CN113410892A - Autonomous charging device and method for legged robot - Google Patents

Autonomous charging device and method for legged robot Download PDF

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Publication number
CN113410892A
CN113410892A CN202110784850.5A CN202110784850A CN113410892A CN 113410892 A CN113410892 A CN 113410892A CN 202110784850 A CN202110784850 A CN 202110784850A CN 113410892 A CN113410892 A CN 113410892A
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China
Prior art keywords
charging
robot
autonomous
legged
plug
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Pending
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CN202110784850.5A
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Chinese (zh)
Inventor
陈申红
李丰
马尊旺
胡雪亮
李超
朱秋国
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Hangzhou Deeprobotics Co ltd
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Hangzhou Deeprobotics Co ltd
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Priority to CN202110784850.5A priority Critical patent/CN113410892A/en
Publication of CN113410892A publication Critical patent/CN113410892A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/60—Means for supporting coupling part when not engaged
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
    • H02J7/007182—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery voltage

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an autonomous charging device and method for a legged robot, which comprises the following steps: the charging seat shell is provided with a through hole; the base is arranged in the charging seat shell; the driving device is arranged in the charging seat shell; the charging plug is arranged on the base, the base is driven by the driving device to enable the charging plug to at least have a first position state and a second position state, the charging plug is positioned in the charging seat shell in the first position state, and the charging plug extends out of the through hole in the second position state; the power supply unit is electrically connected with the charging plug; and the control unit is respectively and electrically connected with the power supply unit and the telescopic driving device and respectively controls the power on and off of the power supply unit and the start-stop movement of the driving device.

Description

Autonomous charging device and method for legged robot
Technical Field
The invention relates to the field of quadruped robots, in particular to an autonomous charging device and method for a legged robot.
Background
The robot moves in the unmanned area for a long time, so that the robot needs to have the capability of autonomous charging, the charging plug of the charging device of the existing robot is generally exposed outside the charging seat, only then the robot can move to the position of the charging device to be autonomously plugged and then charged, and the charging plug is exposed outside the charging seat, so that the charging plug is easy to damage and unsafe to charge.
Disclosure of Invention
The embodiment of the application aims to provide an autonomous charging device and method for a legged robot, so as to solve the problems that a charging plug is exposed outside a charging seat and is easy to damage and unsafe during charging.
According to a first aspect of embodiments of the present application, there is provided an autonomous charging device for a legged robot, comprising: the charging seat shell is provided with a through hole; the base is arranged in the charging seat shell; the driving device is arranged in the charging seat shell; the charging plug is arranged on the base, the base is driven by the driving device to enable the charging plug to at least have a first position state and a second position state, the charging plug is positioned in the charging seat shell in the first position state, and the charging plug extends out of the through hole in the second position state; the power supply unit is electrically connected with the charging plug; and the control unit is respectively and electrically connected with the power supply unit and the telescopic driving device and respectively controls the power on/off of the power supply unit and the start-stop movement of the driving device.
Furthermore, the charging plug is arranged in a telescopic manner relative to the charging seat shell, or the charging plug is arranged in a rotatable manner relative to the charging seat shell.
Further, the driving device is a scissor lifting mechanism, a lead screw slider lifting mechanism or a crank slider lifting mechanism.
Further, the driving device comprises a motor and a four-bar mechanism, and the motor drives the base and the charging plug to extend or retract the charging plug into the through hole in a rotating mode through the four-bar mechanism.
Further, the four-bar mechanism comprises a motor, a first connecting rod, a second connecting rod and a crank, one end of the first connecting rod is hinged to the base, the other end of the first connecting rod is hinged to the charging seat shell, one end of the second connecting rod is hinged to the surface of the first connecting rod, the other end of the second connecting rod is hinged to one end of the crank, and the other end of the crank is driven by the motor.
Further, drive arrangement includes electric putter and perpendicular slide rail, the one end of perpendicular slide rail is fixed inside the charging seat shell, base sliding connection in perpendicular slide rail, electric putter's one end with the base is articulated, the other end with the charging seat shell is articulated.
Further, the power supply unit comprises an adapter and a power line which are electrically connected, the power line can be connected with the mains supply, and the adapter is electrically connected with the charging plug.
Further, the control unit includes: the device comprises a processor module, a voltage detection module and a driving module, wherein the voltage detection module is electrically connected with the processor module and used for detecting voltage, and the driving module is used for driving a motor of a driving device.
Furthermore, the upper surface of the charging seat shell is provided with a supporting seat.
Furthermore, the upper surface of the charging seat shell is provided with an indicator light, and the indicator light is electrically connected with the control unit.
According to a second aspect of the embodiments of the present invention, there is provided a method for autonomously charging a legged robot, the method including:
detecting the battery electric quantity of the legged robot;
when the battery electric quantity is detected to be lower than a set value, controlling a leg and foot robot to search for the matched autonomous charging device of the leg and foot robot in the first aspect, wherein the autonomous charging device of the leg and foot robot and the leg and foot robot are connected in the same WIFI network;
after the leg and foot robot moves to the position close to the position of the autonomous charging side device of the leg and foot robot, controlling the leg and foot robot to identify the autonomous charging side device of the leg and foot robot;
after the identification, the robot is controlled to squat, so that the control unit controls the driving device to enable the charging plug to extend out of the through hole and to be in contact with a charging terminal of a battery of the robot, and then the battery of the robot is charged by the power supply unit of the control unit.
Further, when the leg and foot robot squats down, the included angle between the abdomen plane of the leg and foot robot and the upper surface of the charging seat shell is controlled within a preset range.
Further, the predetermined range is 0 ° to 10 °.
Further, still include:
after the charging plug is protruded from the through hole and is contacted with a charging terminal of a battery of the legged robot, the battery of the legged robot energizes the charging terminal and detects whether the charging plug and the charging terminal are electrically connected;
or, while the charging plug is protruded from the through hole, the battery of the legged robot energizes the charging terminal and by detecting whether the charging plug and the charging terminal are electrically connected;
or after the battery of the legged robot energizes the charging terminal, the charging plug extends out of the charging seat and detects whether the charging plug and the charging terminal are electrically connected;
if the robot is electrically connected, the power supply unit of the control unit charges a battery of the legged and legged robot;
if the detection result is not the electric connection result, recording the detection times, judging whether the detection times exceed the preset times, if so, triggering an alarm, and otherwise, carrying out self-checking.
Further, the self-test comprises:
the control unit controls the driving device to move the charging plug towards the direction of the charging terminal again, whether the charging plug is electrically connected with the charging terminal is detected, if yes, charging is started, otherwise, the control unit supplies power to the battery of the leg-foot robot, and the leg-foot robot autonomous charging device capable of being matched is searched again.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
according to the embodiment, because in this application, charging plug's position can be inside or outside the removal at the charging seat, consequently when the robot need not charge, when the charging seat is out of work promptly, charging plug is inside the charging seat, has avoided charging plug to expose outside the charging seat and received the damage, has improved charging plug's protectiveness, has also guaranteed the safety problem of charging plug when not charging.
The autonomous charging method for the legged robot provided by the embodiment can be used for autonomous charging, manual plugging charging is not needed, and the degree of automation is high. Preliminary problem detection and troubleshooting can be carried out when charging is abnormal, and follow-up maintenance is facilitated.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a sectional view of a charging stand with a retractable charging plug according to an embodiment of the present invention;
fig. 2 is a cross-sectional view of a charging base with a plug extended according to an embodiment of the present invention;
fig. 3 is a schematic view of an abdomen charging mechanism installed on a legged robot according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a leg and foot robot scanning identification code according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating the operation of the charging state of the legged robot according to an embodiment of the present invention;
fig. 6 is a sectional view of a charging stand with a retracted charging plug according to a second embodiment of the present invention;
fig. 7 is a sectional view of a charging stand with a charging plug extended according to a second embodiment of the present invention;
fig. 8 is a flowchart of an autonomous charging method for a legged robot according to a third embodiment of the present invention;
the reference numerals in the figures are: the autonomous charging device for the legged robot 1, the charging seat housing 101, the electric push rod 102, the first link 102', the second link 102 ", the crank 102 ″, the control unit 103, the first power source head 104, the second power source head 105, the base 106, the vertical slide rail 107, the first charging plug 108, the second charging plug 109, the support base 110, the identification code 111, the voltage detection module 112, the indicator light 113, the power cord 114, the adapter 115, the abdominal charging structure 2, the first charging terminal 202, the second charging terminal 203, the first insulating base 204, the second insulating base 205, the camera 206, the legged robot 3, and the battery 4.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
The first embodiment is as follows:
referring to fig. 1 to 5, the present embodiment provides an autonomous charging apparatus 1 for a legged robot, which may include: the charging base comprises a charging base shell 101, wherein the charging base shell 101 is provided with a through hole, the through hole is divided into a first through hole and a second through hole, and a plurality of through holes or a larger through hole can be adopted in other embodiments; a driving device disposed inside the charging-stand casing 101; the charging plug, which is divided into a first charging plug 108 and a second charging plug 109 in this embodiment, corresponds to the first through hole and the second through hole on the charging plug, the first charging plug 108 and the second charging plug 109 are both fixed at the telescopic end of the driving device, that is, fixed on the base 106, and can respectively extend out of the first through hole and the second through hole under the driving of the driving device; a power supply unit, a first power supply terminal of which is electrically connected to the first charging plug 108 and a second power supply terminal of which is electrically connected to the second charging plug 109; and the control unit 103 is respectively electrically connected with the power supply unit and the driving mechanism, and respectively controls the power supply unit to be switched on and off and controls the driving mechanism to be switched on and off.
Through the technical scheme, when the robot needs to be charged, the control unit 103 controls the first charging plug 108 and the second charging plug 109 on the driving device extend out of the first through hole and the second through hole from the charging seat shell 101, after the robot stops charging, the control unit 103 controls the first charging plug 108 and the second charging plug 109 on the driving device retract into the charging seat shell from the first through hole and the second through hole, so that the charging plug is prevented from being exposed outside the charging seat and damaged, the protection performance of the charging plug is improved, and the safety problem of the charging plug when the charging plug is not charged is also ensured.
In this embodiment, the driving device may be a scissor lift mechanism, a lead screw slider lift mechanism, a crank slider lift mechanism, or the like.
Specifically, as shown in fig. 1 and fig. 2, the driving device includes an electric push rod 102 and a vertical slide rail 107, the vertical slide rail 107 is fixed in the charging seat housing 101, the base 106 is sleeved on the vertical slide rail 107, one end of the electric push rod 102 is hinged to the base 106, and the other end is hinged to the charging seat housing 101. By this design, the vertical slide 107 provides directional correction for the base 106, enabling the base 106 to slide in a predetermined direction; so that the charging plug on the base 106 can be smoothly connected with the charging end of the battery on the robot without interfering with other mechanisms or parts.
In this embodiment, the power supply unit includes a power cord 114, and without loss of generality, the power cord 114 is generally connected to the commercial power, the first power source head 104 of the adapter 115 is electrically connected to the first charging plug 108, and the second power source head 105 of the adapter 115 is electrically connected to the second charging plug 109.
In this embodiment, the upper surface of the charging stand casing 101 has a support base 110. Through the design, the belly of the robot is tightly matched with the charging device when the robot is charged, so that the robot cannot deviate due to self gravity (the gravity center of the robot is not in the center) when the robot is charged, and a charging plug is damaged.
In this embodiment, as shown in fig. 4, the upper surface of the charging-stand casing 101 further has an indicator light 113, the indicator light 113 is electrically connected to the control unit, and the indicator light 113 can be used to illuminate the identification code 111 disposed on the upper surface of the charging-stand casing 101 or on the robot, so that the identification code 111 can be illuminated by the indicator light 113 under the condition of insufficient light, so that the camera 206 mounted on the robot can clearly identify the identification code 111, thereby implementing the charging docking process normally.
In the present embodiment, as shown in fig. 3 to 5, the abdomen of the legged robot 3 has an abdomen charging structure 2, the abdomen charging structure 2 includes a first charging terminal 202 and a second charging terminal 203, when the legged robot 3 is to be charged, the first charging plug 108 and the second charging plug 109 are in contact with the first charging terminal 202 and the second charging terminal 203, and the first charging terminal 202 and the second charging terminal 203 are fixed to the abdomen of the legged robot 3 through a first insulating base 204 and a second insulating base 205, respectively, and are connected to the positive and negative poles of the battery 4 on the legged robot 3 through electric wires.
In this embodiment, the control unit includes: a processor, the control unit comprising: a processor; a voltage detection module 112 carrying a voltage and current detection chip, connected to the processor, and configured to detect whether the voltage to be charged is normal; and the driving module is provided with a push rod motor, is connected with the processor and is used for driving the driving device. The voltage detection module 112 and the driving module are both connected to the processor, the voltage detection module 112 is configured to detect whether the voltage to be charged is normal, and the driving module is configured to drive the driving device.
The first power source head 104 and the second power source head 105 are electrically connected to the first charging plug 108 and the second charging plug 109 through the voltage detection module 112. Through this kind of design, the steerable charging plug of control unit is electrified only when charging, solves the extravagant problem of electric power and the safety problem of charging device when idle. Because the voltage detection module can detect whether the voltage of the robot battery is normal when charging, and when not detecting the correct voltage range, the charging plug is not electrified, the charging condition of the charging seat on the abnormal battery is avoided, and the charging safety is improved.
Example two:
the difference between the second embodiment and the first embodiment is that the charging plug in the first embodiment is arranged to be lifted relative to the charging-stand casing 101, the charging plug is located inside or outside the charging-stand casing 101 by lifting, and the relative position relationship between the charging plug and the charging-stand casing 101 in the second embodiment is extended out of the charging-stand casing 101 by rotating. As shown in fig. 6 and 7, a first link 102' is provided on the base 106, one end of the first link 102' is hinged to the base 106, and the other end is hinged to the inside of the charging stand casing 101, so that the base 106 can rotate through the first link 102 '; meanwhile, a second connecting rod 102 "and a crank 102 '" are required to be arranged to drive the first connecting rod 102' to swing, one end of the second connecting rod 102 "is hinged to the surface of the first connecting rod 102', the other end of the second connecting rod 102" is hinged to one end of the crank 102' ", and the other end of the crank 102 '" is driven by a motor. The crank 102 '"is driven by the motor to rotate, so as to drive the second connecting rod 102" to move, and then drive the first connecting rod 102' to swing, and finally the charging plug on the base 106 extends out of or retracts into the charging seat shell 101 in a rotating manner.
The robot is provided with quick, effective and safe charging service when the robot operates to a low electric quantity by the autonomous charging device of the leg-foot robot in the embodiment. The robot is mainly applied to occasions where the robot autonomously operates to work to low electric quantity and electric energy needs to be supplemented. The safety problem of the charging seat when the charging is not charged is ensured by arranging different positions of the charging plug; the position of the robot relative to the charging seat can be identified through the matching of the identification code and the camera, and the problem of butt joint and positioning of a charging terminal of the robot and a charging plug of the charging seat when the robot performs charging action is solved; the control unit is provided with a voltage detection module 112 to ensure that the charging seat charges the battery of the robot smoothly, and unless the charging terminal of the robot is aligned with the power head of the charging seat, the control unit 103 cannot switch on the charging circuit, and the power head of the charging plug is not electrified to ensure the safety of the charging process.
In the autonomous charging device of the legged robot provided by the embodiment, the relative height between the body of the legged robot and the ground is uncertain, the body is far away from the ground due to the support of the legs during work, the legs do not provide support during rest, and the body bottom of the robot can be directly contacted with the ground or a special support base. Therefore, the autonomous charging device of the legged robot is not suitable for a technical scheme of contacting by using relative horizontal movement, and is suitable for a technical scheme of turning on the charging device by descending the body after the robot moves to a suitable position.
Example three:
as shown in fig. 8, the present embodiment also provides an autonomous charging method for a legged robot, which may include the steps of:
step S11, detecting the battery power of the legged robot;
and when the robot detects that the electric quantity of the battery is lower than a set value, entering a charging mode.
Step S12, when the battery power is detected to be lower than the set value, controlling the leg and foot robot to search for the matched leg and foot robot autonomous charging device of the first embodiment or the second embodiment, wherein the leg and foot robot autonomous charging device and the leg and foot robot are connected in the same WIFI network;
step S13, after the legged robot moves to the vicinity of the position of the autonomous charging means of the legged robot, controlling the legged robot to recognize the autonomous charging means of the legged robot;
the identification here can be performed by the robot-mounted camera 206 by identifying the identification code 111 mounted on the leg-foot robot autonomous charger apparatus.
The step can also comprise entering the next step if the step can be identified, and searching the matched autonomous charging side device of the leg and foot robot again if the step can not be identified.
And step S14, after the recognition, controlling the legged robot to squat downwards so that the control unit controls the driving device to extend the charging plug out of the through hole and contact with a charging terminal of the battery of the legged robot, and then the battery of the legged robot is charged by the power supply unit of the control unit.
When the legged robot squats down, the included angle between the abdomen plane of the legged robot and the upper surface of the charging seat shell 101 is controlled within a predetermined range. Preferably, the predetermined range is 0 ° to 10 °.
In step S14, the method may further include:
1) after the charging plug is extended from the through hole (by a preset height) and is contacted with a charging terminal of a battery of the legged robot, the battery of the legged robot energizes the charging terminal and detects whether the charging plug and the charging terminal are electrically connected;
or, while the charging plug is protruded from the through hole, the battery of the legged robot energizes the charging terminal and by detecting whether the charging plug and the charging terminal are electrically connected;
or after the battery of the legged robot energizes the charging terminal, the charging plug extends out of the charging seat and detects whether the charging plug and the charging terminal are electrically connected;
whether the charging plug and the charging terminal are electrically connected or not is detected in the three modes, and the detection can be carried out through the voltage detection module.
2) If the robot is electrically connected, the power supply unit of the control unit charges a battery of the legged and legged robot; if the detection result is not the electric connection result, recording the detection times, judging whether the detection times exceed the preset times, if so, triggering an alarm, and otherwise, carrying out self-checking.
Further, the self-test comprises:
the control unit controls the driving device to move the charging plug to the direction of the charging terminal again (the general moving distance is within 5 mm), and simultaneously detects whether the charging plug is electrically connected with the charging terminal, if so, the charging is started, and at the moment, a maintenance instruction can be sent out simultaneously, otherwise, the control unit supplies power to the power supply unit to cut off the battery of the leg and foot robot, and then the matched autonomous charging device of the leg and foot robot is searched again, and then the step S13 can be returned.
The robot can self-detect when unable charging, and preliminary judgement problem place is convenient for maintain.
After the leg and foot robot finishes charging, the charging is stopped, and the leg and foot robot can enter a standby state.
The autonomous charging method for the legged robot provided by the embodiment can be used for autonomous charging, manual plugging charging is not needed, and the degree of automation is high. Preliminary problem detection and troubleshooting can be carried out when charging is abnormal, and follow-up maintenance is facilitated.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (15)

1. An autonomous charging device for a legged robot, comprising:
the charging seat shell (101), the charging seat shell (101) is provided with a through hole;
a base (106) disposed within the charging dock housing (101);
the driving device is arranged in the charging seat shell (101);
the charging plugs (108, 109) are arranged on the base (106), the base (106) is driven by the driving device to enable the charging plugs (108, 109) to at least have a first position state and a second position state, when the first position state is adopted, the charging plugs (108, 109) are positioned inside the charging seat shell (101), and when the second position state is adopted, the charging plugs (108, 109) extend out of the through holes;
a power supply unit electrically connected to the charging plug (108, 109);
and the control unit is respectively and electrically connected with the power supply unit and the telescopic driving device and respectively controls the power on/off of the power supply unit and the start-stop movement of the driving device.
2. The autonomous charging apparatus for legged robots according to claim 1, characterized in that said charging plug (108, 109) is telescopically arranged with respect to said charging-stand casing (101), or said charging plug (108, 109) is rotatably arranged with respect to said charging-stand casing (101).
3. The autonomous charging device for legged robots according to claim 1 or 2, wherein the driving device is a scissor lift mechanism, a lead screw slider lift mechanism or a crank slider lift mechanism.
4. The autonomous charging apparatus of a legged and legged robot as claimed in claim 1 or 2, wherein said driving means comprises a motor and a four-bar linkage, said motor driving said base (106) and said charging plug (108, 109) via said four-bar linkage to extend or retract said charging plug (108, 109) in a rotary manner through a through hole.
5. The autonomous charging device for the leg and foot robot as claimed in claim 4, wherein the four-bar mechanism comprises a motor, a first connecting bar (102'), a second connecting bar (102 ") and a crank (102"'), wherein one end of the first connecting bar (102') is hinged with the base (106), the other end is hinged with the charging seat housing (10), one end of the second connecting bar (102 ") is hinged with the surface of the first connecting bar (102'), the other end is hinged with one end of the crank (102" '), and the other end of the crank (102 "') is driven by the motor.
6. The autonomous charging device of a legged robot as claimed in claim 1 or 2, wherein said driving device comprises an electric push rod (102) and a vertical sliding rail (107), one end of said vertical sliding rail (107) is fixed inside said charging seat housing (101), said base (106) is slidably connected to said vertical sliding rail (107), one end of said electric push rod (102) is hinged to said base (106), and the other end is hinged to said charging seat housing (101).
7. The autonomous charging device of a legged robot as claimed in claim 1 or 2, wherein said power supply unit comprises an adapter (115) and a power cord (114) electrically connected to each other, said power cord (114) being connectable to the mains, said adapter (115) being electrically connected to the charging plug (108, 109).
8. The autonomous charging apparatus for legged robot according to claim 1, wherein said control unit includes: the device comprises a processor module, a voltage detection module (112) which is electrically connected with the processor module and used for detecting voltage, and a driving module used for driving a motor of a driving device.
9. The autonomous charging apparatus for legged robots according to claim 1, characterized in that the upper surface of the charging stand casing (101) is provided with a support base (110).
10. The autonomous charging device of a legged robot as claimed in claim 1, wherein said charging stand casing (101) has an indicator light (113) on its upper surface, said indicator light (113) being electrically connected to the control unit.
11. An autonomous charging method for a legged robot, the method comprising:
detecting the battery electric quantity of the legged robot;
when the battery power is detected to be lower than a set value, controlling the leg and foot robot to search for the matched leg and foot robot autonomous charging device of claim 1, wherein the leg and foot robot autonomous charging device and the leg and foot robot are connected in the same WIFI network;
after the leg and foot robot moves to the position close to the position of the autonomous charging side device of the leg and foot robot, controlling the leg and foot robot to identify the autonomous charging side device of the leg and foot robot;
after recognition, the robot is controlled to squat so that the control unit controls the driving device to extend the charging plug (108, 109) out of the through hole and contact with a charging terminal of a battery of the robot, and then the battery of the robot is charged by the control unit power supply unit.
12. The autonomous charging method of a legged robot as claimed in claim 11, characterized in that the angle between the abdominal plane of the legged robot and the upper surface of the charging stand casing (101) is controlled within a predetermined range when the legged robot squats down.
13. The autonomous charging method for legged robots according to claim 12, characterized in that said predetermined range is 0 ° to 10 °.
14. The autonomous charging method of a legged robot according to claim 11, characterized by further comprising:
after the charging plug (108, 109) is protruded from the through hole and is contacted with the charging terminal of the battery of the legged robot, the battery of the legged robot energizes the charging terminal and detects whether the charging plug (108, 109) and the charging terminal are electrically connected;
or, while the charging plug (108, 109) is protruding from the through hole, the battery of the legged robot energizes the charging terminal and by detecting whether the charging plug (108, 109) and the charging terminal are electrically connected;
or, after the battery of the legged robot energizes the charging terminal, the charging plug (108, 109) extends out of the charging seat, and by detecting whether the charging plug (108, 109) and the charging terminal are electrically connected;
if the robot is electrically connected, the power supply unit of the control unit charges a battery of the legged and legged robot;
if the detection result is not the electric connection result, recording the detection times, judging whether the detection times exceed the preset times, if so, triggering an alarm, and otherwise, carrying out self-checking.
15. The autonomous charging method of a legged robot according to claim 14, characterized in that the self-test comprises:
the control unit controls the driving device to move the charging plugs (108, 109) towards the direction of the charging terminals again, and simultaneously detects whether the charging plugs (108, 109) are electrically connected with the charging terminals, if so, charging is started, otherwise, the control unit power supply unit cuts off the power of the battery of the leg-foot robot, and then the matched autonomous charging device of the leg-foot robot is searched again.
CN202110784850.5A 2021-07-12 2021-07-12 Autonomous charging device and method for legged robot Pending CN113410892A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116690612A (en) * 2023-08-07 2023-09-05 广东电网有限责任公司东莞供电局 Inspection robot with automatic charging function

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116690612A (en) * 2023-08-07 2023-09-05 广东电网有限责任公司东莞供电局 Inspection robot with automatic charging function
CN116690612B (en) * 2023-08-07 2023-10-20 广东电网有限责任公司东莞供电局 Inspection robot with automatic charging function

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