WO2023173256A1 - Movable platform system, movable platform, base station and charging method - Google Patents
Movable platform system, movable platform, base station and charging method Download PDFInfo
- Publication number
- WO2023173256A1 WO2023173256A1 PCT/CN2022/080711 CN2022080711W WO2023173256A1 WO 2023173256 A1 WO2023173256 A1 WO 2023173256A1 CN 2022080711 W CN2022080711 W CN 2022080711W WO 2023173256 A1 WO2023173256 A1 WO 2023173256A1
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- WIPO (PCT)
- Prior art keywords
- charging
- movable platform
- charging terminal
- base station
- guide structure
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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
Definitions
- the present application relates to the technical field of movable platform charging, and in particular to a movable platform system, a movable platform, a base station and a charging method.
- mobile platforms such as drones
- the mobile platform When the battery power is low, the mobile platform needs to move to the base station for autonomous charging.
- the movable platform and the base station have charging terminals respectively.
- the charging end of the movable platform When charging is required, the charging end of the movable platform is docked with the charging end of the base station to achieve electrical connection, and then charging can be performed.
- the charging end of the mobile platform is not accurately connected to the charging end of the base station, it may cause problems such as failure to charge or low charging efficiency.
- Embodiments of the present application provide a movable platform system, a movable platform, a base station and a charging method.
- the movable platform includes a body and a first charging component.
- the first charging component is provided on the body.
- the body is provided with a first guide structure.
- the first charging component has a first charging terminal;
- a base station including a movable second charging component, the second charging component having a second guide structure and a second charging terminal, the second charging terminal being movable relative to the second guide structure;
- the movable platform system is configured such that the second charging component moves toward the body and achieves positioning and docking through the first guide structure and the second guide structure, and the second charging terminal further Move to connect with the first charging terminal.
- a first charging component the first charging component is provided on the body, the body is provided with a first guide structure, the first charging component has a first charging terminal,
- the movable platform is configured to realize positioning and docking with the second guide structure of the base station through the first guide structure, and the first charging terminal is further connected with a second base station that moves relative to the second guide structure. Charging terminal connection.
- a base station is used for charging a mobile platform.
- the base station includes:
- the second charging component having a second guide structure and a second charging terminal, the second charging terminal being movable relative to the second guide structure;
- the base station is configured such that the second charging component moves toward the movable platform and achieves positioning and docking through the second guide structure and the first guide structure of the movable platform, and the second charging component
- the charging terminal further moves and is connected to the first charging terminal of the movable platform.
- the first charging component and the second charging component realize positioning and docking through the guide structure.
- the positioning effect is good and the charging effect can be ensured.
- the second charging terminal further moves and is connected to the first charging terminal. , can achieve electrical connection and can be charged.
- An embodiment of the present application provides a charging method for a movable platform system, which includes a movable platform and a base station.
- the charging method includes:
- Control the moving member to adjust the position of the movable platform located on the base station so that the movable platform is located at the target position of the base station;
- the base station charges the movable platform until the movable platform is located at the target location of the base station.
- the above charging method adjusts the position of the movable platform so that the movable platform is located at the target position of the base station, thereby triggering the charging operation.
- Figure 1 is a structural diagram of the movable platform system according to the embodiment of the present application.
- Figure 2 is a structural diagram of a base station according to an embodiment of the present application.
- Figure 3 is a schematic cross-sectional view of the movable platform system according to the embodiment of the present application.
- Figure 4 is an enlarged view of area A in Figure 3;
- Figure 5 is a partial structural diagram of the movable platform according to the embodiment of the present application.
- Figure 6 is a schematic structural diagram of the positioning device and the second charging component according to the embodiment of the present application.
- Figure 7 is another structural schematic diagram of the positioning device and the second charging component according to the embodiment of the present application.
- Figure 8 is a partial structural diagram of the second charging component according to the embodiment of the present application.
- Figure 9 is a schematic cross-sectional view of the positioning device and the second charging component according to the embodiment of the present application.
- Figure 10 is a schematic cross-sectional view of the second charging component according to the embodiment of the present application.
- Figure 11 is a connection structural diagram of the second charging terminal and the waterproof case according to the embodiment of the present application.
- Figure 12 is a schematic flow chart of the charging method according to the embodiment of the present application.
- FIG 13 is another schematic flowchart of the charging method according to the embodiment of the present application.
- first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features.
- features defined as “first” and “second” may explicitly or implicitly include one or more of the described features.
- “plurality” means two or more than two, unless otherwise explicitly and specifically limited.
- connection should be understood in a broad sense.
- it can be a fixed connection or a detachable connection.
- the connection can be mechanical or electrical. It can be a direct connection or an indirect connection through an intermediary. It can be an internal connection between two elements or an interaction between two elements.
- the term “above” or “below” a first feature on a second feature may include direct contact between the first and second features, or may also include the first and second features. Not in direct contact but through additional characteristic contact between them.
- the terms “above”, “above” and “above” a first feature on a second feature include the first feature being directly above and diagonally above the second feature, or simply mean that the first feature is higher in level than the second feature.
- “Below”, “under” and “under” the first feature is the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature is less horizontally than the second feature.
- a movable platform system 100 includes a movable platform 12 and a base station 14 .
- the movable platform 12 includes a body 16 and a first charging component 18 .
- the first charging component 18 is provided on the body 16 .
- the body 16 is provided with a first guide structure 20 .
- the first charging component 18 has a first charging terminal 22 .
- the base station 14 includes a movable second charging component 24.
- the second charging component 24 has a second guide structure 26 and a second charging terminal 28.
- the second charging terminal 28 can move relative to the second guide structure 26.
- the movable platform system 100 is configured such that the second charging component 24 moves toward the body 16 and achieves positioning and docking through the first guide structure 20 and the second guide structure 26 , and the second charging terminal 28 further moves with the first charging terminal. 22 connections.
- the first charging component 18 and the second charging component 24 realize positioning and docking through the guide structure.
- the positioning effect is good and the charging effect can be ensured.
- the second charging terminal 28 further moves to connect with the first charging terminal 22. Can be electrically connected and can be charged.
- the first charging terminal 22 may be used as a female terminal and the second charging terminal 28 may be used as a male terminal, or the first charging terminal 22 may be used as a male terminal and the second charging terminal 28 may be used as a female terminal.
- the female terminal is larger than the male terminal and can tolerate the offset and deflection of the male terminal in the width direction.
- the first charging terminal 22 and the second charging terminal 28 may be charging terminals made of metal, or may be charging terminals made of other conductive materials (as long as rigidity is ensured).
- the movable platform 12 includes at least one of a sweeping robot, a drone, an unmanned vehicle, and an unmanned ship.
- the movable platform 12 is a drone
- the base station 14 is a drone airport
- the first charging terminal 22 is a female terminal
- the second charging terminal 28 is a male terminal.
- the embodiments of the present application are not limited to this.
- the body 16 may be the body of the drone.
- the fuselage is provided with a first charging component 18 and a first guide structure 20 .
- the first guide structure 20 may be disposed on the circumferential side of the fuselage, and the first charging component 18 may be disposed in the fuselage corresponding to the position of the first guide structure 20 .
- the movable platform system 100 also includes a positioning device 30 .
- the drone can make a rough landing at the airport.
- the drone may not be at its target location at the airport.
- the drone can be aligned by the alignment device 30 to achieve fine calibration of the landing position of the drone.
- the target location of the airport can specifically be a location suitable for charging the drone.
- the target position can be set according to actual needs.
- the target position can be set in the central area or the edge area of the airport landing platform 32.
- the embodiment of the present application only takes the target position being set in the central area of the landing platform 32 as an example. If the target position is set in other areas, refer to the implementation. Can.
- the base station 14 can drive the second charging component 24 to move toward the movable platform 12 to perform a charging docking operation.
- the positioning device 30 can simultaneously drive the second charging component 24 to move together.
- the positioning device 30 may include a moving member 34 .
- the airport receives the return instruction of the drone, the airport can open the hatch (not shown) to expose the landing platform 32.
- the drone can use vision and RTK positioning to roughly land in the interface board landing area of the airport landing platform 32.
- the positioning device 30 can control the moving parts 34 to close and the hatch cover to close.
- the moving part 34 is folded, the drone can be pushed for positioning.
- the inner position switches of the whole device 30 are pressed, it means that the drone has been clamped, the first charging terminal 22 and the second charging terminal 28 have been connected, and the base station 14 outputs the charging voltage (such as 12V voltage), as
- the charging control module of the drone supplies power to realize the charging operation of the drone.
- the moving member 34 may include a push rod or push block.
- the number of moving parts 34 may be one or more. When the number of moving parts 34 is one, the position and alignment direction of the moving part 34 are adjustable. By adjusting the position and alignment direction of the moving part 34 on the airport, the unmanned vehicle can be pushed from different positions and directions. until the drone is pushed to the target position. When the number of moving parts 34 is multiple, the multiple moving parts 34 can push the drone from different directions to quickly push the drone to the target position.
- the number of moving parts 34 can be 4, and these 4 moving parts 34 can be set around the target position to detect objects from 4 directions.
- the man-machine performs the whole position. In this way, when the drone lands above the airport, the drone can be quickly pushed to the target position through the coordinated positioning of the four moving parts 34 .
- the number of moving parts 34 can also be 1, 2, and 34. Or 6, etc.
- the embodiment of the present application does not specifically limit the number of moving parts 34 .
- the second charging component 24 can be mechanically coupled with the positioning device 30 and move together with the positioning device 30.
- the moving component 34 When the moving component 34 is used to push the drone to move to the target position, the second charging component 24 can follow the moving component 34. Move together to the target location to recharge the drone's battery. In this way, the additional operation of driving the second charging component 24 to move can be avoided and the integration level of the base station 14 can be improved.
- the positioning device 30 includes a driving mechanism 36 and a transmission mechanism 38.
- the driving mechanism 36 is connected to the transmission mechanism 38.
- the transmission mechanism 38 is connected to the second charging component 24 through the connecting member 40.
- the moving member 34 can be fixed. on the front end of the resisting portion 42 of the second charging component 24 .
- the driving mechanism 36 can drive the transmission mechanism 38 to move, and the movement of the transmission mechanism 38 can drive the connecting component 40 to move.
- the connecting component 40 can extend from the slot of the landing platform 32 to connect with the second charging component 24 .
- the movement of the connecting component 40 can drive the second charging component 24 and the moving part 34 to move.
- the second charging component 24 continues to move toward the body 16, the second guide structure 26 and the first guide structure 20 starts docking. After the docking is completed, the second guide structure 26 and the resisting portion 42 are blocked by the movable platform 12 and cannot move.
- the second charging terminal 28 can move relative to the second guide structure 26 and extend out of the second guide structure. 26, inserted into the body 16 and connected to the first charging terminal 22.
- the driving mechanism 36 includes at least one of a steering gear and a motor, and the transmission mechanism 38 is connected between the driving mechanism 36 and the connecting component 40 .
- the driving mechanism 36 and the transmission mechanism 38 are both arranged below the landing platform 32 .
- Each moving member 34 can be driven by a steering gear, and the inner position switch can be the position switch of the steering gear.
- the transmission mechanism 38 may include a gear 44 and a rack 46.
- the gear 44 meshes with the rack 46.
- the rack 46 is fixedly connected to the bottom of the landing platform 32.
- the length direction of the rack 46 is consistent with the moving direction of the second charging component 24; 44 is connected to the driving mechanism 36.
- the gear 44 Under the driving of the driving mechanism 36, the gear 44 can move along the rack 46; the connecting component 40 is fixedly connected to the gear 44, and the connecting component 40 can move together with the gear 44 to drive the second charging component 24 and the moving member 34 moves.
- the positioning device 30 may also include a guide rail 48.
- the guide rail 48 is connected to the bottom of the landing platform 32. At least part of the connecting member 40 is embedded in the guide rail 48 to guide the movement of the connecting member 40 and improve the connection. Movement accuracy of component 40.
- the length direction of the guide rail 48 , the length direction of the rack 46 , and the moving directions of the second charging component 24 and the moving part 34 can be consistent to improve the movement accuracy of the second charging component 24 and the moving part 34 .
- the second charging terminal 28 can move relative to the second guide structure 26 .
- the second charging terminal 28 can further move relative to the second guide structure 26 to move towards the first guide structure 20 .
- the first charging terminal 22 approaches in a direction to achieve connection with the first charging terminal 22 .
- the drone can be charged. Because before the second charging terminal 28 is connected to the first charging terminal 22, the first charging component 18 and the second charging component 24 are positioned and aligned through the first guide structure 20 and the second guide structure 26, thereby improving the efficiency of the second charging terminal.
- the alignment accuracy when 28 is connected to the first charging terminal 22 greatly improves the degree of autonomous operation of the drone, broadens the usage scenarios of the drone, reduces the difficulty for relevant personnel, and improves the reliability of the drone operation.
- one of the first charging terminal 22 and the second charging terminal 28 is a clip, and the other is a single conductive piece, and the single conductive piece is inserted into the clip to achieve charging and data transmission. In this way, the use of components can be reduced and positioning problems caused by multi-pin connectors can be avoided.
- the first charging terminal 22 is a clip
- the second charging terminal 28 is a single conductive piece.
- the single conductive piece can be inserted between clips for a secure connection.
- the conductive piece and the clip can be made in the form of leaf springs. The charging scheme using leaf springs simplifies the mechanical structure and increases the reliability of circuit control.
- the second charging terminal 28 may be a clip, and the first charging terminal 22 may be a single conductive piece.
- first charging terminal 22 and the second charging terminal 28 After the first charging terminal 22 and the second charging terminal 28 are connected, they can form a part of the power line.
- a power carrier solution can be used to use the power line for wired communication to realize data transmission, ensuring the reliability of communication.
- the communication and charging connection scheme of the base station 14 and the movable platform 12 is optimized to the greatest extent, and the use of power line communication reduces the number of communication signal lines.
- both the base station 14 and the mobile platform 12 include power carrier chips.
- the power carrier chip of the base station 14 transmits the communication request to the movable platform 12 through the power line, communicates with the power carrier chip of the movable platform 12, and obtains battery-related information of the movable platform 12 after the communication is established.
- the base station 14 can charge the movable platform 12 using the power line.
- the first guide structure 20 includes a positioning post 50 provided on the body 16
- the second guide structure 26 is provided with a first positioning groove 54
- at least a portion of the positioning post 50 It is located in the first positioning groove 54 to achieve positioning and docking of the first guide structure 20 and the second guide structure 26 .
- a simple guide structure is achieved.
- the positioning posts 50 may be provided on the circumferential side of the body 16 , and the number of the positioning posts 50 may be one or more.
- the number of positioning posts 50 is two, and the two positioning posts 50 are spaced apart in the up and down direction. The space between the two positioning posts 50 allows the second charging terminal 28 to extend into the body 16 to connect with the first charging terminal 22 . It can be understood that in other embodiments, the number of positioning posts 50 is not limited to two, and may also be one, or more than two.
- the guide opening of the first positioning groove 54 gradually narrows from the outside to the inside. In this way, it is convenient for the positioning post 50 to extend into the first positioning groove 54 .
- the larger guide opening of the first positioning groove 54 first contacts the positioning post 50 .
- the positioning post 50 extends into the smaller position of the guide opening of the first positioning groove 54 along the larger guide opening of the first positioning groove 54 , thereby achieving coarse alignment to fine alignment.
- the positioning process improves the tolerance of alignment errors between the positioning post 50 and the first positioning groove 54 , making it easier for the positioning post 50 to extend into the first positioning groove 54 .
- the guide opening of the first positioning groove 54 is provided with a first guide surface 56 , and the positioning post 50 can slide into the first positioning groove 54 along the first guide surface 56 to achieve positioning and docking. In this way, the positioning post 50 can be smoothly slid into the first positioning groove 54 .
- the first guide surfaces 56 are inclined planes, and the number of the first guide surfaces 56 is two, which are spaced apart along the up and down direction. A similar "eight"-shaped guide space is formed between the two first guide surfaces 56 and becomes smaller from outside to inside.
- the number of positioning posts 50 is two, which are spaced apart in the up and down direction, and the two positioning posts 50 are arranged in parallel.
- the two upper and lower positioning posts 50 can respectively abut against the two upper and lower first guide surfaces 56 .
- the two positioning posts 50 can slide into the first positioning slots 54 along the two first guide surfaces 56 respectively, so that the first guide structure 20 and the second guide structure 26 can be positioned more smoothly. docking.
- the first guide surface 56 may also be an arc surface.
- the body 16 is also provided with a third guide structure 58 spaced apart from the first guide structure 20 .
- the third guide structure 58 is configured to guide the second charging terminal 28 when it further moves, so that the second charging terminal 28 can move further.
- the charging terminal 28 is positionally connected to the first charging terminal 22 . In this way, the second charging terminal 28 can be guided, further improving the alignment accuracy of the second charging terminal 28 and the first charging terminal 22 .
- the third guide structure 58 can align the second charging terminal 28 with the second guide structure 26.
- the second charging terminal 28 is guided so that the second charging terminal 28 can be better aligned with the first charging terminal 22, thereby improving the alignment accuracy of the two charging terminals.
- the third guide structure 58 includes a second positioning groove 60 provided on the body 16.
- the guide opening of the second positioning groove 60 is provided with a second guide surface 62, and the second charging terminal 28 can move along the second positioning groove 60.
- the guide surface 62 slides into the second positioning groove 60 to position and dock the second charging terminal 28 with the first charging terminal 22 . In this way, the second charging terminal 28 is guided through the second positioning groove 60, which has a simple structure and is easy to implement.
- the second guide surfaces 62 are arc-shaped surfaces, and the number of the second guide surfaces 62 is two, which are spaced apart along the up and down direction.
- a similar "eight"-shaped guide space is formed between the two second guide surfaces 62 and becomes smaller from outside to inside.
- the design of the guide opening of the second positioning groove 60 can control the assembly error of the first charging terminal 22 and the second charging terminal 28, and the guide opening of the first positioning groove 54 also guides its own rotation.
- the first charging component 18 includes a first mounting base 64 located within the body 16 , and the first charging terminal 22 is located within the first mounting base 64 . In this way, the fixed installation of the first charging terminal 22 is facilitated.
- the first charging terminal 22 can be fixedly installed in the body 16 through the first fixing base 64.
- the first fixing base 64 can also protect the first charging terminal 22 to prevent the first charging terminal 22 from being mechanically damaged.
- the first fixing base 64 can be fixed in the body 16 by buckles, screws, etc.
- the first holder 64 is made of plastic, and the first holder 64 and the first charging terminal 22 can be formed into an integrated structure through an injection molding process.
- the installation manner of the first fixing base 64 and the first charging terminal 22 is not limited to the embodiment discussed above.
- the side wall of the first fixing base 64 is provided with a through hole 66 that communicates with the internal space of the first fixing base 64 .
- the through hole 66 can play the role of drainage and exhaust.
- the movable platform 12 may be operated outdoors.
- the outdoor environment is humid and watery, and water easily flows into the first fixed seat 64 through the body 16 or the surrounding wall. If the water flowing into the first fixed seat 64 is not drained away in time, , may cause moisture in the first holder 64, and the humid environment may cause the first charging terminal 22 to be easily oxidized, and in more severe cases may cause dangers such as circuit short circuit.
- the arrangement of the through hole 66 can drain away the water in the first fixed seat 64 in time and keep the environment in the first fixed seat 64 dry.
- the first fixed base 64 is provided with a first opening 68 .
- the second charging terminal 28 is inserted into the first opening 68 through the guidance of the second positioning groove 60.
- the through hole 66 can also function as an exhaust gas.
- the exhaust will reduce the internal pressure of the first holder 64 during docking, making it smoother for the second charging terminal 28 to be inserted into the first holder 64 .
- the first fixed base 64 is provided with a first opening 68 and a first baffle 70 .
- the first baffle 70 closes the first opening 68 and allows the second charging terminal 28 to further move with the first charging terminal 22 During the connection process, the second charging terminal 28 pushes away the first baffle 70 so that the second charging terminal 28 is connected to the first charging terminal 22 . In this way, external dust, water vapor, etc. can be prevented from entering the first fixed seat 64 .
- the first baffle 70 can function as a dust-proof cover and a waterproof cover, and the first baffle 70 can be normally closed through a reset member (such as a torsion spring or a spring piece).
- a reset member such as a torsion spring or a spring piece.
- the second charging component 24 includes a resisting portion 42 and a second fixing base 72 , the second guide structure 26 movably passes through the resisting portion 42 , and the second fixing base 72 is connected to There is a support base 74, the second fixed base 72 is at least partially located in the second guide structure 26, a part of the second charging terminal 28 is located in the second fixed base 72, and the other part is located outside the second fixed base 72.
- the support base 74 An elastic member 76 is provided between the front outer wall and the front inner wall of the resisting portion 42 . When the second charging terminal 28 further moves to connect with the first charging terminal 22 , the support base 74 compresses the elastic member 76 . In this way, the second charging terminal 28 can move relative to the second guide structure 26 .
- the second charging component 24 can be driven to move via the positioning device 30 .
- the second guide structure 26 is movable relative to the resisting portion 42 . After the second guide structure 26 is positioned and connected with the first guide structure 20 , the second guide structure 26 can no longer move toward the body 16 .
- the positioning device 30 continues to drive the second charging assembly 24 to move toward the body 16 , the second guide structure 26 can no longer move toward the body 16 .
- the second guide structure 26 is fixed, and the second fixed base 72, the support base 74 and the second charging terminal 28 continue to move toward the body 16.
- the second charging terminal 28 can extend out of the second guide structure 26 and into The first fixed base 64 is connected to the first charging terminal 22 , and the supporting base 74 simultaneously compresses the elastic member 76 . This enables a secondary advancement of the second charging terminal 28 .
- the whole device 30 can release the drone. Specifically, the moving part 34 and the second charging component 24 can move away from the drone, and the second charging terminal 28 Exit the first fixed seat 64 .
- the compressed elastic member 76 can drive the second charging terminal 28 and the second fixing seat 72 to further retract into the inside of the resisting portion 42 through the support base 74 .
- the second charging terminal 28 can completely retract into the second guide structure 26 .
- One end of the second fixed base 72 is also connected to a seat cover 78 , and the seat cover 78 can be connected to the second fixed base 72 by buckles on one side and bolts on the other side.
- the second charging component 24 includes a waterproof housing 80 located in the second fixing base 72 , a part of the second charging terminal 28 is located in the waterproof housing 80 , and the other part is located in the waterproof housing. 80, a floating member 82 is provided between the circumferential outer wall of the waterproof housing 80 and the circumferential inner wall of the second fixed seat 72.
- the floating member 82 can be arranged in an annular shape along the circumferential direction of the waterproof housing 80 to achieve a floating design in the up, down, left and right directions.
- the two floating members 82 are spaced apart along the length direction of the second charging terminal 28 .
- the arrangement of the floating member 82 may also allow the second charging terminal 28 itself to rotate.
- a part of the second charging terminal 28 is located in the waterproof housing 80, which can improve the waterproof performance of this part.
- float 82 includes a rubber ring. In this way, the floating member 82 has a simple structure and low cost.
- the circumferential side wall of the waterproof housing 80 is provided with two annular grooves 84, and each groove 84 is provided with a corresponding rubber ring.
- the groove 84 can limit the rubber ring and prevent the rubber ring from deviating from the set position.
- the second charging component 24 also includes a waterproof component (not shown) and a waterproof terminal 86 , the waterproof terminal 86 is connected to the second charging terminal 28 , and the waterproof component is located in the waterproof housing 80 .
- the waterproof member covers the connection between the waterproof terminal 86 and the second charging terminal 28 . In this way, the waterproof performance of the second charging component 24 can be further improved.
- the waterproof component can cover the connection between the waterproof terminal 86 and the second charging terminal 28, which can prevent the connection from being corroded by water vapor and causing oxidation and degradation of electrical performance.
- the waterproof terminal 86 and the second charging terminal 28 can be connected by welding, and then the waterproof case 80 is put on, so that the connection point between the second charging terminal 28 and the waterproof terminal 86 is located in the waterproof case 80 .
- a glue injection hole 88 is provided on the side wall of the waterproof case 80. Through the glue injection hole 88, glue can be injected into the inside of the waterproof case 80 to cover the connection between the second charging terminal 28 and the waterproof terminal 86. , the glue forms a waterproof component after cooling, waterproofing the connection, thereby improving the waterproof performance and reliability of the second charging component 24.
- the second guide structure 26 is provided with a second opening 90 and a second baffle 92 , the second baffle 92 closes the second opening 90 , and the second charging terminal 28 further moves with the first charging terminal 22 During the connection process, the second charging terminal 28 pushes open the second baffle 92 . In this way, external dust, moisture, etc. can be prevented from entering the second guide structure 26 .
- the second opening 90 can communicate with the first positioning groove 54 .
- the second baffle 92 can function as a dust-proof cover and a waterproof cover, and the second baffle 92 can be normally closed through a reset member (such as a torsion spring or a spring piece).
- a reset member such as a torsion spring or a spring piece.
- the second charging component 24 includes a housing 93 and a temperature sensor 94 .
- the temperature sensor 94 is located in the housing 93 , and the temperature sensor 94 is used to collect the internal temperature of the housing 93 . In this way, when the temperature in the housing 93 is too high, corresponding actions can be taken.
- components such as the second charging terminal 28 and the second fixing base 72 may be located in the housing 93 .
- the housing 93 covers part of the resisting portion 42 .
- the housing 93 can be fixedly connected to the connecting component 40 and can move relative to the resisting portion 42 .
- the temperature sensor 94 can detect the internal temperature of the housing 93 in real time. When the temperature detected by the temperature sensor 94 exceeds a temperature threshold, the base station 14 control system will be notified to remind the user to replace it. If the temperature continues to rise to the risk threshold, the base station 14 control The system issues an alarm, and the base station 14 can stop the charging function to prevent accidents.
- the temperature sensor 94 may detect the temperature of the second charging terminal 28 to monitor as the internal temperature of the housing 93 .
- temperature sensor 94 may include a thermistor.
- the thermistor can be an NTC thermistor or a PTC thermistor.
- the movable platform 12 includes at least one of a sweeping robot, a drone, an unmanned vehicle, and an unmanned ship. In this way, the movable platform system 100 has a wide application range and many application scenarios.
- the movable platform 12 includes a drone, and the base station 14 includes a drone airport. It can be understood that, in addition to drones, the movable platform 12 may also include at least one of a sweeping robot, an unmanned vehicle, and an unmanned ship.
- the base station 14 may include a charging station.
- the base station 14 may include a charging pile.
- the base station 14 may include a charging dock or the like.
- a movable platform 12 provided by the embodiment of the present application includes:
- the first charging component 18 is provided on the body 16.
- the body 16 is provided with a first guide structure 20.
- the first charging component 18 has a first charging terminal 22,
- the movable platform 12 is configured to achieve positioning and docking with the second guide structure 26 of the base station 14 through the first guide structure 20, and the first charging terminal 22 is further charged with the second base station 14 that moves relative to the second guide structure 26. Terminal 28 connection.
- the first charging component 18 and the second charging component 24 realize positioning and docking through the guide structure, and the positioning effect is good, which can ensure the charging effect.
- the second charging terminal 28 further moves to connect with the first charging terminal 22, which can Electrical connection is achieved and charging is possible.
- one of the first charging terminal 22 and the second charging terminal 28 is a clip, and the other is a single conductive piece, and the single conductive piece is inserted into the clip to achieve charging and data transmission. In this way, the use of components can be reduced and positioning problems caused by multi-pin connectors can be avoided.
- the first guide structure 20 includes a positioning post 50 provided on the body 16 , and at least a portion of the positioning post 50 is used to be received in the first positioning groove 54 of the second guide structure 26 to achieve the first The guide structure 20 and the second guide structure 26 are positioned and connected. In this way, through the cooperation of the positioning post 50 and the first positioning groove 54, a simple guide structure is achieved.
- the body 16 is also provided with a third guide structure 58 spaced apart from the first guide structure 20 .
- the third guide structure 58 is configured to guide the second charging terminal 28 when it further moves, so that the second charging terminal 28 can move further.
- the charging terminal 28 is positionally connected to the first charging terminal 22 . In this way, the second charging terminal 28 can be guided, further improving the alignment accuracy of the second charging terminal 28 and the first charging terminal 22 .
- the third guide structure 58 includes a second positioning groove 60 provided on the body 16.
- the guide opening of the second positioning groove 60 is provided with a second guide surface 62, and the second charging terminal 28 can move along the second positioning groove 60.
- the guide surface 62 slides into the second positioning groove 60 to position and dock the second charging terminal 28 with the first charging terminal 22 . In this way, the second charging terminal 28 is guided through the second positioning groove 60, which has a simple structure and is easy to implement.
- the first charging component 18 includes a first mounting base 64 located within the body 16 , and the first charging terminal 22 is located within the first mounting base 64 . In this way, the fixed installation of the first charging terminal 22 is facilitated.
- the side wall of the first fixing base 64 is provided with a through hole 66 that communicates with the internal space of the first fixing base 64 .
- the through hole 66 can play the role of drainage and exhaust.
- the first fixed base 64 is provided with a first opening 68 and a first baffle 70 .
- the first baffle 70 closes the first opening 68 and allows the second charging terminal 28 to further move with the first charging terminal 22 During the connection process, the first baffle 70 is pushed open by the second charging terminal 28 so that the second charging terminal 28 is connected to the first charging terminal 22 . In this way, external dust, water vapor, etc. can be prevented from entering the first fixed seat 64 .
- the movable platform 12 includes at least one of a sweeping robot, a drone, an unmanned vehicle, and an unmanned ship. In this way, the movable platform system 100 has a wide application range and many application scenarios.
- the embodiment of the present application provides a base station 14 for charging the movable platform 12.
- the base station 14 includes:
- a movable second charging component 24 The second charging component 24 has a second guide structure 26 and a second charging terminal 28.
- the second charging terminal 28 can move relative to the second guide structure 26;
- the base station 14 is configured such that the second charging component 24 moves toward the movable platform 12 and achieves positioning and docking through the first guide structure 20 and the second guide structure 26 of the movable platform 12, and the second charging terminal 28 further moves with the movable platform 12.
- the first charging terminal 22 of the movable platform 12 is connected.
- the first charging component 18 and the second charging component 24 realize positioning and docking through the guide structure.
- the positioning effect is good and the charging effect can be ensured.
- the second charging terminal 28 further moves to connect with the first charging terminal 22, which can realize the charging effect. Connected for charging.
- one of the first charging terminal 22 and the second charging terminal 28 is a clip, and the other is a single conductive piece, and the single conductive piece is inserted into the clip to achieve charging and data transmission. In this way, the use of components can be reduced and positioning problems caused by multi-pin connectors can be avoided.
- the second guide structure 26 is provided with a first positioning groove 54
- the first positioning groove 54 is used to receive at least a part of the positioning post 50 of the first guide structure 20 to achieve positioning and docking between the first guide structure 20 and the guide structure. In this way, through the cooperation of the positioning post 50 and the first positioning groove 54, a simple guide structure is achieved.
- the guide opening of the first positioning groove 54 gradually narrows from the outside to the inside. In this way, it is convenient for the positioning post 50 to extend into the first positioning groove 54 .
- the guide opening of the first positioning groove 54 is provided with a first guide surface 56 , and the positioning post 50 can slide into the first positioning groove 54 along the first guide surface 56 to achieve positioning and docking. In this way, the positioning post 50 can be smoothly slid into the first positioning groove 54 .
- the second charging component 24 includes a resisting portion 42 and a second fixed base 72 , and the second guide structure 26 movably passes through the resisting portion 42 .
- the second fixed seat 72 is at least partially located within the second guide structure 26 .
- a part of the second charging terminal 28 is located inside the second fixed seat 72 , and the other part is located outside the second fixed seat 72 .
- the front outer wall of the second fixed seat 72 is in contact with the second fixed seat 72 .
- An elastic member 76 is provided between the front inner walls of the resisting portion 42 .
- the second charging component 24 includes a waterproof housing 80 located in the second fixing base 72 , a part of the second charging terminal 28 is located in the waterproof housing 80 , and the other part is located in the waterproof housing. 80, a floating member 82 is provided between the circumferential outer wall of the waterproof housing 80 and the circumferential inner wall of the second fixed seat 72.
- float 82 includes a rubber ring. In this way, the floating member 82 has a simple structure and low cost.
- the second charging component 24 also includes a waterproof component and a waterproof terminal 86.
- the waterproof terminal 86 is connected to the second charging terminal 28.
- the waterproof component is located in the waterproof housing 80.
- the waterproof component covers the waterproof terminal 86 and the second charging terminal 86.
- the connection point of charging terminal 28 In this way, the waterproof performance of the second charging component 24 can be further improved.
- the second guide structure 26 is provided with a second opening 90 and a second baffle 92 , the second baffle 92 closes the second opening 90 , and the second charging terminal 28 further moves with the first charging terminal 22 During the connection process, the second charging terminal 28 pushes open the second baffle 92 . In this way, external dust, moisture, etc. can be prevented from entering the second guide structure 26 .
- the second charging component 24 includes a housing 93 and a temperature sensor 94 , the temperature sensor 94 is located inside the housing 93 , and the temperature sensor 94 is used to collect the internal temperature of the housing 93 . In this way, when the temperature in the housing 93 is too high, corresponding actions can be taken.
- an embodiment of the present application provides a charging method for a movable platform system 100.
- the movable platform system 100 includes a movable platform 12 and a base station 14.
- the charging method includes:
- Step S10 control the moving part 34 to adjust the position of the movable platform 12 located on the base station 14, so that the movable platform 12 is located at the target position of the base station 14;
- Step S12 when the movable platform 12 cannot be adjusted to the target position of the base station 14, control the moving part 34 to repeatedly adjust the movable platform 12;
- Step S14 until the movable platform 12 is located at the target position of the base station 14, the base station 14 charges the movable platform 12.
- the above charging method adjusts the position of the movable platform 12 so that the movable platform 12 is located at the target position of the base station 14, thereby triggering the charging operation.
- the base station 14 may include an alignment device 30.
- the alignment device 30 includes a moving part 34 and a driving mechanism 36.
- the driving mechanism 36 is mechanically coupled with the moving part 34.
- the driving mechanism 36 can be used to drive the moving member 34 to move, thereby positioning the movable platform 12 and releasing the movable platform 12 .
- the driving mechanism 36 can control the moving parts 34 to close to reposition the movable platform 12 on the base station 14 so that the movable platform 12 is located at the target position of the base station 14 .
- the movable platform 12 When at the target position, the movable platform 12 usually triggers the in-position switch to generate an in-position detection signal, which indicates that the movable platform 12 is at the target position, and the first charging terminal 22 and the second charging terminal 28 are connected, and the base station 14 The removable platform 12 can be charged.
- the driving mechanism 36 can control the moving part 34. Release the movable platform 12, and then control the moving parts 34 to close again, and adjust the movable platform 12 to the target position again. Until the base station 14 receives the arrival detection signal, it indicates that the movable platform 12 is located at the target position of the base station 14, and the base station 14 charges the movable platform 12.
- both the base station 14 and the movable platform 12 may include a power carrier chip, and the base station 14 may transmit the communication request through the power line (including the connection formed by the first charging terminal 22 and the second charging terminal 28 through the power carrier chip). line) is transmitted to the movable platform 12, communicates with the power carrier chip of the movable platform 12, and obtains battery-related information (such as charging status) after the communication is established.
- the power line realizes wired communication between the base station 14 and the movable platform 12, ensuring the reliability of communication, optimizing the communication and charging connection scheme between the base station 14 and the movable platform 12 to the greatest extent, and using the power line communication reduces the need for communication signal line.
- the movable platform 12 is a drone
- the base station 14 is a drone airport.
- the UAV mainly includes a charging control module, an aircraft control module and a battery module.
- the UAV airport mainly includes a charging control module, an airport control module and an AC-DC power module.
- the drone When the drone is moved to the target position by the moving part 34 (such as a push rod), the airport control module turns on the power module to provide power to the aircraft-less communication module.
- the airport and the drone establish wired communication through the power carrier signal of the charging terminal.
- the drone turns on the charging switch and adjusts the AC-DC power module input through communication with the airport control module to complete the drone charging function.
- the moving member 34 is controlled to position the movable platform 12 located on the base station 14 so that the movable platform 12 is located at a target position of the base station 14; when the movable platform 12 fails to be positioned to the base station When the target position of 14 is reached, the moving part 34 is controlled to perform repeated positioning of the movable platform 12, including:
- the moving parts 34 are controlled to close to clamp the movable platform 12 at the target position of the base station 14.
- the moving parts 34 are controlled to release the movable platform 12 and start again.
- the moving parts 34 are controlled to be closed, and the process is repeated to control the movable platform 12 to be adjusted to the target position of the base station 14 . In this way, the movable platform 12 can be repositioned by closing the moving part 34 , and repositioned by releasing the moving part 34 .
- the plurality of moving parts 34 move together in the direction of the movable platform 12 and jointly push the movable platform 12 to move to the target position, so that the movable platform 12 can be clamped at the target position of the base station 14 .
- the position detection signal When the position detection signal is not received, it indicates that the movable platform 12 cannot be positioned to the target position of the base station 14 . At this time, the moving part 34 is controlled to release the movable platform 12 and is controlled to close again. This process is repeated to control the movable platform 12 to be adjusted to the target position of the base station 14 .
- the position detection signal When the position detection signal is received, it indicates that the movable platform 12 is positioned to the target position of the base station 14, and the base station 14 can charge the movable platform 12.
- the moving part 34 is controlled to repeatedly adjust the movable platform 12, including:
- Whether the movable platform 12 is adjusted to the target position of the base station 14 can be identified by the base station 14.
- the base station 14 can obtain the in-position detection signal. If the base station 14 does not obtain the in-position detection signal The signal controls the moving member 34 to repeat the positioning of the movable platform 12 . In this way, it can be determined that the movable platform 12 is positioned to the target position of the base through the position detection signal.
- the driving mechanism 36 may include an in-position switch.
- the moving member 34 When the moving member 34 is controlled to adjust the movable platform 12 to the target position of the base station 14, the movable platform 12 will trigger the in-position switch to generate an in-position detection signal, which the base station can obtain.
- the arrival detection signal indicates that the movable platform 12 is at the target position, and the first charging terminal 22 and the second charging terminal 28 are connected, and the base station 14 can charge the movable platform 12 . If the base station 14 does not obtain the position detection signal, the base station 14 can control the moving part to repeat the positioning of the movable platform.
- the charging method further includes:
- the moving part 34 is controlled to release the movable platform 12, and the moving part 34 is controlled to close again to reposition the movable platform 12 to the base station.
- the number of times threshold can be set according to specific circumstances. In one example, the number threshold is 3 times. After adjusting the movable platform 12 three times and still not receiving the position detection signal, abnormal information is reported. Abnormal information can be reported to the server, designated mobile terminals, etc. to remind relevant personnel to perform troubleshooting.
- charging the mobile platform 12 by the base station 14 includes:
- the base station 14 communicates with the movable platform 12 to obtain battery-related information of the movable platform 12;
- the base station 14 determines whether charging conditions are met based on battery-related information
- the base station 14 When the charging conditions are met, the base station 14 charges the battery of the movable platform 12 . In this manner, the base station 14 can charge the movable platform 12 .
- the base station 14 can turn on the charging power supply (such as a 12V power supply) to prepare for charging the movable platform 12, and at the same time, the base station 14 can attempt communication.
- the base station 14 may send a communication request to the mobile platform 12, and after receiving a confirmation request sent back by the mobile platform 12 based on the communication request, the base station 14 may determine that the communication with the mobile platform 12 is successful.
- the base station 14 may then send a request to obtain the battery-related information to the movable platform 12, and the movable platform 12 sends the battery-related information to the base station 14 based on the request.
- the base station 14 determines whether charging conditions are met based on battery-related information. When the charging conditions are met, the base station 14 charges the battery of the movable platform 12 .
- the charging conditions may include that the temperature of the battery core is within a set range and the power of the battery core is lower than a set power threshold. When the collected battery core temperature is within the set range and the battery power is lower than the set power threshold, it can be considered that the charging conditions are met, and the base station 14 charges the movable platform 12 . It can be understood that in other embodiments, the charging conditions may also include other conditions, and are not limited to the above two conditions.
- the charging method includes:
- the moving part 34 is controlled to release the movable platform 12, and the moving part 34 is controlled to close to adjust the movable platform 12 to the target position of the base station 14. In this way, the movable platform 12 can be repositioned.
- the base station 14 may send a communication request to the movable platform 12 .
- the base station 14 can determine that the communication with the mobile platform 12 is successful.
- the base station 14 does not receive the confirmation request sent back by the mobile platform 12, and it can be determined that the communication between the base station 14 and the mobile platform 12 is not successful. At this time, it may be caused by the accidental loosening of the first charging terminal 22 and the second charging terminal 28 .
- the base station 14 can control the moving parts 34 to release the movable platform 12, and control the moving parts 34 to close again to adjust the movable platform 12 to the target position of the base station 14, thereby repositioning the movable platform 12.
- base station 14 may attempt communication with movable platform 12 again.
- mobile platform 12 may send a communication request to base station 14.
- the movable platform 12 can determine that the communication with the base station 14 is successful.
- the mobile platform 12 does not receive the confirmation request sent back by the base station 14, and it can be determined that the base station 14 and the mobile platform 12 did not communicate successfully.
- the charging method further includes:
- the base station 14 cools down the movable platform 12 . In this way, the battery core can meet the charging conditions.
- the battery may include multiple cells. If the temperature of the cells is too high, it is easy to cause low charging efficiency, and in severe cases, the battery may even explode. Therefore, when the battery core temperature is greater than the first temperature threshold, the base station 14 can cool down the movable platform 12 .
- the base station 14 is equipped with an air conditioner, and the cooling measures include the base station 14 starting the air conditioner to cool down the movable platform 12 .
- an air conditioner is provided below the landing platform 32. When the air conditioner is activated, cold air can be blown toward the movable platform 12.
- the base station 14 is equipped with a fan, and the cooling measures include the base station 14 starting the fan to cool down the movable platform 12 .
- the charging method includes:
- the movable platform 12 When the battery core temperature of the movable platform 12 is less than the second temperature threshold, the movable platform 12 turns on the battery heating function to heat the battery core. In this way, the battery core can meet the charging conditions.
- the battery may include multiple cells. If the temperature of the cell is too low, the cell activity is insufficient, which may easily lead to low charging efficiency. Therefore, when the battery core temperature is lower than the second temperature threshold, the movable platform 12 turns on the battery heating function to heat the battery core.
- the first temperature threshold is greater than the second temperature threshold, and a temperature range may be formed between the first temperature threshold and the second temperature threshold, and the charging conditions include that the battery core temperature is within this temperature range.
- the first temperature threshold is 40 degrees Celsius and the second temperature threshold is 5 degrees Celsius. It can be understood that the temperature threshold in the embodiment of the present application is not limited to this, and can also be set to other temperature thresholds.
- the battery heating function can utilize the heat generated by the battery core to increase the temperature of the battery core.
- the battery heating function can use an external heating element to heat the battery core to increase the temperature of the battery core.
- External heating elements may include PCT materials, heating films, heating fluids, etc.
- the charging method includes:
- the temperature of the charging terminal is detected. If the temperature exceeds the preset temperature threshold, charging is terminated and abnormal information is reported;
- the temperature of the charging terminal may rise abnormally due to accident.
- High temperatures can easily cause damage to internal structural components.
- plastics may be deformed or scorched by high temperatures.
- short circuits and fires may occur.
- Metals may be more easily oxidized due to high temperatures and lose their conductivity. Therefore, when the temperature of the charging terminal exceeds the preset temperature threshold, charging is terminated and abnormal information is reported, which can remind relevant personnel to perform troubleshooting.
- the preset temperature threshold can be specifically set according to actual needs.
- the base station 14 can end charging the movable platform 12, and the movable platform 12 can wait for a work command.
- the predetermined battery level may include 100%, 95%, etc. battery percentages.
- the temperature sensor 94 detects and monitors the temperature of the second charging terminal 28. When the temperature of the second charging terminal 28 exceeds the preset temperature threshold, the base station 14 can end charging and report abnormal information.
- the temperature sensor 94 can detect and monitor the temperature of the first charging terminal 22 . When the temperature of the first charging terminal 22 exceeds a preset temperature threshold, the base station 14 can end charging and report abnormal information.
- the temperature sensor 94 can detect the temperature of the first charging terminal 22 and the second charging terminal 28 and monitor when the temperature of the first charging terminal 22 exceeds the first preset temperature threshold, or the temperature of the second charging terminal 28 When the temperature exceeds the second preset temperature threshold, the base station 14 may end charging and report abnormal information.
- the first preset temperature threshold may be equal to the second preset temperature threshold, or may not be equal, and is specifically set according to the actual situation.
- Figure 13 shows a flow chart of a charging method according to a specific embodiment of the present application.
- the airport opened the hatch to expose the landing platform for the drone to land.
- the front and rear left and right servo pushrods were closed to try to move the drone to the target location.
- the in-position switches of the front and rear left and right servos After the in-position switches of the front and rear left and right servos are triggered, it indicates that the drone has been moved to the target position. Otherwise, the push rods of the front and rear left and right servos are released and then closed again to try to move the drone to the target position. If the number of times the push rod is opened and closed exceeds the threshold, such as 3 times, it can be considered that the front, rear, left and right servo push rods cannot successfully position the drone to the target position, and there is an abnormality in charging. The airport can report the abnormal situation to the user. end, reminding the user for maintenance.
- the airport can turn on the power, supply power to the charging module of the drone, and try to communicate with the battery to obtain battery information such as battery power.
- the front, rear, left and right servo pushrods can be released again and then closed again to try to move the drone to the target position.
- the airport can obtain the battery information and determine whether the drone meets the charging conditions to decide whether to charge. Since the battery temperature will affect the charging rate and battery life, the airport can decide whether to adjust the temperature based on the battery temperature, such as turning on the air conditioner to cool the battery, or turning on the battery heating function to increase the battery temperature.
- the airport can detect the temperature of the charging terminal to determine whether the charging is abnormal. If the charging terminal is overheated beyond a certain threshold, the abnormal information can be reported to the user terminal.
- the movable platform system 100 can achieve at least the following technical effects:
- Charging the base station 14 does not require a high-precision mechanical structure for battery replacement, saving costs and improving reliability.
- the method for the base station 14 to charge the movable platform 12 is simple and reliable.
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Abstract
A movable platform system (100), comprising a movable platform (12) and a base station (14). The movable platform (12) comprises a body (16) and a first charging assembly (18), wherein the first charging assembly (18) is provided on the body (16), a first guide structure (20) is provided on the body (16), and the first charging assembly (18) has a first charging terminal (22). The base station (14) comprises a movable second charging assembly (24), the second charging assembly (24) has a second guide structure (26) and a second charging terminal (28), and the second charging terminal (28) is movable with respect to the second guide structure (26). The movable platform system (100) is configured to move the second charging assembly (24) to the body (16) and implement positioning docking by means of the first guide structure (20) and the second guide structure (26), and the second charging terminal (28) further moves to be connected to the first charging terminal (22).
Description
本申请涉及可移动平台充电技术领域,特别涉及一种可移动平台系统、可移动平台、基站及充电方法。The present application relates to the technical field of movable platform charging, and in particular to a movable platform system, a movable platform, a base station and a charging method.
目前,可移动平台,例如无人机,一般带有可充电电池以供自身电能需要。当电池电量不足时,可移动平台需要移动至基站进行自主充电。通常地,可移动平台和基站分别具有充电端。需要充电时,可移动平台的充电端与基站的充电端对接以实现电连接,进而可以进行充电。然而,若可移动平台的充电端与基站的充电端对接不准确的话,可能会导致无法充电或充电效率低下的问题。Currently, mobile platforms, such as drones, generally have rechargeable batteries for their own power needs. When the battery power is low, the mobile platform needs to move to the base station for autonomous charging. Typically, the movable platform and the base station have charging terminals respectively. When charging is required, the charging end of the movable platform is docked with the charging end of the base station to achieve electrical connection, and then charging can be performed. However, if the charging end of the mobile platform is not accurately connected to the charging end of the base station, it may cause problems such as failure to charge or low charging efficiency.
发明内容Contents of the invention
本申请的实施方式提供一种可移动平台系统、可移动平台、基站及充电方法。Embodiments of the present application provide a movable platform system, a movable platform, a base station and a charging method.
本申请实施方式的一种可移动平台系统,包括:A movable platform system according to the embodiment of the present application includes:
可移动平台,包括本体和第一充电组件,所述第一充电组件设在所述本体上,所述本体上设有第一导向结构,所述第一充电组件具有第一充电端子;The movable platform includes a body and a first charging component. The first charging component is provided on the body. The body is provided with a first guide structure. The first charging component has a first charging terminal;
基站,包括可移动的第二充电组件,所述第二充电组件具有第二导向结构及第二充电端子,所述第二充电端子能够相对于所述第二导向结构移动;A base station including a movable second charging component, the second charging component having a second guide structure and a second charging terminal, the second charging terminal being movable relative to the second guide structure;
其中,所述可移动平台系统被配置为,所述第二充电组件向所述本体移动,并通过所述第一导向结构和所述第二导向结构实现定位对接,所述第二充电端子进一步移动与所述第一充电端子连接。Wherein, the movable platform system is configured such that the second charging component moves toward the body and achieves positioning and docking through the first guide structure and the second guide structure, and the second charging terminal further Move to connect with the first charging terminal.
本申请实施方式的一种可移动平台,包括:A movable platform according to the embodiment of the present application includes:
本体;和ontology; and
第一充电组件,所述第一充电组件设在所述本体上,所述本体上设有第一导向结构,所述第一充电组件具有第一充电端子,A first charging component, the first charging component is provided on the body, the body is provided with a first guide structure, the first charging component has a first charging terminal,
其中,所述可移动平台被配置为,通过所述第一导向结构与基站的第二导向结构实现定位对接,所述第一充电端子进一步与相对于所述第二导向结构移动的基站第二充电端子连接。Wherein, the movable platform is configured to realize positioning and docking with the second guide structure of the base station through the first guide structure, and the first charging terminal is further connected with a second base station that moves relative to the second guide structure. Charging terminal connection.
本申请实施方式的一种基站,用于可移动平台充电,所述基站包括:A base station according to an embodiment of the present application is used for charging a mobile platform. The base station includes:
可移动的第二充电组件,所述第二充电组件具有第二导向结构及第二充电端子,所述第二充电端子能够相对于所述第二导向结构移动;a movable second charging component, the second charging component having a second guide structure and a second charging terminal, the second charging terminal being movable relative to the second guide structure;
其中,所述基站被配置为,所述第二充电组件向所述可移动平台移动,并通过所述第二导向结构和所述可移动平台的第一导向结构实现定位对接,所述第二充电端子进一步移动与所述可移动平台的第一充电端子连接。Wherein, the base station is configured such that the second charging component moves toward the movable platform and achieves positioning and docking through the second guide structure and the first guide structure of the movable platform, and the second charging component The charging terminal further moves and is connected to the first charging terminal of the movable platform.
上述可移动平台系统、可移动平台和基站中,第一充电组件和第二充电组件通过导向结构实现定位对接,定位效果好,可以保证充电效果,第二充电端子进一步移动与第一充电端子连接,可以实现电连接,可进行充电。In the above-mentioned movable platform system, movable platform and base station, the first charging component and the second charging component realize positioning and docking through the guide structure. The positioning effect is good and the charging effect can be ensured. The second charging terminal further moves and is connected to the first charging terminal. , can achieve electrical connection and can be charged.
本申请实施方式提供一种可移动平台系统的充电方法,所述可移动平台系统包括可移动平台和基站,所述充电方法包括:An embodiment of the present application provides a charging method for a movable platform system, which includes a movable platform and a base station. The charging method includes:
控制移动件对位于所述基站上的所述可移动平台进行整位,以使所述可移动平台位于所述基站的目标位置;Control the moving member to adjust the position of the movable platform located on the base station so that the movable platform is located at the target position of the base station;
在所述可移动平台未能被整位至所述基站的目标位置时,控制所述移动件对所述可移动平台进行重复整位;When the movable platform fails to be adjusted to the target position of the base station, control the moving member to repeatedly adjust the movable platform;
直至在所述可移动平台位于所述基站的目标位置时,所述基站对所述可移动平台充电。The base station charges the movable platform until the movable platform is located at the target location of the base station.
上述充电方法,通过对可移动平台进行整位使可移动平台位于基站的目标位置,进而可触发充电操作。The above charging method adjusts the position of the movable platform so that the movable platform is located at the target position of the base station, thereby triggering the charging operation.
本申请的附加方面和优点将在下面的描述中部分给出,部分将从下面的描述中变得明显,或通过本 申请的实践了解到。Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
本申请的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解,其中:The above and/or additional aspects and advantages of the present application will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:
图1是本申请实施方式的可移动平台系统的结构图;Figure 1 is a structural diagram of the movable platform system according to the embodiment of the present application;
图2是本申请实施方式的基站的结构图;Figure 2 is a structural diagram of a base station according to an embodiment of the present application;
图3是本申请实施方式的可移动平台系统的截面示意图;Figure 3 is a schematic cross-sectional view of the movable platform system according to the embodiment of the present application;
图4是图3中A区域的放大图;Figure 4 is an enlarged view of area A in Figure 3;
图5是本申请实施方式的可移动平台的部分结构图;Figure 5 is a partial structural diagram of the movable platform according to the embodiment of the present application;
图6是本申请实施方式的整位装置和第二充电组件的结构示意图;Figure 6 is a schematic structural diagram of the positioning device and the second charging component according to the embodiment of the present application;
图7是本申请实施方式的整位装置和第二充电组件的另一结构示意图;Figure 7 is another structural schematic diagram of the positioning device and the second charging component according to the embodiment of the present application;
图8是本申请实施方式的第二充电组件的部分结构图;Figure 8 is a partial structural diagram of the second charging component according to the embodiment of the present application;
图9是本申请实施方式的整位装置和第二充电组件的截面示意图;Figure 9 is a schematic cross-sectional view of the positioning device and the second charging component according to the embodiment of the present application;
图10是本申请实施方式的第二充电组件的截面示意图;Figure 10 is a schematic cross-sectional view of the second charging component according to the embodiment of the present application;
图11是本申请实施方式的第二充电端子与防水壳体的连接结构图;Figure 11 is a connection structural diagram of the second charging terminal and the waterproof case according to the embodiment of the present application;
图12是本申请实施方式的充电方法的流程示意图;Figure 12 is a schematic flow chart of the charging method according to the embodiment of the present application;
图13是本申请实施方式的充电方法的另一流程示意图。Figure 13 is another schematic flowchart of the charging method according to the embodiment of the present application.
下面详细描述本申请的实施方式,所述实施方式的示例在附图中示出,其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的,仅用于解释本申请,而不能理解为对本申请的限制。Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application and cannot be understood as limiting the present application.
在本申请的描述中,需要理解的是,术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本申请和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本申请的限制。此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本申请的描述中,“多个”的含义是两个或两个以上,除非另有明确具体的限定。In the description of this application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " The directions indicated by "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" etc. or The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it cannot be construed as a limitation on this application. In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, features defined as “first” and “second” may explicitly or implicitly include one or more of the described features. In the description of this application, "plurality" means two or more than two, unless otherwise explicitly and specifically limited.
在本申请的描述中,需要说明的是,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接。可以是机械连接,也可以是电连接。可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本申请中的具体含义。In the description of this application, it should be noted that, unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. Connect, or connect in one piece. The connection can be mechanical or electrical. It can be a direct connection or an indirect connection through an intermediary. It can be an internal connection between two elements or an interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.
在本申请中,除非另有明确的规定和限定,第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触,也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且,第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方,或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方,或仅仅表示第一特征水平高度小于第二特征。In this application, unless otherwise explicitly stated and limited, the term "above" or "below" a first feature on a second feature may include direct contact between the first and second features, or may also include the first and second features. Not in direct contact but through additional characteristic contact between them. Furthermore, the terms "above", "above" and "above" a first feature on a second feature include the first feature being directly above and diagonally above the second feature, or simply mean that the first feature is higher in level than the second feature. “Below”, “under” and “under” the first feature is the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature is less horizontally than the second feature.
上文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了简化本申请的公开,上文中对特定例子的部件和设置进行描述。当然,它们仅仅为示例,并且目的不在于限制本申请。此外,本申请可以在不同例子中重复参考数字和/或参考字母,这种重复是为了简化和清楚的目的,其本身不指示所讨论各种实施方式和/或设置之间的关系。此外,本申请提供了的各种特定的工艺和材料的例子,但 是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。The above disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and arrangements of specific examples are described above. Of course, they are merely examples and are not intended to limit the application. Furthermore, this application may repeat reference numbers and/or reference letters in different examples, such repetition being for the purposes of simplicity and clarity and does not by itself indicate a relationship between the various embodiments and/or arrangements discussed. In addition, this application provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.
请参阅图1至图4,本申请实施方式的一种可移动平台系统100,包括可移动平台12和基站14。Referring to FIGS. 1 to 4 , a movable platform system 100 according to an embodiment of the present application includes a movable platform 12 and a base station 14 .
可移动平台12包括本体16和第一充电组件18,第一充电组件18设在本体16上,本体16上设有第一导向结构20,第一充电组件18具有第一充电端子22。基站14包括可移动的第二充电组件24,第二充电组件24具有第二导向结构26及第二充电端子28,第二充电端子28能够相对于第二导向结构26移动。其中,可移动平台系统100被配置为,第二充电组件24向本体16移动,并通过第一导向结构20和第二导向结构26实现定位对接,第二充电端子28进一步移动与第一充电端子22连接。The movable platform 12 includes a body 16 and a first charging component 18 . The first charging component 18 is provided on the body 16 . The body 16 is provided with a first guide structure 20 . The first charging component 18 has a first charging terminal 22 . The base station 14 includes a movable second charging component 24. The second charging component 24 has a second guide structure 26 and a second charging terminal 28. The second charging terminal 28 can move relative to the second guide structure 26. The movable platform system 100 is configured such that the second charging component 24 moves toward the body 16 and achieves positioning and docking through the first guide structure 20 and the second guide structure 26 , and the second charging terminal 28 further moves with the first charging terminal. 22 connections.
上述可移动平台系统100中,第一充电组件18和第二充电组件24通过导向结构实现定位对接,定位效果好,可以保证充电效果,第二充电端子28进一步移动与第一充电端子22连接,可以实现电连接,可进行充电。In the above-mentioned movable platform system 100, the first charging component 18 and the second charging component 24 realize positioning and docking through the guide structure. The positioning effect is good and the charging effect can be ensured. The second charging terminal 28 further moves to connect with the first charging terminal 22. Can be electrically connected and can be charged.
具体地,可以是第一充电端子22作为母端子,第二充电端子28作为公端子,也可以是第一充电端子22作为公端子,第二充电端子28作为母端子。在宽度方向上,母端子要大于公端子,可以容忍公端子在宽度方向的偏移和偏转。第一充电端子22和第二充电端子28可以是金属制成的充电端子,也可以是利用其它导电材料(在保证刚度的情况下)制成的充电端子。Specifically, the first charging terminal 22 may be used as a female terminal and the second charging terminal 28 may be used as a male terminal, or the first charging terminal 22 may be used as a male terminal and the second charging terminal 28 may be used as a female terminal. In the width direction, the female terminal is larger than the male terminal and can tolerate the offset and deflection of the male terminal in the width direction. The first charging terminal 22 and the second charging terminal 28 may be charging terminals made of metal, or may be charging terminals made of other conductive materials (as long as rigidity is ensured).
可移动平台12包括扫地机器人、无人机、无人车、无人船中的至少一种。在本申请实施方式中,以可移动平台12为无人机,基站14为无人机机场,第一充电端子22为母端子,第二充电端子28为公端子作为说明。然而,本申请实施方式不限于此。The movable platform 12 includes at least one of a sweeping robot, a drone, an unmanned vehicle, and an unmanned ship. In the embodiment of the present application, the movable platform 12 is a drone, the base station 14 is a drone airport, the first charging terminal 22 is a female terminal, and the second charging terminal 28 is a male terminal. However, the embodiments of the present application are not limited to this.
本体16可以是无人机的机身。机身上设有第一充电组件18及第一导向结构20。第一导向结构20可以设置在机身的周向侧面,第一充电组件18可以设置在机身内并与第一导向结构20的位置对应。The body 16 may be the body of the drone. The fuselage is provided with a first charging component 18 and a first guide structure 20 . The first guide structure 20 may be disposed on the circumferential side of the fuselage, and the first charging component 18 may be disposed in the fuselage corresponding to the position of the first guide structure 20 .
请参图3,可移动平台系统100还包括整位装置30。当无人机需要充电作业或返回作业时,无人机可以先粗降落在机场。此时,无人机可能没有位于机场的目标位置。可以通过整位装置30对无人机进行整位处理,实现无人机降落位置的细校准。机场的目标位置具体可以为适合给无人机进行充电操作的位置。在实际应用中,目标位置可以根据实际需要进行设定。例如,目标位置可以设置在机场降落平台32的中央区域或者边缘区域,本申请实施方式仅以目标位置设置在降落平台32的中央区域为例进行说明,目标位置设置在其他区域的情况参照执行即可。Referring to FIG. 3 , the movable platform system 100 also includes a positioning device 30 . When the drone needs to be recharged or returned to work, the drone can make a rough landing at the airport. At this point, the drone may not be at its target location at the airport. The drone can be aligned by the alignment device 30 to achieve fine calibration of the landing position of the drone. The target location of the airport can specifically be a location suitable for charging the drone. In practical applications, the target position can be set according to actual needs. For example, the target position can be set in the central area or the edge area of the airport landing platform 32. The embodiment of the present application only takes the target position being set in the central area of the landing platform 32 as an example. If the target position is set in other areas, refer to the implementation. Can.
在一个实施方式中,在可移动平台12位于基站14的目标位置时,基站14可以驱动第二充电组件24向可移动平台12移动,进行充电对接操作。在一个实施方式中,整位装置30在对可移动平台12进行整位至目标位置过程中,可以同时带动第二充电组件24一并移动。In one embodiment, when the movable platform 12 is located at the target position of the base station 14, the base station 14 can drive the second charging component 24 to move toward the movable platform 12 to perform a charging docking operation. In one embodiment, during the process of positioning the movable platform 12 to the target position, the positioning device 30 can simultaneously drive the second charging component 24 to move together.
具体地,在一个实施方式中,整位装置30可包括移动件34。在机场收到无人机的返回指令时,机场可以打开舱盖(图未示),露出降落平台32,无人机可采用视觉和RTK定位,粗降落在机场降落平台32接口板降落区。整位装置30可以控制移动件34收拢,舱盖关闭。移动件34收拢时,可以推着无人机进行整位。当整位装置30的内侧到位开关均按下后,即表明无人机已夹紧,第一充电端子22与第二充电端子28已连接上,基站14输出充电电压(如12V电压),为无人机的充电控制模块供电,进而实现无人机的充电作业。Specifically, in one embodiment, the positioning device 30 may include a moving member 34 . When the airport receives the return instruction of the drone, the airport can open the hatch (not shown) to expose the landing platform 32. The drone can use vision and RTK positioning to roughly land in the interface board landing area of the airport landing platform 32. The positioning device 30 can control the moving parts 34 to close and the hatch cover to close. When the moving part 34 is folded, the drone can be pushed for positioning. When the inner position switches of the whole device 30 are pressed, it means that the drone has been clamped, the first charging terminal 22 and the second charging terminal 28 have been connected, and the base station 14 outputs the charging voltage (such as 12V voltage), as The charging control module of the drone supplies power to realize the charging operation of the drone.
移动件34可以包括推杆或推块。移动件34的数量可以为一个或者多个。在移动件34的数量为一个的情况下,移动件34的位置和整位方向皆可调,通过调整移动件34在机场上的位置和整位方向,可以从不同的位置和方向推动无人机,直至将无人机推动至目标位置。在移动件34的数量为多个的情况下,多个移动件34可以从不同的方向推动无人机,以快速的将无人机推动至目标位置。The moving member 34 may include a push rod or push block. The number of moving parts 34 may be one or more. When the number of moving parts 34 is one, the position and alignment direction of the moving part 34 are adjustable. By adjusting the position and alignment direction of the moving part 34 on the airport, the unmanned vehicle can be pushed from different positions and directions. until the drone is pushed to the target position. When the number of moving parts 34 is multiple, the multiple moving parts 34 can push the drone from different directions to quickly push the drone to the target position.
例如,如图2所示,在机场的目标位置设置在中央区域的情况下,移动件34的数量可以为4个,这4个移动件34可以环绕目标位置设置,以从4个方向对无人机进行整位。这样,在无人机降落在机场的上方时,通过4个移动件34的协同整位,可以快速地将无人机推动至目标位置。For example, as shown in Figure 2, when the target position of the airport is set in the central area, the number of moving parts 34 can be 4, and these 4 moving parts 34 can be set around the target position to detect objects from 4 directions. The man-machine performs the whole position. In this way, when the drone lands above the airport, the drone can be quickly pushed to the target position through the coordinated positioning of the four moving parts 34 .
需要说明的是,本申请实施方式的附图中,仅示出了整位装置30包括4个移动件34的情况,而在实际应用中,移动件34的数量还可以为1个、2和或者6个等,本申请实施方式对于移动件34的数量不做具体限定。It should be noted that in the drawings of the embodiment of the present application, only the situation where the positioning device 30 includes four moving parts 34 is shown, but in actual applications, the number of moving parts 34 can also be 1, 2, and 34. Or 6, etc. The embodiment of the present application does not specifically limit the number of moving parts 34 .
第二充电组件24可以与整位装置30机械耦合,并且跟随整位装置30一起移动,在利用移动件34 推动无人机移动至目标位置的情况下,第二充电组件24可以跟随移动件34一起移动到目标位置,以给无人机的电池充电。这样,就可以避免额外驱动第二充电组件24移动的操作,提高基站14的集成度。The second charging component 24 can be mechanically coupled with the positioning device 30 and move together with the positioning device 30. When the moving component 34 is used to push the drone to move to the target position, the second charging component 24 can follow the moving component 34. Move together to the target location to recharge the drone's battery. In this way, the additional operation of driving the second charging component 24 to move can be avoided and the integration level of the base station 14 can be improved.
具体地,请参图6,整位装置30包括驱动机构36和传动机构38,驱动机构36与传动机构38连接,传动机构38通过连接部件40与第二充电组件24连接,移动件34可固定在第二充电组件24的抵持部42前端上。驱动机构36能够驱动传动机构38运动,传动机构38的运动能够带动连接部件40运动。连接部件40可以从降落平台32的狭槽伸出与第二充电组件24连接。连接部件40运动可以带动第二充电组件24及移动件34移动。在与可移动平台12抵接时,移动件34先抵接在可移动平台12的本体16上,随着第二充电组件24继续向本体16方向移动,第二导向结构26与第一导向结构20开始对接,对接完成后,第二导向结构26和抵持部42均被可移动平台12阻挡而无法移动,第二充电端子28可相对于第二导向结构26移动并伸出第二导向结构26,插入至本体16内与第一充电端子22连接。Specifically, please refer to Figure 6. The positioning device 30 includes a driving mechanism 36 and a transmission mechanism 38. The driving mechanism 36 is connected to the transmission mechanism 38. The transmission mechanism 38 is connected to the second charging component 24 through the connecting member 40. The moving member 34 can be fixed. on the front end of the resisting portion 42 of the second charging component 24 . The driving mechanism 36 can drive the transmission mechanism 38 to move, and the movement of the transmission mechanism 38 can drive the connecting component 40 to move. The connecting component 40 can extend from the slot of the landing platform 32 to connect with the second charging component 24 . The movement of the connecting component 40 can drive the second charging component 24 and the moving part 34 to move. When contacting the movable platform 12, the moving member 34 first contacts the body 16 of the movable platform 12. As the second charging component 24 continues to move toward the body 16, the second guide structure 26 and the first guide structure 20 starts docking. After the docking is completed, the second guide structure 26 and the resisting portion 42 are blocked by the movable platform 12 and cannot move. The second charging terminal 28 can move relative to the second guide structure 26 and extend out of the second guide structure. 26, inserted into the body 16 and connected to the first charging terminal 22.
驱动机构36包括舵机、电机的至少一种,传动机构38连接在驱动机构36与连接部件40之间。驱动机构36、传动机构38均设置于降落平台32的下方。每个移动件34可以由一个舵机驱动,内侧到位开关可以是舵机的到位开关。The driving mechanism 36 includes at least one of a steering gear and a motor, and the transmission mechanism 38 is connected between the driving mechanism 36 and the connecting component 40 . The driving mechanism 36 and the transmission mechanism 38 are both arranged below the landing platform 32 . Each moving member 34 can be driven by a steering gear, and the inner position switch can be the position switch of the steering gear.
传动机构38可以包括齿轮44和齿条46,齿轮44与齿条46啮合,齿条46固定连接于降落平台32的下方,齿条46的长度方向与第二充电组件24的移动方向一致;齿轮44与驱动机构36连接,在驱动机构36的驱动下,齿轮44可沿齿条46移动;连接部件40与齿轮44固定连接,连接部件40能够与齿轮44一起移动,以带动第二充电组件24和移动件34移动。The transmission mechanism 38 may include a gear 44 and a rack 46. The gear 44 meshes with the rack 46. The rack 46 is fixedly connected to the bottom of the landing platform 32. The length direction of the rack 46 is consistent with the moving direction of the second charging component 24; 44 is connected to the driving mechanism 36. Under the driving of the driving mechanism 36, the gear 44 can move along the rack 46; the connecting component 40 is fixedly connected to the gear 44, and the connecting component 40 can move together with the gear 44 to drive the second charging component 24 and the moving member 34 moves.
请参图6,整位装置30还可以包括导轨48,导轨48连接于降落平台32的底部,连接部件40的至少部分嵌设于导轨48内,以对连接部件40的移动进行导向,提高连接部件40的移动精度。在实际应用中,导轨48的长度方向、齿条46的长度方向、第二充电组件24和移动件34的移动方向可以一致,以提高第二充电组件24和移动件34的移动精度。Referring to Figure 6, the positioning device 30 may also include a guide rail 48. The guide rail 48 is connected to the bottom of the landing platform 32. At least part of the connecting member 40 is embedded in the guide rail 48 to guide the movement of the connecting member 40 and improve the connection. Movement accuracy of component 40. In practical applications, the length direction of the guide rail 48 , the length direction of the rack 46 , and the moving directions of the second charging component 24 and the moving part 34 can be consistent to improve the movement accuracy of the second charging component 24 and the moving part 34 .
第二充电端子28能够相对于第二导向结构26移动,在第二导向结构26与第一导向结构20实现定位对接时,第二充电端子28可以相对于第二导向结构26进一步移动,以向第一充电端子22方向靠近,实现与第一充电端子22连接。第二充电端子28与第一充电端子22连接时,可以对无人机实现充电作业。由于在第二充电端子28与第一充电端子22连接前,第一充电组件18与第二充电组件24通过第一导向结构20与第二导向结构26实现定位对位,提高了第二充电端子28与第一充电端子22连接时的对位准确度,极大地提高了无人机的自主作业程度,拓宽无人机的使用场景,降低相关人员难度,提升无人机作业的可靠性。The second charging terminal 28 can move relative to the second guide structure 26 . When the second guide structure 26 is positioned and docked with the first guide structure 20 , the second charging terminal 28 can further move relative to the second guide structure 26 to move towards the first guide structure 20 . The first charging terminal 22 approaches in a direction to achieve connection with the first charging terminal 22 . When the second charging terminal 28 is connected to the first charging terminal 22, the drone can be charged. Because before the second charging terminal 28 is connected to the first charging terminal 22, the first charging component 18 and the second charging component 24 are positioned and aligned through the first guide structure 20 and the second guide structure 26, thereby improving the efficiency of the second charging terminal. The alignment accuracy when 28 is connected to the first charging terminal 22 greatly improves the degree of autonomous operation of the drone, broadens the usage scenarios of the drone, reduces the difficulty for relevant personnel, and improves the reliability of the drone operation.
在某些实施方式中,第一充电端子22和第二充电端子28的其中一个为夹片,另一个为单根导电片,单根导电片插入夹片以实现充电和数据传输。如此,可以减少部件的使用,避免多针连接器带来的定位问题。In some embodiments, one of the first charging terminal 22 and the second charging terminal 28 is a clip, and the other is a single conductive piece, and the single conductive piece is inserted into the clip to achieve charging and data transmission. In this way, the use of components can be reduced and positioning problems caused by multi-pin connectors can be avoided.
具体地,在图示的实施方式中,第一充电端子22为夹片,第二充电端子28为单根导电片,第一充电端子22与第二充电端子28在连接时,单根导电片可以插入至夹片之间,以实现可靠连接。在一个实施方式中,导电片和夹片可以制作成片簧的形式,采用片簧充电的方案机械结构精简,电路控制可靠性高。Specifically, in the illustrated embodiment, the first charging terminal 22 is a clip, and the second charging terminal 28 is a single conductive piece. When the first charging terminal 22 and the second charging terminal 28 are connected, the single conductive piece Can be inserted between clips for a secure connection. In one embodiment, the conductive piece and the clip can be made in the form of leaf springs. The charging scheme using leaf springs simplifies the mechanical structure and increases the reliability of circuit control.
可以理解,在其它实施方式中,第二充电端子28可为夹片,第一充电端子22可为单根导电片。It can be understood that in other embodiments, the second charging terminal 28 may be a clip, and the first charging terminal 22 may be a single conductive piece.
第一充电端子22和第二充电端子28连接后,可以形成电源线路的一部分,在本申请实施方式中,可以采用电力载波方案利用电源线路进行有线通信来实现数据传输,确保了通信的可靠性,最大程度上优化了基站14和可移动平台12的通信和充电的连接方案,使用电源线通信减少了通信的信号线。After the first charging terminal 22 and the second charging terminal 28 are connected, they can form a part of the power line. In the embodiment of the present application, a power carrier solution can be used to use the power line for wired communication to realize data transmission, ensuring the reliability of communication. , the communication and charging connection scheme of the base station 14 and the movable platform 12 is optimized to the greatest extent, and the use of power line communication reduces the number of communication signal lines.
具体地,基站14和可移动平台12均包括电力载波芯片。基站14的电力载波芯片将通信请求通过电源线路传输到可移动平台12,与可移动平台12的电力载波芯片进行通信,通信建立后获取可移动平台12的电池相关信息。在可移动平台12满足充电条件时,基站14可利用电源线路对可移动平台12充电。Specifically, both the base station 14 and the mobile platform 12 include power carrier chips. The power carrier chip of the base station 14 transmits the communication request to the movable platform 12 through the power line, communicates with the power carrier chip of the movable platform 12, and obtains battery-related information of the movable platform 12 after the communication is established. When the movable platform 12 meets the charging conditions, the base station 14 can charge the movable platform 12 using the power line.
在某些实施方式中,请参图4和图5,第一导向结构20包括设在本体16上的定位柱50,第二导向结构26设有第一定位槽54,定位柱50的至少一部分位于第一定位槽54内以实现第一导向结构20和第二导向结构26定位对接。如此,通过定位柱50和第一定位槽54的配合,实现结构简单的导向。In some embodiments, please refer to FIGS. 4 and 5 , the first guide structure 20 includes a positioning post 50 provided on the body 16 , the second guide structure 26 is provided with a first positioning groove 54 , and at least a portion of the positioning post 50 It is located in the first positioning groove 54 to achieve positioning and docking of the first guide structure 20 and the second guide structure 26 . In this way, through the cooperation of the positioning post 50 and the first positioning groove 54, a simple guide structure is achieved.
具体地,定位柱50可以设在本体16的周向侧面,定位柱50的数量可以是一个或多个。在图示的实施方式中,定位柱50的数量是两个,两个定位柱50沿上下方向间隔布置。两个定位柱50之间的空间可以供第二充电端子28伸入本体16内以与第一充电端子22连接。可以理解,在其它实施方式中,定位柱50的数量不限于两个,还可以是一个,或两个以上。Specifically, the positioning posts 50 may be provided on the circumferential side of the body 16 , and the number of the positioning posts 50 may be one or more. In the illustrated embodiment, the number of positioning posts 50 is two, and the two positioning posts 50 are spaced apart in the up and down direction. The space between the two positioning posts 50 allows the second charging terminal 28 to extend into the body 16 to connect with the first charging terminal 22 . It can be understood that in other embodiments, the number of positioning posts 50 is not limited to two, and may also be one, or more than two.
在某些实施方式中,第一定位槽54的导向开口由外至内逐渐缩小。如此,便于定位柱50伸入第一定位槽54内。In some embodiments, the guide opening of the first positioning groove 54 gradually narrows from the outside to the inside. In this way, it is convenient for the positioning post 50 to extend into the first positioning groove 54 .
具体地,在第二充电组件24向无人机靠近过程中,第一定位槽54的导向开口较大处先接触到定位柱50。随着第二充电组件24的持续移动,定位柱50沿第一定位槽54的导向开口较大处伸入第一定位槽54的导向开口较小处的位置,实现了粗对位到细对位的过程,提升了定位柱50与第一定位槽54之间的对位误差的容忍度,便于定位柱50伸入第一定位槽54内。Specifically, when the second charging component 24 approaches the drone, the larger guide opening of the first positioning groove 54 first contacts the positioning post 50 . As the second charging component 24 continues to move, the positioning post 50 extends into the smaller position of the guide opening of the first positioning groove 54 along the larger guide opening of the first positioning groove 54 , thereby achieving coarse alignment to fine alignment. The positioning process improves the tolerance of alignment errors between the positioning post 50 and the first positioning groove 54 , making it easier for the positioning post 50 to extend into the first positioning groove 54 .
在某些实施方式中,第一定位槽54的导向开口设有第一导向面56,定位柱50能够沿第一导向面56滑入第一定位槽54以实现定位对接。如此,可以使得定位柱50能够顺畅地滑入第一定位槽54。In some embodiments, the guide opening of the first positioning groove 54 is provided with a first guide surface 56 , and the positioning post 50 can slide into the first positioning groove 54 along the first guide surface 56 to achieve positioning and docking. In this way, the positioning post 50 can be smoothly slid into the first positioning groove 54 .
具体地,在图示的实施方式中,第一导向面56是斜平面,第一导向面56的数量是两个,沿上下方向间隔布置。两个第一导向面56之间构成从外向内变小的类“八”字型导向空间。定位柱50的数量是两个,沿上下方向间隔布置,两个定位柱50平行设置。在第二充电组件24向无人机靠近时,上下两个定位柱50可分别抵接在上下两个第一导向面56上。随着第二充电组件24的进一步靠近,两个定位柱50可以分别沿两个第一导向面56滑入第一定位槽54,实现第一导向结构20和第二导向结构26更顺畅地定位对接。可以理解,在其它实施方式中,第一导向面56还可以是弧面。Specifically, in the illustrated embodiment, the first guide surfaces 56 are inclined planes, and the number of the first guide surfaces 56 is two, which are spaced apart along the up and down direction. A similar "eight"-shaped guide space is formed between the two first guide surfaces 56 and becomes smaller from outside to inside. The number of positioning posts 50 is two, which are spaced apart in the up and down direction, and the two positioning posts 50 are arranged in parallel. When the second charging assembly 24 approaches the drone, the two upper and lower positioning posts 50 can respectively abut against the two upper and lower first guide surfaces 56 . As the second charging component 24 gets closer, the two positioning posts 50 can slide into the first positioning slots 54 along the two first guide surfaces 56 respectively, so that the first guide structure 20 and the second guide structure 26 can be positioned more smoothly. docking. It can be understood that in other embodiments, the first guide surface 56 may also be an arc surface.
在某些实施方式中,本体16上还设有与第一导向结构20间隔的第三导向结构58,第三导向结构58被配置为对第二充电端子28进一步移动时进行导向以使第二充电端子28与第一充电端子22定位连接。如此,可以对第二充电端子28进行导向,进一步提升第二充电端子28和第一充电端子22的对位准确度。In some embodiments, the body 16 is also provided with a third guide structure 58 spaced apart from the first guide structure 20 . The third guide structure 58 is configured to guide the second charging terminal 28 when it further moves, so that the second charging terminal 28 can move further. The charging terminal 28 is positionally connected to the first charging terminal 22 . In this way, the second charging terminal 28 can be guided, further improving the alignment accuracy of the second charging terminal 28 and the first charging terminal 22 .
具体地,在第一导向结构20和第二导向结构26定位对接后,随着第二充电端子28相对于第二导向结构26向靠近无人机方向移动时,第三导向结构58可以对第二充电端子28进行导向,使第二充电端子28能够与第一充电端子22更好的对位,提升了两个充电端子的对位准确度。Specifically, after the first guide structure 20 and the second guide structure 26 are positioned and docked, as the second charging terminal 28 moves closer to the drone relative to the second guide structure 26, the third guide structure 58 can align the second charging terminal 28 with the second guide structure 26. The second charging terminal 28 is guided so that the second charging terminal 28 can be better aligned with the first charging terminal 22, thereby improving the alignment accuracy of the two charging terminals.
在某些实施方式中,第三导向结构58包括设在本体16上的第二定位槽60,第二定位槽60的导向开口设有第二导向面62,第二充电端子28能够沿第二导向面62滑入第二定位槽60以使第二充电端子28与第一充电端子22定位对接。如此,通过第二定位槽60对第二充电端子28进行导向,结构简单,易于实现。In some embodiments, the third guide structure 58 includes a second positioning groove 60 provided on the body 16. The guide opening of the second positioning groove 60 is provided with a second guide surface 62, and the second charging terminal 28 can move along the second positioning groove 60. The guide surface 62 slides into the second positioning groove 60 to position and dock the second charging terminal 28 with the first charging terminal 22 . In this way, the second charging terminal 28 is guided through the second positioning groove 60, which has a simple structure and is easy to implement.
具体地,在图示的实施方式中,第二导向面62为弧形面,第二导向面62的数量是两个,沿上下方向间隔布置。两个第二导向面62之间构成从外向内变小的类“八”字型导向空间。在第二充电端子28相对于第二导向结构26无人机进一步靠近时,第二充电端子28可以抵接在上下两个第二导向面62中的其中一个上。随着第二充电端子28的进一步靠近,第二充电端子28可以沿其中一个第二导向面62滑入第二定位槽60内,第二定位槽60内对应设置有第一充电端子22,实现了第二充电端子28和第一充电端子22准确的定位对接。可以理解,在其它实施方式中,第二导向面62可以是斜平面。Specifically, in the illustrated embodiment, the second guide surfaces 62 are arc-shaped surfaces, and the number of the second guide surfaces 62 is two, which are spaced apart along the up and down direction. A similar "eight"-shaped guide space is formed between the two second guide surfaces 62 and becomes smaller from outside to inside. When the second charging terminal 28 gets closer to the second guide structure 26, the second charging terminal 28 can abut against one of the two upper and lower second guide surfaces 62. As the second charging terminal 28 gets closer, the second charging terminal 28 can slide into the second positioning groove 60 along one of the second guide surfaces 62. The first charging terminal 22 is correspondingly arranged in the second positioning groove 60. The second charging terminal 28 and the first charging terminal 22 are accurately positioned and connected. It can be understood that in other embodiments, the second guide surface 62 may be an inclined plane.
另外,第二定位槽60的导向开口设计,可以控制第一充电端子22和第二充电端子28的装配误差,且第一定位槽54的导向开口也对自身旋转有导向作用。In addition, the design of the guide opening of the second positioning groove 60 can control the assembly error of the first charging terminal 22 and the second charging terminal 28, and the guide opening of the first positioning groove 54 also guides its own rotation.
在某些实施方式中,第一充电组件18包括位于本体16内的第一固定座64,第一充电端子22位于第一固定座64内。如此,便于第一充电端子22的固定安装。In some embodiments, the first charging component 18 includes a first mounting base 64 located within the body 16 , and the first charging terminal 22 is located within the first mounting base 64 . In this way, the fixed installation of the first charging terminal 22 is facilitated.
具体地,第一充电端子22可以通过第一固定座64固定安装在本体16内,第一固定座64还可以对第一充电端子22进行保护,避免第一充电端子22受到机械损害。第一固定座64可以通过卡扣,螺钉固定等的方式固定在本体16内。在一个实施方式中,第一固定座64是塑料制成,可以通注塑成型工艺将第一固定座64和第一充电端子22形成一体结构。当然,第一固定座64以及第一充电端子22的安装方式不限于上述讨论的实施方式。Specifically, the first charging terminal 22 can be fixedly installed in the body 16 through the first fixing base 64. The first fixing base 64 can also protect the first charging terminal 22 to prevent the first charging terminal 22 from being mechanically damaged. The first fixing base 64 can be fixed in the body 16 by buckles, screws, etc. In one embodiment, the first holder 64 is made of plastic, and the first holder 64 and the first charging terminal 22 can be formed into an integrated structure through an injection molding process. Of course, the installation manner of the first fixing base 64 and the first charging terminal 22 is not limited to the embodiment discussed above.
在某些实施方式中,第一固定座64的侧壁开设有连通第一固定座64内部空间的通孔66。如此,通孔66可以起到排水和排气的作用。In some embodiments, the side wall of the first fixing base 64 is provided with a through hole 66 that communicates with the internal space of the first fixing base 64 . In this way, the through hole 66 can play the role of drainage and exhaust.
具体地,可移动平台12可能会在户外进行作业,户外环境潮湿多水,水容易经本体16内或周壁流入第一固定座64内,若流入第一固定座64内水不及时排走的话,可造成第一固定座64内潮湿,潮湿环境可使得第一充电端子22易氧化,更严重时可能会造成电路短路等的危险。通孔66的设置可以及时地排走第一固定座64内的水,保持第一固定座64内的环境干燥。Specifically, the movable platform 12 may be operated outdoors. The outdoor environment is humid and watery, and water easily flows into the first fixed seat 64 through the body 16 or the surrounding wall. If the water flowing into the first fixed seat 64 is not drained away in time, , may cause moisture in the first holder 64, and the humid environment may cause the first charging terminal 22 to be easily oxidized, and in more severe cases may cause dangers such as circuit short circuit. The arrangement of the through hole 66 can drain away the water in the first fixed seat 64 in time and keep the environment in the first fixed seat 64 dry.
第一固定座64设有第一开口68。第二充电端子28经第二定位槽60的导向插入第一开口68,第二充电端子28插入时,会挤压第一固定座64内的空气,因此,通孔66还能够起到排气作用,排气会减少第一固定座64在对接时的内部压力,使第二充电端子28插入第一固定座64时更顺畅。The first fixed base 64 is provided with a first opening 68 . The second charging terminal 28 is inserted into the first opening 68 through the guidance of the second positioning groove 60. When the second charging terminal 28 is inserted, the air in the first fixing base 64 will be squeezed. Therefore, the through hole 66 can also function as an exhaust gas. As a result, the exhaust will reduce the internal pressure of the first holder 64 during docking, making it smoother for the second charging terminal 28 to be inserted into the first holder 64 .
在某些实施方式中,第一固定座64设有第一开口68及第一挡板70,第一挡板70关闭第一开口68,在第二充电端子28进一步移动与第一充电端子22连接过程中,第二充电端子28顶开第一挡板70以使第二充电端子28与第一充电端子22连接。如此,可以防止外界灰尘、水气等进入第一固定座64内。In some embodiments, the first fixed base 64 is provided with a first opening 68 and a first baffle 70 . The first baffle 70 closes the first opening 68 and allows the second charging terminal 28 to further move with the first charging terminal 22 During the connection process, the second charging terminal 28 pushes away the first baffle 70 so that the second charging terminal 28 is connected to the first charging terminal 22 . In this way, external dust, water vapor, etc. can be prevented from entering the first fixed seat 64 .
具体地,第一挡板70可以作为防尘盖和防水盖的作用,第一挡板70可以通过复位件(如扭簧或弹片)在平常是关闭的。当第二充电端子28向第一固定座64靠近时,经第二定位槽60的导向抵接第一挡板70,然后第二充电端子28向本体16内推开第一挡板70,经第一开口68伸入第一固定座64内与第一充电端子22连接。当第二充电端子28退出第一固定座64后,复位件可以将第一挡板70复位,进而使第一挡板70关闭第一开口68,起到防尘和防水的作用。Specifically, the first baffle 70 can function as a dust-proof cover and a waterproof cover, and the first baffle 70 can be normally closed through a reset member (such as a torsion spring or a spring piece). When the second charging terminal 28 approaches the first fixed base 64, it abuts the first baffle 70 through the guidance of the second positioning groove 60, and then the second charging terminal 28 pushes the first baffle 70 into the body 16. The first opening 68 extends into the first fixing base 64 and is connected to the first charging terminal 22 . When the second charging terminal 28 withdraws from the first fixing base 64, the reset member can reset the first baffle 70, thereby causing the first baffle 70 to close the first opening 68 to prevent dust and water.
在某些实施方式中,请参图7,第二充电组件24包括抵持部42和第二固定座72,第二导向结构26可移动地穿设抵持部42,第二固定座72连接有支撑座74,第二固定座72至少部分地位于第二导向结构26内,第二充电端子28的一部分位于第二固定座72内,另一部分位于第二固定座72外,支撑座74的前外壁与抵持部42的前内壁之间设有弹性件76,在第二充电端子28进一步移动与第一充电端子22连接过程中,支撑座74压缩弹性件76。如此,可以实现第二充电端子28相对于第二导向结构26移动。In some embodiments, please refer to FIG. 7 , the second charging component 24 includes a resisting portion 42 and a second fixing base 72 , the second guide structure 26 movably passes through the resisting portion 42 , and the second fixing base 72 is connected to There is a support base 74, the second fixed base 72 is at least partially located in the second guide structure 26, a part of the second charging terminal 28 is located in the second fixed base 72, and the other part is located outside the second fixed base 72. The support base 74 An elastic member 76 is provided between the front outer wall and the front inner wall of the resisting portion 42 . When the second charging terminal 28 further moves to connect with the first charging terminal 22 , the support base 74 compresses the elastic member 76 . In this way, the second charging terminal 28 can move relative to the second guide structure 26 .
具体地,在本实施方式中,第二充电组件24可以经由整位装置30驱动来移动。第二导向结构26可相对于抵持部42移动。在第二导向结构26与第一导向结构20定位对接好后,第二导向结构26不能再向本体16方向移动,当整位装置30继续驱动第二充电组件24向本体16方向移动时,第二导向结构26固定不动,第二固定座72、支撑座74和第二充电端子28继续向本体16方向移动,此时,第二充电端子28可伸出第二导向结构26外及伸入第一固定座64内与第一充电端子22连接,支撑座74同时压缩弹性件76。这样可以实现第二充电端子28的二级推进。Specifically, in this embodiment, the second charging component 24 can be driven to move via the positioning device 30 . The second guide structure 26 is movable relative to the resisting portion 42 . After the second guide structure 26 is positioned and connected with the first guide structure 20 , the second guide structure 26 can no longer move toward the body 16 . When the positioning device 30 continues to drive the second charging assembly 24 to move toward the body 16 , the second guide structure 26 can no longer move toward the body 16 . The second guide structure 26 is fixed, and the second fixed base 72, the support base 74 and the second charging terminal 28 continue to move toward the body 16. At this time, the second charging terminal 28 can extend out of the second guide structure 26 and into The first fixed base 64 is connected to the first charging terminal 22 , and the supporting base 74 simultaneously compresses the elastic member 76 . This enables a secondary advancement of the second charging terminal 28 .
待充电完成后,或无人机需要起飞时,整位装置30可以释放无人机,具体地,移动件34及第二充电组件24可以向远离无人机的方向移动,第二充电端子28退出第一固定座64。被压缩的弹性件76通过支撑座74可以驱动第二充电端子28和第二固定座72进一步退入抵持部42内侧,最后,第二充电端子28可以完全退入第二导向结构26内。After charging is completed, or when the drone needs to take off, the whole device 30 can release the drone. Specifically, the moving part 34 and the second charging component 24 can move away from the drone, and the second charging terminal 28 Exit the first fixed seat 64 . The compressed elastic member 76 can drive the second charging terminal 28 and the second fixing seat 72 to further retract into the inside of the resisting portion 42 through the support base 74 . Finally, the second charging terminal 28 can completely retract into the second guide structure 26 .
第二固定座72的一端还连接有座盖78,座盖78可以与第二固定座72通过一侧卡扣和另一侧螺栓固固的方式进行连接。One end of the second fixed base 72 is also connected to a seat cover 78 , and the seat cover 78 can be connected to the second fixed base 72 by buckles on one side and bolts on the other side.
在某些实施方式中,第二充电组件24包括防水壳体80,防水壳体80位于第二固定座72内,第二充电端子28的一部分位于防水壳体80内,另一部分位于防水壳体80外,防水壳体80周向外壁与第二固定座72周向内壁之间设有浮动件82。如此,一方面,可以提升第二充电端子28的防水性能,另一方面,可以减小第二充电端子28受到的弯曲应力,增长使用寿命。In some embodiments, the second charging component 24 includes a waterproof housing 80 located in the second fixing base 72 , a part of the second charging terminal 28 is located in the waterproof housing 80 , and the other part is located in the waterproof housing. 80, a floating member 82 is provided between the circumferential outer wall of the waterproof housing 80 and the circumferential inner wall of the second fixed seat 72. In this way, on the one hand, the waterproof performance of the second charging terminal 28 can be improved, and on the other hand, the bending stress on the second charging terminal 28 can be reduced and the service life can be increased.
具体地,浮动件82可以沿防水壳体80的周向设置成环状,可以实现上下左右方向的浮动设计。在图示的实施方式中,两个浮动件82沿第二充电端子28的长度方向间隔设置。另外,浮动件82的设置也可允许第二充电端子28自身进行旋转。Specifically, the floating member 82 can be arranged in an annular shape along the circumferential direction of the waterproof housing 80 to achieve a floating design in the up, down, left and right directions. In the illustrated embodiment, the two floating members 82 are spaced apart along the length direction of the second charging terminal 28 . In addition, the arrangement of the floating member 82 may also allow the second charging terminal 28 itself to rotate.
第二充电端子28的一部分位于防水壳体80内,可以提升该部分的防水性能。A part of the second charging terminal 28 is located in the waterproof housing 80, which can improve the waterproof performance of this part.
在某些实施方式中,浮动件82包括橡胶圈。如此,浮动件82的结构简单,成本低。In some embodiments, float 82 includes a rubber ring. In this way, the floating member 82 has a simple structure and low cost.
具体地,请参图10和图11,防水壳体80的周向侧壁设有呈环状的两个凹槽84,每个凹槽84对应设有一个橡胶圈。凹槽84可以对橡胶圈进行限位,防止橡胶圈偏离设定的位置。Specifically, please refer to Figures 10 and 11. The circumferential side wall of the waterproof housing 80 is provided with two annular grooves 84, and each groove 84 is provided with a corresponding rubber ring. The groove 84 can limit the rubber ring and prevent the rubber ring from deviating from the set position.
在某些实施方式中,请参图10,第二充电组件24还包括防水件(图未示)和防水端子86,防水端子86连接第二充电端子28,防水件位于防水壳体80内,防水件包覆防水端子86与第二充电端子28的 连接处。如此,可以进一步提升第二充电组件24的防水性能。In some embodiments, please refer to FIG. 10 , the second charging component 24 also includes a waterproof component (not shown) and a waterproof terminal 86 , the waterproof terminal 86 is connected to the second charging terminal 28 , and the waterproof component is located in the waterproof housing 80 . The waterproof member covers the connection between the waterproof terminal 86 and the second charging terminal 28 . In this way, the waterproof performance of the second charging component 24 can be further improved.
具体地,防水件可以包覆防水端子86与第二充电端子28的连接处,可以避免该连接处受到水气侵蚀而出现氧化导致电气性能下降的问题。在一个实施方式中,防水端子86和第二充电端子28可以通过焊接的方式进行连接,然后套上防水壳体80,使第二充电端子28和防水端子86的连接处位于防水壳体80内。请参图11,防水壳体80的侧壁开设有注胶孔88,通过该注胶孔88,可以向防水壳体80内部注入胶水以包覆第二充电端子28和防水端子86的连接处,胶水冷却后形成防水件,对连接处进行防水,提升了第二充电组件24的防水性能和可靠性。Specifically, the waterproof component can cover the connection between the waterproof terminal 86 and the second charging terminal 28, which can prevent the connection from being corroded by water vapor and causing oxidation and degradation of electrical performance. In one embodiment, the waterproof terminal 86 and the second charging terminal 28 can be connected by welding, and then the waterproof case 80 is put on, so that the connection point between the second charging terminal 28 and the waterproof terminal 86 is located in the waterproof case 80 . Referring to Figure 11, a glue injection hole 88 is provided on the side wall of the waterproof case 80. Through the glue injection hole 88, glue can be injected into the inside of the waterproof case 80 to cover the connection between the second charging terminal 28 and the waterproof terminal 86. , the glue forms a waterproof component after cooling, waterproofing the connection, thereby improving the waterproof performance and reliability of the second charging component 24.
在某些实施方式中,第二导向结构26设有第二开口90和第二挡板92,第二挡板92关闭第二开口90,在第二充电端子28进一步移动与第一充电端子22连接过程中,第二充电端子28顶开第二挡板92。如此,可以防止外界灰尘、水气等进入第二导向结构26内。In some embodiments, the second guide structure 26 is provided with a second opening 90 and a second baffle 92 , the second baffle 92 closes the second opening 90 , and the second charging terminal 28 further moves with the first charging terminal 22 During the connection process, the second charging terminal 28 pushes open the second baffle 92 . In this way, external dust, moisture, etc. can be prevented from entering the second guide structure 26 .
具体地,第二开口90可连通第一定位槽54。第二挡板92可以作为防尘盖和防水盖的作用,第二挡板92可以通过复位件(如扭簧或弹片)在平常是关闭的。当第二充电端子28相对于第二导向结构26向外移动时,第二充电端子28可以向外推开第二挡板92,伸出第二导向结构26外,以与第一充电端子22连接。当第二充电端子28退出第一固定座64后,压缩的弹性件76可以驱动第二充电端子28退入第二导向结构26内。复位件可以将第二挡板92复位,进而使第二挡板92关闭第二开口90,起到防尘和防水的作用。Specifically, the second opening 90 can communicate with the first positioning groove 54 . The second baffle 92 can function as a dust-proof cover and a waterproof cover, and the second baffle 92 can be normally closed through a reset member (such as a torsion spring or a spring piece). When the second charging terminal 28 moves outward relative to the second guide structure 26 , the second charging terminal 28 can push the second baffle 92 outward and extend out of the second guide structure 26 to connect with the first charging terminal 22 connect. When the second charging terminal 28 withdraws from the first fixing base 64 , the compressed elastic member 76 can drive the second charging terminal 28 to retract into the second guide structure 26 . The reset member can reset the second baffle 92 so that the second baffle 92 closes the second opening 90 to prevent dust and water.
在某些实施方式中,请参图6和图8,第二充电组件24包括外壳93和温度传感器94,温度传感器94位于外壳93内,温度传感器94用于采集外壳93的内部温度。如此,可以在外壳93内出现温度过高的情况下,可以进行相应动作。In some embodiments, please refer to FIGS. 6 and 8 , the second charging component 24 includes a housing 93 and a temperature sensor 94 . The temperature sensor 94 is located in the housing 93 , and the temperature sensor 94 is used to collect the internal temperature of the housing 93 . In this way, when the temperature in the housing 93 is too high, corresponding actions can be taken.
具体地,请参图6,在不充电时,第二充电端子28、第二固定座72等部件可位于外壳93内。外壳93套设部分抵持部42,外壳93可以固定连接连接部件40,并可相对于抵持部42移动。温度传感器94可以实时检测外壳93内部温度,当温度传感器94检测到的温度超过一个温度阈值后,会告知基站14控制系统提醒用户进行更换,若温度继续升高到风险阈值时,则基站14控制系统发出报警,基站14可以停止充电功能,防止意外发生。Specifically, please refer to FIG. 6 . When not charging, components such as the second charging terminal 28 and the second fixing base 72 may be located in the housing 93 . The housing 93 covers part of the resisting portion 42 . The housing 93 can be fixedly connected to the connecting component 40 and can move relative to the resisting portion 42 . The temperature sensor 94 can detect the internal temperature of the housing 93 in real time. When the temperature detected by the temperature sensor 94 exceeds a temperature threshold, the base station 14 control system will be notified to remind the user to replace it. If the temperature continues to rise to the risk threshold, the base station 14 control The system issues an alarm, and the base station 14 can stop the charging function to prevent accidents.
在图示的实施方式中,温度传感器94可以检测第二充电端子28的温度作为外壳93内部温度来监测。在一个例子中,温度传感器94可包括热敏电阻。热敏电阻可以是NTC热敏电阻,也可以是PTC热敏电阻。In the illustrated embodiment, the temperature sensor 94 may detect the temperature of the second charging terminal 28 to monitor as the internal temperature of the housing 93 . In one example, temperature sensor 94 may include a thermistor. The thermistor can be an NTC thermistor or a PTC thermistor.
在某些实施方式中,可移动平台12包括扫地机器人、无人机、无人车、无人船中的至少一种。如此,可移动平台系统100的应用范围广,应用场景多。In some embodiments, the movable platform 12 includes at least one of a sweeping robot, a drone, an unmanned vehicle, and an unmanned ship. In this way, the movable platform system 100 has a wide application range and many application scenarios.
具体地,在图示的实施方式中,可移动平台12包括无人机,以及基站14包括无人机机场为实施方式进行说明。可以理解,除无人机外,可移动平台12还可以包括扫地机器人、无人车、无人船中的至少一种。Specifically, in the illustrated embodiment, the movable platform 12 includes a drone, and the base station 14 includes a drone airport. It can be understood that, in addition to drones, the movable platform 12 may also include at least one of a sweeping robot, an unmanned vehicle, and an unmanned ship.
当可移动平台12包括扫地机器人时,基站14可以包括充电站。当可移动平台12包括无人车时,基站14可以包括充电桩。当可移动平台12包括无人船时,基站14可以包括充电码头等等。When the movable platform 12 includes a sweeping robot, the base station 14 may include a charging station. When the movable platform 12 includes an unmanned vehicle, the base station 14 may include a charging pile. When the movable platform 12 includes an unmanned vessel, the base station 14 may include a charging dock or the like.
本申请实施方式提供的一种可移动平台12,包括:A movable platform 12 provided by the embodiment of the present application includes:
本体16;和 Ontology 16; and
第一充电组件18,第一充电组件18设在本体16上,本体16上设有第一导向结构20,第一充电组件18具有第一充电端子22,The first charging component 18 is provided on the body 16. The body 16 is provided with a first guide structure 20. The first charging component 18 has a first charging terminal 22,
其中,可移动平台12被配置为,通过第一导向结构20与基站14的第二导向结构26实现定位对接,第一充电端子22进一步与相对于第二导向结构26移动的基站14第二充电端子28连接。Wherein, the movable platform 12 is configured to achieve positioning and docking with the second guide structure 26 of the base station 14 through the first guide structure 20, and the first charging terminal 22 is further charged with the second base station 14 that moves relative to the second guide structure 26. Terminal 28 connection.
上述可移动平台12中,第一充电组件18和第二充电组件24通过导向结构实现定位对接,定位效果好,可以保证充电效果,第二充电端子28进一步移动与第一充电端子22连接,可以实现电连接,可进行充电。In the above-mentioned movable platform 12, the first charging component 18 and the second charging component 24 realize positioning and docking through the guide structure, and the positioning effect is good, which can ensure the charging effect. The second charging terminal 28 further moves to connect with the first charging terminal 22, which can Electrical connection is achieved and charging is possible.
需要说明的是,上述可移动平台系统100的实施方式和有益效果的解释说明,也适用于本实施方式的可移动平台12,为避免冗余,在此不作详细展开。It should be noted that the above explanation of the implementation and beneficial effects of the movable platform system 100 is also applicable to the movable platform 12 of this embodiment. To avoid redundancy, it will not be elaborated here.
在某些实施方式中,第一充电端子22和第二充电端子28的其中一个为夹片,另一个为单根导电片, 单根导电片插入夹片以实现充电和数据传输。如此,可以减少部件的使用,避免多针连接器带来的定位问题。In some embodiments, one of the first charging terminal 22 and the second charging terminal 28 is a clip, and the other is a single conductive piece, and the single conductive piece is inserted into the clip to achieve charging and data transmission. In this way, the use of components can be reduced and positioning problems caused by multi-pin connectors can be avoided.
在某些实施方式中,第一导向结构20包括设在本体16上的定位柱50,定位柱50的至少一部分用于容置在第二导向结构26的第一定位槽54内以实现第一导向结构20和第二导向结构26定位对接。如此,通过定位柱50和第一定位槽54的配合,实现结构简单的导向。In some embodiments, the first guide structure 20 includes a positioning post 50 provided on the body 16 , and at least a portion of the positioning post 50 is used to be received in the first positioning groove 54 of the second guide structure 26 to achieve the first The guide structure 20 and the second guide structure 26 are positioned and connected. In this way, through the cooperation of the positioning post 50 and the first positioning groove 54, a simple guide structure is achieved.
在某些实施方式中,本体16上还设有与第一导向结构20间隔的第三导向结构58,第三导向结构58被配置为对第二充电端子28进一步移动时进行导向以使第二充电端子28与第一充电端子22定位连接。如此,可以对第二充电端子28进行导向,进一步提升第二充电端子28和第一充电端子22的对位准确度。In some embodiments, the body 16 is also provided with a third guide structure 58 spaced apart from the first guide structure 20 . The third guide structure 58 is configured to guide the second charging terminal 28 when it further moves, so that the second charging terminal 28 can move further. The charging terminal 28 is positionally connected to the first charging terminal 22 . In this way, the second charging terminal 28 can be guided, further improving the alignment accuracy of the second charging terminal 28 and the first charging terminal 22 .
在某些实施方式中,第三导向结构58包括设在本体16上的第二定位槽60,第二定位槽60的导向开口设有第二导向面62,第二充电端子28能够沿第二导向面62滑入第二定位槽60以使第二充电端子28与第一充电端子22定位对接。如此,通过第二定位槽60对第二充电端子28进行导向,结构简单,易于实现。In some embodiments, the third guide structure 58 includes a second positioning groove 60 provided on the body 16. The guide opening of the second positioning groove 60 is provided with a second guide surface 62, and the second charging terminal 28 can move along the second positioning groove 60. The guide surface 62 slides into the second positioning groove 60 to position and dock the second charging terminal 28 with the first charging terminal 22 . In this way, the second charging terminal 28 is guided through the second positioning groove 60, which has a simple structure and is easy to implement.
在某些实施方式中,第一充电组件18包括位于本体16内的第一固定座64,第一充电端子22位于第一固定座64内。如此,便于第一充电端子22的固定安装。In some embodiments, the first charging component 18 includes a first mounting base 64 located within the body 16 , and the first charging terminal 22 is located within the first mounting base 64 . In this way, the fixed installation of the first charging terminal 22 is facilitated.
在某些实施方式中,第一固定座64的侧壁开设有连通第一固定座64内部空间的通孔66。如此,通孔66可以起到排水和排气的作用。In some embodiments, the side wall of the first fixing base 64 is provided with a through hole 66 that communicates with the internal space of the first fixing base 64 . In this way, the through hole 66 can play the role of drainage and exhaust.
在某些实施方式中,第一固定座64设有第一开口68及第一挡板70,第一挡板70关闭第一开口68,在第二充电端子28进一步移动与第一充电端子22连接过程中,第一挡板70被第二充电端子28顶开以使第二充电端子28与第一充电端子22连接。如此,可以防止外界灰尘、水气等进入第一固定座64内。In some embodiments, the first fixed base 64 is provided with a first opening 68 and a first baffle 70 . The first baffle 70 closes the first opening 68 and allows the second charging terminal 28 to further move with the first charging terminal 22 During the connection process, the first baffle 70 is pushed open by the second charging terminal 28 so that the second charging terminal 28 is connected to the first charging terminal 22 . In this way, external dust, water vapor, etc. can be prevented from entering the first fixed seat 64 .
在某些实施方式中,可移动平台12包括扫地机器人、无人机、无人车、无人船中的至少一种。如此,可移动平台系统100的应用范围广,应用场景多。In some embodiments, the movable platform 12 includes at least one of a sweeping robot, a drone, an unmanned vehicle, and an unmanned ship. In this way, the movable platform system 100 has a wide application range and many application scenarios.
本申请实施方式提供的一种基站14,用于可移动平台12充电,基站14包括:The embodiment of the present application provides a base station 14 for charging the movable platform 12. The base station 14 includes:
可移动的第二充电组件24,第二充电组件24具有第二导向结构26及第二充电端子28,第二充电端子28能够相对于第二导向结构26移动;A movable second charging component 24. The second charging component 24 has a second guide structure 26 and a second charging terminal 28. The second charging terminal 28 can move relative to the second guide structure 26;
其中,基站14被配置为,第二充电组件24向可移动平台12移动,并通过可移动平台12的第一导向结构20和第二导向结构26实现定位对接,第二充电端子28进一步移动与可移动平台12的第一充电端子22连接。The base station 14 is configured such that the second charging component 24 moves toward the movable platform 12 and achieves positioning and docking through the first guide structure 20 and the second guide structure 26 of the movable platform 12, and the second charging terminal 28 further moves with the movable platform 12. The first charging terminal 22 of the movable platform 12 is connected.
上述基站14中,第一充电组件18和第二充电组件24通过导向结构实现定位对接,定位效果好,可以保证充电效果,第二充电端子28进一步移动与第一充电端子22连接,可以实现电连接,可进行充电。In the above-mentioned base station 14, the first charging component 18 and the second charging component 24 realize positioning and docking through the guide structure. The positioning effect is good and the charging effect can be ensured. The second charging terminal 28 further moves to connect with the first charging terminal 22, which can realize the charging effect. Connected for charging.
需要说明的是,上述可移动平台系统100的实施方式和有益效果的解释说明,也适用于本实施方式的基站14,为避免冗余,在此不作详细展开。It should be noted that the above-mentioned implementation and beneficial effects of the movable platform system 100 are also applicable to the base station 14 of this embodiment. To avoid redundancy, they will not be elaborated here.
在某些实施方式中,第一充电端子22和第二充电端子28的其中一个为夹片,另一个为单根导电片,单根导电片插入夹片以实现充电和数据传输。如此,可以减少部件的使用,避免多针连接器带来的定位问题。In some embodiments, one of the first charging terminal 22 and the second charging terminal 28 is a clip, and the other is a single conductive piece, and the single conductive piece is inserted into the clip to achieve charging and data transmission. In this way, the use of components can be reduced and positioning problems caused by multi-pin connectors can be avoided.
在某些实施方式中,第二导向结构26设有第一定位槽54,In some embodiments, the second guide structure 26 is provided with a first positioning groove 54,
第一定位槽54用于容置第一导向结构20的定位柱50的至少一部分以实现第一导向结构20和导向结构定位对接。如此,通过定位柱50和第一定位槽54的配合,实现结构简单的导向。The first positioning groove 54 is used to receive at least a part of the positioning post 50 of the first guide structure 20 to achieve positioning and docking between the first guide structure 20 and the guide structure. In this way, through the cooperation of the positioning post 50 and the first positioning groove 54, a simple guide structure is achieved.
在某些实施方式中,第一定位槽54的导向开口由外至内逐渐缩小。如此,便于定位柱50伸入第一定位槽54内。In some embodiments, the guide opening of the first positioning groove 54 gradually narrows from the outside to the inside. In this way, it is convenient for the positioning post 50 to extend into the first positioning groove 54 .
在某些实施方式中,第一定位槽54的导向开口设有第一导向面56,定位柱50能够沿第一导向面56滑入第一定位槽54以实现定位对接。如此,可以使得定位柱50能够顺畅地滑入第一定位槽54。In some embodiments, the guide opening of the first positioning groove 54 is provided with a first guide surface 56 , and the positioning post 50 can slide into the first positioning groove 54 along the first guide surface 56 to achieve positioning and docking. In this way, the positioning post 50 can be smoothly slid into the first positioning groove 54 .
在某些实施方式中,请参图4和图9,第二充电组件24包括抵持部42和第二固定座72,第二导向结构26可移动地穿设抵持部42,In some embodiments, please refer to FIGS. 4 and 9 , the second charging component 24 includes a resisting portion 42 and a second fixed base 72 , and the second guide structure 26 movably passes through the resisting portion 42 .
第二固定座72至少部分地位于第二导向结构26内,第二充电端子28的一部分位于第二固定座72内,另一部分位于第二固定座72外,第二固定座72的前外壁与抵持部42的前内壁之间设有弹性件76, 在第二充电端子28进一步移动与第一充电端子22连接过程中,第二固定座72压缩弹性件76。如此,可以实现第二充电端子28相对于第二导向结构26移动。The second fixed seat 72 is at least partially located within the second guide structure 26 . A part of the second charging terminal 28 is located inside the second fixed seat 72 , and the other part is located outside the second fixed seat 72 . The front outer wall of the second fixed seat 72 is in contact with the second fixed seat 72 . An elastic member 76 is provided between the front inner walls of the resisting portion 42 . When the second charging terminal 28 further moves and is connected to the first charging terminal 22 , the second fixed base 72 compresses the elastic member 76 . In this way, the second charging terminal 28 can move relative to the second guide structure 26 .
在某些实施方式中,第二充电组件24包括防水壳体80,防水壳体80位于第二固定座72内,第二充电端子28的一部分位于防水壳体80内,另一部分位于防水壳体80外,防水壳体80周向外壁与第二固定座72周向内壁之间设有浮动件82。如此,一方面,可以提升第二充电端子28的防水性能,另一方面,可以减小第二充电端子28受到的弯曲应力,增长使用寿命。In some embodiments, the second charging component 24 includes a waterproof housing 80 located in the second fixing base 72 , a part of the second charging terminal 28 is located in the waterproof housing 80 , and the other part is located in the waterproof housing. 80, a floating member 82 is provided between the circumferential outer wall of the waterproof housing 80 and the circumferential inner wall of the second fixed seat 72. In this way, on the one hand, the waterproof performance of the second charging terminal 28 can be improved, and on the other hand, the bending stress on the second charging terminal 28 can be reduced and the service life can be increased.
在某些实施方式中,浮动件82包括橡胶圈。如此,浮动件82的结构简单,成本低。In some embodiments, float 82 includes a rubber ring. In this way, the floating member 82 has a simple structure and low cost.
在某些实施方式中,第二充电组件24还包括防水件和防水端子86,防水端子86连接第二充电端子28,防水件位于防水壳体80内,防水件包覆防水端子86与第二充电端子28的连接处。如此,可以进一步提升第二充电组件24的防水性能。In some embodiments, the second charging component 24 also includes a waterproof component and a waterproof terminal 86. The waterproof terminal 86 is connected to the second charging terminal 28. The waterproof component is located in the waterproof housing 80. The waterproof component covers the waterproof terminal 86 and the second charging terminal 86. The connection point of charging terminal 28. In this way, the waterproof performance of the second charging component 24 can be further improved.
在某些实施方式中,第二导向结构26设有第二开口90和第二挡板92,第二挡板92关闭第二开口90,在第二充电端子28进一步移动与第一充电端子22连接过程中,第二充电端子28顶开第二挡板92。如此,可以防止外界灰尘、水气等进入第二导向结构26内。In some embodiments, the second guide structure 26 is provided with a second opening 90 and a second baffle 92 , the second baffle 92 closes the second opening 90 , and the second charging terminal 28 further moves with the first charging terminal 22 During the connection process, the second charging terminal 28 pushes open the second baffle 92 . In this way, external dust, moisture, etc. can be prevented from entering the second guide structure 26 .
在某些实施方式中,第二充电组件24包括外壳93和温度传感器94,温度传感器94位于外壳93内,温度传感器94用于采集外壳93的内部温度。如此,可以在外壳93内出现温度过高的情况下,可以进行相应动作。In some embodiments, the second charging component 24 includes a housing 93 and a temperature sensor 94 , the temperature sensor 94 is located inside the housing 93 , and the temperature sensor 94 is used to collect the internal temperature of the housing 93 . In this way, when the temperature in the housing 93 is too high, corresponding actions can be taken.
请参图12,本申请实施方式提供的一种可移动平台系统100的充电方法,可移动平台系统100包括可移动平台12和基站14,充电方法包括:Referring to Figure 12, an embodiment of the present application provides a charging method for a movable platform system 100. The movable platform system 100 includes a movable platform 12 and a base station 14. The charging method includes:
步骤S10,控制移动件34对位于基站14上的可移动平台12进行整位,以使可移动平台12位于基站14的目标位置;Step S10, control the moving part 34 to adjust the position of the movable platform 12 located on the base station 14, so that the movable platform 12 is located at the target position of the base station 14;
步骤S12,在可移动平台12未能被整位至基站14的目标位置时,控制移动件34对可移动平台12进行重复整位;Step S12, when the movable platform 12 cannot be adjusted to the target position of the base station 14, control the moving part 34 to repeatedly adjust the movable platform 12;
步骤S14,直至在可移动平台12位于基站14的目标位置时,基站14对可移动平台12充电。Step S14, until the movable platform 12 is located at the target position of the base station 14, the base station 14 charges the movable platform 12.
上述充电方法,通过对可移动平台12进行整位使可移动平台12位于基站14的目标位置,进而可触发充电操作。The above charging method adjusts the position of the movable platform 12 so that the movable platform 12 is located at the target position of the base station 14, thereby triggering the charging operation.
具体地,基站14可包括整位装置30,整位装置30包括移动件34和驱动机构36,驱动机构36与移动件34机械耦合。驱动机构36可用于驱动移动件34移动,进而对可移动平台12进行整位,及释放可移动平台12。在可移动平台12位于基站14上后,驱动机构36可以控制移动件34合拢以对位于基站14上的可移动平台12进行整位,以使可移动平台12位于基站14的目标位置。在目标位置时,可移动平台12通常会触发到位开关而产生到位检测信号,此时表明可移动平台12已处于目标位置,且第一充电端子22与第二充电端子28已实现连接,基站14可以对可移动平台12充电。Specifically, the base station 14 may include an alignment device 30. The alignment device 30 includes a moving part 34 and a driving mechanism 36. The driving mechanism 36 is mechanically coupled with the moving part 34. The driving mechanism 36 can be used to drive the moving member 34 to move, thereby positioning the movable platform 12 and releasing the movable platform 12 . After the movable platform 12 is located on the base station 14 , the driving mechanism 36 can control the moving parts 34 to close to reposition the movable platform 12 on the base station 14 so that the movable platform 12 is located at the target position of the base station 14 . When at the target position, the movable platform 12 usually triggers the in-position switch to generate an in-position detection signal, which indicates that the movable platform 12 is at the target position, and the first charging terminal 22 and the second charging terminal 28 are connected, and the base station 14 The removable platform 12 can be charged.
若移动件34对可移动平台12进行整位时,基站14最终并没有接收到到位检测信号,表明可移动平台12并没有被整位到目标位置,此时,驱动机构36可以控制移动件34释放可移动平台12,再重新控制移动件34合拢,再次将可移动平台12整位至目标位置。直至基站14接收到到位检测信号时,表明可移动平台12位于基站14的目标位置,基站14对可移动平台12充电。If the base station 14 does not receive the position detection signal when the moving part 34 adjusts the position of the movable platform 12, indicating that the movable platform 12 has not been adjusted to the target position, at this time, the driving mechanism 36 can control the moving part 34. Release the movable platform 12, and then control the moving parts 34 to close again, and adjust the movable platform 12 to the target position again. Until the base station 14 receives the arrival detection signal, it indicates that the movable platform 12 is located at the target position of the base station 14, and the base station 14 charges the movable platform 12.
在一个实施方式中,基站14和可移动平台12均可包括电力载波芯片,基站14可以通过电力载波芯片将通信请求通过电源线(包括第一充电端子22和第二充电端子28连接所形成的线路)传输到可移动平台12,与可移动平台12的电力载波芯片进行通信,通信建立后获取电池的相关信息(如充电状态)。电源线实现基站14与可移动平台12之间的有线通信,确保了通信的可靠性,最大程度上优化了基站14和可移动平台12的通信和充电的连接方案,使用电源线通信减少了通信的信号线。In one embodiment, both the base station 14 and the movable platform 12 may include a power carrier chip, and the base station 14 may transmit the communication request through the power line (including the connection formed by the first charging terminal 22 and the second charging terminal 28 through the power carrier chip). line) is transmitted to the movable platform 12, communicates with the power carrier chip of the movable platform 12, and obtains battery-related information (such as charging status) after the communication is established. The power line realizes wired communication between the base station 14 and the movable platform 12, ensuring the reliability of communication, optimizing the communication and charging connection scheme between the base station 14 and the movable platform 12 to the greatest extent, and using the power line communication reduces the need for communication signal line.
在一个实施方式中,可移动平台12为无人机,基站14为无人机机场。无人机主要包括充电控制模块、飞机控制模块和电池模块。无人机机场主要包括充电控制模块、机场控制模块和AC-DC电源模块。当无人机被移动件34(如推杆)移动至目标位置后,机场控制模块打开电源模块,为无飞机的通信模块供电,机场和无人机通过充电端子的电力载波信号建立有线通信。当通信建立成功后,无人机打开充电开关,并通过与机场控制模块通信调整AC-DC电源模块输入,完成无人机充电功能。In one embodiment, the movable platform 12 is a drone, and the base station 14 is a drone airport. The UAV mainly includes a charging control module, an aircraft control module and a battery module. The UAV airport mainly includes a charging control module, an airport control module and an AC-DC power module. When the drone is moved to the target position by the moving part 34 (such as a push rod), the airport control module turns on the power module to provide power to the aircraft-less communication module. The airport and the drone establish wired communication through the power carrier signal of the charging terminal. When the communication is successfully established, the drone turns on the charging switch and adjusts the AC-DC power module input through communication with the airport control module to complete the drone charging function.
在某些实施方式中,控制移动件34对位于基站14上的可移动平台12进行整位,以使可移动平台12位于基站14的目标位置;在可移动平台12未能被整位至基站14的目标位置时,控制移动件34对可移动平台12进行重复整位,包括:In some embodiments, the moving member 34 is controlled to position the movable platform 12 located on the base station 14 so that the movable platform 12 is located at a target position of the base station 14; when the movable platform 12 fails to be positioned to the base station When the target position of 14 is reached, the moving part 34 is controlled to perform repeated positioning of the movable platform 12, including:
控制移动件34合拢以将可移动平台12夹持于基站14的目标位置,在可移动平台12未能被整位至基站14的目标位置时,控制移动件34释放可移动平台12,并再次控制移动件34合拢,重复该过程以实现控制可移动平台12被整位至基站14的目标位置。如此,可以通过移动件34的合拢对可移动平台12进行整位,及通过移动件34的释放重新对可移动平台12进行整位。The moving parts 34 are controlled to close to clamp the movable platform 12 at the target position of the base station 14. When the movable platform 12 fails to be adjusted to the target position of the base station 14, the moving parts 34 are controlled to release the movable platform 12 and start again. The moving parts 34 are controlled to be closed, and the process is repeated to control the movable platform 12 to be adjusted to the target position of the base station 14 . In this way, the movable platform 12 can be repositioned by closing the moving part 34 , and repositioned by releasing the moving part 34 .
具体地,移动件34可以是多个(两个或多于两个)。合拢时,多个移动件34向可移动平台12方向合拢移动,并共同推动可移动平台12向目标位置移动,使得可移动平台12可夹持于基站14的目标位置。Specifically, there may be multiple moving parts 34 (two or more than two). When closing, the plurality of moving parts 34 move together in the direction of the movable platform 12 and jointly push the movable platform 12 to move to the target position, so that the movable platform 12 can be clamped at the target position of the base station 14 .
在未收到到位检测信号时,表明可移动平台12未能被整位至基站14的目标位置。此时,控制移动件34释放可移动平台12,并再次控制移动件34合拢,重复该过程以实现控制可移动平台12被整位至基站14的目标位置。在接收到到位检测信号时,表明可移动平台12被整位至基站14的目标位置,基站14可对可移动平台12充电。When the position detection signal is not received, it indicates that the movable platform 12 cannot be positioned to the target position of the base station 14 . At this time, the moving part 34 is controlled to release the movable platform 12 and is controlled to close again. This process is repeated to control the movable platform 12 to be adjusted to the target position of the base station 14 . When the position detection signal is received, it indicates that the movable platform 12 is positioned to the target position of the base station 14, and the base station 14 can charge the movable platform 12.
在某些实施方式中,在可移动平台12未能被整位至基站14的目标位置时,控制移动件34对可移动平台12进行重复整位,包括:In some embodiments, when the movable platform 12 fails to be adjusted to the target position of the base station 14, the moving part 34 is controlled to repeatedly adjust the movable platform 12, including:
可移动平台12是否被整位至基站14的目标位置能够被基站14识别,在可移动平台12被整位于基站14的目标位置时,基站14能够获得到位检测信号,若基站14未获得到位检测信号,控制移动件34对可移动平台12重复整位。如此,可以通过到位检测信号来确定可移动平台12被整位到基部的目标位置。Whether the movable platform 12 is adjusted to the target position of the base station 14 can be identified by the base station 14. When the movable platform 12 is adjusted to the target position of the base station 14, the base station 14 can obtain the in-position detection signal. If the base station 14 does not obtain the in-position detection signal The signal controls the moving member 34 to repeat the positioning of the movable platform 12 . In this way, it can be determined that the movable platform 12 is positioned to the target position of the base through the position detection signal.
具体地,驱动机构36可包括到位开关,在控制移动件34对可移动平台12进行整位至基站14的目标位置时,可移动平台12会触发到位开关而产生到位检测信号,基站可以获取该到位检测信号,此时表明可移动平台12已处于目标位置,且第一充电端子22与第二充电端子28已实现连接,基站14可以对可移动平台12充电。若基站14未获得到位检测信号,基站14可控制移动件对可移动平台重复整位。Specifically, the driving mechanism 36 may include an in-position switch. When the moving member 34 is controlled to adjust the movable platform 12 to the target position of the base station 14, the movable platform 12 will trigger the in-position switch to generate an in-position detection signal, which the base station can obtain. The arrival detection signal indicates that the movable platform 12 is at the target position, and the first charging terminal 22 and the second charging terminal 28 are connected, and the base station 14 can charge the movable platform 12 . If the base station 14 does not obtain the position detection signal, the base station 14 can control the moving part to repeat the positioning of the movable platform.
在一个实施方式中,充电方法还包括:In one embodiment, the charging method further includes:
在每次对可移动平台12整位后未接收到到位检测信号的次数小于次数阈值时,控制移动件34释放可移动平台12,并再次控制移动件34合拢将可移动平台12整位至基站14的目标位置;When the number of times that the position detection signal is not received after each repositioning of the movable platform 12 is less than the number threshold, the moving part 34 is controlled to release the movable platform 12, and the moving part 34 is controlled to close again to reposition the movable platform 12 to the base station. Target position of 14;
在每次对可移动平台12整位后未接收到到位检测信号的次数不小于次数阈值时,上报异常信息。如此,可以对充电异常情况进行上报,以提醒相关人员进行故障排除。When the number of times that the in-position detection signal is not received after each repositioning of the movable platform 12 is not less than the number threshold, abnormal information is reported. In this way, charging abnormalities can be reported to remind relevant personnel to perform troubleshooting.
具体地,次数阈值可以根据具体情况进行设定。在一个例子中,次数阈值是3次。对可移动平台12进行3次整位后,仍没有接收到到位检测信号时,上报异常信息。异常信息可以上报至服务器、指定的移动终端等等,以提醒相关人员进行故障排除。Specifically, the number of times threshold can be set according to specific circumstances. In one example, the number threshold is 3 times. After adjusting the movable platform 12 three times and still not receiving the position detection signal, abnormal information is reported. Abnormal information can be reported to the server, designated mobile terminals, etc. to remind relevant personnel to perform troubleshooting.
在某些实施方式中,基站14对可移动平台12充电包括:In some embodiments, charging the mobile platform 12 by the base station 14 includes:
基站14与可移动平台12进行通信以获得可移动平台12的电池相关信息;The base station 14 communicates with the movable platform 12 to obtain battery-related information of the movable platform 12;
基站14基于电池相关信息判断是否满足充电条件;The base station 14 determines whether charging conditions are met based on battery-related information;
在满足充电条件时,基站14对可移动平台12的电池充电。如此,基站14可以对可移动平台12充电。When the charging conditions are met, the base station 14 charges the battery of the movable platform 12 . In this manner, the base station 14 can charge the movable platform 12 .
具体地,在一个实施方式中,基站14在接收到到位检测信号后,基站14可以打开充电用的电源(如12V电源),以为可移动平台12充电做准备,同时,基站14可以尝试通信。例如,基站14可以发送通信请求至可移动平台12,在接收到可移动平台12基于通信请求而发回的确认请求后,基站14可以确定与可移动平台12通信成功。基站14可以再向可移动平台12发送获取电池相关信息的请求,可移动平台12基于该请求,发送电池相关信息至基站14。基站14基于电池相关信息判断是否满足充电条件。在满足充电条件时,基站14对可移动平台12的电池充电。Specifically, in one embodiment, after the base station 14 receives the arrival detection signal, the base station 14 can turn on the charging power supply (such as a 12V power supply) to prepare for charging the movable platform 12, and at the same time, the base station 14 can attempt communication. For example, the base station 14 may send a communication request to the mobile platform 12, and after receiving a confirmation request sent back by the mobile platform 12 based on the communication request, the base station 14 may determine that the communication with the mobile platform 12 is successful. The base station 14 may then send a request to obtain the battery-related information to the movable platform 12, and the movable platform 12 sends the battery-related information to the base station 14 based on the request. The base station 14 determines whether charging conditions are met based on battery-related information. When the charging conditions are met, the base station 14 charges the battery of the movable platform 12 .
在一个实施方式中,充电条件可以包括电芯的温度在设定范围和电芯的电量低于设定电量阈值。当采集到的电芯温度在设定范围内且电芯电量低于设定电量阈值时,可以认为满足充电条件,基站14对可移动平台12充电。可以理解,在其它实施方式中,充电条件还可以包括其它条件,而不限于上述的两个 条件。In one embodiment, the charging conditions may include that the temperature of the battery core is within a set range and the power of the battery core is lower than a set power threshold. When the collected battery core temperature is within the set range and the battery power is lower than the set power threshold, it can be considered that the charging conditions are met, and the base station 14 charges the movable platform 12 . It can be understood that in other embodiments, the charging conditions may also include other conditions, and are not limited to the above two conditions.
在某些实施方式中,充电方法包括:In some embodiments, the charging method includes:
在基站14与可移动平台12没有通信成功时,控制移动件34释放可移动平台12,并控制移动件34合拢将可移动平台12整位至基站14的目标位置。如此,可以对可移动平台12进行重新整位。When the communication between the base station 14 and the movable platform 12 is not successful, the moving part 34 is controlled to release the movable platform 12, and the moving part 34 is controlled to close to adjust the movable platform 12 to the target position of the base station 14. In this way, the movable platform 12 can be repositioned.
具体地,在一个实施方式中,在接收到到位检测信号时,基站14可以向可移动平台12发送通信请求。在发送通信请求预设时长内,有接收到可移动平台12基于通信请求而发回的确认请求,基站14可以确定与可移动平台12通信成功。在发送通信请求预设时长内,基站14没有收到可移动平台12发回的确认请求,可以确定基站14与可移动平台12没有通信成功。此时,可能是因为第一充电端子22与第二充电端子28因意外松脱造成的。因此,基站14可以控制移动件34释放可移动平台12,并控制移动件34再次合拢将可移动平台12整位至基站14的目标位置,对可移动平台12进行重新整位。在接收到到位检测信号时,基站14可以再次与可移动平台12尝试通信。Specifically, in one embodiment, upon receiving the presence detection signal, the base station 14 may send a communication request to the movable platform 12 . Within the preset time period for sending the communication request, if a confirmation request sent back by the mobile platform 12 based on the communication request is received, the base station 14 can determine that the communication with the mobile platform 12 is successful. Within the preset time period for sending the communication request, the base station 14 does not receive the confirmation request sent back by the mobile platform 12, and it can be determined that the communication between the base station 14 and the mobile platform 12 is not successful. At this time, it may be caused by the accidental loosening of the first charging terminal 22 and the second charging terminal 28 . Therefore, the base station 14 can control the moving parts 34 to release the movable platform 12, and control the moving parts 34 to close again to adjust the movable platform 12 to the target position of the base station 14, thereby repositioning the movable platform 12. Upon receiving the presence detection signal, base station 14 may attempt communication with movable platform 12 again.
在一个实施方式中,可移动平台12可以向基站14发送通信请求。在发送通信请求预设时长内,有接收到基站14基于通信请求而发回的确认请求,可移动平台12可以确定与基站14通信成功。在发送通信请求预设时长内,可移动平台12没有收到基站14发回的确认请求,可以确定基站14与可移动平台12没有通信成功。In one embodiment, mobile platform 12 may send a communication request to base station 14. Within the preset time period for sending the communication request, if a confirmation request sent back by the base station 14 based on the communication request is received, the movable platform 12 can determine that the communication with the base station 14 is successful. Within the preset time period for sending the communication request, the mobile platform 12 does not receive the confirmation request sent back by the base station 14, and it can be determined that the base station 14 and the mobile platform 12 did not communicate successfully.
在某些实施方式中,充电方法还包括:In some embodiments, the charging method further includes:
在可移动平台12的电芯温度大于第一温度阈值时,基站14对可移动平台12降温。如此,可以使电芯满足充电条件。When the battery core temperature of the movable platform 12 is greater than the first temperature threshold, the base station 14 cools down the movable platform 12 . In this way, the battery core can meet the charging conditions.
具体地,电池可以包括多个电芯,电芯的温度过高,容易造成充电效率低下,严重时甚至出现电池爆炸的问题。因此,电芯温度大于第一温度阈值时,基站14可以对可移动平台12降温。Specifically, the battery may include multiple cells. If the temperature of the cells is too high, it is easy to cause low charging efficiency, and in severe cases, the battery may even explode. Therefore, when the battery core temperature is greater than the first temperature threshold, the base station 14 can cool down the movable platform 12 .
在一个实施方式中,基站14设有空调,降温的措施包括基站14启动空调对可移动平台12降温。例如,在降落平台32下方设有空调,空调启动时,可以将冷风吹向可移动平台12。在一个实施方式中,基站14设有风扇,降温的措施包括基站14启动风扇对可移动平台12降温。In one embodiment, the base station 14 is equipped with an air conditioner, and the cooling measures include the base station 14 starting the air conditioner to cool down the movable platform 12 . For example, an air conditioner is provided below the landing platform 32. When the air conditioner is activated, cold air can be blown toward the movable platform 12. In one embodiment, the base station 14 is equipped with a fan, and the cooling measures include the base station 14 starting the fan to cool down the movable platform 12 .
在某些实施方式中,充电方法包括:In some embodiments, the charging method includes:
在可移动平台12的电芯温度小于第二温度阈值时,可移动平台12开启电池加热功能对电芯升温。如此,可以使电芯满足充电条件。When the battery core temperature of the movable platform 12 is less than the second temperature threshold, the movable platform 12 turns on the battery heating function to heat the battery core. In this way, the battery core can meet the charging conditions.
具体地,电池可以包括多个电芯,电芯的温度过低,电芯活性不足,容易造成充电效率低下。因此,电芯温度小于第二温度阈值时,可移动平台12开启电池加热功能对电芯升温。第一温度阈值大于第二温度阈值,第一温度阈值与第二温度阈值之间可以构成一个温度范围,充电条件包括电芯温度在该温度范围。在一个例子中,第一温度阈值为40摄氏度,第二温度阈值为5摄氏度。可以理解,本申请实施方式的温度阈值不限于此,还可以设置为其它温度阈值。Specifically, the battery may include multiple cells. If the temperature of the cell is too low, the cell activity is insufficient, which may easily lead to low charging efficiency. Therefore, when the battery core temperature is lower than the second temperature threshold, the movable platform 12 turns on the battery heating function to heat the battery core. The first temperature threshold is greater than the second temperature threshold, and a temperature range may be formed between the first temperature threshold and the second temperature threshold, and the charging conditions include that the battery core temperature is within this temperature range. In one example, the first temperature threshold is 40 degrees Celsius and the second temperature threshold is 5 degrees Celsius. It can be understood that the temperature threshold in the embodiment of the present application is not limited to this, and can also be set to other temperature thresholds.
在一个实施方式中,电池加热功能可以利用电芯自身发热来使电芯温度上升。在一个实施方式中,电池加热功能可以利用外部加热件对电芯进行加热,使电芯温度上升。外部加热件可以包括PCT材料、加热膜、加热流体等等。In one embodiment, the battery heating function can utilize the heat generated by the battery core to increase the temperature of the battery core. In one embodiment, the battery heating function can use an external heating element to heat the battery core to increase the temperature of the battery core. External heating elements may include PCT materials, heating films, heating fluids, etc.
在某些实施方式中,充电方法包括:In some embodiments, the charging method includes:
在充电过程中,检测充电端子的温度,若温度超过预设温度阈值,则结束充电并上报异常信息;During the charging process, the temperature of the charging terminal is detected. If the temperature exceeds the preset temperature threshold, charging is terminated and abnormal information is reported;
否则在可移动平台12的电池充电到预定电量时结束充电。如此,可以保证充电安全。Otherwise, charging ends when the battery of the movable platform 12 is charged to a predetermined level. In this way, charging safety can be ensured.
具体地,充电端子可能会因意外而导致温度异常升高。高温容易导致内部结构件出现损坏,如塑料会被高温烧变形或烧焦,严重时甚至发生短路及火情,而金属会因高温更容易氧化而失去导电性。因此,在充电端子温度超过预设温度阈值时,结束充电并上报异常信息,可以提醒相关人员进行故障排除。预设温度阈值可以根据实际需求来具体设定。Specifically, the temperature of the charging terminal may rise abnormally due to accident. High temperatures can easily cause damage to internal structural components. For example, plastics may be deformed or scorched by high temperatures. In severe cases, short circuits and fires may occur. Metals may be more easily oxidized due to high temperatures and lose their conductivity. Therefore, when the temperature of the charging terminal exceeds the preset temperature threshold, charging is terminated and abnormal information is reported, which can remind relevant personnel to perform troubleshooting. The preset temperature threshold can be specifically set according to actual needs.
在可移动平台12的电池充电到预定电量时,基站14可以结束对可移动平台12充电,可移动平台12可以等待作业命令。预定电量可以包括100%,或95%等等电量百分比。When the battery of the movable platform 12 is charged to a predetermined level, the base station 14 can end charging the movable platform 12, and the movable platform 12 can wait for a work command. The predetermined battery level may include 100%, 95%, etc. battery percentages.
在图示的实施方式中,温度传感器94检测第二充电端子28的温度,并进行监测,在第二充电端子28温度超过预设温度阈值时,基站14可以结束充电并上报异常信息。In the illustrated embodiment, the temperature sensor 94 detects and monitors the temperature of the second charging terminal 28. When the temperature of the second charging terminal 28 exceeds the preset temperature threshold, the base station 14 can end charging and report abnormal information.
在一个实施方式中,温度传感器94可以检测第一充电端子22的温度,并进行监测,在第一充电端子22温度超过预设温度阈值时,基站14可以结束充电并上报异常信息。In one embodiment, the temperature sensor 94 can detect and monitor the temperature of the first charging terminal 22 . When the temperature of the first charging terminal 22 exceeds a preset temperature threshold, the base station 14 can end charging and report abnormal information.
在一个实施方式中,温度传感器94可以检测第一充电端子22和第二充电端子28的温度,并进行监测,在第一充电端子22温度超过第一预设温度阈值,或第二充电端子28温度超过第二预设温度阈值时,基站14可以结束充电并上报异常信息。第一预设温度阈值可以与第二预设温度阈值相等,也可以不相等,具体根据实际情况设定。In one embodiment, the temperature sensor 94 can detect the temperature of the first charging terminal 22 and the second charging terminal 28 and monitor when the temperature of the first charging terminal 22 exceeds the first preset temperature threshold, or the temperature of the second charging terminal 28 When the temperature exceeds the second preset temperature threshold, the base station 14 may end charging and report abnormal information. The first preset temperature threshold may be equal to the second preset temperature threshold, or may not be equal, and is specifically set according to the actual situation.
请参图13,图13示出了本申请的一个具体实施例的充电方法的流程图。Please refer to Figure 13, which shows a flow chart of a charging method according to a specific embodiment of the present application.
机场在收到无人机降落信号后,打开舱盖以露出降落平台供无人机降落,待无人机降落后,前后左右舵机推杆合拢以尝试将无人机移动至目标位置。After receiving the landing signal of the drone, the airport opened the hatch to expose the landing platform for the drone to land. After the drone landed, the front and rear left and right servo pushrods were closed to try to move the drone to the target location.
在前后左右舵机的到位开关触发后,表明无人机已经被移动至目标位置,否则前后左右舵机推杆释放,然后重新合拢,以尝试将无人机移动至目标位置。如果推杆开合的次数超出阈值比如3次,则可以认为前后左右的舵机推杆不能成功地将无人机整位至目标位置,充电出现了异常,机场可以将该异常情况上报给用户端,提醒用户维修。After the in-position switches of the front and rear left and right servos are triggered, it indicates that the drone has been moved to the target position. Otherwise, the push rods of the front and rear left and right servos are released and then closed again to try to move the drone to the target position. If the number of times the push rod is opened and closed exceeds the threshold, such as 3 times, it can be considered that the front, rear, left and right servo push rods cannot successfully position the drone to the target position, and there is an abnormality in charging. The airport can report the abnormal situation to the user. end, reminding the user for maintenance.
如果前后左右舵机的到位开关被触发,表明无人机已经被移动至目标位置,机场可以打开电源,为无人机端充电模块供电,并尝试和电池通信以获取电池信息如电池的电量。作为更加可靠的一种方式,如果通信失败,前后左右舵机推杆可以再次释放,然后重新合拢,以尝试将无人机移动至目标位置。If the position switches of the front and rear left and right servos are triggered, indicating that the drone has been moved to the target position, the airport can turn on the power, supply power to the charging module of the drone, and try to communicate with the battery to obtain battery information such as battery power. As a more reliable method, if communication fails, the front, rear, left and right servo pushrods can be released again and then closed again to try to move the drone to the target position.
如果通信成功,机场能够获得电池信息,并判断无人机是否满足充电条件,以决定是否充电。由于电池温度会影响充电速率和电池寿命,所以机场可以根据电池温度决定是否调整温度,比如打开空调给电池降温,也可以打开电池的加热功能使电池温度升高。If the communication is successful, the airport can obtain the battery information and determine whether the drone meets the charging conditions to decide whether to charge. Since the battery temperature will affect the charging rate and battery life, the airport can decide whether to adjust the temperature based on the battery temperature, such as turning on the air conditioner to cool the battery, or turning on the battery heating function to increase the battery temperature.
在充电过程中,机场可以检测充电端子的温度判断充电是否异常,充电端子过热超出了一定阈值,可以将异常信息上报用户端。During the charging process, the airport can detect the temperature of the charging terminal to determine whether the charging is abnormal. If the charging terminal is overheated beyond a certain threshold, the abnormal information can be reported to the user terminal.
综上,本申请实施方式的可移动平台系统100可以至少实现如下技术效果:To sum up, the movable platform system 100 according to the embodiment of the present application can achieve at least the following technical effects:
1、基站14充电无需高精度换电的机械结构,节省成本,提高可靠性。1. Charging the base station 14 does not require a high-precision mechanical structure for battery replacement, saving costs and improving reliability.
2、基站14给可移动平台12充电的方法简单、可靠。2. The method for the base station 14 to charge the movable platform 12 is simple and reliable.
在本说明书的描述中,参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中,对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且,描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。In the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" or the like is intended to be in conjunction with the description of the embodiments. or examples describe specific features, structures, materials, or characteristics that are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
尽管已经示出和描述了本申请的实施方式,本领域的普通技术人员可以理解:在不脱离本申请的原理和宗旨的情况下可以对这些实施方式进行多种变化、修改、替换和变型,本申请的范围由权利要求及其等同物限定。Although the embodiments of the present application have been shown and described, those of ordinary skill in the art will understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principles and purposes of the present application. The scope of the application is defined by the claims and their equivalents.
Claims (45)
- 一种可移动平台系统,其特征在于,包括:A movable platform system, characterized by including:可移动平台,包括本体和第一充电组件,所述第一充电组件设在所述本体上,所述本体上设有第一导向结构,所述第一充电组件具有第一充电端子;The movable platform includes a body and a first charging component. The first charging component is provided on the body. The body is provided with a first guide structure. The first charging component has a first charging terminal;基站,包括可移动的第二充电组件,所述第二充电组件具有第二导向结构及第二充电端子,所述第二充电端子能够相对于所述第二导向结构移动;A base station including a movable second charging component, the second charging component having a second guide structure and a second charging terminal, the second charging terminal being movable relative to the second guide structure;其中,所述可移动平台系统被配置为,所述第二充电组件向所述本体移动,并通过所述第一导向结构和所述第二导向结构实现定位对接,所述第二充电端子进一步移动与所述第一充电端子连接。Wherein, the movable platform system is configured such that the second charging component moves toward the body and achieves positioning and docking through the first guide structure and the second guide structure, and the second charging terminal further Move to connect with the first charging terminal.
- 根据权利要求1所述的可移动平台系统,其特征在于,所述第一充电端子和所述第二充电端子的其中一个为夹片,另一个为单根导电片,The movable platform system according to claim 1, wherein one of the first charging terminal and the second charging terminal is a clip, and the other is a single conductive piece,所述单根导电片插入所述夹片以实现充电和数据传输。The single conductive piece is inserted into the clip to achieve charging and data transmission.
- 根据权利要求1所述的可移动平台系统,其特征在于,所述第一导向结构包括设在所述本体上的定位柱,所述第二导向结构设有第一定位槽,The movable platform system according to claim 1, wherein the first guide structure includes a positioning post provided on the body, and the second guide structure is provided with a first positioning groove,所述定位柱的至少一部分位于所述第一定位槽内以实现所述第一导向结构和所述第二导向结构定位对接。At least a part of the positioning post is located in the first positioning groove to realize positioning and docking of the first guide structure and the second guide structure.
- 根据权利要求3所述的可移动平台系统,其特征在于,所述第一定位槽的导向开口由外至内逐渐缩小。The movable platform system according to claim 3, wherein the guide opening of the first positioning groove gradually shrinks from outside to inside.
- 根据权利要求3所述的可移动平台系统,其特征在于,所述第一定位槽的导向开口设有第一导向面,所述定位柱能够沿所述第一导向面滑入所述第一定位槽以实现定位对接。The movable platform system according to claim 3, wherein the guide opening of the first positioning slot is provided with a first guide surface, and the positioning post can slide into the first guide surface along the first guide surface. Positioning slots to achieve positioning and docking.
- 根据权利要求1所述的可移动平台系统,其特征在于,所述本体上还设有与所述第一导向结构间隔的第三导向结构,所述第三导向结构被配置为对所述第二充电端子进一步移动时进行导向以使所述第二充电端子与所述第一充电端子定位连接。The movable platform system according to claim 1, wherein the body is further provided with a third guide structure spaced apart from the first guide structure, and the third guide structure is configured to guide the third guide structure. When the two charging terminals move further, they are guided so that the second charging terminal is positionally connected to the first charging terminal.
- 根据权利要求6所述的可移动平台系统,其特征在于,所述第三导向结构包括设在所述本体上的第二定位槽,所述第二定位槽的导向开口设有第二导向面,所述第二充电端子能够沿所述第二导向面滑入所述第二定位槽以使所述第二充电端子与所述第一充电端子定位对接。The movable platform system according to claim 6, wherein the third guide structure includes a second positioning groove provided on the body, and the guide opening of the second positioning groove is provided with a second guide surface. , the second charging terminal can slide into the second positioning groove along the second guide surface so that the second charging terminal and the first charging terminal are positioned and docked.
- 根据权利要求1所述的可移动平台系统,其特征在于,所述第一充电组件包括位于所述本体内的第一固定座,所述第一充电端子位于所述第一固定座内。The movable platform system according to claim 1, wherein the first charging component includes a first fixed base located in the body, and the first charging terminal is located in the first fixed base.
- 根据权利要求8所述的可移动平台系统,其特征在于,所述第一固定座的侧壁开设有连通所述第一固定座内部空间的通孔。The movable platform system according to claim 8, wherein the side wall of the first fixed base is provided with a through hole communicating with the internal space of the first fixed base.
- 根据权利要求8所述的可移动平台系统,其特征在于,所述第一固定座设有第一开口及第一挡板,所述第一挡板关闭所述第一开口,在所述第二充电端子进一步移动与所述第一充电端子连接过程中,所述第二充电端子顶开所述第一挡板以使所述第二充电端子与所述第一充电端子连接。The movable platform system according to claim 8, wherein the first fixed base is provided with a first opening and a first baffle, and the first baffle closes the first opening. When the second charging terminal is further moved and connected to the first charging terminal, the second charging terminal pushes away the first baffle so that the second charging terminal is connected to the first charging terminal.
- 根据权利要求1所述的可移动平台系统,其特征在于,所述第二充电组件包括抵持部和第二固定座,所述第二导向结构可移动地穿设所述抵持部,The movable platform system according to claim 1, wherein the second charging component includes a resisting portion and a second fixed base, and the second guide structure movably penetrates the resisting portion,所述第二固定座连接有支撑座,所述第二固定座至少部分地位于所述第二导向结构内,所述第二充电端子的一部分位于所述第二固定座内,另一部分位于所述第二固定座外,The second fixed seat is connected to a support base, and the second fixed seat is at least partially located in the second guide structure. A part of the second charging terminal is located in the second fixed seat, and the other part is located in the second fixed seat. Outside the second fixed seat,所述支撑座的前外壁与所述抵持部的前内壁之间设有弹性件,在所述第二充电端子进一步移动与所述第一充电端子连接过程中,所述支撑座压缩所述弹性件。An elastic member is provided between the front outer wall of the support base and the front inner wall of the resisting portion. When the second charging terminal further moves and is connected to the first charging terminal, the support base compresses the Elastic parts.
- 根据权利要求11所述的可移动平台系统,其特征在于,所述第二充电组件包括防水壳体,所述防水壳体位于所述第二固定座内,The movable platform system according to claim 11, wherein the second charging component includes a waterproof housing, and the waterproof housing is located in the second fixed base,所述第二充电端子的一部分位于所述防水壳体内,另一部分位于所述防水壳体外,所述防水壳体周向外壁与所述第二固定座周向内壁之间设有浮动件。A part of the second charging terminal is located inside the waterproof housing, and the other part is located outside the waterproof housing. A floating member is provided between the circumferential outer wall of the waterproof housing and the circumferential inner wall of the second fixing base.
- 根据权利要求12所述的可移动平台系统,其特征在于,所述浮动件包括橡胶圈。The movable platform system of claim 12, wherein the floating member includes a rubber ring.
- 根据权利要求12所述的可移动平台系统,其特征在于,所述第二充电组件还包括防水件和防水端子,所述防水端子连接所述第二充电端子,The movable platform system according to claim 12, wherein the second charging component further includes a waterproof component and a waterproof terminal, and the waterproof terminal is connected to the second charging terminal,所述防水件位于所述防水壳体内,所述防水件包覆所述防水端子与所述第二充电端子的连接处。The waterproof component is located in the waterproof housing, and covers the connection between the waterproof terminal and the second charging terminal.
- 根据权利要求1所述的可移动平台系统,其特征在于,所述第二导向结构设有第二开口和第二挡板,所述第二挡板关闭所述第二开口,在所述第二充电端子进一步移动与所述第一充电端子连接过程中,所述第二充电端子顶开所述第二挡板。The movable platform system according to claim 1, wherein the second guide structure is provided with a second opening and a second baffle, and the second baffle closes the second opening. When the second charging terminal is further moved and connected to the first charging terminal, the second charging terminal pushes away the second baffle.
- 根据权利要求1所述的可移动平台系统,其特征在于,所述第二充电组件包括外壳和温度传感器,所述温度传感器位于所述外壳内,所述温度传感器用于采集所述外壳的内部温度。The movable platform system according to claim 1, wherein the second charging component includes a housing and a temperature sensor, the temperature sensor is located in the housing, and the temperature sensor is used to collect the interior of the housing. temperature.
- 根据权利要求1所述的可移动平台系统,其特征在于,所述可移动平台包括扫地机器人、无人机、无人车、无人船中的至少一种。The movable platform system according to claim 1, wherein the movable platform includes at least one of a sweeping robot, a drone, an unmanned vehicle, and an unmanned ship.
- 一种可移动平台,其特征在于,包括:A movable platform, characterized by including:本体;和ontology; and第一充电组件,所述第一充电组件设在所述本体上,所述本体上设有第一导向结构,所述第一充电组件具有第一充电端子,A first charging component, the first charging component is provided on the body, the body is provided with a first guide structure, the first charging component has a first charging terminal,其中,所述可移动平台被配置为,通过所述第一导向结构与基站的第二导向结构实现定位对接,所述第一充电端子进一步与相对于所述第二导向结构移动的基站第二充电端子连接。Wherein, the movable platform is configured to realize positioning and docking with the second guide structure of the base station through the first guide structure, and the first charging terminal is further connected with a second base station that moves relative to the second guide structure. Charging terminal connection.
- 根据权利要求18所述的可移动平台,其特征在于,所述第一充电端子和所述第二充电端子的其中一个为夹片,另一个为单根导电片,The movable platform according to claim 18, wherein one of the first charging terminal and the second charging terminal is a clip, and the other is a single conductive piece,所述单根导电片插入所述夹片以实现充电和数据传输。The single conductive piece is inserted into the clip to achieve charging and data transmission.
- 根据权利要求18所述的可移动平台,其特征在于,所述第一导向结构包括设在所述本体上的定位柱,所述定位柱的至少一部分用于容置在所述第二导向结构的第一定位槽内以实现所述第一导向结构和所述第二导向结构定位对接。The movable platform according to claim 18, wherein the first guide structure includes a positioning post provided on the body, and at least a part of the positioning post is used to accommodate the second guide structure. in the first positioning groove to achieve positioning and docking of the first guide structure and the second guide structure.
- 根据权利要求18所述的可移动平台,其特征在于,所述本体上还设有与所述第一导向结构间隔的第三导向结构,所述第三导向结构被配置为对所述第二充电端子进一步移动时进行导向以使所述第二充电端子与所述第一充电端子定位连接。The movable platform according to claim 18, wherein the body is further provided with a third guide structure spaced apart from the first guide structure, and the third guide structure is configured to guide the second guide structure. When the charging terminal moves further, it is guided so that the second charging terminal is positionally connected to the first charging terminal.
- 根据权利要求21所述的可移动平台,其特征在于,所述第三导向结构包括设在所述本体上的第二定位槽,所述第二定位槽的导向开口设有第二导向面,所述第二充电端子能够沿所述第二导向面滑入所述第二定位槽以使所述第二充电端子与所述第一充电端子定位对接。The movable platform according to claim 21, wherein the third guide structure includes a second positioning groove provided on the body, and the guide opening of the second positioning groove is provided with a second guide surface, The second charging terminal can slide into the second positioning groove along the second guide surface so that the second charging terminal is positioned and docked with the first charging terminal.
- 根据权利要求17所述的可移动平台,其特征在于,所述第一充电组件包括位于所述本体内的第一固定座,所述第一充电端子位于所述第一固定座内。The movable platform according to claim 17, wherein the first charging component includes a first fixed base located in the body, and the first charging terminal is located in the first fixed base.
- 根据权利要求23所述的可移动平台,其特征在于,所述第一固定座的侧壁开设有连通所述第一固定座内部空间的通孔。The movable platform according to claim 23, wherein the side wall of the first fixed base is provided with a through hole communicating with the internal space of the first fixed base.
- 根据权利要求23所述的可移动平台,其特征在于,所述第一固定座设有第一开口及第一挡板,所述第一挡板关闭所述第一开口,在所述第二充电端子进一步移动与所述第一充电端子连接过程中,所述第一挡板被所述第二充电端子顶开以使所述第二充电端子与所述第一充电端子连接。The movable platform according to claim 23, wherein the first fixed base is provided with a first opening and a first baffle, the first baffle closes the first opening, and in the second When the charging terminal further moves and is connected to the first charging terminal, the first baffle is pushed open by the second charging terminal so that the second charging terminal is connected to the first charging terminal.
- 根据权利要求17所述的可移动平台,其特征在于,所述可移动平台包括扫地机器人、无人机、无人车、无人船中的至少一种。The movable platform according to claim 17, characterized in that the movable platform includes at least one of a sweeping robot, a drone, an unmanned vehicle, and an unmanned ship.
- 一种基站,用于可移动平台充电,其特征在于,所述基站包括:A base station for charging mobile platforms, characterized in that the base station includes:可移动的第二充电组件,所述第二充电组件具有第二导向结构及第二充电端子,所述第二充电端子能够相对于所述第二导向结构移动;a movable second charging component, the second charging component having a second guide structure and a second charging terminal, the second charging terminal being movable relative to the second guide structure;其中,所述基站被配置为,所述第二充电组件向所述可移动平台移动,并通过所述第二导向结构和所述可移动平台的第一导向结构实现定位对接,所述第二充电端子进一步移动与所述可移动平台的第一充电端子连接。Wherein, the base station is configured such that the second charging component moves toward the movable platform and achieves positioning and docking through the second guide structure and the first guide structure of the movable platform, and the second charging component The charging terminal further moves and is connected to the first charging terminal of the movable platform.
- 根据权利要求27所述的基站,其特征在于,所述第一充电端子和所述第二充电端子的其中一个为夹片,另一个为单根导电片,The base station according to claim 27, wherein one of the first charging terminal and the second charging terminal is a clip, and the other is a single conductive piece,所述单根导电片插入所述夹片以实现充电和数据传输。The single conductive piece is inserted into the clip to achieve charging and data transmission.
- 根据权利要求27所述的基站,其特征在于,所述第二导向结构设有第一定位槽,The base station according to claim 27, wherein the second guide structure is provided with a first positioning groove,所述第一定位槽用于容置所述第一导向结构的定位柱的至少一部分以实现所述第一导向结构和所述导向结构定位对接。The first positioning groove is used to accommodate at least part of the positioning post of the first guide structure to achieve positioning and docking of the first guide structure and the guide structure.
- 根据权利要求29所述的基站,其特征在于,所述第一定位槽的导向开口由外至内逐渐缩小。The base station according to claim 29, wherein the guide opening of the first positioning groove gradually shrinks from outside to inside.
- 根据权利要求29所述的基站,其特征在于,所述第一定位槽的导向开口设有第一导向面,所述定位柱能够沿所述第一导向面滑入所述第一定位槽以实现定位对接。The base station according to claim 29, wherein the guide opening of the first positioning groove is provided with a first guide surface, and the positioning post can slide into the first positioning groove along the first guide surface to Realize positioning and docking.
- 根据权利要求27所述的基站,其特征在于,所述第二充电组件包括抵持部和第二固定座,所述第二导向结构可移动地穿设所述抵持部,The base station according to claim 27, wherein the second charging component includes a resisting portion and a second fixed base, and the second guide structure movably penetrates the resisting portion,所述第二固定座连接有支撑座,所述第二固定座至少部分地位于所述第二导向结构内,所述第二充电端子的一部分位于所述第二固定座内,另一部分位于所述第二固定座外,The second fixed seat is connected to a support base, and the second fixed seat is at least partially located in the second guide structure. A part of the second charging terminal is located in the second fixed seat, and the other part is located in the second fixed seat. Outside the second fixed seat,所述支撑座的前外壁与所述抵持部的前内壁之间设有弹性件,在所述第二充电端子进一步移动与所述第一充电端子连接过程中,所述支撑座压缩所述弹性件。An elastic member is provided between the front outer wall of the support base and the front inner wall of the resisting portion. When the second charging terminal further moves and is connected to the first charging terminal, the support base compresses the Elastic parts.
- 根据权利要求32所述的基站,其特征在于,所述第二充电组件包括防水壳体,所述防水壳体位于所述第二固定座内,The base station according to claim 32, wherein the second charging component includes a waterproof housing, and the waterproof housing is located in the second fixing base,所述第二充电端子的一部分位于所述防水壳体内,另一部分位于所述防水壳体外,所述防水壳体周向外壁与所述第二固定座周向内壁之间设有浮动件。A part of the second charging terminal is located inside the waterproof housing, and the other part is located outside the waterproof housing. A floating member is provided between the circumferential outer wall of the waterproof housing and the circumferential inner wall of the second fixing base.
- 根据权利要求33所述的基站,其特征在于,所述浮动件包括橡胶圈。The base station according to claim 33, wherein the floating member includes a rubber ring.
- 根据权利要求33所述的基站,其特征在于,所述第二充电组件还包括防水件和防水端子,所述防水端子连接所述第二充电端子,The base station according to claim 33, wherein the second charging component further includes a waterproof component and a waterproof terminal, and the waterproof terminal is connected to the second charging terminal,所述防水件位于所述防水壳体内,所述防水件包覆所述防水端子与所述第二充电端子的连接处。The waterproof component is located in the waterproof housing, and covers the connection between the waterproof terminal and the second charging terminal.
- 根据权利要求27所述的基站,其特征在于,所述第二导向结构设有第二开口和第二挡板,所述第二挡板关闭所述第二开口,在所述第二充电端子进一步移动与所述第一充电端子连接过程中,所述第二充电端子顶开所述第二挡板。The base station according to claim 27, characterized in that the second guide structure is provided with a second opening and a second baffle, the second baffle closes the second opening, and when the second charging terminal During further movement and connection with the first charging terminal, the second charging terminal pushes away the second baffle.
- 根据权利要求27所述的基站,其特征在于,所述第二充电组件包括外壳和温度传感器,所述温度传感器位于所述外壳内,所述温度传感器用于采集所述外壳的内部温度。The base station according to claim 27, wherein the second charging component includes a housing and a temperature sensor, the temperature sensor is located in the housing, and the temperature sensor is used to collect the internal temperature of the housing.
- 一种可移动平台系统的充电方法,所述可移动平台系统包括可移动平台和基站,其特征在于,所述充电方法包括:A charging method for a movable platform system. The movable platform system includes a movable platform and a base station. It is characterized in that the charging method includes:控制移动件对位于所述基站上的所述可移动平台进行整位,以使所述可移动平台位于所述基站的目标位置;Control the moving member to adjust the position of the movable platform located on the base station so that the movable platform is located at the target position of the base station;在所述可移动平台未能被整位至所述基站的目标位置时,控制所述移动件对所述可移动平台进行重复整位;When the movable platform fails to be adjusted to the target position of the base station, control the moving member to repeatedly adjust the movable platform;直至在所述可移动平台位于所述基站的目标位置时,所述基站对所述可移动平台充电。The base station charges the movable platform until the movable platform is located at the target location of the base station.
- 根据权利要求38所述的充电方法,其特征在于,所述控制移动件对位于所述基站上的所述可移动平台进行整位,以使所述可移动平台位于所述基站的目标位置;在所述可移动平台未能被整位至所述基站的目标位置时,控制所述移动件对所述可移动平台进行重复整位,包括:The charging method according to claim 38, characterized in that the control moving member adjusts the position of the movable platform located on the base station so that the movable platform is located at the target position of the base station; When the movable platform fails to be adjusted to the target position of the base station, controlling the moving member to repeatedly adjust the movable platform includes:控制所述移动件合拢以将所述可移动平台夹持于所述基站的目标位置,在所述可移动平台未能被整位至所述基站的目标位置时,控制所述移动件释放所述可移动平台,并再次控制所述移动件合拢,重复该过程以实现控制所述可移动平台被整位至所述基站的目标位置。Control the moving parts to close to clamp the movable platform at the target position of the base station, and control the moving parts to release the movable platform when the movable platform fails to be adjusted to the target position of the base station. The movable platform is controlled to close again, and the process is repeated to control the movable platform to be adjusted to the target position of the base station.
- 根据权利要求38所述的充电方法,其特征在于,所述在所述可移动平台未能被整位至所述基站的目标位置时,控制所述移动件对所述可移动平台进行重复整位,包括:The charging method according to claim 38, characterized in that when the movable platform fails to be adjusted to the target position of the base station, the moving member is controlled to repeatedly adjust the movable platform. bits, including:所述可移动平台是否被整位至所述基站的目标位置能够被所述基站识别,在所述可移动平台被整位于所述基站的目标位置时,所述基站能够获得到位检测信号,若所述基站未获得所述到位检测信号,控制所述移动件对所述可移动平台重复整位。Whether the movable platform is adjusted to the target position of the base station can be identified by the base station. When the movable platform is adjusted to the target position of the base station, the base station can obtain an in-position detection signal. If The base station does not obtain the in-position detection signal and controls the moving member to repeat positioning of the movable platform.
- 根据权利要求38所述的充电方法,其特征在于,所述基站对所述可移动平台充电包括:The charging method according to claim 38, wherein charging the movable platform by the base station includes:所述基站与所述可移动平台进行通信以获得所述可移动平台的电池相关信息;The base station communicates with the movable platform to obtain battery-related information of the movable platform;所述基站基于所述电池相关信息判断是否满足充电条件;The base station determines whether charging conditions are met based on the battery-related information;在满足充电条件时,所述基站对所述可移动平台的电池充电。When charging conditions are met, the base station charges the battery of the movable platform.
- 根据权利要求41所述的充电方法,其特征在于,所述充电方法包括:The charging method according to claim 41, characterized in that the charging method includes:在所述基站与所述可移动平台没有通信成功时,控制所述移动件释放所述可移动平台,并控制移动件合拢将所述可移动平台整位至所述基站的目标位置。When the communication between the base station and the movable platform is not successful, the moving parts are controlled to release the movable platform, and the moving parts are controlled to close to adjust the movable platform to the target position of the base station.
- 根据权利要求38所述的充电方法,其特征在于,所述充电方法还包括:The charging method according to claim 38, characterized in that the charging method further includes:在所述可移动平台的电芯温度大于第一温度阈值时,所述基站对所述可移动平台降温。When the battery core temperature of the movable platform is greater than the first temperature threshold, the base station cools down the movable platform.
- 根据权利要求38所述的充电方法,其特征在于,所述充电方法包括:The charging method according to claim 38, characterized in that the charging method includes:在所述可移动平台的电芯温度小于第二温度阈值时,所述可移动平台开启电池加热功能对所述电芯升温。When the battery core temperature of the movable platform is less than the second temperature threshold, the movable platform turns on the battery heating function to heat the battery core.
- 根据权利要求38所述的充电方法,其特征在于,所述充电方法包括:The charging method according to claim 38, characterized in that the charging method includes:在充电过程中,检测充电端子的温度,若温度超过预设温度阈值,则结束充电并上报异常信息;During the charging process, the temperature of the charging terminal is detected. If the temperature exceeds the preset temperature threshold, charging is terminated and abnormal information is reported;否则在所述可移动平台的电池充电到预定电量时结束充电。Otherwise, charging is terminated when the battery of the movable platform is charged to a predetermined level.
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JP2000268883A (en) * | 1999-03-12 | 2000-09-29 | Sony Corp | Battery pack changing device |
CN108990508A (en) * | 2018-08-02 | 2018-12-14 | 苏州科瓴精密机械科技有限公司 | Intelligent robot system |
CN113726032A (en) * | 2021-11-03 | 2021-11-30 | 中国科学院空天信息创新研究院 | Wireless charging method, device, medium and product |
CN113839432A (en) * | 2020-06-23 | 2021-12-24 | 苏州宝时得电动工具有限公司 | Base station and base station system |
-
2022
- 2022-03-14 WO PCT/CN2022/080711 patent/WO2023173256A1/en unknown
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Publication number | Priority date | Publication date | Assignee | Title |
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JP2000268883A (en) * | 1999-03-12 | 2000-09-29 | Sony Corp | Battery pack changing device |
CN108990508A (en) * | 2018-08-02 | 2018-12-14 | 苏州科瓴精密机械科技有限公司 | Intelligent robot system |
CN113839432A (en) * | 2020-06-23 | 2021-12-24 | 苏州宝时得电动工具有限公司 | Base station and base station system |
CN113726032A (en) * | 2021-11-03 | 2021-11-30 | 中国科学院空天信息创新研究院 | Wireless charging method, device, medium and product |
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