KR20140095846A - Auto charge system of robot and auto charge method of robot - Google Patents

Auto charge system of robot and auto charge method of robot Download PDF

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Publication number
KR20140095846A
KR20140095846A KR1020130008737A KR20130008737A KR20140095846A KR 20140095846 A KR20140095846 A KR 20140095846A KR 1020130008737 A KR1020130008737 A KR 1020130008737A KR 20130008737 A KR20130008737 A KR 20130008737A KR 20140095846 A KR20140095846 A KR 20140095846A
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South Korea
Prior art keywords
robot
charging
information
amount
mode
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KR1020130008737A
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Korean (ko)
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최삼선
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최삼선
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Priority to KR1020130008737A priority Critical patent/KR20140095846A/en
Publication of KR20140095846A publication Critical patent/KR20140095846A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • 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
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/20—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Power Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to an automatic charging system (100) of a robot, comprising: a plurality of guide lines (110) designated on a bottom surface in an industrial site along a transfer path; a plurality of RFIDs (120) attached along the guide lines (110) and having driving information, which is divided for each of the guide lines (110), stored therein; and a robot (130) moving according to the driving information of the guide line designated by the RFIDs. A detour guide line (115) is connected to detour the guide lines (110). A charger (140) is installed at the side of the detour guide line. The robot (130) is composed to convert into a charging mode if a charging amount is detected to be equal to a proper amount or smaller, and to convert into an operation mode if the charging amount is equal to the proper amount or greater. The RFIDs (120) have charging information stored therein to guide the robot (130) to the charger (140) when the robot is in an operation mode. The robot (130) recognizes only the charging information when the robot is in a charging mode, the charger (140) can wirelessly transmit and receive information to and from the robot (130), and the display information of the guide line (110) designated by the robot can be modified. Therefore, the robot (130) is automatically charged, and is guided to a preset guide line (110) to operate instead of returning to an original guide line (110).

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic charging system for a robot,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic charging system for a robot and an automatic charging method for the robot, and more particularly, to an automatic charging system for a robot and an automatic charging method for a robot, .

Nowadays, in an industrial field, a robot (30, AGV; automatic transfer robot) that works on behalf of a person is generally used to reduce personnel costs. A traveling system (1) of such a robot will be described with reference to FIG.

A guide line 10 is assigned to the work area along the conveying path on the bottom surface of the industrial site and the RFID 20 is attached along the guide line 10. In addition, the driving information of the robot 30 is stored in the RF ID 20. [ For example, the travel information may be various types such as forward, stop, change of direction, speed, advance after stop, stop after travel, and reverse. In addition, the travel information is stored together with the display information of the guidance line 10. For example, the RF ID 20 located at the branching point can be displayed on the robot 30, which circulates the guidance line 1 (guidance information of the guidance line) 10, to the left, to the guidance line 2 Information) is divided and stored for each of the guide lines 10 so that the robot 30 rotates to the right.

Therefore, the robot 30 recognizes only the traveling information of the guidance line 10 that the robot ID 30 works in the RF ID 20, and moves.

In the robot traveling system 10, a charger is installed on the side of the induction line 10 so that the robot can be spontaneously charged regardless of the operator, and the robot 10 is provided with the robot 10 as described in Patent Document 1 (Korean Patent Registration No. 10-0182114) The controller 30 senses the charged amount of the battery and sends a signal for requesting charging to the charger if the amount is less than a proper amount. Then, the robot 30 is configured to go to the charger so as to be charged.

The robot 30 which has completed charging returns to the original guidance line 15 to carry out the work.

Korean Patent Registration 10-0182114 (Registered on December 10, 1998)

According to the background art described above, there is a problem that the charged robot is returned to the originally-used guide line and can not be inserted into another guide line.

As an example, there is a problem in that the robot, which has been working in the guidance line 1 and the guidance line 2, can not be operated by charging the robot into the guidance line 3 as needed after completion of the charging.

An automatic charging system for a robot according to the present invention comprises a plurality of induction lines designated along a conveying path on the bottom surface of an industrial field and a plurality of induction lines attached along the induction line, And a robot that moves in accordance with travel information of a guidance line designated by the RF ID, and includes a bypass guide line connected to bypass the guide line, a charger installed at a side of the bypass guide line, And the charging mode is set to a working mode when the amount of the charged particles is equal to or less than a predetermined amount, and the charging mode is set to a working mode when the amount of charged particles is equal to or greater than a predetermined amount, and the RFID information stores charging information to be guided to the charging device when the robot is in the working mode, Wherein the charging device is configured to recognize only the charging information when the charging mode is selected, And in to send and receive information, is configured to be capable of converting the display information of the induction line assigned to the robot.

The charging unit may include a HMI having an input / output function, a wireless communication module for transmitting / receiving information to / from the robot, a charging terminal control module for controlling a charging terminal connected to a battery terminal of the robot, And a main controller for controlling the MIC, the wireless communication module, and the charging terminal control module. When the display information of the guidance line is inputted through the HMI, the display information of the guidance line of the robot is transmitted through the wireless communication module .

An automatic charging method of a robot according to the present invention includes an input step of inputting driving information of a guidance line through the HMI using the automatic charging system of the robot and storing the driving information in the main controller, A mode setting step in which the robot is set to a working mode if the charged amount is more than a proper amount and to a charging mode if the charged amount is less than a proper amount after the charging amount checking step; Wherein the main controller transmits a signal for requesting charging to the wireless communication module when the robot is in a charging mode, and a charging step for switching the charging standby mode after detecting the signal through the wireless communication module after the calling step. And setting the charging information in the RFID ID when the robot is in the charging mode after the mode setting step. A charging step of charging the robot with a battery after the moving step; and a charging step of charging the robot with the battery, And a travel information changing step of storing travel information in the robot.

According to the automatic charging system of the robot and the automatic charging method of the robot according to the present invention, not only the robot is charged spontaneously but also the effect that the robot can be put into the set guiding line without being returned to the original guiding line after charging, have.

1 is a perspective view showing an example in which a robot according to the background art feeds along a guidance line;
BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an automatic charging system for a robot, and more particularly,
3 is a view showing an induction line and a bypass induction line in an automatic charging system of a robot according to the present invention.
4 is a block diagram showing an example of the operation of a charger as an automatic charging system for a robot according to the present invention.
5 is a block diagram showing a method for automatically charging a robot according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a perspective view of a robot automatic charging system according to the present invention, in which charging terminals of a charger are connected by a robot, FIG. 3 is a perspective view of a guide line and a bypass guide line Fig. 4 is a block diagram showing an example of the operation of a charger as an automatic charging system of a robot according to the present invention, and Fig. 5 is a block diagram showing a method of automatically charging the robot according to the present invention. do.

Generally, in the industrial field, a robot (130, AGV; automatic transfer robot) that works on behalf of a person is generally used to reduce labor costs.

This robot 130 is configured as follows to automatically carry along a predetermined route.

A guide line 110 is assigned to the work area along the conveying path on the bottom surface of the industrial site and the RFIDs 120 are attached along the guide lines 110. In addition, the driving information of the robot 130 is stored in the RF ID 120. For example, the traveling information may be various kinds of information such as forward, stop, change of direction, speed, forward after stop, stop after forward, reverse afterward. In addition, the running information is stored together with the indication information of the guidance line 110. For example, the robot 130 that circulates the guidance line 110 (the display information of the guidance line) rotates the robot 130 that circulates leftward and the guidance line 110 (guidance information of the guidance line) , And guidance lines (110).

The robot 130 is configured to feed along the guidance line 110 and to recognize the traveling information stored in the RF ID 120 and move as it is.

The robot 130 includes a bypass guide line 115 connected to bypass the induction line 110 so that the robot 130 can charge spontaneously and a charger 140 is installed at a side of the bypass guide line 115 do. Further, the robot 130 detects the charged amount of the battery by itself and is converted into the charging mode when the amount of charge is less than the predetermined amount, and is maintained in the working mode when not.

The travel information of the RF ID 120 is recognized when the robot 130 is in the operation mode, and the charging information is recognized when the robot 130 is in the charging mode. The charging information is route information for guiding to the charger 140 as indicated by an arrow in FIG.

In addition, the robot 130 and the charger 140 are configured to be mutually charged when they are in a charging mode.

That is, the robot 130 checks the state of charge of the battery and transmits a charge necessary signal to the charger 140 when the charge amount is less than a proper amount. Then, the charger 140 receives a charging request signal and then enters a charging standby state.

Also, the robot 130 is configured to recognize only the charging information when the charging mode is selected.

The charger 140 is configured as follows so that the charger 140 can exchange information with the robot 130 wirelessly and can convert display information of the guide line 110 designated by the robot 130.

The charger 140 includes an HMI 141 having an input / output function. The HMI is preferably a touch screen, which may be a keyboard and a screen.

The charging terminal control module 145 for controlling the charging terminal 149 connected to the battery terminal of the robot 130 comprises a wireless communication module 143 configured to transmit and receive information to and from the robot 130, do. And a main controller 147 for controlling the HI MI 141, the wireless communication module 143, and the charging terminal control module 145.

When the display information of the guidance line 110 is input through the HCI 141, the main controller 147 stores the information and the guidance of the robot 130 is transmitted through the wireless communication module 143 The display information of the line 110 can be changed.

The information of the robot 130 such as the ID of the robot 130, the speed, the display information (work line number) of the guide line 110, the battery capacity, etc., through the wireless communication module 143 And outputs the received signal through the HI-MI 141.

The charging terminal 149 may include a driving unit. The charging terminal 149 may be attached to or detached from the battery terminal of the robot 130 by a solenoid. The solenoid may be replaced by a pneumatic cylinder or a motor It is also possible with a rack gear that moves forward and backward. The charging terminal control module 145 is a module for controlling the driving unit.

It is a matter of course that the RFID 130 in which the charging mode robot 130 recognizes and stops is attached to the bypass guide line 115 in order to stop the robot 130 in front of the charger 140.

In addition, since the robot 130 stops at a precise point in front of the charger 140, and the charging terminal 149 and the terminal of the battery are matched and connected to each other, It is omitted.

Further, since the robot 130 recognizes the RFID ID 120 and feeds the RFID ID 120 along the guidance line 115, it is a prior art technique that anyone skilled in the art can understand, so the detailed configuration of the robot 130 is omitted .

A method of automatically charging a robot using the above system will be described below.

An input step S1 for inputting driving information of the guidance line 110 through the HMI 141 and storing the driving information in the main controller 147 is performed. For example, if the robot 130 working in the first line 110 wants to move the work line to the line 7 after the docking of the robot 130, 110 to move the robot 130 to the seventh guidance line 110. [ Then, the main controller 147 stores the command. If the command is not input, the robot 130 returns to the original guidance line 110 and performs the task.

Next, a charge amount checking step (S2) is performed in which the robot 130 checks the charged amount of the battery.

After the charging amount checking step S2, the robot 130 is set to the working mode if the charging amount is more than the proper amount, and the mode setting step S3 is performed when the charging amount is less than the proper amount. The traveling direction of the RF ID 120 is followed along the guidance line 110 in the working mode and the bypass guidance line 115 is entered in accordance with the charging information of the RF ID 120 in the charging mode, The battery charger 140 moves to the charger 140. By the bypass guide line 115, the charging robot 130 can prevent the other robot 130 from colliding with each other.

In the mode setting step S3, when the robot 130 is in the charging mode, a calling step S4 is performed to send a signal requesting charging to the wireless communication module 143. [ The signal includes information such as the ID of the robot 130, speed, display information of the guidance line 110 (work line number), battery capacity, and the like.

After the origination step S4, the main controller 147 senses a signal through the wireless communication module 143, and then waits for charging (S5) to switch to a charging standby mode. That is, the signal of the robot 130 to be docked is received and waits.

After the mode setting step S3, the robot 130 recognizes the charging information in the RFID ID 120 if it is in the charging mode, and then moves to the charger 140 in step S6.

After the moving step S6, a charging step S7 for charging the robot 130 with a battery is performed. That is, the main controller 147 controls the driving unit of the charging terminal 149 through the charging terminal control module 145 to be connected to the terminal of the battery.

After the charging step S7, the main controller 147 stores driving information of the guidance line 110 stored in the input step S1 in the robot 130 through the wireless communication module 143 And a traveling information changing step (S8).

Accordingly, after the robot 130 is charged, the work is performed in the modified guidance line 110. [ Of course, it is possible to return to the original guidance line 110 without changing and perform work.

For reference, the present invention is a technology under study conducted by ENMTECH, a representative of the applicant, as a research project of Daegu Metropolitan City as follows.

[Regional research and development project supporting this invention]

[Assignment number] 20120017

[Department name] Daegu Metropolitan City

[Name of Research Project] Daegu Metropolitan City Based Technology Development Project

Development of docking system for intelligent AGV charging status monitoring and self-charging

[Host organization] ENTECH

100: Automatic charging system of the robot 110: Induction line
115: Bypass guide line 120:
130: robot 140: charger
141: HI MI 149: Charging terminal
143: Wireless communication module 145: Charging terminal control module
147: Main controller

Claims (3)

A plurality of induction lines 110 specified along the conveyance path on the bottom surface of the industrial site,
A plurality of RFID tags 120 attached along the guide lines 110 and storing travel information classified by the guide lines 110,
And a robot (130) moving according to travel information of the guidance line (110) designated by the RF ID (120)
A bypass guide line 115 connected to bypass the guide line 110,
A charger 140 installed at the side of the bypass guide line,
The robot 130 senses a charged amount and is converted into a charging mode when the amount is less than a predetermined amount, and is set to a working mode when the amount exceeds a predetermined amount.
The RF ID 120 stores charging information to be guided to the charger 140 when the robot 130 is in the operation mode,
The robot 130 is configured to recognize only the charging information when the charging mode is selected,
Wherein the charger 140 is configured to exchange information with the robot 130 wirelessly and to convert display information of the guide line 110 designated by the robot 130. [ system. The method according to claim 1,
The charger 140 includes an HMI 141 having an input / output function,
A wireless communication module 143 for transmitting and receiving information to and from the robot 130,
A charging terminal control module 145 for controlling a charging terminal 149 connected to the battery terminal of the robot 130,
And a main controller 147 for controlling the HMI 141, the wireless communication module 143, and the charging terminal control module 145,
The display information of the guidance line 110 of the robot 130 can be changed through the wireless communication module 143 by inputting the display information of the guidance line 110 through the HI- The automatic charging system of the robot. Using the automatic charging system of the robot proposed in the second paragraph,
An input step S1 of inputting travel information of the guidance line 110 through the HMI 141 and storing the information in the main controller 147,
A charging amount checking step S2 for checking the charging amount of the battery 130 by the robot 130,
After the charging amount checking step S2, the robot 130 is set to a working mode if the charged amount is more than a proper amount and to a charging mode if the charged amount is less than a proper amount,
In the mode setting step S3, the robot 130 transmits a signal for requesting charging to the wireless communication module 143 when the robot 130 is in a charging mode.
After the origination step S4, the main controller 147 senses a signal through the wireless communication module 143 and then enters a charging standby mode S5,
A moving step S6 of recognizing the charging information in the RFID ID 120 and moving to the charger 140 when the robot 130 is in a charging mode after the mode setting step S3;
A charging step (S7) of charging the robot (130) with a battery after the moving step (S6)
After the charging step S7, the main controller 147 stores driving information stored in the input step S1 in the robot 130 through the wireless communication module 143 And a traveling information changing step (S8).
KR1020130008737A 2013-01-25 2013-01-25 Auto charge system of robot and auto charge method of robot KR20140095846A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160129275A (en) 2015-04-30 2016-11-09 성균관대학교산학협력단 RF Energy Harvesting Robot Control Systme and Method thereof
CN107508385A (en) * 2017-08-18 2017-12-22 武汉泰可电气股份有限公司 One kind utilizes the faradic electricity getting system of overhead ground wire and method
CN109693568A (en) * 2019-01-26 2019-04-30 珠海达明科技有限公司 A kind of collection docks the AGV automatic charging system and method for successfully physical quantity feedback
KR102350476B1 (en) * 2020-07-23 2022-01-13 최재원 Serving robot and robot serving system using the same

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160129275A (en) 2015-04-30 2016-11-09 성균관대학교산학협력단 RF Energy Harvesting Robot Control Systme and Method thereof
CN107508385A (en) * 2017-08-18 2017-12-22 武汉泰可电气股份有限公司 One kind utilizes the faradic electricity getting system of overhead ground wire and method
CN109693568A (en) * 2019-01-26 2019-04-30 珠海达明科技有限公司 A kind of collection docks the AGV automatic charging system and method for successfully physical quantity feedback
CN109693568B (en) * 2019-01-26 2023-11-03 珠海市运泰利自动化设备有限公司 Charging method of AGV automatic charging system integrating successful physical quantity feedback
KR102350476B1 (en) * 2020-07-23 2022-01-13 최재원 Serving robot and robot serving system using the same

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