CN114448114A

CN114448114A - Intelligent wireless power supply system based on mobile robot

Info

Publication number: CN114448114A
Application number: CN202210138585.8A
Authority: CN
Inventors: 黄葵; 林俊钦; 梁斌焱; 王尧; 郭美杉
Original assignee: Beijing Research Institute of Precise Mechatronic Controls
Current assignee: Beijing Research Institute of Precise Mechatronic Controls
Priority date: 2022-02-15
Filing date: 2022-02-15
Publication date: 2022-05-06

Abstract

The intelligent wireless power supply system based on the mobile robot comprises the mobile robot and a powered device; the powered device carries out energy storage self-checking in real time, and when the fact that the actual energy is lower than the energy required by work is detected, a charging request broadcast is sent outwards; the mobile robot receives a charging request broadcast sent by the powered device in real time, determines spatial positioning information of the powered device, plans a path according to surrounding environment information and self positioning information, moves to the powered device along the planned path, and supplies power to the powered device. The mobile intelligent power supply system can perform mobile navigation and planning aiming at various different scenes, realize intelligent active positioning and searching of the equipment to be charged, perform wireless power supply on the equipment to be charged after searching, construct a management map of the equipment to be charged, perform periodic charging management, and also can be used as a mobile energy station to perform follow-up emergency power supply on the equipment to be charged, eliminate strong dependence of a wired charging line mode, realize mobile intelligent power supply without manually plugging and unplugging a charging connector, and improve the working efficiency.

Description

Intelligent wireless power supply system based on mobile robot

Technical Field

The invention relates to the field of intelligent mobile robots, in particular to an intelligent wireless power supply system based on a mobile robot.

Background

At present, intelligent equipment is deployed in monitoring areas such as families, public places, water, land, air and the like in a large quantity, the intelligent equipment is convenient to manage and monitor, development of partial fields is effectively promoted, and productivity is improved. At present, all the intelligent devices work on the basis of a power supply, but not all scenes can be conveniently provided with a wired power supply at any time for power supply, or the wired power supply arrangement mode is very high in cost. At present, the problem of power supply can be solved to a certain extent by considering to adopt certain compromise modes, such as properly increasing power supply capacity, regularly and manually replacing, laying a wired power supply, and building photovoltaic power supply equipment or chemical energy and other equipment for power supply, but the cost is higher, and the device is difficult to be spread on a large scale, especially in some special environments, and partial devices are subjected to failure treatment after working for a certain period.

The current wireless charging technology is gradually rising, and wireless charging can get rid of wired charging's restriction to a certain extent, but because wireless charging can not remote charging, and most power all is in fixed region, the problem of the interface that charges has been optimized to a certain extent to this technique, but still can not solve the problem of the quick charge of intelligent device in extensive region.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, and the intelligent wireless power supply system based on the mobile robot is provided.

The technical solution of the invention is as follows:

the intelligent wireless power supply system based on the mobile robot comprises the mobile robot and a powered device;

a power receiving apparatus: carrying out energy storage self-checking in real time, and sending a charging request broadcast to the outside when detecting that the actual energy is lower than the energy required by work;

a mobile robot: receiving a charging request broadcast sent by the powered device in real time, determining spatial positioning information of the powered device, planning a path according to the surrounding environment information and the self positioning information, moving to the powered device along the planned path, and supplying power to the powered device.

The system also comprises a cloud control center, and a user can issue an instruction for supplying power to one or more power receiving equipment to the mobile robot through the cloud control center; the mobile robot determines space positioning information of the powered device, plans a path according to surrounding environment information and self positioning information, moves to the powered device along the planned path and supplies power to the powered device;

local data of the mobile robot can be uploaded to the cloud control center, and the latest model algorithm can be updated and downloaded locally from the cloud control center.

The powered device comprises a local control center of the powered device, a communication system of the powered device, an energy storage system of the powered device and a safety system of the powered device;

local control center of powered device: after receiving an electric quantity enough instruction sent by an energy storage system of the powered device, normally starting all functions; after receiving the power quantity over-low instruction, controlling the powered device to enter a power saving mode, namely, part of functions are operated in a low power consumption mode or closed, and simultaneously sending out charging request information through a communication system of the powered device; after receiving the command of extremely low electric quantity, only reserving the energy storage system and the charging interface of the powered device, and enabling other systems to be dormant;

energy storage system of the powered device: analyzing the self power utilization condition, monitoring the power consumption of the existing battery, predicting the available state and time length of the residual power, and if the power consumption is enough, sending a power enough instruction to a local control center of the powered device; if the electric quantity is lower than the early warning value, sending an electric quantity over-low instruction to a local control center of the powered device; if the electric quantity can only support the robot to sleep and stand by for 24 hours, sending an electric quantity extremely low instruction to a local control center of the powered device;

power receiving apparatus communication system: sending communication information to the outside, wherein the communication information comprises the type of the powered device and the electric quantity state of the device; sending out charging request information under the control of a local control center of the powered device;

a power receiving apparatus security system: before the mobile robot supplies power to the local machine, the mobile robot carries out safety certification firstly, the mobile robot meeting the safety certification can charge the local machine, the current condition, the voltage condition and the charging interface of the charging connector are certified, and the charging is allowed only by a signal meeting the specification; and in the charging process, monitoring the safety state at any time, and stopping charging at any time when the safety state is changed.

Each mobile robot comprises a mobile robot local control center, a mobile robot communication system, a mobile robot energy storage system, a mobile robot charging request monitoring system, a mobile robot positioning system, a mobile robot energy management system, an intelligent driving system and a mobile robot safety system;

local control center of mobile robot: the system is in charge of various functions of the mobile robot, can communicate with a cloud control center, judges whether the mobile robot needs to be charged or not according to the electric quantity required by the power receiving equipment, the electric quantity required by the mobile robot when the mobile robot moves to a charging destination and the electric quantity fed back by the energy storage system of the mobile robot, and sends a charging instruction to the energy storage system of the mobile robot if the mobile robot needs to be charged; after receiving an in-place instruction fed back by the intelligent driving system, sending a discharging instruction to the mobile robot energy storage system;

energy storage system of mobile robot: carrying a plurality of groups of electric energy storages, storing high-capacity electric energy, and sending the electric quantity of the mobile robot to a local control center of the mobile robot in real time; after receiving a charging instruction sent by a local control center of the mobile robot, charging the mobile robot by virtue of a charging station; after receiving a discharging instruction sent by a local control center of the mobile robot, supplying power to the powered device;

mobile robot communication system: capturing exchange information sent by the powered device, feeding back a confirmation signal, and realizing device authentication with the powered device, wherein the exchange information comprises the type and the electric quantity state of the powered device; receiving positioning information of the powered device sent by the powered device subjected to device authentication, and sending the positioning information to an intelligent driving system;

mobile robot charge request monitoring system: the method comprises the steps that charging request information sent by a powered device is obtained in real time through a communication system and sent to an intelligent driving system and an energy management system;

mobile robot positioning system: calculating the position information of the mobile robot and sending the position information to an intelligent driving system;

energy management system of mobile robot: counting the electricity consumption condition of the mobile robot at ordinary times, and giving an electricity consumption model; when the charging request information of the mobile robot charging request monitoring system is received, estimating the electric quantity required by the powered equipment and the electric quantity required by the mobile robot when the mobile robot moves to reach a charging destination, and sending the electric quantity to a local control center of the mobile robot;

the intelligent driving system comprises: planning a path according to the surrounding environment information, the self-positioning information and the positioning information of the powered device, moving to the powered device along the planned path, and sending an in-place instruction to a local control center of the mobile robot after moving in place;

mobile robot safety system: and performing security authentication on a charging protocol between the mobile robot and the powered device, encrypting and decrypting air interface information of the safely authenticated powered device, and allowing the cloud control center to add and register the specific powered device to the mobile robot.

The mobile robot has the following working procedures:

the method comprises the following steps that firstly, starting self-checking is carried out, the state of the energy storage system of the mobile robot is analyzed, and a self-checking result and the state of the energy storage system of the mobile robot are fed back to a cloud control center;

step two, combining the surrounding environment information sensed by the environment sensing module, judging whether to enter a new environment to work or continue to work in the original environment, and if the environment enters the new environment to work, performing first-time work initialization configuration; if the operation is continued in the original environment, performing non-first-time operation initialization configuration;

initial configuration of first work: downloading local configuration information from a cloud control center, wherein the local configuration information comprises but is not limited to a working mode, environment information and a map of the mobile robot, a powered device list, a communication mode and a protocol, a working mode and a communication mode of the cooperative mobile robot in a region and an algorithm model of each module of an intelligent driving system;

non-first-time job initialization configuration: the information synchronization is carried out with the cloud control center, and meanwhile, various archived information are read from the storage device, so that the reading of the previous working information is realized, and the working state is recovered;

step three, searching and marking the charging stations, and recording the position information of the charging stations in a local map;

and step four, selecting a power supply mode according to the power receiving equipment arranged in the actual environment to supply power to the power receiving equipment.

The power supply mode comprises a cruise mode, a map mode and a no map mode;

the cruise mode is suitable for supplying power to the powered devices in the environment in batches;

the map mode is suitable for supplying power to a power receiving device in a specific definite area or an area in which mapping is completed after cruising;

the no map mode is suitable for powering powered devices in a new unknown area, which is an area where the mobile robot is deployed for the first time and where there is no accurate existing map.

Compared with the prior art, the invention has the beneficial effects that:

the problem of power supply can be solved to a certain extent through laying the electric wire and building the fixed charging seat in the prior art, but the cost is higher, still need carry out manual plug battery charging outfit, and be difficult to spread on a large scale to some scenes, like interim emergent place, large-scale no charging seat parking area, mill ore deposit operation district etc..

Based on the form of the mobile robot, the device and algorithm of the robot are upgraded, the wireless charging and discharging system and the power management system are arranged, mobile navigation and planning can be performed according to various different scenes, intelligent active positioning and searching of equipment to be charged are achieved, wireless power supply is performed on the equipment to be charged after searching, a management map of the equipment to be charged is constructed, periodic charging management is performed, the wireless charging and discharging system can also be used as a mobile energy station, follow-up emergency power supply is performed on the equipment to be charged, strong dependence of a wired charging line mode is eliminated, manual plugging and unplugging of a charging connector are not needed, mobile intelligent power supply is achieved, and working efficiency is improved.

Drawings

FIG. 1 is a mobile robotic system framework of the present invention;

fig. 2 is a powered device end system framework;

FIG. 3 is a mobile robot work flow diagram;

fig. 4 is a flowchart of the operation of the powered device;

FIG. 5 is a communication frame and an identifier;

fig. 6 is a diagram of multihop relay;

FIG. 7 illustrates a multi-robot assistance mode;

FIG. 8 is a schematic diagram of a positioning algorithm;

fig. 9 is a charging interface of the powered device;

FIG. 10 is a robot charge and discharge interface;

FIG. 11 is a schematic diagram of a wireless charging/discharging interface;

FIG. 12 is a schematic view of a precise docking manner;

FIG. 13 is a schematic diagram of a map marker.

Detailed Description

The invention is described in detail below with reference to the figures and examples.

The invention provides a brand-new intelligent wireless power supply system based on mobile robot morphology, which upgrades the devices and algorithms of a robot based on the mobile robot morphology, arranges a wireless charging and discharging system and a power management system, can perform mobile navigation and planning aiming at various different scenes, realizes the intelligent active positioning and searching of equipment to be charged, performs wireless power supply on the equipment to be charged after searching, constructs a management map of the equipment to be charged, performs periodic charging management, can also be used as a mobile energy station, performs follow-up emergency power supply on the equipment to be charged, eliminates the strong dependence of a wired charging line mode, realizes mobile intelligent power supply, and improves the working efficiency.

The mobile robot-based mobile power supply system realizes mobile motion based on a mobile robot, has the functions of power supply requirement positioning monitoring, automatic navigation, map management of equipment to be charged, power supply management and the like, is provided with a wireless charging and discharging interface, can intelligently provide mobile power supply service for intelligent equipment in an area, supports large-scale batch deployment of the intelligent equipment, does not need to arrange a wired charging system through mass construction, and realizes quick deployment.

The system comprises a mobile robot end and a powered device end. The mobile robot end comprises a local control center, a communication device and communication system, an energy storage system, an intelligent interaction system and interaction device, a charging request monitoring system, a positioning system, an energy management system, an intelligent driving system, a safety system, a device management system, a charging and discharging interface, a mechanical device, a cloud control center and the like. The powered device end comprises a local control center, a communication device, a communication system, an energy storage system, a positioning interaction device, an energy management system, a safety system, a device management system, a charging interface and the like. The functions of the relevant modules are described as follows.

Local control center of mobile robot: and is responsible for the operation of all functions of the mobile robot. The local control center has the ability of communicating with the cloud control center, and can communicate with the cloud control center in a wireless communication mode, a wired connection mode and the like. The cloud end does not need to be connected in actual work. The mobile robot end has an autonomous decision-making thinking capability, the cloud end and the mobile robot end can communicate as required, local data can be uploaded to a cloud control center as required to carry out anonymous data communication, analysis, positioning, monitoring, intelligent driving and other models, and the latest models can be updated and downloaded locally from the cloud control center, so that a model database of a local related system of the mobile robot end is perfected. The local intelligent robot equipment can work independently after the debugging and the testing are passed, and can work in indoor, outdoor and specific working environments without the accompanying of professionals.

The power receiving equipment end is also provided with a local control center which is used for controlling various normal working contents of the local equipment and various charging related contents.

Energy storage system of mobile robot: the mobile robot end contains a special electric energy storage device, can break through the limitation that the existing equipment cannot carry energy storage equipment with large capacity and large volume, and can carry special multi-group electric energy storage devices, including types such as lead storage batteries and lithium batteries which are not limited to high capacity, so as to store large-capacity electric energy. The electric energy storage can be charged and discharged quickly according to the needs of a local control center.

The powered device also has an energy storage system, but has a relatively small capacity and is limited in shape, volume and the like.

Communication device and communication system: the mobile robot end and the powered device end are both provided with a communication device and a communication system, and the communication device can be WI FI, Bluetooth, UWB and the like. In a designated frequency band, the communication equipment of the power receiving equipment end can send communication information with a specific format to the outside through the communication system, wherein the communication information can contain information such as equipment type, equipment electric quantity state, charging request and the like, and the mobile robot end captures the information through the communication system and sends a feedback confirmation signal to confirm and authenticate with the intelligent power receiving end. After the authentication registration is obtained, the intelligent power receiving end sends specific coding information (self-positioning information) of a specific frequency band to guide the intelligent robot to move to the position of the equipment to be charged. The intelligent robot completes the detection of the energy storage system firstly after charging authorization authentication is received, if the electric energy is insufficient, the intelligent robot end local control center starts the intelligent driving system to move to the charging seat for charging, the intelligent driving system starts after the charging meets the requirement, and the intelligent robot starts immediately if the energy storage meets the requirement. The positioning system calculates a space positioning algorithm according to the positioning information, calculates the space position of the equipment to be charged, guides the movement through the intelligent driving system, and dynamically monitors and corrects the track in the movement process until the equipment to be charged moves. And the power receiving equipment end sends out the communication information according to the specific communication module and the communication code of the power receiving equipment end, and guides the intelligent mobile robot to supply power in front. Or the mobile robot does not actively send information outwards, the mobile robot broadcasts a charging signal, and the powered device end actively opens the charging port after passively receiving power supply information sent out in the cruising process of the mobile robot, confirms the charging port with the mobile robot by ACK, and supplies power after the confirmation.

Mobile robot end charge request monitoring system: the system of the mobile robot analyzes signals collected by communication equipment, monitoring and positioning equipment, interaction equipment and the like, and analyzes whether equipment needing to be charged exists in the current environment. And the powered device actively sends the information to be charged to broadcast according to the requirement, or passively waits for the charging information broadcast pushing in the cruising process of the mobile robot. The signal to charge the device can come from several sources:

a) through high in the clouds control center, the administrator appoints to charge for certain equipment through the APP interface. The method needs to analyze a specific mode according to a specific charging instruction, and can be that a cloud control center directly issues a map and then guides the mobile robot to charge, and at the moment, the charging is carried out according to the mode c); if the cloud control center guides the powered device to actively send charging information, the robot moves to a point to be charged to carry out charging, and charging can be carried out according to the mode b); if the cloud control center sends the registration signals to the powered devices and the robot in batches, the robot can charge the powered devices in the monitoring area according to the cruise mode, and the mode d) can be referred for charging. If the robot has other modes, the robot moves in a free mode, monitors the powered equipment, receives signals and then carries out charging support according to the mode b), and if the powered equipment cannot be monitored after a certain time or a certain movement distance is exceeded, the signals are fed back to the cloud end to stop supporting power supply.

b) And a new device at the intelligent power receiving end sends a request to be charged to the outside through the communication device or the positioning interaction device to request charging. In this case, the new device sends out a charging request message with a specific format, the mobile robot receives the signal and then analyzes the signal, analyzes the state of the device to be charged, including the device type, the electric quantity state, the amount to be charged, the charging mode and the like, calls the intelligent monitoring and positioning system to estimate the space position of the new device, calls the intelligent driving system to estimate the track, the running time and the like, calls the energy management system to analyze the electric quantity required by the running, the energy required by the energy storage system and the like, calls the energy storage system to prepare energy, and returns to the charging seat to charge if the energy is insufficient. After the energy preparation is completed, a charging request monitoring and positioning system and an intelligent driving system are called to move to the position of the equipment to be charged to develop charging service, in the operation process, a positioning algorithm is called, the accurate position of the equipment to be charged is continuously and dynamically positioned and refreshed, a map is constructed for the environment, and the new equipment is marked into a charging map.

c) After active management, a certain device in the charging map sends out information to request charging. After receiving the charging request, the mobile robot carries out secondary confirmation with the device to be charged through the communication system, calls the intelligent driving system to estimate the track, the running time and the like after confirmation, calls the energy management system to analyze the electric quantity required by running, the energy required by the energy storage system and the like, calls the energy storage system to carry out energy preparation, and returns to the charging seat to carry out charging if the energy is insufficient. After the energy preparation is completed, the intelligent driving system is called to move to the to-be-charged equipment to develop charging service, in the operation process, the positioning algorithm is called intermittently to confirm the accurate position of the to-be-charged equipment again, secondary confirmation is carried out on the accurate position and the map position, if the accurate position is consistent with the map position for N times, the signal positioning algorithm is closed, map navigation is adopted, and if the consistent times are not met, the signal positioning algorithm is started, and the environment and the marked map are corrected.

d) And charging the powered device in the monitored range in the cruising process of the mobile robot. In the mode, the robot runs according to a set cruising path, signal monitoring is carried out on the surrounding environment in the running process, if a signal to be charged is received and is within the cruising range, the robot runs to the position of equipment to be charged through a positioning algorithm to carry out charging, and then the equipment is marked to a charging map until cruising is finished.

e) The mobile robot runs freely to charge the powered device in the monitored range. In the mode, the robot carries out free cruising within a certain range, carries out signal monitoring on the surrounding environment in the operation process, if a signal to be charged is received, the robot runs to the device to be charged through a positioning algorithm to carry out charging, then marks the device to a charging map, and then continues free operation until the electric quantity is lower than a certain threshold value or the running distance or the running time is met, and then returns to the air.

In the process, the charging request monitoring system receives and analyzes the space signal according to a specific monitoring signal model, and if the specific format of the charging signal is met, the subsequent charging process analysis is carried out. The positioning system needs to analyze the monitored signals based on a signal space positioning algorithm, can perform positioning analysis based on signal arrival time, signal arrival angle and the like, and can realize positioning only by a special positioning algorithm.

Mobile robot intelligence driving system: according to the received destination signal, the method relates to three aspects of management, perception mapping, decision and control of the sensing equipment.

a) The sensing equipment management comprises equipment which is not limited to GPS, inertial sensor IMU, Lidar, camera, sonar, WIFI, Bluetooth and the like. The mobile robot can sense the environment through the devices, acquire information such as images, depth and space positioning, and can select a plurality of sensing device combinations according to different scene requirements, for example, the mobile robot can be used in indoor scenes without using a GPS. To waiting to charge equipment, can place wireless signal emitter in it, the device can externally emit the signal, and the supplementary mobile robot develops space positioning, also can not place wireless signal device, and the broadcast of charging machine robot that receives passively through charges, and the certification is passively charged after passing through.

b) The sensing mapping comprises the steps of carrying out the work of space position positioning of the equipment to be charged, self space position sensing of the mobile robot, environment mapping construction, environment obstacle detection and identification and the like according to the information received by the sensing equipment. To transmit signal resolution and signal-based spatial localization of a device to be charged. The mobile robot can adopt a special SLAM algorithm mode to position the self advancing position, simultaneously map the environment, analyze semantic information such as environment form and the like, mark 3D space information such as obstacles, ground form and the like in the map, and also can update a historical storage map in time, thereby realizing signal receiving and environment perception.

c) The decision and control is to carry out specific work such as traveling path planning, obstacle avoidance and robot behavior prediction according to the perception of the mobile robot on the environment, and control the robot to travel in a wheel type, crawler type, jet type, rotary wing type and other modes. And (4) dynamically planning a path in real time by combining the sensed map information, the spatial position of the equipment to be charged and the distribution condition of the obstacles. Obstacle avoidance needs to consider the shape and spatial distribution of obstacles, and select different modes of detour, passing through the obstacles and the like. And the robot behavior prediction judges that the behaviors such as collision, falling and the like can not occur according to the information such as the space shape, the environment moving object, the traveling speed, the direction and the like, and corrects the traveling mode in time.

An energy management system: the system is responsible for managing the power supply quantity, and is provided at the mobile robot and the equipment to be charged, and the two functions are slightly different.

a) The energy management system at the powered device end mainly analyzes the power consumption general profile of the device, monitors the current battery power, predicts the available state and time length of the residual power, feeds back the available state and time length to the local control center in time, sends out information to be charged in time, and seeks for power supply of the mobile robot. And according to different electric quantities, information feedback of different levels is adopted, so that the control center adopts different coping strategies. If the electric quantity is enough, the electric quantity is fed back to the control center, and all functions are normally started. If the electric quantity is lower than the early warning value, the information to be charged is fed back to the local control center and sent to the outside, if the information is lower than the warning electric quantity and is not charged in time, the power saving mode is entered, part of functions are operated in a low power consumption mode or are closed, and meanwhile, the information is fed back to the local control center and sent to the emergency charging information in time, so that the mobile robot can be more quickly summoned to supply power. If the mobile robot enters the extremely low electric quantity mode (only the robot can be dormant for 24 hours), only the power management and charging system is reserved, and other systems are dormant, so that the mobile robot can be charged in time when arriving. If the electric quantity is exhausted and the electric quantity is not charged, the whole system is dormant, meanwhile, the lowest available electric quantity is set in cooperation with a safety system, and the external arbitrary power supply is allowed to charge until the mobile robot approaches to supply power. After the system is powered on and is started for the first time, the safety system is opened for authentication, the power can be normally powered on until the power is fully charged after the authentication, and otherwise, the signal to be charged is continuously sent to the outside according to the above strategy.

b) And the energy management system of the mobile robot end manages the electric quantity of the local energy storage system and the electric quantity of the local energy storage system. The local electric quantity is mainly used for consumption of the local system, and the electric quantity can be directly obtained from the local energy storage center. And the power management system counts the electric quantity consumption condition of the mobile robot at ordinary times and provides an electric quantity consumption model. When receiving a charging command, the power management system estimates the electric quantity needed by the equipment to be charged, the electric quantity needed by the equipment moving to a charging destination and the electric quantity of the energy storage system according to the information fed back by the driving system, and decides the working strategy of the power system: if the charging distance is too far (the distance between the mobile robot and the powered device which sends the charging request information is larger than the electric quantity required by the self charging reserve supply of the robot to the round-trip path), the charging command is not executed; if the electric quantity is lower than the early warning value, the electric quantity is preferentially sent to a charging station to charge the local energy storage system, and the electric quantity starts after being fully charged; and if the electric quantity meets the estimation threshold value, the driving system drives the vehicle to the charging place. In the process of moving to a charging place, the power management system monitors the electric quantity of a local system, if the mobile robot is trapped due to some special reasons, cannot reach the charging place in time and has too low electric quantity, the mobile robot needs to feed back to a local control center, returns to the home for charging in time, and replans the route to the charging place after charging. After the robot reaches a charging point, the robot communicates with the equipment to be charged and estimates the electric quantity to be charged, and the electric quantity suitable for the equipment to be charged is calculated by combining the electric quantity reservation required by the robot during return journey and the electric quantity allowance of the energy storage system. If the robot is a cruise robot, the equipment on the way is continuously charged in the cruise process, and when the electric quantity is lower than the early warning electric quantity, the return voyage is executed.

A security system: the system is responsible for managing the safety of the whole system, and is provided at the mobile robot and the powered device, and the two functions are slightly different.

a) The safety system of the powered device mainly monitors the safety of the power device, is responsible for the normal work safety of the power device, manages the safety of the charging side, encrypts and manages charging signals with the outside, and safely analyzes received charging alternating current information. Before the power supply equipment supplies power to the local machine, safety certification is firstly carried out, the equipment meeting the safety certification can charge the local machine, the current condition, the voltage condition, the charging interface and the like of the charging connector are certified, and charging is allowed only by the signal meeting the specification. And in the charging process, monitoring the safety state at any time, and stopping charging at any time when the safety state is changed. The device is not allowed to supply power to the external device, and only the authenticated device is allowed to supply power. And allowing the cloud control center to safely register the equipment with the specific mobile robot equipment. The non-authenticated device allows the lowest charge to be used to wake up the device after the set power is depleted.

b) The safety system of the mobile robot end is responsible for managing the safety of the mobile robot system, including managing various safety of the mobile robot, and also includes the safety certification of the equipment to be charged, supplying power to the equipment after the safety certification, and safely encrypting and decrypting the air interface information of the charging request. Allowing the cloud control center to add registered specific devices to the native machine.

The mobile robot end intelligent interactive system comprises: the mobile robot can be added with a more intelligent interaction system according to needs, including but not limited to voice interaction, gesture interaction, video interaction, handle control, button operation, touch screen interface communication and the like, various interaction information is collected through the above modes, corresponding interaction is carried out, the operation state of the mobile robot is guided, monitored and observed, or the mobile robot is helped to be subjected to difficulty-escaping treatment and the like, and more scene applications are met. Can be connected with the latest MR equipment to ensure that an operator can carry out the operation and the feeling on the spot.

An equipment management system: the mobile robot end and the intelligent power receiving end are both provided, and the system is used for managing various devices, including communication devices, interaction devices, monitoring and positioning devices, charging and discharging devices, mechanical devices and the like, and is used for meeting mechanical motion, communication requirements, interaction requirements, environment detection and monitoring, charging requirements and the like of the mobile robot.

Cloud control center: the control center can respectively communicate and contact with the equipment to be charged at the intelligent power receiving end and the mobile robot, can be used for updating various local models, collecting specific information and the like, can also be used for registering and canceling corresponding charging and discharging authentication and the like, can timely isolate invalid equipment, monitors the health state of each equipment, and is used for better distributed management. Registration, management, deletion of invalid devices, and the like are performed for each device.

Hardware system: the hardware system comprises robot equipment, various widely distributed equipment to be charged, various detection and monitoring sensors, interaction equipment, a processor, communication equipment, storage equipment, driving equipment and the like. The robot device comprises a hardware entity of the mobile robot, and can comprise a shell, a chassis, a battery pack, a driving motor, a steering device, a mechanical arm, a telescopic arm and the like, and can move according to a specific program drive. Various devices to be charged are widely distributed in different places, and perform different respective work contents. The interactive device provides good interactive information input and output. The processor is used for operating various model algorithms, calculating inference and decision information, driving various hardware devices and the like. The communication equipment communicates with a control center and other equipment according to needs. The storage device stores local data records, models, programs, and the like. The driving device is used for driving various devices to operate.

The air interface protocol of the intelligent wireless power supply system is used for enabling multiple devices to work cooperatively, blocking the device requests of the system, and improving the safety and the working efficiency, and comprises the following contents:

a main control center: when the system is deployed by default, a master control center exists, and the control center can be a subordinate of an upper-level master control center. The main control center is responsible for managing all mobile charger robots and powered intelligent equipment in the area, the area administered by the main control center can be large or small, the main control center can be a large parking lot, a complex management software system is needed, the main control center can also be a household intelligent home system, and the main control center can be managed by a simple APP.

And (3) equipment identification authentication: the equipment comprises a mobile charging robot and powered intelligent equipment, and initial authentication is performed between different robots and powered equipment through an equipment identification protocol. Products incorporating the system may have an initial factory identifier between which a charger robot and a powered smart device may begin initial communication. If the equipment identifier of the system where the system is not located can not be communicated by default, if the communication can be achieved, the main control center needs to be applied for authentication, and the equipment identifier is written into a trust list of the mobile charging robot in a specific area after the authentication, so that the equipment can be communicated, and effective equipment management is achieved. The device identification content may include information such as a security identification code, a device type, power supply specifications (charging current and voltage, etc.), interface specifications (which interface coil is used for charging, etc.), and the like. All the devices included in the working area need to be reported to the main control center by default and can be activated and used after being authenticated and authorized. The system can also be used under a low safety level, namely, all the devices start a passive charging mode, all the mobile robots are charged, and the system is mainly used in a cruise mode in a specific scene.

And (3) communication authentication: the equipment comprises a mobile charging robot and powered intelligent equipment, wherein different mobile robots and powered equipment are connected through a communication system. In the high security level mode, all the devices authenticated by the device identifiers can communicate through the main control center, the communication is carried out according to a specific communication protocol, and only the communication meeting the communication protocol content and the trust list can be continued, so that invalid communication is reduced. The communication content comprises communication with a central control center and positioning communication with the mobile robot. The communication content packet may include security mark codes, trust codes, communication modes, communication bands, and the like. Under the low safety boundary mode, only need carry out equipment sign agreement and exchange can go on, this mode is used for opening passive charging mostly, accepts the charging of all mobile robot, and the cruise mode that is used for specific scene is used mostly. The protocol can be upgraded as the system of the smart device and the mobile robot is upgraded. For security, the communication frame may be encrypted twice and then transmitted according to the requirement of communication security.

Charging authentication: the device comprises a mobile charging robot and a powered intelligent device, and charging can be performed only through charging protocol authentication. The charging protocol may include information such as device type, charging current and voltage levels, wireless charging mode, specific security codes, etc. Only authenticated charging that meets the requirements can be performed.

Multi-hop communication protocol: the invention adopts a power-saving relay mode to relay the requirements of the equipment through a plurality of intelligent powered equipment until the requirements are transmitted to the mobile charging robot. In the multi-hop relay process, each relay intelligent device can combine a plurality of key information of the relay intelligent device into a signal packet for transmission, and the key information can be transmitted by the device type, the relay hop number, the space position information of each device, the electric quantity related information, the charging related information and the like. The mobile robot analyzes after receiving the signal, and can charge intelligent equipment along the way in batches according to the requirement.

The intelligent wireless power supply system comprises: including mobile robots and powered devices as shown in fig. 1 and 2, respectively, and software workflows as shown in fig. 3 and 4, respectively.

Hardware system: different hardware devices are involved for the mobile robot end and the powered device end. The hardware devices involved in the present invention are described below. The hardware system of mobile robot end includes the robot body (like the robot casing, the chassis, the group battery, driving motor, turn to the device, the arm, telescopic boom, contact pick-up, IMU etc.), energy storage hardware (like high capacity's lead accumulator, lithium cell etc.), communication equipment hardware (like WIFI, the bluetooth, UWB etc.), location auxiliary assembly (like GPS, the sonar), mutual equipment (like camera, radar etc.), charge-discharge interface equipment etc. these equipment have constituteed mobile robot's hardware architecture, can carry out more increase and delete according to operational environment and mode in the in-service use. The hardware system of the intelligent power receiving end comprises original function hardware equipment of the equipment, communication equipment hardware (such as WIF I, Bluetooth, UWB, wired network and the like), positioning auxiliary equipment (such as GPS and sonar), energy storage hardware (such as high-capacity lead storage battery, lithium battery and the like), charging interface equipment and the like.

A software system: the system comprises control software, a control algorithm and intelligent model databases which run at a cloud end, a mobile robot end and an intelligent device end. The cloud control center is managed by a professional organization and is responsible for managing states of all mobile robots, intelligent equipment and the like in the area, and all intelligent models including but not limited to a mobile positioning algorithm, an intelligent driving model, an authentication protocol, a power management model, an intelligent interaction model, a security policy model, a multi-machine cooperation model and the like can be constructed. And downloading the data models to mobile robot end and intelligent equipment end equipment through authorization after the data models are completely constructed. The mobile robot end and the intelligent equipment end analyze each model, and control and drive local corresponding hardware to perform data detection and acquisition through a local software control algorithm, and the hardware drives to execute specific functions. The intelligent device end can be connected to the cloud control center as required, and part of simple devices can be directly controlled at the local end, so that simple communication exchange, safety certification, positioning assistance and power management can be completed, and the intelligent device end is directly connected with the mobile robot without the cloud control center. And part of the intelligent equipment is also provided with a multi-hop communication management system which is responsible for packaging information of remote low-power-consumption equipment layer by layer to perform relay transmission and transmitting the information to a remote robot, and meanwhile, the communication power consumption is saved.

Mobile robotic system device: the robot system is an independent terminal, and is also provided with some specific hardware equipment, so that the mobile robot function and the wireless charging function can be independently executed.

1) The intelligent robot is independent hardware equipment, has independent robot correlation function, including functions such as perception, location, building picture, navigation, path planning, barrier are kept away to the barrier, can fuse to the house robot of sweeping the floor, accompany and attend to the robot form, also can fuse to unmanned aerial vehicle form, unmanned ship form, can fuse into the form of patrolling and navigating robots such as forest, factory, city.

2) The wireless function of charging: the mobile robot end comprises a wireless charging or wired charging base and can be connected to a fixed energy station for charging. Meanwhile, the wireless discharge coil is arranged, the wireless charging device can be compatible with various wireless charging modes such as electromagnetic resonance, electromagnetic coupling and photoelectric coupling for charging, and the charging voltage, current, frequency and the like are controllable and adjustable. Both can satisfy demands such as house wireless audio amplifier, unmanned aerial vehicle, wireless monitoring sensor, also can satisfy new energy automobile's large capacity power demand. And the intelligent equipment end is installed and charged by the corresponding sensing coil. The charging interface can be different contact joints such as a direct contact type contact joint, a telescopic type contact joint, a mechanical arm auxiliary type contact joint and an extension line extension contact joint.

3) Intelligent interaction equipment: the interaction equipment can be installed on the mobile robot as required, and comprises interaction input equipment such as audio, video, buttons, operating rods and a touch screen, and also comprises output equipment such as a display screen, intelligent glasses and an intelligent helmet, and can be selectively installed according to different interaction scene requirements.

4) System initialization and device access:

a) demand and information collection: the method comprises the steps of collecting the area of a region to be operated, the power supply electric quantity, equipment to be powered and the like, confirming the number and the type of the equipment to be powered, and estimating the number of the given mobile robots according to the operation mode of each piece of equipment. And meanwhile, the working mode of the mobile robot is determined according to the information such as the distribution condition, the power demand, the availability and the cost of the environment map and the like of each device. The working mode of the mobile robot can be a given map navigation mode, a positioning and environment map construction synchronous implementation mode, a cruise mode and the like.

b) System construction: installing purchased intelligent equipment to each destination position, putting a certain number of mobile robots into a working environment, and activating the intelligent equipment and the mobile robots in the system. Work is done according to different forms taken:

the mobile robot has the following working modes:

giving a map navigation formula: in the mode, the position of the intelligent equipment in the map is marked, the map is sent to the mobile robot, the mobile robot monitors each given intelligent equipment, and if a charging request is received, the mobile robot automatically navigates to a charging point according to the map to carry out a charging task. In order to prevent map deviation, when the target is approached, the precise positioning device of the robot starts working until the target is accurately navigated and the target information is marked or updated.

Map mode is built to no map autonomous positioning: in this mode, the mobile robot is completely unaware of the location of the intelligent devices in the area, and needs to start a positioning and mapping mode to build a map by itself. In the process, multiple functions of intelligent driving can be started, including space positioning based on multiple signals, positioning of the position of the destination, planning of a path, obstacle monitoring, obstacle avoidance and the like to the destination, recording of an environment map in the process of forward destination, and marking of equipment in the map after the equipment reaches the destination.

Cruise mode: in this mode, the mobile robot cruises the detected area according to a specific track, wherein the cruise track can be in a Z shape, a circle shape, a boundary shape, a designated form and the like, a power supply signal is broadcast during the cruise process, if a power supply device exists in the cruise track, the power supply is carried out, and the power supply device is marked in a map until the cruise is finished, or the electric quantity is insufficient to support the cruise. If the current position is the same as the current position, the position is marked in the map, after the charging is finished, the current position is directly moved to the point to carry out breakpoint cruising, or information is sent to the cooperative robot equipment, and the auxiliary robot in the region continues cruising.

Multi-robot assistance mode: in this mode, a plurality of robots are present in the area, and each robot shares map information, power receiving equipment distribution information, cruise state, power receiving equipment state update, and the like. When a certain robot breaks down, the cruising electric quantity is insufficient and the like, the rest work is completed by the relay of the nearest robot.

Cloud management: within the sub-area, there is at least one mobile robot and powered device. The mobile robot is generally connected to cloud control, and the powered device is connected to the cloud or not as required. And if the cloud control is required to be accessed, the powered device is constructed and then performs networking communication, communicates with the cloud center, downloads corresponding model data, software control algorithms and the like, starts device self-checking and function testing, issues an access permit after the testing is passed, and authorizes access work. And the cloud control center adds the equipment to a trust list of each mobile robot in the working area when the equipment is authorized to access the network, and then each mobile robot performs power supply management. The cloud centers of the sub-regions may be managed by a larger cloud center of an upper level. If the cloud control center is not required to be accessed, the powered device body completes basic information exchange and power supply authority control maintenance and directly communicates with the robot in the region. The power receiving equipment has multi-stage relay jumping information transmission, so that the power receiving equipment transmits information to a more distant robot while realizing low power consumption, and the method can be applied to the work of the power receiving equipment in a large area, such as the work of monitoring equipment such as original forests, seabed and the like.

The intelligent driving system of the mobile robot comprises the following modules and functions of the modules as follows:

the environment perception module: the module is suitable for the mobile robot to sense the surrounding environment. For outdoor environments, approximate environmental status information can be obtained with the help of GPS and spatial environment maps. For an indoor environment, if the environment is not mapped in advance, there is no accurate perception map. And issuing the space distribution range of the equipment to be charged to the mobile robot at the cloud end, and cruising the space distribution range by the mobile robot. Before cruising, the environment needs to be perceived. The environmental perception may be by means of cameras, laser or radar devices, ultrasound, etc. Other cameras can obtain image information, lasers or radars can obtain depth information of the surrounding environment, and ultrasonic waves can obtain obstacle information of the detection direction. The actual device can be a combination of one or more sensing devices, and comprehensive sensing of the environment is achieved.

The environment perception module:

1) the method comprises the steps of acquiring image information by a camera, calculating and extracting semantic segmentation information of an environment, analyzing the surrounding environment of the mobile robot by combining a built-in artificial intelligence model, and confirming information such as a ground flat area, a vertical barrier, a three-dimensional cavity, a moving object and the like. For the power receiving equipment consisting of the specific pattern, the power receiving equipment can be identified by a shot image, then the image content is identified, and the power receiving equipment is marked as the charging equipment to be identified after identification and confirmation.

2) The depth information of the surrounding environment can be detected by adopting laser or radar equipment, and a point cloud map of the environment is obtained by scanning, imaging and analyzing a flat area, an impassable area and the like of the environment.

3) The method adopts ultrasonic equipment to detect the obstacle information of the environment, and can obtain information such as a flat area, an impassable area and the like through scanning program analysis, and can draw an environment point cloud map.

4) And the GPS, the Beidou navigation and the like are adopted to obtain more accurate spatial position information in the outdoor large-scale space.

A path planning module: the environment perception module is responsible for perceiving the environment, and the perception information that obtains is sent to cruise route analysis and planning module, and cruise route analysis and planning module carries out relevant work, includes not limited to:

1. the environment sensing module sends sensed information, including but not limited to environment semantic information, semantic segmentation result, 3D space information, point cloud picture and the like.

2. An intelligent analysis algorithm is embedded in the cruise path analysis and planning module, and the general situation of the peripheral regions of the robot, including the unviable region, the passable region, the small-sized barrier, the movable barrier, the potential device to be charged and the hollow passable region, is analyzed and given by combining the result of the perception model.

3. And a path analysis algorithm is embedded into the cruise path analysis and planning module, and all passable areas are analyzed and given.

4. The cruise path analysis and planning module is embedded with cruise path modes, including but not limited to random cruise, Z-shaped cruise, Chinese character hui-shaped cruise and the like.

5. The cruise path analysis and planning module embedded path planning algorithm comprises but not limited to a simulated annealing algorithm, a graph search method, an artificial potential field method, a fuzzy logic algorithm, a tabu search algorithm, A, CRP (custom zab route P l ann i ng), CH (Contract i on H i erase i es) and the like. And calculating a planned path by combining the passable area, the cruise path mode and the path planning algorithm, and sending the planned path to the navigation and obstacle avoidance module to carry out actual operation.

6. In the actual operation process, the mobile robot can modify the planned path in real time according to the information such as the dynamic change of environment perception, the information feedback of the cooperative robot, the detected space position change of the device to be charged and the like, and sends the path to the navigation and obstacle avoidance module.

Navigation and obstacle avoidance module: the path planning module sends the planned path scheme and the sensing information to the navigation and obstacle avoidance module in real time, and the navigation and obstacle avoidance module actually drives the mobile robot to operate according to the planned path. The operations related to the specific navigation and obstacle avoidance module include, but are not limited to:

and according to the scheme of path planning, actually driving the mobile robot to move according to a set track.

In the actual operation process of the robot, the environment sensing module can continuously operate to provide an environment sensing result in real time, wherein the real-time monitoring of the obstacle needs to be fed back to the obstacle avoiding module for the obstacle avoiding.

After receiving the obstacle information of the environment sensing module, different strategies can be adopted according to the analysis of the obstacles, and if the obstacles are small obstacles and non-dangerous small obstacles, the bag robot can be driven to roll; if the obstacle is a large obstacle or a dangerous obstacle, selecting a bypassing obstacle; if the obstacle is a hole-shaped obstacle, such as a bed bottom, a shrub hole, a tunnel and other obstacles, the entrance to the hole probe rope or the detour can be selected according to the size of the hole. If the tunnel-entering exploration cable is not passable, the original path can be selected to return, and if the tunnel-entering exploration cable is passable, the tunnel-entering exploration cable is passable. Or a combination of the above modes until the mobile robot avoids the obstacle. Since avoiding an obstacle may involve a change in the path, if a path change occurs, the path plan is updated in conjunction with the destination, and the mobile robot is advanced according to the latest path plan by the navigation module.

In the operation process, the space positioning information of the equipment to be charged can be continuously received, and the real-time calculating module can calculate to obtain a new space position. Due to information such as space occlusion, multipath, obstacles and the like, the positioning position is deviated, the mobile robot can position destination information at intervals in actual operation, if the destination information is changed, the path plan is updated by combining the destination, and the navigation module plans the mobile robot to move forward according to the latest path.

A positioning and mapping module: the navigation and obstacle avoidance module of the robot can move in real time after being started, the real-time space position of the robot is provided, and meanwhile, the map construction is carried out on the surrounding environment.

And the positioning and mapping module is responsible for calculating and updating the motion pose of the robot. The method can rely on multi-information input of a GPS, a Beidou navigation system, an IMU, a camera, a laser or a radar and the like, adopts the GPS to estimate the change of the spatial pose, adopts an image feature point, an image direct method and the like to calculate the pose estimation based on an image, adopts an IMU integral to estimate the pose change, adopts the information of the laser or the radar and the like to provide depth input, can adopt a multi-sensor information fusion technology based on an SLAM frame, can adopt a multi-information coupling optimization solution model and the like which are not limited to an extended Kalman filtering model and a G2o or ceres base, and can obtain the high-precision pose after multi-sensor fusion.

After the position and pose information is obtained through calculation by the positioning and mapping module, image information, depth information and the like are extracted, an environment map is constructed, the environment map comprises a point cloud map which is not limited to sparse feature points, a dense environment map based on depth information and the like, on the basis of the map, semantic information, segmentation information, obstacle information and the like provided by the sensing module and information of equipment to be charged obtained through subsequent positioning are fused, the information is marked and recorded into the map, and more complete space three-dimensional map information is obtained. In the map construction process, the SLAM framework can be used, and the processes of local map construction, global map construction and optimization, closed-loop detection and optimization, BA optimization and the like are included, so that the map is continuously optimized and updated, and the precision is improved.

The map constructed by the positioning and mapping module can be shared among different mobile robots, and after local map information and spatial positioning information fed back by multiple robots are received, the map can be fused to form a more comprehensive and more accurate map, so that the map can be rapidly constructed in a region by the cooperation of multiple robots. In the process, a multi-map fusion and optimization model is involved. The fusion process can be carried out at the cloud or at the mobile robot end, and the fused map can be shared by the mobile robots in the area, so that the large-area map construction is realized.

Powered device monitoring and communication module: in the cruise mode, the module is always on, the signals of the equipment needing to be charged are monitored in real time, after the information to be charged is received, the space positioning of the equipment to be charged is carried out, the information obtained by positioning is input to the path planning module, and the robot is guided to move to the charging destination.

The powered device monitoring and communication module is provided with communication equipment, including but not limited to mobile communication signals such as WIFI, Bluetooth, UWB, GSM, 3G/4G/5G. Under these communication signals, the mobile robot and the charging device agree on a signal format, a communication frequency band, a communication protocol, and the like, and only under these same agreements, communication can be performed through communication authentication. The device comprises a mobile charging robot and a powered intelligent device, wherein different mobile robots and powered intelligent devices are connected through a communication system. In the high security level mode, all the devices authenticated by the device identifiers can communicate through the main control center, the communication is carried out according to a specific communication protocol, and only the communication meeting the communication protocol content and the trust list can be continued, so that invalid communication is reduced. The communication content comprises communication with a central control center and positioning communication with the mobile robot. The communication content packet may include security mark codes, trust codes, communication modes, communication bands, and the like. Under the low safety boundary mode, only need carry out equipment sign agreement and exchange can go on, this mode is used for opening passive charging mostly, accepts the charging of all mobile robot, and the cruise mode that is used for specific scene is used mostly. The protocol can be upgraded as the system of the smart device and the mobile robot is upgraded.

The communication signal of the powered device monitoring and communication module transmits corresponding communication information according to the communication frame format agreed by fig. 5 between the powered device side and the robot side. The equipment comprises a mobile charging robot and powered intelligent equipment, and initial authentication is performed between different robots and powered equipment through an equipment identification protocol. Products incorporated into the system may have an initial factory identifier between which a charger robot and a powered smart device may begin initial communication. If the equipment identifier of the system where the system is not located can not be communicated by default, if the communication can be achieved, the main control center needs to be applied for authentication, and the equipment identifier is written into a trust list of the mobile charging robot in a specific area after the authentication, so that the equipment can be communicated, and effective equipment management is achieved. The device identification content may include information such as a security identification code, a device type, power supply specifications (charging current and voltage, etc.), interface specifications (which interface coil is used for charging, etc.), and the like. All the devices included in the working area need to be reported to the main control center by default and can be activated and used after being authenticated and authorized. The system can also be used under a low safety level, namely, all the devices start a passive charging mode, all the mobile robots are charged, and the system is mainly used in a cruise mode in a specific scene. For security, the communication frame may be encrypted twice and then transmitted according to the requirement of communication security.

The powered device monitoring and communication module has monitoring capability and can monitor the device to be charged. The listening information may be broadcast from the cloud. Each device to be charged in the area can send a broadcast signal of a demand to be charged to the mobile robot in the area through the cloud. If the device does not have the cloud center or does not communicate with the cloud center, the broadcast signal is directly sent by the powered device.

The powered device monitoring and communication module is provided with a detection module, and detects a feedback response signal sent by the powered device while sending a broadcast signal to the outside. If the response signal is received, communication is established, response confirmation is carried out, the response information is transmitted to the accurate positioning module for spatial positioning, information exchange can be continuously carried out after the communication is established, and spatial positioning is carried out. If no answer signal is received, the system is silenced for a time gap and continues cruising forwards until the next time slot comes, and broadcasting and monitoring are carried out again.

A precise positioning module: and after the communication equipment terminal receives the response of the equipment to be charged, the equipment to be charged is spatially positioned based on the communication signal. And sending a signal obtained by positioning to a cruise path analysis and planning module, and guiding the mobile robot to approach to the equipment to be charged. And the accurate positioning module analyzes the received signal to be charged, and starts to enter a positioning resolving mode after the signal to be charged is analyzed and meets the requirement of a communication frame. And writing the corresponding transmission time timestamp, positioning signal code, target powered device code and the like into communication content for broadcasting and transmitting to the powered device. And the powered device side analyzes the data and confirms the device needing the feedback signal through the target device code. The target device responds to the signal, and the non-target device does not respond. The content of the response may include information such as an acceptance timestamp, a positioning signal code, a destination mobile robot code, and a transmission timestamp, and the broadcast is transmitted to the outside. The required precision of the time stamp is high enough, and can reach the level of microsecond, picosecond and the like, and the time stamp is used for improving the positioning precision. A positioning signal code is a piece of specifically encoded information used for positioning. The mobile robot receives a signal code of the powered device. The communication can be repeatedly carried out for N times, the corresponding information of the communication is recorded averagely, and the measurement accuracy is improved.

The accurate positioning module has a clock synchronization alignment function, so that the subsequent distance measurement accuracy is ensured. The method comprises the steps of comparing a received empty signal starting mark sent by the equipment to be charged with a synchronous reference stored by a synchronous node to obtain the time-frequency deviation between the equipment to be charged and the mobile robot, and recording the clock deviation by the mobile robot.

And the accurate positioning module calculates the spatial relationship between the powered device and the mobile robot according to the multiple communication results of the previous step. As shown in fig. 8, spatial bearing may be calculated by using a spatial signal strength of arrival analysis (RSS), an angle of arrival localization (AOA), a time of arrival localization (TOA), a time difference of arrival localization (TDOA), or the like. According to the invention, only one mobile robot is used as a receiving station, so that the position of the equipment to be charged can be obtained only by carrying out multipoint measurement.

After the last module obtains the spatial position of the equipment to be charged, the cruise path analysis and planning module is combined with the cruise mode to judge the cruise track execution. This time, various strategies may be taken:

a) greedy mode: counting all received devices to be charged in each time period, counting the devices with the closest sorting distance, the least electric quantity and the highest priority, comprehensively evaluating a given charging list, and planning and guiding the robot to charge the list devices one by one according to the sequence. And after charging, reordering the equipment to be powered and continuously responding to the charging requirement. If no equipment responds, cruising according to the set route is continued.

b) Shortest path mode: counting all received devices to be charged in each time period, monitoring whether the devices to be charged are within the charging radius of the cruise track (the radius is smaller), and if the devices to be charged are within the charging radius of the cruise track, moving the devices to be charged to execute charging; if the device offset is too large, it is planned to launch charging on the next cruising trajectory.

c) Random mode: and counting all the received devices to be charged in each time period, and if the devices to be charged are in a large enough charging range after receiving the request of the devices to be charged, responding to the charging request and moving to the devices to be charged to perform charging. And after the charging is finished, the request of the charging equipment is continuously monitored.

The navigation and obstacle avoidance execution module: the last module updates the path plan, the navigation module receives the updated path plan and then executes specific movement, and the navigation equipment is arranged to the charging equipment. In the process, the navigation and obstacle avoidance module continuously works.

An accurate butt joint module: the accurate positioning module is used for guiding the mobile robot to a distance close enough to the device to be charged, and then the accurate docking module carries out an accurate docking process of a charging interface of the mobile robot and the charging interface of the device to be charged. As shown in fig. 12, in order to assist the robot in aligning more precisely, the patent design provides a plurality of alignment modes, including but not limited to visual matching, signal recognition, induction alignment, mechanical alignment, and other modes, and may also be a combination of the above various modes, specifically, the respective modes are as follows:

1) visual matching mode: the charging interface surface adopts special pattern design, and can adopt modes such as symbol design and coding disc design. The mobile robot shoots a docking picture in real time through a camera on the charging interface, calculates the alignment degree through image analysis and a template matching algorithm, and feeds back to adjust the movement of the charging docking interface in real time until the docking interface is accurately aligned.

2) Signal recognition mode: the charging interface surface adopts a special annunciator design, and modes such as an LED lamp group and an infrared lamp group can be adopted. When the mobile robot approaches, the mobile robot communicates with the device to be charged, the device to be charged opens the annunciator according to a specific rule, the mobile robot receives signals in real time through the receiver on the charging interface, the alignment degree is calculated, and the charging interface is fed back to adjust in real time to move until the charging interface is accurately aligned.

3) Induction alignment mode: the special induction coil is arranged in the charging interface, when the charging interface of the mobile robot is close to the interface of the intelligent device, the resonance feedback signal generated when the coils are aligned can be induced, when the coils are aligned, the resonance signal is stronger, and otherwise, the resonance signal is weaker. The charging interface is guided to move by the change of the resonance signal in the gradual alignment process of the mobile robot until the resonance signal is maximum when the mobile robot is completely aligned.

4) Mechanical alignment mode: a special mechanical device is designed on a charging interface, a special mechanical groove can be designed at an intelligent device end, and a special bolt is designed on a mobile robot interface. When mobile robot is close to waiting to charge the equipment gradually, the bolt moves gradually until inserting in waiting to charge the recess of equipment completely, realizes accurate alignment.

5) A combined mode: in the design of a charging interface, a plurality of modes 1) -4) can be combined to comprehensively judge multi-mode signals, so that better accurate alignment is achieved.

The charging interface module: in the execution process of the alignment algorithm of the accurate alignment module, the actual charging interface module is used as physical equipment for docking. The process extends to a variety of charging modes, including contact charging and contactless charging. The contact charging requires accurate docking of the charging port, as shown in fig. 9, 10, and 11, which may be different actual hardware interface module ways, and charging is performed after contact. And the non-contact charging is performed, when the mobile robot is within the moving distance of the intelligent equipment to be charged, the charging signal is directionally transmitted to the remote interface of the equipment to be charged, so that the charging is performed. Fig. 9 shows different charging interface hardware modes of the smart device terminal, fig. 10 shows different interface hardware modes of the mobile robot terminal, and fig. 11 shows a working mode of cooperation between the smart device terminal and the charging interface of the mobile robot, which is introduced as follows:

designing a power receiving interface at an intelligent device end: as shown in fig. 9, the actual smart device port may be implemented by different charging hardware interfaces, including an extension interface and a non-extension interface. The extension interface is used for equipment, such as an intelligent door lock device, of which the cruising tracks of the intelligent equipment and the mobile robot cannot be on the same horizontal plane, and has a height difference with the ground mobile robot. At this moment, through the extension line, place the interface extension that charges of smart machine to mobile robot coplanar, the adaptation mobile robot charges. If there is no extension line, the charging interface is installed on the surface of the intelligent device, and the surface can be directly docked with the mobile robot.

1. The mobile robot charging interface design: as shown in fig. 10, the actual mobile robot interface may be implemented by different charging hardware interfaces, including a mechanical arm mobile extension interface, a telescopic charging interface on the surface of the robot, and a fixed charging interface. The charging interface can be placed on the mechanical arm of the robot, the charging interface can be extended outwards through the mechanical arm, the mechanical arm can support the operations of external extension, rotation and the like in different modes of 4 degrees of freedom, 6 degrees of freedom and 9 degrees of freedom, and the free movement and transformation of the charging interface under different conditions are met until the docking of the charging interfaces in different scenes is met. The telescopic interface that charges is put the interface that charges on the top of flexible post, can realize the interface that charges and contract outward and extend outward, realizes carrying out the charging from the low position to the equipment of waiting to charge of high position. When the robot is not used, the robot contracts, and the running height of the mobile robot is reduced. The fixed charging interface is arranged at a fixed position on the surface of the robot.

2. The charging mode of the mobile robot and the equipment to be charged is as follows: the two charging modes include a contact charging mode and a non-contact charging mode. In the contact charging mode, the charging interface of the mobile robot needs to be in close-range contact alignment with the charging interface of the device to be charged, so that charging is realized. The non-contact charging can be carried out when the charging interface of the mobile robot and the charging interface of the equipment to be charged are within a certain space range, and if the air unmanned aerial vehicle group cannot be charged in a direct contact manner due to the existence of spiral wings and the like, the air unmanned aerial vehicle group needs to be expanded and charged at a certain space distance. Under two kinds of charging modes, all need charge the accurate butt joint of interface before charging to realize charging efficiency's promotion. The contact type charging efficiency is high, external radiation is less, and after accurate butt joint, the charging execution module carries out charging after the charging confirmation module authenticates. The charging efficiency of non-contact charging is lower, and external radiation is great, need carry out the charging under specific operational environment, the crowd is kept away from, the principle is easily received electromagnetic interference equipment etc. and the circumstances. When the non-contact charging is carried out, the charging interfaces need to be aligned firstly, and then the charging execution module carries out charging after the charging confirmation module authenticates the charging interfaces. In the charging process, the charging signal needs to be focused and transmitted, so that the receiving efficiency of the power receiving interface is improved.

A charging confirmation module: and the accurate docking module calculates a docking algorithm and drives the charging interface to dock. After the charging interfaces are connected in a butt joint mode, the mobile robot and the equipment to be charged perform safe air interface authentication, the charging permission, the interface hardware mode, the charging signal mode, the charging voltage and current and other information of the current butt joint charging request need to be authenticated, and only the charging request allowed to be authenticated through the safe air interface is allowed. In the process, a communication system needs to be driven to carry out communication confirmation for many times.

The charging execution module: and after the charging confirmation is completed, the charging execution module is driven through the charging request of the safe empty authentication, and the external power supply is started through the charging interface. In the power supply process, the charging execution module monitors states of charging voltage, current, heating of a charging coil and the like in real time, carries out safety monitoring in real time, and when abnormal voltage, current, heating and the like occur, the charging is suspended in time, safety inspection is carried out, the charging is carried out after exception is eliminated, and otherwise, the charging is stopped. And in the power supply process, the charging execution module receives signal feedback of the energy storage system of the mobile robot. The energy storage system can calculate the self residual electric quantity and estimate the return electric quantity demand, when the electric quantity reduces to be close to return and needs at least electric quantity, then stop supplying power to record this state information, feed back to map mark module and file this information, start robot state self-checking module simultaneously, drive the robot and start returning voyage.

A map marking module: in the process of cruising of the mobile robot, the positioning and mapping module, the navigation and obstacle avoidance module and the path planning module continuously work, wherein the positioning and mapping module is responsible for space positioning of the mobile robot and carries out map construction on the environment in the advancing process, and the constructed map is provided for the path planning, navigation and obstacle avoidance module to carry out information reference. After the device to be charged is accurately acquired, the device is charged, and after power is supplied, the device can be recorded on an internal map of the mobile robot, as shown in fig. 13, the spatial position of the powered device is recorded, information such as an obstacle and an unviable area of the environment is synchronously recorded, and information such as the model, the electric quantity demand, the type of a power supply interface, the charging completion state of the powered device can also be recorded, and the information can be synchronously recorded in the powered device information marked in the map. The marked map can be filed in the mobile robot, can be fed back to the cloud aerial center, and can be shared with a sharing robot which is subjected to security authentication in a local area network, so that information sharing is realized.

The robot state self-checking and cruising decision module: and after the charging is completed, the map information is synchronously updated. The robot then performs state self-checking including conditions such as remaining power, cruise completion state, robot mechanical damage, and the like. When the residual electric quantity is close to the lowest return electric quantity, the cruising is finished, the robot receives mechanical damage and the like, starting cruising decision judgment and executing return; otherwise, cruising is continued.

A return module: when the robot executes the return module, an environment map recorded by the robot is called out, the path planning module is started, the most effective return path is planned, and the navigation and obstacle avoidance module actually drives the robot to return to the base after receiving the signal.

In this mode, after the robot completes the request of each device to be charged, communication among shared robots which are subjected to security authentication in a local area network can be carried out, information such as cruise profiles, charging profiles and local maps can be exchanged, and information sharing is achieved. After receiving the information fed back by other robots, the robot can fuse the local map with the shared local map, so that the map is perfected, and meanwhile, the cruise state and the information of the equipment to be charged are updated, so that the cooperative work is realized. The fused map is helpful for navigation and obstacle avoidance in the following cruising process and also helps to know the distribution overview of the devices to be charged in the local area. After the information of each robot is shared, an optimal power supply mode can be selected subsequently, and the fastest power supply of the equipment to be charged is realized.

The mobile robot end work flow: after hardware equipment is arranged, the intelligent powered equipment works according to a normal working mode, the mobile robot monitors equipment power receiving requests in an area, and the equipment in the area is charged according to received charging signals. In this process, various functions of the powered device and the mobile robot are jointly developed. The system framework of the intelligent mobile robot and the intelligent powered device is shown in fig. 1 and fig. 2, fig. 3 shows the work flow of the mobile robot, and fig. 4 shows the work flow of the intelligent powered device. The system is started for self-checking firstly, equipment initialization is started after the self-checking is passed, the energy storage system operation is carried out after the initialization, then multi-robot cooperative communication is carried out, and then a specific working mode is selected for carrying out work. And finally, selecting whether the return trip or the continuous charging service is needed or not according to the requirement.

The working process is as follows:

(1) system starting self-checking: in the process of starting the equipment, the system can carry out automatic self-checking so as to check whether the equipment enters the working environment for the first time or continues to work in the original working environment. The self-checking relates to the following working contents:

i. equipment state self-checking: after the system is started, the equipment in the system equipment management list is loaded one by one, the working state of the equipment is detected, the diagnosis of the integrity, the health state and the like of the system is realized, and the state of the energy storage equipment is analyzed. And feeding back the self-detection result to the cloud center.

i i, repositioning analysis: the function is mainly used for monitoring whether to enter a new environment to work or continue to work in the original environment. The relocation can be confirmed after observing and analyzing the surrounding environment by combining with GPS space information, communication information (WI F I information and the like) and a visual camera, and whether the relocation is still in the last working environment is confirmed, so that initial self-positioning state analysis is obtained.

ii, cloud communication: and establishing communication with the cloud, feeding back a self-checking state and a repositioning result, confirming information such as a working environment, a working mode, working contents, a state of a power receiving device in a monitoring area, a state of a cooperative robot in the monitoring area and the like with the cloud, and updating the information.

(2) Equipment initialization: after the self-checking of the equipment is completed, the machine selects different modes to initialize according to different working modes:

i. initial configuration of first work: the mobile robot system working for the first time does not have any perception information of the environment, and local configuration information including information such as a working mode, environment information and a map, a powered device list, a communication mode and protocol, a cooperative robot working mode and a communication mode in an area and the like which are not limited to the mobile robot needs to be downloaded from a cloud end, so that the first time of system configuration is completed. Meanwhile, the related algorithm models comprise a positioning navigation algorithm model, an environment perception algorithm model, a map management algorithm and the like, and the related models can be dynamically updated and upgraded in the subsequent working process.

i i, non first time operational configuration: in the mode, the original robot may be in a sleep state or an off-line maintenance state, and after the robot is started, the robot needs to synchronize related information with the cloud, and meanwhile, various archived information is read from archived storage equipment, so that reading of previous work information is achieved, and the work state is restored.

(3) Energy storage management and charging: after initialization, the energy storage system is operated in an important mode. The energy storage management can continuously operate in the system operation, and the electric quantity of the energy storage equipment is mainly monitored. The mobile robot plans the power management mode of the energy storage device according to the work content, searches for, confirms and marks the charging pile, and records the charging pile in a local map. According to the work content requirement, the large-capacity battery of the machine is planned to be charged in advance. If the electric quantity is lower than a certain warning electric quantity, the energy storage system feeds back to the local control center, and the mobile robot is guided to the nearest charging pile for charging. Since the mobile robot carries a large-capacity battery, the charging energy storage time may be long.

(4) Communication and cooperative work among robots: after the preliminary work is ready, the inter-robot communication is performed before the operation mode is formally selected. The system supports cooperative work of multiple mobile robots, communication and communication among the mobile robots after authorized and authenticated by a cloud control center in a designated work area, and related environment information communication including environment map communication and merging, robot position informing and sensing, environment information communication, charging equipment position and state communication and sharing and the like, and supports relay charging of powered equipment, namely, the multiple robots cooperatively complete charging of the powered equipment in the area, and support low-power recoiling of a certain robot, equipment damage and quit of a power supply sequence and the like. And each robot sufficiently exchanges the self state and the charging state of the equipment to be charged, and guides the mobile robot to charge the rest powered equipment until the task is completed.

Cruise mode of the operation mode: since the power receiving apparatuses are arranged differently in actual environments, the power supply modes developed may differ. The cruise mode is suitable for supplying power to densely distributed power receiving modules with simple functions in a batch manner in the environment, such as monitoring equipment of an original forest, monitoring equipment on the seabed or the water surface, an aerial unmanned aerial cluster and the like, and is suitable for supplying power to short-distance equipment in a batch manner when a mobile robot passes by. The mode relates to a plurality of algorithm models, the perception model realizes the perception of the environment, the perception result is input to the cruise path planning module, the module plans the path of the environment by combining the perception result, the planned path result is input to the navigation and obstacle avoidance module, the robot is guided to actually navigate and advance, the robot performs space positioning in the process, and an environment map is constructed. In the operation process, space positioning is carried out on signals transmitted by equipment to be charged synchronously, moving positioning is carried out, the information is fed back to a navigation module, the motion track is adjusted in real time until the equipment to be charged is navigated, then high-precision charging interface accurate alignment is carried out, interface safety confirmation is carried out after the alignment, and charging is carried out after the confirmation. And after charging, the robot selects to continue cruising or returning. The details of each module are as follows:

the environment perception module: the module is suitable for the mobile robot to sense the surrounding environment.

A path planning module: the environment perception module is responsible for perceiving the environment, obtained perception information is sent to the cruise path analysis and planning module, the cruise path analysis and planning module carries out related work, an embedded intelligent analysis algorithm is combined with a perception model result, the general situation of the peripheral area of the robot, including an unviable area, a passable area, a small obstacle, a movable obstacle, a potential device to be charged, a hollow passable area and the like, is analyzed and given, the information is marked into a local map, and if the local map does not exist, the local map is drawn.

In the actual operation process, the mobile robot can modify the planned path in real time according to the information such as the dynamic change of environment perception, the information feedback of the cooperative robot, the detected space position change of the device to be charged and the like, and sends the path to the navigation and obstacle avoidance module.

In the actual operation process of the robot, the environment sensing module can continuously operate to provide an environment sensing result in real time, wherein the real-time monitoring of the obstacle needs to be fed back to the obstacle avoiding module for the obstacle to avoid.

The powered device monitoring and communication module is provided with a detection module, and detects a feedback response signal sent by the powered device while sending a broadcast signal to the outside. If the response signal is received, communication is established, response confirmation is carried out, the response information is transmitted to the accurate positioning module for spatial positioning, information exchange can be continuously carried out after the communication is established, and spatial positioning is carried out. If no answer signal is received, the system is silenced for a time gap and continues cruising forwards until the next time slot comes, and broadcasting and monitoring are carried out again. Due to the cruise mode, signals do not need to be sent continuously, signals can be sent at intervals, and power is saved.

In the cruise mode, the cruise robot actively sends broadcast signals to the outside along a cruise track, the powered devices are mostly in a passive response mode, the mobile robot broadcasts that the mobile robot passes through the area by adopting a specific communication frame on a specific frequency band according to a communication protocol, and the devices needing to be powered respond to the signals.

A precise positioning module: and after the communication equipment terminal receives the response of the equipment to be charged, the equipment to be charged is spatially positioned based on the communication signal. And sending a signal obtained by positioning to a cruise path analysis and planning module, and guiding the mobile robot to approach to the equipment to be charged.

And the accurate positioning module calculates the spatial relationship between the powered device and the mobile robot according to the multiple communication results of the previous step. As shown in fig. 8, spatial bearing may be calculated by using a spatial signal strength of arrival analysis (RSS), an angle of arrival localization (AOA), a time of arrival localization (TOA), a time difference of arrival localization (TDOA), or the like. According to the invention, only one mobile robot is used as a receiving station, so that the position of the equipment to be charged can be obtained only by carrying out multipoint measurement. A specific positioning process is introduced as shown in fig. 8:

a) after the mobile robot communicates with the powered device at the point A, the mobile robot starts to communicate and measure for the first time, and the measured information comprises the time of arrival of a signal, the time difference dt, the angle difference do, the signal strength, the orientation, the spatial position, the pose and other information of the robot.

b) And after the robot moves to the point B at a constant speed, carrying out second communication and measurement, wherein the measured information comprises the time of arrival of the signal, the time difference dt, the angle difference do, the signal strength, the orientation, the spatial position, the pose and the like of the robot.

c) And after the robot moves to the point C at a constant speed, carrying out second communication and measurement, wherein the measured information comprises the time of arrival of the signal, the time difference dt, the angle difference do, the signal strength, the orientation, the spatial position, the pose and the like of the robot.

d) The robot carries out primary space positioning after a period of time, and positioning collection comprises information such as signal arrival time, time difference dt, angle difference do, signal strength, robot orientation, space position and pose.

e) The distance and angle of the robot moving in the spacing point A, B, C can be calculated by the robot. The robot can make a rough estimate of the received positioning distance and also can make an accurate estimate. A rough estimation may be performed first to determine the orientation of the device to be charged in the mobile robot travel, using the robot multi-step motion approach as shown in fig. 8, e.g. A, B, C points, three points to determine the approximate orientation of the device to be charged, then travel to that orientation, see if the monitored distance decreases or increases, if the received time difference decreases, i.e. indicates that it is close, then continue to update the latest spatial location of the device to be charged according to the latest 3 observation points. If the received time difference increases, the motion is reversed. Due to the fact that multipath, obstacle interference and the like exist in the actual space, the spatial position is difficult to obtain through one-time accurate measurement. After the coarse positioning result is obtained, multipoint space constraint can be carried out to obtain a more accurate position, and the optimal space position can be obtained by carrying out least square estimation by adopting multipoint space state information.

The navigation and obstacle avoidance execution module: the last module updates the path plan, the navigation module executes specific movement after receiving the updated path plan, and the navigation equipment is moved to the charging equipment. In the process, the obstacle monitoring and avoiding module continuously works.

An accurate butt joint module: the accurate positioning module is used for guiding the mobile robot to a distance close enough to the device to be charged, and then the accurate docking module carries out an accurate docking process of a charging interface of the mobile robot and the charging interface of the device to be charged.

The charging interface module: in the execution process of the alignment algorithm of the accurate alignment module, the actual charging interface module is used as physical equipment for docking. The process extends to a variety of charging modes, including contact charging and contactless charging. Contact charging requires precise docking of the charging port as shown in fig. 9, 10, and 11.

The charging execution module: and after the charging confirmation is completed, the charging execution module is driven through the charging request of the safe empty authentication, and the external power supply is started through the charging interface.

A map marking module: in the process of cruising of the mobile robot, the positioning and mapping module, the navigation and obstacle avoidance module and the path planning module continuously work, wherein the positioning and mapping module is responsible for space positioning of the mobile robot and carries out map construction on the environment in the advancing process, and the constructed map is provided for the path planning, navigation and obstacle avoidance module to carry out information reference. After the equipment to be charged is accurately acquired, the equipment is charged, and after power is supplied, the equipment can be recorded on an internal map of the mobile robot. The marked map can be filed in the mobile robot, can be fed back to the cloud aerial center, and can be shared with a sharing robot which is subjected to security authentication in a local area network, so that information sharing is realized.

In this mode, after the robot completes the request of each device to be charged, communication among shared robots which are subjected to security authentication in a local area network can be carried out, information such as cruise profiles, charging profiles and local maps can be exchanged, and information sharing is achieved. After receiving the information fed back by other robots, the robot can fuse the local map with the shared local map, so that the map is perfected, and meanwhile, the cruise state and the information of the equipment to be charged are updated, so that the cooperative work is realized. The fused map is helpful for navigation and obstacle avoidance in the following cruising process and also helps to know the distribution overview of the devices to be charged in the local area. After the information of each robot is shared, the optimal power supply mode can be selected subsequently, and the fastest power supply of the equipment to be charged is achieved.

Map mode of the operation mode: since the power receiving apparatuses are disposed differently in actual environments, the power supply modes developed may differ. The map navigation mode is suitable for supplying power to a specific definite area or an area which is mapped after cruising, such as a specific factory and mining area, a specific parking lot, a home environment and the like. The mode relates to a plurality of core algorithm models, the perception model realizes the perception of the environment, the perception result is input to a repositioning module, the module combines with a known map to reposition and obtain the position of the mobile robot on the map, the result after the module positioning is input to a path planning and developing path planning, the planned path result is input to a navigation and obstacle avoidance module to guide the actual navigation of the robot to advance, the robot performs space positioning in the process, the robot is confirmed according to the actual measurement environment state and the known map, if the map result is correct, the execution is performed, if the map is updated, an updating part is recorded, and the map is updated after the charging is finished. In the operation process, the signals transmitted by the equipment to be charged are intermittently positioned in space, and the positioning result is confirmed with a map. And if the positioning result is consistent with the confirmation result, closing the position positioning of the equipment to be charged and directly using a map for navigation. And if the positioning results are different, the navigation is carried out by adopting the new positioning result, the latest positioning information is fed back to the navigation module, the motion track is adjusted in real time until the equipment to be charged is navigated, and the space position mark of the equipment to be charged is updated after the charging is finished. And carrying out high-precision charging interface accurate alignment, carrying out interface safety confirmation after alignment, and carrying out charging after confirmation. And after charging, the robot selects to continue power supply or return to the home. The details of each module are as follows:

the environment perception module: the module is suitable for the mobile robot to sense the surrounding environment, particularly in a map mode, and the surrounding environment needs to be sensed so as to locate the spatial position.

A relocation module: the environment sensing module measures and obtains environment sensing information, the information is sent to the repositioning module, and the repositioning module positions the position of the mobile robot by means of the environment sensing information and combining with the existing map information. If the mobile phone is outdoors, the spatial geographic position information obtained by means of GPS, Beidou navigation and the like can be matched with a map, and a coarser spatial position P0 can be quickly obtained. And matching the visual key point information obtained by calculation with map point information near a map point P0 by combining visual information, depth point cloud information and the like, calculating optimal matching by adopting a characteristic information matching mode, wherein the characteristic information can include but not limited to sparse map point cloud, key frames, dense point cloud, characteristic point vectors and the like, performing matching screening in local areas, extracting environment semantics by an artificial intelligence method, then matching the extraction of the environment image semantics with the semantics in a map to obtain more accurate pose confirmation P1, and completing spatial position relocation. After the positioning is completed, the robot system obtains the spatial position of the robot system in the map.

Powered device monitoring and communication module: during the working period, the powered device monitoring and communication module is always opened, a device signal needing to be charged is monitored in real time, after the information to be charged is received, the communication content is analyzed, the code of the device to be charged is obtained, the original space position of the device to be charged is obtained by combining the existing map information, the position is sent to the path planning module for cruise path analysis and planning, the path planning module plans a path and sends the path to the navigation and obstacle avoidance module, and the robot is guided to move to a charging destination. During the traveling process, the powered device monitoring and communication module is continuously opened to keep communicating with the device to be charged.

The powered device monitoring and communication module is responsible for communication and communication, charging requirement communication is carried out, and the content of the communication and communication is synchronously sent to the accurate positioning module to carry out the spatial position analysis of the device to be charged.

A path planning module: the environment perception module is responsible for perceiving the environment, obtained perception information is sent to the path planning module, and the repositioning module is used for positioning a given map to obtain the accurate position of the mobile robot in the map. After the signals to be charged are received, the powered device monitoring and communication module analyzes the signals to obtain information of the devices to be charged, the spatial positions of the devices to be charged can be obtained through matching and confirming the devices to be charged in the map, and the path planning module carries out related work.

Navigation and obstacle avoidance module: the path planning module sends the planned path scheme and the sensing information to the navigation and obstacle avoidance module in real time through the environment sensing module, and the navigation and obstacle avoidance module actually drives the mobile robot to operate according to the planned path. The operations related to the specific navigation and obstacle avoidance module include, but are not limited to:

In the actual operation process of the robot, the sensing module can continuously operate to provide an environment sensing result in real time, wherein the real-time monitoring of the obstacle needs to be fed back to the obstacle avoiding module for avoiding the obstacle. And if the monitoring result is not in accordance with the map, updating the information in the map copy.

The module can carry out secondary confirmation on the spatial position of the equipment to be charged in the operation process, and the resolving module can resolve to obtain the spatial position of the equipment to be charged. Due to information such as space occlusion, multipath and obstacles, the positioning position can be deviated, in actual operation, the mobile robot can position destination information at intervals, if the re-measured position information conforms to the position information in the map, the spatial position of the equipment to be charged is not re-positioned subsequently, and navigation is performed according to the set map mark. And if the position is updated, starting the spatial position accurate positioning module, after the spatial position of the equipment to be charged is accurately positioned, re-planning the path by the path planning module, and planning the moving robot to advance by the navigation module according to the latest path.

A positioning and mapping module: the robot navigation system can move in real time after a navigation module of the robot is started, provides a real-time self space position of the robot, compares the surrounding environment with a map, and updates the map copy if the actual environment changes.

A precise positioning module: after the communication equipment terminal receives the response of the equipment to be charged, the mode realizes the space positioning of the equipment to be charged based on the communication signal, and secondary confirmation is carried out to determine whether the space position of the equipment to be charged is consistent with the given position of the map. And if the position information is inconsistent with the preset position information, sending the new position information to a path planning module, and guiding the mobile robot to approach the equipment to be charged. And if the position information is consistent with the preset position information, the accurate positioning calculation is subsequently closed, and the map is used for navigating to the preset position, so that the power consumption is saved.

a) the mobile robot starts first communication and measurement after the A point communicates with the powered device, and the measured information comprises the time of signal arrival, time difference dt, angle difference do, signal strength, robot orientation, spatial position, pose and other information.

b) And after the robot moves to the point B at a constant speed, carrying out second communication and measurement, wherein the measured information comprises the time of signal arrival, the time difference dt, the angle difference do, the signal strength, the orientation, the spatial position, the pose and the like of the robot.

e) The distance and angle of the robot moving in the spacing point A, B, C can be calculated by the robot. The robot can make a rough estimate of the received positioning distance and also can make an accurate estimate. A rough estimation may be performed first to determine the orientation of the device to be charged in the mobile robot travel, using the robot multi-step motion approach as shown in fig. 8, e.g. A, B, C points, three points to determine the approximate orientation of the device to be charged, then travel to that orientation, see if the monitored distance decreases or increases, if the received time difference decreases, i.e. indicates that it is close, then continue to update the latest spatial location of the device to be charged according to the latest 3 observation points. If the received time difference increases, the motion is reversed. Due to the fact that multipath, obstacle interference and the like exist in the actual space, the spatial position is difficult to obtain through one-time accurate measurement. After the rough positioning result is obtained, multi-point space constraint can be carried out to obtain a more accurate position, and the best space position can be obtained by carrying out least square method estimation by adopting multi-point space state information.

f) And comparing the new position obtained by the positioning with the position given by the map, if the new position is inconsistent with the position given by the map, sending the new position information to a path planning module, and guiding the mobile robot to approach the equipment to be charged. And if the position information is consistent with the preset position information, the accurate positioning calculation is subsequently closed, and the map is used for navigating to the preset position, so that the power consumption is saved.

And (3) navigation and obstacle avoidance execution: the last module updates the path plan, the navigation module receives the updated path plan and then executes specific movement, and the navigation equipment is arranged to the charging equipment. In the process, the obstacle monitoring and avoiding module continuously works.

An accurate butt joint module: the accurate positioning module is used for guiding the mobile robot to a distance close enough to the device to be charged, and then the module carries out an accurate butt joint process of a charging interface of the mobile robot and the charging interface of the device to be charged. As shown in fig. 12, in order to assist the robot in accurate alignment, the patent design provides a plurality of alignment modes, including but not limited to visual matching, signal recognition, induction alignment, mechanical alignment, and other modes, and may also be a combination of the above modes.

A map marking module: in the working process of the mobile robot, the map positioning module compares the environmental information and records a changed map copy, and the actual position of the equipment to be charged is also recorded in the map copy. After power is supplied, the map updating module analyzes the local map copy and updates the latest information into the map. In the updating process, a framework of SLAM (including processes of local map construction, global map construction and optimization, closed-loop detection and optimization, BA optimization and the like) can be used for refreshing and optimizing the map, and the precision is improved. The updated map is shown in fig. 13.

The robot state self-checking and cruising decision module: and after the charging is completed, the map information is synchronously updated. And the robot then carries out state self-checking, including the conditions of residual electric quantity, charging task completion state, robot mechanical damage and the like. When the residual electric quantity is close to the lowest return electric quantity, the charging task is finished, the robot receives mechanical damage and the like, starting cruise decision judgment and executing return; and otherwise, continuing to go to the next charging point to carry out the power supply task.

Returning: when the robot executes the return voyage, an environment map recorded by the robot is called out, a path planning module is started, the most effective return voyage path is planned, and after the navigation and obstacle avoidance module receives a signal, the robot is actually driven to return to the base.

Communication among robots: in this mode, after the robot completes the request of each device to be charged, the robot can carry out communication among shared robots which are subjected to security authentication in the local area network, exchange information such as charging profiles and local map updating, and realize information sharing. After receiving the information fed back by other robots, the robot can fuse the local map with the shared local map, so that the map is perfected, and meanwhile, the power supply state and the information of the equipment to be charged are updated, so that the cooperative work is realized. The fused map is helpful for navigation and obstacle avoidance in the following power supply working process and also is helpful for knowing the distribution overview of the devices to be charged in the local area. After the information of each robot is shared, an optimal power supply mode can be selected subsequently, and the fastest power supply of the equipment to be charged is realized.

The map-less mode of the operation mode: since the power receiving apparatuses are disposed differently in actual environments, the power supply modes developed may differ. The map-free mode is suitable for the environment deployment of the equipment for the first time, meanwhile, an existing map is not accurate, the environment needs to be mapped by the mode, and meanwhile, all the equipment in the area is marked into the map to complete the modeling of the environment. The mode relates to a plurality of core algorithm models, the perception model realizes the perception of the environment, the perception result is input to the positioning and map building module, the mobile robot can carry out environment modeling on the surrounding environment, and an initial map is built. During or after the initial map is established, the powered device monitoring and communication module continuously works to monitor the request of the device to be charged in the environment, and after the request is received, the accurate positioning module is started to confirm the spatial position of the device to be charged. And the position confirmation result is sent to a cruise path planning module, the module performs path planning on the environment by combining the sensing result, the planned path result is input to a navigation and obstacle avoidance module, the actual navigation of the robot is guided to advance, the robot performs space positioning in the process, and an environment map is constructed. In the operation process, space positioning is carried out on signals transmitted by equipment to be charged synchronously, moving positioning is carried out, the information is fed back to a navigation module, the motion track is adjusted in real time until the equipment to be charged is navigated, then high-precision charging interface accurate alignment is carried out, interface safety confirmation is carried out after the alignment, and charging is carried out after the confirmation. And after charging, the robot selects to continue working or return to the home. The details of each module are as follows:

the environment perception algorithm module: the module is suitable for the mobile robot to sense the surrounding environment, particularly under a no-map mode, the surrounding environment needs to be sensed, and the information of the environment is extracted, and the information is helpful for the establishment of a subsequent map.

A positioning and mapping module: the robot sensing module can move in real time after being started, the real-time spatial position of the robot is provided, meanwhile, the characteristic information of the surrounding environment is extracted, and then the information is coded into the constructed map.

Powered device monitoring and communication module: during working, the module is always on, monitors signals of equipment needing to be charged in real time, obtains information of the equipment to be charged by analyzing communication contents after receiving information to be charged, sends the information to the accurate positioning module, positions and obtains the spatial position of the equipment to be charged, then sends the position to the path planning module, the path planning module plans a path and sends the path to the navigation and obstacle avoidance module, and the robot is guided to move to a charging destination. During the traveling process, the communication module is continuously opened to keep communicating with the device to be charged. The module is responsible for communication and communication, charging requirements are communicated, and the communication and communication content is synchronously sent to the accurate positioning module to analyze the spatial position of the device to be charged.

A precise positioning module: after the communication equipment terminal receives the response of the equipment to be charged, the mode realizes the spatial positioning of the equipment to be charged based on the communication signal, and the spatial position of the equipment to be charged is obtained through positioning calculation. And sending the position information to a path planning module, and guiding the mobile robot to approach to the equipment to be charged according to the planned path.

The specific positioning process is as follows:

f) The module calculates to obtain the optimal spatial position and sends the optimal spatial position to the path planning analysis module for path analysis. Due to the existence of information such as multipath, obstacles, shielding and the like, the accurate positioning module can perform positioning confirmation for multiple times at intervals in the charging process, so that the motion track of the mobile robot is ensured to be correct and the mobile robot does not yaw.

A path planning module: the perception module is responsible for perceiving the environment, and the perception information that obtains is sent to this module, and location and map building module is responsible for fixing a position to the position of robot, obtains the simple map of environment simultaneously. After the signal to be charged is received, the communication module analyzes the signal to obtain the information of the module to be charged, and the accurate positioning module resolves to obtain the spatial position of the equipment to be charged. The module receives an environment map and the position information of the equipment to be charged and then carries out path planning work.

Navigation and obstacle avoidance module: the path planning module sends the planned path scheme and the sensing information to the sensing module in real time, and the sensing module actually drives the mobile robot to run according to the planned path. In the actual operation process of the robot, the sensing module can continuously operate to provide an environment sensing result in real time, wherein the real-time monitoring of the obstacle needs to be fed back to the obstacle avoiding module for avoiding the obstacle. The related obstacle information is also synchronously edited and written into the environment map.

This module is at the operation in-process, and the spatial position of rechargeable devices can be confirmed many times to accurate positioning module intermittent type formula, and the module of resolving can resolve the spatial position who obtains rechargeable devices, and this is because information such as space shelters from, multipath, barrier can make the deviation appear in the position of fixing a position every time. After the space position of the equipment to be charged is accurately positioned, the path planning module plans the path again, and the navigation module plans the mobile robot to move forward according to the latest path.

An accurate butt joint module: the module is in charge of guiding the mobile robot to a distance close enough to the device to be charged, and then the module carries out an accurate butt joint process of a charging interface of the mobile robot and the charging interface of the device to be charged.

The charging execution module: and after the charging confirmation is completed, the charging execution module is driven through the charging request of the safe empty authentication, and the external power supply is started through the charging interface. In the power supply process, the charging execution module monitors states of charging voltage, current, heating of the charging coil and the like in real time, carries out safety monitoring in real time, pauses charging in time when abnormal voltage, current, heating and the like occur, carries out safety inspection, carries out charging again after exception is eliminated, and otherwise terminates charging. And in the power supply process, the charging execution module receives signal feedback of the energy storage system of the mobile robot. The energy storage system can calculate the self residual electric quantity and estimate the return electric quantity demand, when the electric quantity reduces to be close to return and needs at least electric quantity, then stop supplying power to record this state information, feed back to map mark module and file this information, start robot state self-checking module simultaneously, drive the robot and start returning voyage.

A map marking module: in the working process of the mobile robot, the map building module can record various pieces of environment information into a map, wherein the various pieces of environment information include but are not limited to sparse feature point vectors, key frames, semantic information, segmentation information, obstacle information and the like, and in the map building process, the SLAM framework (including the processes of local map building, global map building and optimization, closed-loop detection and optimization, BA optimization and the like) is used for realizing map marking and optimization, so that the precision is improved. As shown in fig. 13, the map mark information records the spatial position of the powered device, synchronously records information such as obstacles and impassable areas of the environment, and may also record information such as the model, power demand, power supply interface type, and charging completion status of the powered device, which may be synchronously recorded in the powered device information marked in the map. The marked map can be filed in the mobile robot, can be fed back to the cloud aerial center, and can be shared with a sharing robot which is subjected to security authentication in a local area network, so that information sharing is realized.

Robot state self-checking and cruise decision: after the charging is completed, the map information is synchronously marked. And the robot then carries out state self-checking, including the conditions of residual electric quantity, charging task completion state, robot mechanical damage and the like. When the residual electric quantity is close to the lowest return electric quantity, the charging task is finished, the robot receives mechanical damage and the like, starting cruise decision judgment and executing return; and otherwise, continuing to go to the next charging point to carry out the power supply task.

Communication and communication among robots: in this mode, after the robot completes the request of each device to be charged, the robot can carry out communication among shared robots which are subjected to security authentication in the local area network, exchange information such as charging profiles and local map updating, and realize information sharing. After receiving the information fed back by other robots, the robot can fuse the local map with the shared local map, so that the map is perfected, and meanwhile, the power supply state and the information of the equipment to be charged are updated, so that the cooperative work is realized. The fused map is helpful for navigation and obstacle avoidance in the following power supply working process and also helpful for knowing the distribution overview of the equipment to be charged in the local area. After the information of each robot is shared, an optimal power supply mode can be selected subsequently, and the fastest power supply of the equipment to be charged is realized.

Multi-robot assistance: after the robot completes the charging tasks in the cruise mode, the no map mode and the map mode, the robot obtains information such as an environment map and equipment to be charged, and the information can be shared with each mobile robot which is authenticated in a regional network, so that the working capacity is expanded. Fig. 7 shows a sharing mode, and the specific work flow is as follows:

when the robot is started when entering a working area, the robot is accessed to a cloud control center, a local running algorithm is downloaded from the cloud control center, and meanwhile, a mobile robot after authentication, a device list to be charged, a communication protocol and various algorithms in a local area network are obtained, wherein the algorithms include but not limited to a perception algorithm, a positioning and mapping algorithm, an accurate positioning algorithm, a repositioning algorithm, a path planning algorithm, a navigation and obstacle avoidance algorithm, an accurate docking algorithm, a map updating algorithm and the like.

After the robot completes the algorithm and the software system synchronization, the robot starts to communicate with each mobile robot in the local area network, and various information such as an environment map and the state of equipment to be charged are shared.

After receiving the charging request, the mobile robot carries out a charging task based on the local area robot information obtained by sharing, if the map is imperfect, the mobile robot starts a positioning and mapping system to complete information updating of the map, obstacles, passable areas and the like, secondary information production is carried out on the basis of sharing the map, and more perfect local area information is obtained.

After the mobile robot completes a charging task, various information in the charging process is obtained, including but not limited to updating an environment map, updating information of a device to be charged, updating environment perception information and the like. The mobile robot shares the information to other mobile robots in the local area network through a communication protocol, and meanwhile receives the information shared by other mobile robots. After receiving the information shared by other mobile robots, the mobile robots start an information fusion algorithm to fuse the information:

map fusion: the map fusion algorithm is adopted, a space coordinate system is aligned, nodes in the map are matched, a node relation is established, a time relation of map updating is combed, a local map incomplete module is selectively updated and repaired, the map under the latest timestamp is adopted, the SLAM algorithm is started, local map optimization and global map optimization are respectively carried out, processes such as closed loop detection and BA optimization are executed, and the map is guaranteed to be optimized best. And updating latest obstacle information, passable area information, a to-be-charged equipment mark and the like on the optimized map.

Fusing an information list: each time the robot runs, some information can be obtained, including state information of the device to be charged, energy storage station information, state information of other robots, and the like, and the information is maintained in a local robot list and updated.

After the mobile robot exchanges and updates the information, the mobile robot obtains more information than the information detected by the mobile robot, and the monitoring range is expanded. And after the mobile robot updates the information, the mobile robot uses a new map and an information list to carry out a power supply task.

Intelligent powered device end workflow: the intelligence powered device end has the relevant function of attribute itself, and this function can include intelligent automobile body, unmanned aerial vehicle body, intelligent house equipment are local, factory and mining area monitoring body etc.. Except for the self-checking device, a device and a process related to the wireless charging requirement are introduced, as shown in fig. 4, the system starts self-checking, after the self-checking passes, the self-checking device applies for registering to the cloud end through the communication module to enter the network, and meanwhile, communication contact with the cloud end and the mobile robot in the local area network is started. The energy management module is responsible for energy management of the local machine, and when the electric quantity is lower than a certain quantity, the energy management module sends a signal to the communication module and sends a charging request broadcast signal to the outside through the communication module. And in the process of establishing contact between the communication module and the mobile robot, sending a communication response signal for communication, performing air interface authentication on the safety system module after the response is connected, starting the positioning delivery management system module after the authentication is passed, sending a positioning signal to the outside, and guiding the mobile robot to position the powered device end. And after receiving the positioning signal, the mobile robot carries out accurate positioning and drives the robot to move to the intelligent powered device end. And the positioning interaction management system module further sends a docking signal through the interface equipment to guide the robot to complete the accurate docking of the charging interface. After the butt joint, after the verification of the safety system module, the charging process is carried out until the charging is completed. The related steps are as follows:

a) the system self-checking module is executed after the intelligent powered device is started, the module executes function detection on hardware and software equipment of the local device, and if the state of the local device is abnormal, the abnormal state is fed back; if the state of the machine is normal, the following steps are executed.

b) After the system self-checking is completed, a signal is sent to a security system module which comprises functions of managing registration networking, air interface authentication and the like, the registration networking function is started firstly, security authentication and registration are carried out on the device to a cloud management center, the device is registered to the cloud control center, and the device is broadcasted to all mobile robots in a local area by the cloud control center. The registered signal frame includes the powered device identifier, as shown in fig. 5, and the identifier constitutes a communication frame to communicate with the cloud control center.

c) The communication frame generated by the safety system is communicated with the outside through the communication system module. In the equipment authentication phase, communication is firstly carried out with a cloud control center, the equipment is registered with the cloud control center in the communication purpose, charging permission authorization is obtained, all information of the equipment is registered with the cloud through powered equipment identifiers, the information comprises safety identifiers, trust codes, communication modes, communication bands, battery capacity, equipment types, power specifications (charging current, voltage and the like), interface specifications (which interface coil is adopted for charging and the like) and the like, the equipment after the cloud registration is obtained can be written in a trust list by the cloud control center, and part of information in the trust list is broadcasted to mobile robots in the area. If there are multiple devices to be charged in a local area and the coverage area of the devices is wide, the coverage area of the communication signal of a single device may be reduced for low power consumption, and multiple hops are used for communication, as shown in fig. 6. As for a signal frame in the multi-hop communication mode, a communication signal of the signal frame is wrapped into a common communication frame by other powered devices in the area for transmission, as shown in fig. 5, in addition to the content that the device needs to communicate, the communication content of the communication frame also includes the content of the signal frame transmitted by the previous device, and the content of the signal frame is synthesized into a signal content part of a new communication frame. Through the communication system module, the local equipment establishes contact with the cloud control center, and the registered equipment is synchronously broadcasted to the mobile robots in the area, so that the local equipment can start to broadcast signals to the mobile robots through the communication equipment, and the communication contact is established step by step.

d) After the communication system establishes the communication link, the local system sends a charging demand according to the electric quantity state of the energy management system module. When the local energy monitored by the energy management system module is lower than a certain threshold value, a charging request signal is sent to the local equipment control center. After receiving the charging request signal, the device control center starts to encode the communication frame, and the encoding rule develops encoding according to the rule shown in fig. 5, including contents such as a security identifier, a trust code, a charging electric quantity requirement, a power supply specification (charging current, voltage and the like), an interface specification (which interface coil is used for charging and the like), and the like, so as to form a communication frame of the charging device. For security requirements, the communication frame may be encrypted and encoded twice according to the requirements of communication security, and then transmitted. The frame information is transmitted to the outside through the communication system to request the broadcast of charging. After the broadcast signal is sent to the outside, when the mobile robot receives the signal, the mobile robot can directionally send a power supply response signal to the powered device, and after the intelligent device to be charged receives the response signal of the mobile robot, the intelligent device to be charged sends a confirmation signal again to perform communication response confirmation, and performs air interface safety authentication. In this process, the local device control center analyzes the security authentication identification code according to the communication frame fed back by the mobile robot, and authenticates the security of the mobile robot as shown in fig. 5. And after the safety certification of the mobile robot is authenticated, the mobile robot enters a positioning interaction system to guide the mobile robot to position the spatial position of the equipment to be powered.

e) When the mobile robot is guided to carry out space position positioning, the positioning interaction management system module sends a specific communication response signal to the mobile robot according to a communication convention for carrying out space accurate positioning. Because the spatial orientation can be calculated based on the modes of a space signal arrival intensity analysis method (RSS), an arrival angle positioning method (AOA), a time of arrival positioning method (TOA), a time difference of arrival positioning method (TDOA) and the like, all the modes can encode corresponding information according to the requirements of different positioning algorithms, and send response signals to the mobile robot through a communication system module, so that the mobile robot is helped to carry out space positioning until the space position of the equipment to be charged is accurately positioned.

f) After the communication system module helps the mobile robot to complete space positioning, the mobile robot can autonomously move to the position near the device to be charged, and then different accurate alignment modes can be selectively developed according to different interface implementation modes of the device to be charged. If the signal identification alignment mode is adopted, a specific signal is sent to the outside through the charging interface to guide the mobile robot to align; if the mode of coded or symbolic alignment is adopted, the mobile robot carries out alignment after identification; if the coil induction mode is adopted for alignment, the mobile robot sends induction signals, the equipment to be charged carries out signal receiving measurement, and then the energy state of the received signals is fed back to the mobile robot; if the alignment is based on mechanical alignment, the mobile robot judges whether to align.

g) After the accurate alignment interface is finished, the mobile robot and the powered device start to charge after communication confirmation of the state, and in the charging process, the energy management system module monitors the charging state, including the size and stability of charging current and voltage, the full charge state of electric quantity, the heating state of a battery, the state of a charging coil and other information. And if the charging state is abnormal, communicating with the robot, and suspending charging until the abnormality is eliminated.

f) After the charging is completed, the power receiving device and the mobile robot perform communication completion confirmation. After charging is finished, each module route enters a dormant state, the energy management system module is kept on duty normally, energy monitoring is carried out, and after the residual electric quantity of the battery is lower than a certain threshold value, the whole charging request related module, including the communication system module, the positioning interaction management system module, the safety system module and the charging interface module, is awakened, and the execution process from a to h is entered again.

A multi-hop relay module: the multi-hop relay is mainly used when the intelligent device in a large range performs communication relay, for example, the communication range is too large, communication with a mobile robot or a cloud control center is difficult to perform at one time, or the communication coverage is reduced on a large scale due to low power consumption and other considerations, the communication signal intensity of the intelligent device is reduced, and the communication coverage is reduced on a large scale. In the above mode, each device sends a communication signal frame to the outside, and after receiving a communication signal frame sent by an adjacent device, a nearby device packages a secondary signal frame to form a new relay signal communication frame to be sent to the outside, and a step-by-step packaging to be sent to the outside is formed, as shown in fig. 6, and a signal is transmitted to a larger distance by multi-step hopping of multiple devices.

a) The device to be charged actively sets a multi-hop communication mode: when the device to be charged is arranged in the working area, a multi-hop communication mode is set during arrangement, and in this mode, the working device sends out communication information through multi-hop communication, and performs coded transmission according to the communication frame shown in fig. 5. And after receiving the signal, the equipment of the next hop carries out secondary coding and then continues to send the signal to the outside.

b) The device to be charged passively selects a multi-hop communication mode: when the device to be charged still cannot receive communication responses of the cloud control center or the mobile robot after broadcasting according to the maximum communication range and the maximum communication power for multiple times and possibly the device is far away from the working area center, the device can select to send a multi-hop relay communication mode outwards, send a signal frame to be packaged to form multi-hop relay communication outwards, request nearby devices to package communication signals of the device, and form a relay signal communication frame to be transmitted to a far-away area until communication feedback is obtained.

c) Mobile robot communication coping with a multi-hop communication mode: after receiving the communication frame of the multi-hop relay communication, the mobile robot can analyze the communication frame packaged step by step to obtain the information of the equipment to be charged on the relay link, then sends a multi-hop signal packet of response along the signal frame of the relay communication link, and feeds the multi-hop signal packet back to each equipment to be charged on the multi-hop link step by step through the original communication channel. And then the mobile robot arranges a work task and supplies power to the devices to be charged one by one along the communication link.

System perfection and upgrading: the system establishes a brand-new charging mode, applies the mobile robot to supply power to each intelligent device, is low in modification cost, and effectively avoids the difficulty of active power supply. The cloud control center is used for carrying out intelligent autonomous power supply on multiple devices in the region. The cloud control center monitors the working state of each device to be charged, can also monitor each state of the intelligent charging process, carries out algorithm prototype perfection at the cloud according to the collected feedback information, and downloads the perfected feedback information to each mobile robot and the device to be powered through a cloud data link, so that the working performance is improved. The key model of the system is as follows:

a) a perception algorithm model: in the mode, a perception algorithm model is constructed by acquiring point cloud information of video signals and depth information, GPS signals, Beidou signals, ultrasonic waves and other signals, and analyzing to obtain characteristic information, 3D space information, barrier information, passable areas and other information of the environment.

b) Positioning and mapping model: principle upgrading is carried out on an SLAM algorithm prototype through collected perception information and the difficult problems of positioning and drawing fed back in the actual operation process, and feature signals, positioning models and the like based on artificial intelligence design can be introduced to achieve positioning capacity improvement. A more effective map generation algorithm is researched, more robust characteristic signals are added, and the map robustness is improved.

c) A path planning model: by analyzing the actual path planning state and the existing problems, a more complex path planning model is introduced for research, and an artificial intelligence learning method is introduced to realize more effective path planning.

d) Navigation and obstacle avoidance models: by improving the obstacle detection algorithm, the artificial intelligence obstacle detection algorithm, the 3D outline detection algorithm and other algorithms are introduced, the obstacle detection capability is improved, and the traffic capacity of the 3D hollow area is better solved.

e) Accurately positioning the model: by researching new algorithms based on signal intensity, arrival phase, relative time difference and the like and introducing strategies such as timestamp synchronization and the like, a faster spatial positioning algorithm is realized, and positioning accuracy is improved.

f) And (3) accurately aligning the model: the alignment accuracy is improved by improving the calculation accuracy of the vision-based alignment algorithm. The alignment accuracy is improved by more accurate signal transmission control. By analyzing the moving alignment mode of the coil, the alignment speed and accuracy are optimized and improved.

g) A relocation model: by analyzing the confirmation of information such as GPS signals, Beidou signals, IMUs and vision and combining with the existing map information, the accurate position is quickly searched, and the accuracy of the repositioning algorithm is improved.

h) Multi-robot assistance model: by optimizing the information sharing mode and information content of multiple robots, the information fusion algorithm is optimized, the task division mode is optimized, and the assistance efficiency is improved.

i) The multi-hop relay model: by analyzing the mode of multi-hop relay transmission, the signal hopping mode is optimized, signals are transmitted to relay equipment which establishes contact with the mobile robot in a multi-hop mode, and the signals are quickly and effectively transmitted to the mobile robot.

The invention has not been described in detail in part of the common general knowledge of those skilled in the art.

Claims

1. Intelligent wireless power supply system based on mobile robot, its characterized in that: the system comprises a mobile robot and a powered device;

2. The intelligent wireless power supply system based on mobile robot of claim 1, characterized in that: the system also comprises a cloud control center, and a user can issue an instruction for supplying power to one or more power receiving equipment to the mobile robot through the cloud control center; the mobile robot determines space positioning information of the powered device, plans a path according to surrounding environment information and self positioning information, moves to the powered device along the planned path and supplies power to the powered device;

3. The intelligent wireless power supply system based on mobile robot according to claim 1 or 2, characterized in that: the powered device comprises a local control center of the powered device, a communication system of the powered device, an energy storage system of the powered device and a safety system of the powered device;

4. The intelligent wireless power supply system based on mobile robot according to claim 1 or 2, characterized in that: each mobile robot comprises a mobile robot local control center, a mobile robot communication system, a mobile robot energy storage system, a mobile robot charging request monitoring system, a mobile robot positioning system, a mobile robot energy management system, an intelligent driving system and a mobile robot safety system;

mobile robot positioning system: calculating the self position information of the mobile robot and sending the self position information to an intelligent driving system;

energy management system of mobile robot: counting the electricity consumption condition of the mobile robot at ordinary times, and giving an electricity consumption model; when receiving the charging request information of the mobile robot charging request monitoring system, estimating the electric quantity required by the power receiving equipment and the electric quantity required by the mobile robot to reach a charging destination, and sending the electric quantity to a local control center of the mobile robot;

5. The intelligent wireless power supply system based on mobile robot as claimed in claim 4, wherein the working strategy of the local control center of the mobile robot is as follows:

if the distance between the mobile robot and the powered device sending the charging request information is larger than the electric quantity required by the robot for supplying the reciprocating path of the robot by the self charging reserve of the robot, the local control center of the mobile robot does not send a charging instruction;

if the self electric quantity fed back by the mobile robot energy storage system is lower than the early warning value, the mobile robot energy storage system is charged by a charging station preferentially, and the mobile robot energy storage system starts after being fully charged;

if the self electric quantity fed back by the energy storage system of the mobile robot meets the requirement, the mobile robot is driven by the intelligent driving system to go to a charging place; in the process of moving to a charging place, the energy management system of the mobile robot monitors the electric quantity of the energy storage system of the mobile robot in real time, if the mobile robot is trapped due to some special reasons, cannot reach the charging place in time and has too low electric quantity, the electric quantity needs to be fed back to a local control center of the mobile robot, the mobile robot is guaranteed to return to the charging in time, and the intelligent driving system plans a path to go again after charging;

after the robot reaches the charging point, the electric quantity required to be charged of the powered device is estimated after the robot communicates with the powered device, and the actual electric quantity required to be charged of the powered device is calculated by combining the electric quantity required by the robot during return voyage and the electric quantity surplus of the energy storage system of the mobile robot.

6. The intelligent wireless power supply system based on the mobile robot as claimed in claim 5, wherein the intelligent driving system comprises an environment sensing module, a path planning module, a navigation and obstacle avoidance module, a powered device monitoring and communication module, a positioning and mapping module, a repositioning module, an accurate docking module, a charging confirmation and execution module, and a map marking module;

the environment perception module realizes the perception of the environment by means of a camera, laser or radar equipment and ultrasonic waves;

the path planning module plans a cruise path mode and a cruise path according to the result sensed by the environment sensing module and the space positioning information of the powered device;

the positioning and mapping module carries out mapping construction on the surrounding environment according to the self position information of the mobile robot calculated by the mobile robot positioning system;

the navigation and obstacle avoidance module comprises a navigation module and an obstacle avoidance module, and the navigation module guides the mobile robot to advance according to the cruise path mode and the cruise path; in the operation process, the obstacle avoidance module receives a sensing result sent by the environment sensing module in real time, a real-time positioning result of the spatial position of the robot and spatial positioning information of the powered device, and performs obstacle avoidance processing after the sensing result shows that an obstacle exists in front of the robot, and plans and updates a cruise path; when the space positioning information of the powered device changes, the obstacle avoidance module plans and updates the cruise path; the navigation module guides the mobile robot to advance according to the updated cruise path;

the powered device monitoring and communication module monitors signals of the powered device in real time, performs space positioning on the powered device, and inputs information obtained by positioning to the path planning module and the navigation and obstacle avoidance module;

in the moving process of the mobile robot, the accurate positioning module sends a charging permission signal to the powered device, after receiving a response signal of a certain powered device, the accurate positioning module carries out accurate space positioning on the powered device, and sends the accurate space positioning information to the cruise path analysis and planning module and the navigation and obstacle avoidance module;

a relocation module: by means of environment perception information and in combination with existing map information, relocation of the current position of the mobile robot is achieved;

the accurate docking module is used for guiding the mobile robot to be close to the powered device, and then accurately docking the charging interface of the mobile robot with the charging interface of the powered device;

the charging confirmation and execution module confirms whether the charging interface of the mobile robot is consistent with the air interface protocol of the charging interface of the powered device, and if so, charging is carried out; if the signals are not consistent, the powered device monitoring and communication module continues to monitor signals of the powered device;

after a certain powered device is charged, a map marking module records the spatial position of the powered device, and synchronously records the obstacles, the impassable area, the model of the powered device, the electric quantity requirement, the type of a power supply interface and charging completion state information of the environment;

after the charging is finished, the map marking module updates map information, and the mobile robot carries out state self-checking, wherein the states comprise the residual electric quantity, the cruise completion state and the mechanical damage condition of the robot; when the residual electric quantity is close to the lowest return electric quantity, the cruising is finished or the mobile robot is mechanically damaged, executing the return; otherwise, cruising is continued.

7. The intelligent wireless power supply system based on mobile robot as claimed in claim 6, wherein the mobile robot work flow is as follows:

8. The intelligent wireless power supply system based on mobile robots of claim 7, wherein before the power supply mode is selected in the fourth step, communication can be performed between the mobile robots after authorized authentication by the cloud control center, and the communication contents include environment information communication, environment map communication and merging, robot position notification, powered device position and state sharing, and respective self states.

9. The intelligent wireless power supply system based on mobile robot of claim 7, wherein the power supply mode comprises a cruise mode, a map mode and a no map mode;

10. The intelligent wireless power supply system based on mobile robot of claim 9, wherein the workflow of the mobile robot to supply power to the powered device in the cruise mode is as follows:

the environment perception module realizes the perception of the environment by means of a camera, laser or radar equipment and ultrasonic waves, and the perception result is input to the cruise path analysis and planning module and the navigation and obstacle avoidance module;

the path planning module plans a cruise path mode and a cruise path according to the result sensed by the environment sensing module and the space positioning information of the powered device, and sends the cruise path mode and the cruise path to the navigation and obstacle avoidance module;

in the moving process of the mobile robot, the positioning and mapping module carries out real-time positioning on the self space position of the robot, simultaneously carries out mapping construction on the surrounding environment, and sends the real-time positioning result of the self space position of the robot to the navigation and obstacle avoidance module;

the powered device monitoring and communication module monitors signals of the powered device in real time, performs space positioning on the powered device after receiving signals to be charged of the powered device, and inputs information obtained by positioning to the path planning module and the navigation and obstacle avoidance module;

11. The intelligent wireless power supply system based on mobile robot of claim 9, wherein the work flow of the mobile robot to supply power to the powered device in the map mode is as follows:

the environment perception module realizes the perception of the environment by means of a camera, laser or radar equipment and ultrasonic waves, and the perception result is input to the repositioning module;

a relocation module: the current position of the mobile robot is repositioned by combining the existing map information with the help of the environment perception information;

the power receiving equipment monitoring and communication module monitors signals of the power receiving equipment in real time, after receiving signals to be charged of the power receiving equipment, space positioning of the power receiving equipment is carried out, and information obtained by positioning is input to the cruise path analysis and planning module and the navigation and obstacle avoidance module;

a path planning module: planning a moving path by combining environment perception information, existing map information, repositioning information of the current position of the mobile robot and spatial positioning information of the powered device, and sending the moving path to a navigation and obstacle avoidance module;

the navigation and obstacle avoidance module comprises a navigation module and an obstacle avoidance module, and the navigation module guides the mobile robot to move forward according to the path planned by the path planning module; in the operation process, the obstacle avoidance module receives a sensing result sent by the environment sensing module in real time, a real-time positioning result of the spatial position of the robot and spatial positioning information of the powered device, and performs obstacle avoidance processing after the sensing result shows that an obstacle exists in front of the robot, and plans and updates a moving path; when the space positioning information of the powered device changes, the obstacle avoidance module plans and updates the cruise path; the navigation module guides the mobile robot to advance according to the updated cruise path;

after the charging is finished, the map marking module updates map information, and the mobile robot carries out state self-checking, wherein the state comprises the residual electric quantity, the cruise completion state and the mechanical damage condition of the robot; when the residual electric quantity is close to the lowest return electric quantity, the cruising is finished or the mobile robot is mechanically damaged, executing the return; otherwise, cruising is continued.

12. The intelligent wireless power supply system based on mobile robot of claim 9, wherein the work flow of the mobile robot to supply power to the powered device in the no map mode is as follows:

the positioning and mapping module is used for positioning the self space position of the robot in real time, mapping the surrounding environment and sending the real-time positioning result of the self space position of the robot to the navigation and obstacle avoidance module;

in the moving process of the mobile robot, the accurate positioning module sends a charging permission signal to the powered device, after receiving a response signal of a certain powered device, the accurate positioning module carries out accurate space positioning on the powered device, and sends the accurate space positioning information to the path planning module and the navigation and obstacle avoidance module;

a path planning module: planning a moving path by combining environment perception information, repositioning information of the current position of the mobile robot and space positioning information of the powered device, and sending the moving path to a navigation and obstacle avoidance module;

after the charging is finished, the map marking module updates map information, and the mobile robot carries out state self-checking, wherein the states comprise the residual electric quantity, the cruise completion state and the mechanical damage condition of the robot; when the residual electric quantity is close to the lowest return electric quantity, the cruising is finished or the mobile robot is mechanically damaged, the return voyage is executed; otherwise, cruising is continued.