CN108378784A - A kind of robot accurate pointing docking system and method - Google Patents
A kind of robot accurate pointing docking system and method Download PDFInfo
- Publication number
- CN108378784A CN108378784A CN201810391588.6A CN201810391588A CN108378784A CN 108378784 A CN108378784 A CN 108378784A CN 201810391588 A CN201810391588 A CN 201810391588A CN 108378784 A CN108378784 A CN 108378784A
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- China
- Prior art keywords
- mobile robot
- receiving terminal
- robot
- stake
- infrared
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of robot accurate pointing docking system and method, including mobile robot and stake of plugging into, a launching seat of plugging into divides the signal into the region of left, middle and right three, and robot is easier to position, and position success rate is more preferable；By changing the slot size of launching seat M signal lamp, the fine degree of center line can be controlled, center line can accurately be more positioned so that plugged into just precisely；Robot is equipped with the infrared receiving terminal of left, center, right three, rotates at least one week, the band of position for stake of plugging into where capable of quickly judging；Angle is controlled using gyroscope, is more precisely controlled, deflection of the machine at 0.05 ° can be controlled so that deflection, more accurate positioning；This technology can be applied to the application fields such as Intelligent robot for sweeping floor auto-returned charging pile, robot docking, automatic search tracking.
Description
Technical field
The present invention relates to orientation docking technique field, specially a kind of robot accurate pointing docking system and method.
Background technology
Similar techniques on the market are since infrared signal design the problem of and due to use coded disc counting at present, and cause
Robot is low with success rate of plugging into the discrimination inaccuracy of sense or even plugs into unsuccessfully.Typical case is intelligent floor-sweeping machine
, there is sweeping robot and is unable to Dock With Precision Position charging pile in people's automatic butt charging pile technology, and charging is caused to fail.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of robot accurate pointing docking system and methods, solve
Current robot it is to the discrimination inaccuracy of sense low with success rate of plugging into addition plug into failure the problem of.
To achieve the above object, the present invention provides the following technical solutions：A kind of robot accurate pointing docking system, including
It mobile robot and plugs into stake, gyroscope built in the mobile robot, the mobile robot front sets that there are one just infrared
Head is received, mobile robot both sides are at least respectively provided with a left infrared receiving terminal and right infrared receiving terminal；It is the gyroscope, at prime
Outer reception head, left infrared receiving terminal connect MCU, and the motor driving electricity of mobile robot revolver, right wheel with right infrared receiving terminal
Road connects the MCU；
The stake of plugging into is made of launching seat and infrared discharge lamps；The launching seat is sequentially installed with the lamp holder towards left side
Lamp holder with left infrared discharge lamps, towards positive lamp holder with positive infrared discharge lamps, towards right side and right infrared discharge lamps；It is described
Left infrared discharge lamps, positive infrared discharge lamps, right infrared discharge lamps pass through lamp holder isolation signals.
Further, the mobile robot is sweeping robot, and the sweeping robot charging interface is located at robot
Bottom；The power supply shrapnel coordinated with sweeping robot charging interface is equipped at the positive infrared discharge lamps of stake of plugging into.
Further, the MCU uses pid algorithm.
Further, the gyroscope angle adjusting range is 0.05 °~10 °.
Further, further comprising the steps of：
Mobile robot unlatching is plugged into flow, rotates in place at least one week, respectively by positive infrared receiving terminal, a left side is infrared connects
Head and right infrared receiving terminal is received to plug into the signal of stake；
After receiving signal, according to signal content, by MCU judge mobile robot be in the centre of stake of plugging into, left side or
Right side；If receiving left infrared emission modulating signal, show in the left side for plugging into stake；If receiving right infrared emission modulating signal, show
It plugs into the right side of stake；If receiving positive infrared discharge lamps signal, show in the centre for plugging into stake；
If mobile robot controls mobile robot by motor-drive circuit and turns right in the left side for plugging into stake, MCU,
Until the blackout of the positive infrared receiving terminal of mobile robot；If mobile robot passes through in the right side for plugging into stake, MUC
Motor-drive circuit controls mobile robot and turns left, until robot until the signal of the positive infrared receiving terminal of mobile robot disappears
It loses；
Subsequent mobile robot straight trip, until left infrared receiving terminal or right infrared receiving terminal receive the outgoing at prime for stake of plugging into
Shot-light signal；
If the left infrared receiving terminal of mobile robot receives positive infrared discharge lamps signal, turn left until positive infrared receiving terminal
Receive positive infrared discharge lamps signal；If the right infrared receiving terminal of mobile robot receives positive infrared discharge lamps signal, turn right straight
Positive infrared discharge lamps signal is received to positive infrared receiving terminal；
At this point, mobile robot just facing towards the positive infrared discharge lamps of stake of plugging into, positive infrared receiving terminal receives outgoing at prime
Shot-light signal, subsequent mobile robot straight trip；
Mobile robot MCU drives two-wheel using pid algorithm, controls angle using gyroscope, control left and right wheels are poor, mobile
Robot finds to the left, then adjustment of turning right during keeping straight on towards positive infrared receiving terminal direction；It was found that the right, then tune of turning left
It is whole；The position that mobile robot is so clamped down on to the positive infrared receiving terminal of stake of plugging into face is kept straight on towards positive infrared receiving terminal, until
It plugs into stake.
Beneficial effects of the present invention：
1. a launching seat of plugging into divides the signal into the region of left, middle and right three, robot is easier to position, position success rate
More preferably.
2. by changing the slot size of launching seat M signal lamp, the fine degree of center line can be controlled, more can accurately
Position center line so that plug into just precisely.
3. robot is equipped with the infrared receiving terminal of left, center, right three, rotate at least one week, is connect where capable of quickly judging
Refute the band of position of stake.
4. controlling angle using gyroscope, more it is precisely controlled, deflection of the machine at 0.05 ° can be controlled so that deflection is determined
Position is more accurate.
5. this technology can be applied to Intelligent robot for sweeping floor auto-returned charging pile, robot docking, automatic search tracking
Etc. application fields.
Description of the drawings
Fig. 1 is the flow chart of the present invention.
Fig. 2 is schematic structural view of the invention.
Fig. 3 is the structural schematic diagram of the stake of plugging into of the present invention.
Fig. 4 is the circuit diagram of the mobile robot of the present invention.
Wherein：1. mobile robot, 2. left infrared receiving terminals, 3. positive infrared receiving terminals, 4. right infrared receiving terminals, 5.MCU,
6. motor-drive circuit, 7. revolvers, 8. right wheels, 9. lamp holders, 10. left infrared discharge lamps, 11. positive infrared discharge lamps, 12. right sides are infrared
Emission lamp, 13. launching seats, 14. gyroscopes.
Specific implementation mode
As shown in Figure 1,2,3, 4, a kind of robot accurate pointing docking system, including mobile robot and stake of plugging into, institute
State gyroscope built in mobile robot, the mobile robot front sets that there are one positive infrared receiving terminal, mobile robot both sides
At least it is respectively provided with a left infrared receiving terminal and right infrared receiving terminal；The gyroscope, positive infrared receiving terminal, left infrared receiving terminal
MCU is connect with right infrared receiving terminal, and the motor-drive circuit of mobile robot revolver, right wheel connects the MCU；
The stake of plugging into is made of launching seat and infrared discharge lamps；The launching seat is sequentially installed with the lamp holder towards left side
Lamp holder with left infrared discharge lamps, towards positive lamp holder with positive infrared discharge lamps, towards right side and right infrared discharge lamps；It is described
Left infrared discharge lamps, positive infrared discharge lamps, right infrared discharge lamps pass through lamp holder isolation signals.
The mobile robot is sweeping robot, and the sweeping robot charging interface is located at robot bottom；It is described
The power supply shrapnel coordinated with sweeping robot charging interface is equipped at the positive infrared discharge lamps of stake of plugging into.
The MCU uses pid algorithm.The gyroscope angle adjusting range is 0.05 °~10 °.
Mobile robot unlatching is plugged into flow, rotates in place at least one week, respectively by positive infrared receiving terminal, a left side is infrared connects
Head and right infrared receiving terminal is received to plug into the signal of stake；
After receiving signal, according to signal content, by MCU judge mobile robot be in the centre of stake of plugging into, left side or
Right side；If receiving left infrared emission modulating signal, show in the left side for plugging into stake；If receiving right infrared emission modulating signal, show
It plugs into the right side of stake；If receiving positive infrared discharge lamps signal, show in the centre for plugging into stake；
If mobile robot controls mobile robot by motor-drive circuit and turns right in the left side for plugging into stake, MUC,
Until (mobile robot at this time probably hang down by moving direction and center line direction for the blackout of the positive infrared receiving terminal of mobile robot
Directly)；If mobile robot, on the right side for plugging into stake, MUC controls mobile robot by motor-drive circuit and turns left, until
Robot is until blackout (mobile robot moving direction and the center line direction at this time of the positive infrared receiving terminal of mobile robot
It is probably vertical)；
Subsequent mobile robot straight trip, until left infrared receiving terminal or right infrared receiving terminal receive the outgoing at prime for stake of plugging into
Shot-light signal；
If the left infrared receiving terminal of mobile robot receives positive infrared discharge lamps signal, turn left until positive infrared receiving terminal
Receive positive infrared discharge lamps signal；If the right infrared receiving terminal of mobile robot receives positive infrared discharge lamps signal, turn right straight
Positive infrared discharge lamps signal is received to positive infrared receiving terminal；
At this point, mobile robot just facing towards the positive infrared discharge lamps of stake of plugging into, positive infrared receiving terminal receives outgoing at prime
Shot-light signal, subsequent mobile robot straight trip；
Mobile robot MCU drives two-wheel using pid algorithm, controls angle using gyroscope, control left and right wheels are poor, mobile
Robot finds to the left, then adjustment of turning right during keeping straight on towards positive infrared receiving terminal direction；It was found that the right, then tune of turning left
It is whole；The position that mobile robot is so clamped down on to the positive infrared receiving terminal of stake of plugging into face is kept straight on towards positive infrared receiving terminal, until
It plugs into stake so that the power supply shrapnel for stake of plugging into is docked with sweeping robot charging interface.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modification, equivalent replacement or improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (5)
1. a kind of robot accurate pointing docking system, including mobile robot and stake of plugging into, top built in the mobile robot
Spiral shell instrument, which is characterized in that the mobile robot front is set there are one positive infrared receiving terminal, and mobile robot both sides are at least respectively set
There are one left infrared receiving terminals and right infrared receiving terminal；The gyroscope, positive infrared receiving terminal, left infrared receiving terminal and the right side are infrared
It receives head and connects MCU, and the motor-drive circuit of mobile robot revolver, right wheel connects the MCU；
The stake of plugging into is made of launching seat and infrared discharge lamps；The launching seat is sequentially installed with lamp holder and a left side towards left side
Infrared discharge lamps, the lamp holder towards positive lamp holder with positive infrared discharge lamps, towards right side and right infrared discharge lamps；The left side is red
Outer emission lamp, positive infrared discharge lamps, right infrared discharge lamps pass through lamp holder isolation signals.
2. a kind of robot accurate pointing docking system according to claim 1, which is characterized in that the mobile robot is
Sweeping robot, the sweeping robot charging interface are located at robot bottom；It is equipped at the positive infrared discharge lamps of stake of plugging into
With the power supply shrapnel of sweeping robot charging interface cooperation.
3. a kind of robot accurate pointing docking system according to claim 1, which is characterized in that the MCU is calculated using PID
Method.
4. a kind of robot accurate pointing docking system according to claim 1, which is characterized in that the gyroscope angle tune
Whole ranging from 0.05 °~10 °.
5. according to a kind of robot accurate pointing interconnection method described in claim 1-4 any one, which is characterized in that including with
Lower step：
Mobile robot opens flow of plugging into, and rotates in place at least one week, passes through positive infrared receiving terminal, left infrared receiving terminal respectively
It plugs into right infrared receiving terminal the signal of stake；
After receiving signal, according to signal content, judge that mobile robot is in the centre for stake of plugging into, left or right side by MCU；
If receiving left infrared emission modulating signal, show in the left side for plugging into stake；If receiving right infrared emission modulating signal, show in stake of plugging into
Right side；If receiving positive infrared discharge lamps signal, show in the centre for plugging into stake；
If mobile robot controls mobile robot by motor-drive circuit and turns right in the left side for plugging into stake, MUC, until
The blackout of the positive infrared receiving terminal of mobile robot；If mobile robot passes through motor in the right side for plugging into stake, MUC
Driving circuit controls mobile robot and turns left, until robot is until the blackout of the positive infrared receiving terminal of mobile robot；
Subsequent mobile robot straight trip, until left infrared receiving terminal or right infrared receiving terminal receive the positive infrared discharge lamps for stake of plugging into
Signal；
If the left infrared receiving terminal of mobile robot receives positive infrared discharge lamps signal, turn left until positive infrared receiving terminal receives
Positive infrared discharge lamps signal；If the right infrared receiving terminal of mobile robot receives positive infrared discharge lamps signal, turn right until just
Infrared receiving terminal receives positive infrared discharge lamps signal；
At this point, mobile robot just facing towards the positive infrared discharge lamps of stake of plugging into, positive infrared receiving terminal receives positive infrared discharge lamps
Signal, subsequent mobile robot straight trip；
Mobile robot MCU drives two-wheel using pid algorithm, and angle is controlled using gyroscope, and control left and right wheels are poor, mobile machine
People has found to the left, then adjustment of turning right during keeping straight on towards positive infrared receiving terminal direction；It was found that the right, then adjustment of turning left；Such as
Mobile robot is clamped down on the position for the positive infrared receiving terminal of stake of plugging into face by this, is kept straight on towards positive infrared receiving terminal, until close
It plugs into stake.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810391588.6A CN108378784A (en) | 2018-04-27 | 2018-04-27 | A kind of robot accurate pointing docking system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810391588.6A CN108378784A (en) | 2018-04-27 | 2018-04-27 | A kind of robot accurate pointing docking system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108378784A true CN108378784A (en) | 2018-08-10 |
Family
ID=63064751
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810391588.6A Withdrawn CN108378784A (en) | 2018-04-27 | 2018-04-27 | A kind of robot accurate pointing docking system and method |
Country Status (1)
| Country | Link |
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| CN (1) | CN108378784A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109719728A (en) * | 2019-01-23 | 2019-05-07 | 深圳乐动机器人有限公司 | A kind of method and device of robot adjustment charging pose |
| CN109900275A (en) * | 2019-04-01 | 2019-06-18 | 珠海市一微半导体有限公司 | The control method of the guidance signal of seat is found back by robot |
| CN109955285A (en) * | 2019-04-01 | 2019-07-02 | 珠海市一微半导体有限公司 | The robot control method of seat test is returned based on national standard |
| CN110558899A (en) * | 2019-08-02 | 2019-12-13 | 卓秋珍 | sweeping robot and charging method thereof |
| CN112220412A (en) * | 2020-09-27 | 2021-01-15 | 小狗电器互联网科技（北京）股份有限公司 | Robot automatic return method and device and electronic equipment |
| CN114355911A (en) * | 2021-12-24 | 2022-04-15 | 深圳甲壳虫智能有限公司 | Robot charging method and device, robot and storage medium |
| CN114424910A (en) * | 2021-12-31 | 2022-05-03 | 深圳市优必选科技股份有限公司 | Recharging method and device, sweeper and computer readable storage medium |
-
2018
- 2018-04-27 CN CN201810391588.6A patent/CN108378784A/en not_active Withdrawn
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109719728A (en) * | 2019-01-23 | 2019-05-07 | 深圳乐动机器人有限公司 | A kind of method and device of robot adjustment charging pose |
| CN109900275A (en) * | 2019-04-01 | 2019-06-18 | 珠海市一微半导体有限公司 | The control method of the guidance signal of seat is found back by robot |
| CN109955285A (en) * | 2019-04-01 | 2019-07-02 | 珠海市一微半导体有限公司 | The robot control method of seat test is returned based on national standard |
| CN109900275B (en) * | 2019-04-01 | 2020-11-17 | 珠海市一微半导体有限公司 | Control method for guiding signal of robot for finding back seat |
| CN109955285B (en) * | 2019-04-01 | 2020-12-15 | 珠海市一微半导体有限公司 | Robot control method based on national standard return test |
| CN110558899A (en) * | 2019-08-02 | 2019-12-13 | 卓秋珍 | sweeping robot and charging method thereof |
| CN112220412A (en) * | 2020-09-27 | 2021-01-15 | 小狗电器互联网科技（北京）股份有限公司 | Robot automatic return method and device and electronic equipment |
| CN112220412B (en) * | 2020-09-27 | 2022-04-08 | 小狗电器互联网科技（北京）股份有限公司 | Robot automatic return method and device and electronic equipment |
| CN114355911A (en) * | 2021-12-24 | 2022-04-15 | 深圳甲壳虫智能有限公司 | Robot charging method and device, robot and storage medium |
| CN114355911B (en) * | 2021-12-24 | 2024-03-29 | 深圳甲壳虫智能有限公司 | Charging method and device for robot, robot and storage medium |
| CN114424910A (en) * | 2021-12-31 | 2022-05-03 | 深圳市优必选科技股份有限公司 | Recharging method and device, sweeper and computer readable storage medium |
| CN114424910B (en) * | 2021-12-31 | 2023-01-31 | 深圳市优必选科技股份有限公司 | Recharging method, recharging device, sweeper and computer readable storage medium |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180810 |
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| WW01 | Invention patent application withdrawn after publication |