis (1703′

), and another end of the swing rod (1703) is provided with the deceleration pad (1704), and the deceleration pad (1704) approaches the walking mechanism (106);

the walking control unit (1053) includes a second motor (1053d), a motor drive circuit (1053c) and a transmission mechanism (1053e), wherein the signal end of the motor drive circuit (1053c) receives the locking control signal sent from the central processing unit (1051), and the driving end of the motor drive circuit (1053c) is connected with the second motor (1053d), and the second motor (1053d) is connected with the tension rod (1702) through the transmission mechanism (1053e);

wherein there is one or more braking devices.

4. The intelligent robot system of claim 2, characterized in that, the electrode docking locking actuator (107) is a first motor provided with brake coil (L1);

the walking control unit (1053) includes a triode drive circuit (1053a) and a triode control single circuit (1053b);

the triode control single circuit (1053b) includes a triode (Q1) and a relay (K1), wherein the relay (K1) includes a relay coil (K11) and a relay contact switch (K12), the input end of the triode drive circuit (1053a) is connected with the central processing unit (1051) and is designed to receive the locking control signal;

the output end of the triode drive circuit (1053a) is connected with the base electrode of the triode (Q1), the collector of the triode (Q1) is connected with the relay coil (K11), the relay contact switch (K12) is connected with the brake coil (L1) of the first motor;

when the relay contact switch (K12) is closed, the brake coil (L1) is also closed.

5. The intelligent robot system of claim 1, characterized in that, the intelligent robot is a ground cleaning robot or an air cleaning robot or a security robot.

6. A docking method for charging an intelligent robot, wherein in a charging mode, the docking method encompasses the following steps:

Step 1;

the intelligent robot (100) approaches towards a charging base (200) and is then docked with it according to a pilot signal sent by the charging base (200);

Step 2;

a control unit (105) of the intelligent robot (100) detects whether the intelligent robot (100) has been successfully docked with the charging base (200), if failed, return to the step 1;

if successful, execute the step 3;

Step 3;

the control unit (105) controls an electrode docking locking actuator (107) of the intelligent robot (100) to operate, then the electrode docking locking actuator (107) locks a walking mechanism (106) of the intelligent robot (100).

7. The docking method for charging the intelligent robot of claim 6, characterized in that, after successful docking and before step 3, the control unit (105) controls the walking mechanism (106) to further move forwards by a preset distance.

8. The docking method for charging the intelligent robot of claim 6, characterized in that, in step 2, by detecting whether there is voltage or current on a docking electrode (104) on a body of intelligent robot (100), judge whether the intelligent robot (100) is successfully docked with the charging base (200).

9. The docking method for charging the intelligent robot of claim 6, characterized in that, in the step 3, the electrode docking locking actuator (107) is a braking device, and the control unit (105) controls the braking device to lock the walking mechanism (106).

10. The docking method for charging the intelligent robot of claim 6, characterized in that, in the step 3, the electrode docking locking actuator (107) comprises a first motor provided with brake coil, the control unit (105) is designed to make the first motor to brake by controlling the brake coil (L1) and in turn lock the walking mechanism (106) driven by the first motor.

11. The docking method for charging the intelligent robot of claim 7, wherein step 2 comprises detecting whether there is voltage or current on a docking electrode (104) on a body of the intelligent robot (100) to determine whether the intelligent robot (100) is successfully docked with the charging base (200).

12. The docking method for charging the intelligent robot of claim 7, wherein, in step 3, the electrode docking locking actuator (107) is a braking device, and the control unit (105) controls the braking device to lock the walking mechanism (106).

13. The docking method for charging the intelligent robot of claim 7, wherein, in step 3, the electrode docking locking actuator (107) is a first motor provided with brake coil, the control unit (105) is designed to make the first motor to brake by controlling the brake coil (L1) and in turn lock the walking mechanism (106).

14. A docking method for charging an intelligent robot, comprising the sequential acts of:

emitting a pilot signal from a charging base (200) to an intelligent robot (100) to guide the intelligent robot to the charging base (200), the intelligent robot (100) comprising a docking electrode (102), a walking mechanism (106), a control unit (105), and an electrode docking locking actuator (107), the control unit being configured to control the electrode docking locking actuator (107) to lock the walking mechanism (106) when the docking electrode (102) is successfully docked with a charging electrode (201) of the charging base (200)

docking the intelligent robot (100) to the charging base (200);

determining whether the intelligent robot (100) is successfully docked with the charging base (200) using the control unit (105);

if the control unit (105) determines that the intelligent robot (100) is not successfully docked with the charging base (200), repeat the acts of emitting, docking, and determining; and

if the control unit (105) determines that the intelligent robot (100) is successfully docked with the charging base (200), the control unit (105) causes the electrode docking locking actuator (107) to lock the walking mechanism (106).

15. The docking method for charging the intelligent robot of claim 14, wherein the act of determining further comprises detecting whether there is voltage or current on a docking electrode (104) of the intelligent robot (100).

16. The docking method for charging the intelligent robot of claim 14, wherein the electrode docking locking actuator (107) is a braking device.

17. The docking method for charging the intelligent robot of claim 14,

wherein the electrode docking locking actuator (107) comprises a first motor and a brake coil (L1), and

wherein the control unit (105) is configured to control the first motor to cause the brake coil (L1) to generate a braking force to lock the first motor to thereby lock the walking mechanism (106).