Pioneer 2TM - Manual (Page 23)

ActivMedia Robotics
D OCKING /C HARGING S YSTEM
The Pioneer 3/PeopleBot docking/charging accessory is both a manual and an
automated mechanism. Onboard controls, triggered either by the DEPLOY CHARGER
button near the manual CHARGE port, or by H8S controller-mediated client commands,
deploy actuated contacts on the bottom of the robot, which in turn seat onto the
charging platform. Then, when activated by an IR-based, unique frequency-modulated
signal from the robot, the charger platform delivers up to 17 VDC @ 11.5 A to its plates.
While connected, onboard circuitry conditions the power to optimally charge the three
21-Ahr, 12 VDC lead-acid batteries (6 A charging current max) and provides sufficient
power (up to 5.5 A) for operation of all onboard systems.
The charging mechanism and onboard power conditioning circuitry can be retrofitted to
all Pioneer 3 and some Pioneer 2 and PeopleBot robots; all require return to the factory.
Manual Operation (Robot Power OFF)
With MAIN POWER off, place the robot over the charge platform so that its charging
contacts are perpendicular to and, when deployed, contact the charger plates. Note
that no charging power is applied to the plates on the platform; only low signal (5VDC @
<300mA) power for the IR detectors.
Press and hold the DEPLOY CHARGER button to manually deploy the charge mechanism
on the bottom of the robot. Hold for a few seconds, but not more than 10 seconds.
Charging is activated by positive contact with the charging platform. In that case, the
charge lamp on the charger unit will light and the robot's contacts will remain deployed
when you release the DEPLOY CHARGER button. Otherwise, the mechanism will retract.
In that case, re-position the robot and try again.
The robot's charging mechanism automatically retracts if you press the DEPLOY CHARGER
button while charging, if you move the robot on the docking platform and lose positive
charging contact, or if you remove power from the charger unit. In all cases, charging
power is removed immediately from the docking platform when not actively engaged
by the robot.
Manual Operation (Robot Power and Systems ON)
Because the automated docking/charging system’s charger and integrated circuitry
actively adjusts to system loads, it can run your robot's onboard systems while properly
and optimally recharging its batteries. And because the charging mechanism may be
operated independently of your robot's systems power, you may start up and shut down
your robot and its onboard systems without disturbing the battery charging cycle, if
engaged.
For example, with MAIN POWER on, use joystick mode to position the robot onto the
charging platform. Then reset the robot controller and manually deploy the charging
mechanism as described in the section above. Thereafter, switch MAIN POWER off, or
conversely, start up and shut down other onboard systems, including the PC, camera,
laser, and other accessories, to proceed with development work without disturbing
battery recharging.
The same conditions apply to remove charging power and retract the robot's charging
mechanism with the robot’s MAIN POWER on as well as off. In addition, engaging the
motors, such as when you press the white MOTORS button on the robot controller to
engage joystick/self-tests mode, also disengages recharging and retracts the charging
17