CN103997082B - Mobile robot's recharging device and recharging method thereof - Google Patents
Mobile robot's recharging device and recharging method thereof Download PDFInfo
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- CN103997082B CN103997082B CN201410158874.XA CN201410158874A CN103997082B CN 103997082 B CN103997082 B CN 103997082B CN 201410158874 A CN201410158874 A CN 201410158874A CN 103997082 B CN103997082 B CN 103997082B
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Abstract
A kind of mobile robot's recharging device and recharging method thereof, relate to robotics, what solve is reduce costs, and improves the technical problem of versatility, reliability.This device comprises recharging base, and the companion's pedestal be fixed on mobile robot, recharging base is equipped with each infrared transmitter around, different infrared docking signal launched by these two infrared transmitters, thus forms three signal areas in recharging base front; Companion's pedestal is equipped with the two groups of infrared remote receivers in left and right, robot judges residing signal area by these two groups of infrared remote receivers, and the difference in signal strength between the infrared docking signal launched of two infrared transmitters received by combining finds out the particular location of recharging base, realizes the automatic butt with recharging base.Device and method provided by the invention, the mobile robot be specially adapted in indoor environment uses, and adopts plug-in type modular design, is applicable to different battery types and robot physical size.
Description
Technical field
The present invention relates to Robotics, particularly relate to the technology of a kind of mobile robot's recharging device and recharging method thereof.
Background technology
The task of a lot of service type mobile robot be in family and office environment, perform cleaning, refuse collection, package delivery, cook, the affairs such as beverage, monitoring of providing and delivering.The mankind can free by these mobile robots from onerous toil, these mobile robots are configured with recharging device usually, robot can be battery charging in body by recharging device termly automatically, thus energy full automatic running and do not need manpower intervention.
The recharging device of mobile robot is primarily of charging station, and the receiver be arranged in robot is formed, charging station is wherein fixed on and lands on thing (metope, ground), the transmitting docking signal that charging station continues, robot receives the docking signal of charging station transmitting by receiver, and then find the particular location of charging station, realize the automatic butt with charging station, the autonomous docking calculation of charging station that the recharging device of existing mobile robot adopts has numerous defect.
Such as, the Roomba vacuum cleaning machine people that iRobot company produces is equipped with 360 degree of infrared emission/receivers respectively at charging station and robot, robot receives the infrared docking signal of charging station by the infrared remote receiver of 360 degree, and then find the particular location of charging station, realize the automatic butt with charging station, 360 degree of infrared emission/receivers must be placed in the apical position of charging station and robot by the method that this employing 360 degree of infrared emission/receiver realize autonomous docking, restricted to the structural design of robot and charging station, specific robot can only be used for, its versatility is poor.
And for example, the Rovio far-end of the WowWee company robot that comes personally is equipped with infrared transmitter on charging station, charging station utilizes infrared transmitter by projects infrared spots on ceiling, the receiver of robotic equipment utilize trigonometry come measuring position and towards, and then find the particular location of charging station, realize the automatic butt with charging station.But often have chair in family and office environment, desk or other furniture shelter from robot and see sight line to ceiling, and robot cannot find charging station position in this case, and its dependability is poor.
And for example, the Pioneer robot of ActiveMedia company adopts the shape of laser scanner identification charging station to find the particular location of charging station, realize the automatic butt with charging station, docking Signal analysis in this autonomous docking calculation needs heavy calculating, the operate power of laser scanning is also higher, and its hardware and software cost is higher.
And for example, the people such as Silverman adopts visible sensation method to come auxiliary Pioneer2-DX robot and realizes the automatic butt with charging station.The method needs colored paper puted up by the wall above charging station, and installation Pan/Tilt/Zoom camera is used for finding charging station in robot.Similar with it, WillowGarage company develops a far-end and to come personally robot, Texas robot by name, and this robot adopts colour TV camera to find charging station, and charging station is placed with a series of colored annulus.This employing visible sensation method realizes needing stable illumination condition to realize the reliable recognition of color mode with the automatic butt of charging station, and its dependability is poor.
Summary of the invention
For the defect existed in above-mentioned prior art, technical problem to be solved by this invention is to provide one, and to realize cost low, and setting height(from bottom) can regulate arbitrarily, little by such environmental effects, thus there is mobile robot's recharging device and the recharging method thereof of better versatility and dependability.
In order to solve the problems of the technologies described above, a kind of mobile robot's recharging device provided by the present invention, relate to the mobile robot being built-in with battery, this device comprises the recharging base being fixed on and landing on thing, and the companion's pedestal be fixed on mobile robot, it is characterized in that:
Described recharging base has an infrared emission chamber, described infrared emission chamber forward to and left and right directions on all infrared ray is opened, and chamber, the both sides up and down wall in infrared emission chamber all can cut off infrared ray, infrared emission chamber internal fixtion has a perpendicular infrared division board of transmitting terminal put, infrared emission chamber is separated into each sub-chamber of transmitting around by the infrared division board of this transmitting terminal, launches in sub-chambeies for these two and is respectively equipped with an infrared transmitter;
Described recharging base is equipped with infrared signal transmission circuit, and described infrared signal transmission circuit has the infrared signal output port that two can export phase xor signal, and these two infrared signal output ports connect two infrared transmitters respectively;
Described companion's pedestal has an infrared receiver chamber, described infrared receiver chamber is open to infrared ray on left, front, right three directions, and can infrared ray be cut off on upper and lower, rear three directions, infrared receiver chamber internal fixtion has a perpendicular infrared division board of receiving terminal put, infrared receiver chamber is separated into each sub-chamber of reception around by the infrared division board of this receiving terminal, is respectively equipped with at least one infrared remote receiver in these two the sub-chambeies of reception;
Described companion's pedestal is equipped with infrared signal receiving circuit, and described infrared signal receiving circuit has multiple IR signal reception port, and each infrared signal output port of infrared signal receiving circuit connects each infrared remote receiver respectively;
Described recharging base and companion's pedestal point are equipped with can with charging plug, the charging socket of level to pluggable mode deciliter.
Further, the front end of described companion's pedestal is equipped with three touch recharging base sensitive switch by bond energy, and these three sensitive switches from left to right arc interval are laid.
Further, described charging plug is fixed on recharging base, and charging socket is then arranged on companion's pedestal, the both ends of the surface up and down of charging plug is respectively fixed with a conductive contact blade;
Described charging socket has two intervals and lays and sliding shoe just right up and down, and for ordering about the spring of two sliding shoe subtends movement, the opposite end of two sliding shoes is respectively fixed with a conductive contact blade.
Further, the face of catering to that two sliding shoes cater to charging plug side is inclined-plane, and these two cloth catering to face is set as front wide and rear narrow tubaeform.
Further, described infrared signal transmission circuit comprises emission control module, mains connection;
Described charging plug receives mains connection through a current sensor, a charging control relay, and described mains connection receives external power source;
Described emission control module has transducing signal input port, charging signals output port, and two infrared signal output ports, the transducing signal input port of emission control module receives the transducing signal output of current sensor, the charging signals output port of emission control module receives the control coil of charging control relay, and two infrared signal output ports of emission control module receive two infrared transmitters respectively.
Further, described infrared signal receiving circuit comprises reception control module, battery connecting piece;
Described charging socket receives battery connecting piece through a powered control relay, and described battery connecting piece receives the internal battery of mobile robot;
Described reception control module has powered signal output port, and multiple IR signal reception port, three docking signal input ports, the powered signal output port receiving control module receives the control coil of powered control relay, each IR signal reception port receiving control module receives each infrared remote receiver respectively, and three the docking signal input ports receiving control module receive three sensitive switches respectively.
The recharging method of mobile robot's recharging device provided by the present invention, is characterized in that, make the transmitting infrared signal that two infrared transmitters on recharging base continue, and the infrared signal that two infrared transmitters are launched is different;
When mobile robot needs to charge, perform following steps:
1) by each infrared remote receiver on companion's pedestal, adopt pirouette flowing mode to detect infrared docking signal, described infrared docking signal refers to the infrared signal that two infrared transmitters on recharging base are launched;
After mobile robot detects infrared docking signal, detect the infrared signal that whether simultaneously can receive two infrared transmitters, if the infrared signal of two infrared transmitters can be received simultaneously, then go to step 3, otherwise then go to step 2;
2) mobile robot adopts original place reciprocating rotation mode to find out to detect two critical angle of infrared docking signal, and then find out the sector region that infrared docking signal can be detected, the center line direction of this sector region is the center of infrared docking signal, then mobile robot is made first to turn to the leading flank of companion's pedestal just to the center of infrared docking signal, a centering adjustment angle is rotated again towards the infrared transmitter direction not receiving infrared docking signal, then mobile robot is again towards the dead ahead of companion's pedestal to rectilinear movement, until go to step 3 after two infrared docking signals can be received simultaneously,
Wherein, described centering adjustment angle is the threshold value being less than 60 degree preset;
3) mobile robot detect whether receive the signal strength signal intensity of two infrared docking signals consistent, if institute's two infrared docking signal strength signal intensities that receive are consistent, then go to step 5, otherwise then go to step 4;
4) mobile robot rotates towards the large side of received infrared docking signal strength signal intensity, until institute's two infrared docking signal strength signal intensities that receive consistent after go to step 5;
5) mobile robot moves towards self front, until one of them sensitive switch on companion's pedestal goes to step 6 after closing;
6) if the sensitive switch being positioned at left side closes, then mobile robot rotates towards right side, goes to step 7 until be positioned at after middle sensitive switch closes;
If the sensitive switch being positioned at right side closes, then mobile robot is towards left pivot movement, goes to step 7 until be positioned at after middle sensitive switch closes;
If be positioned at middle sensitive switch to close, then go to step 7;
7) charged by charging plug and the charging socket internal battery to mobile robot.
Further, mobile robot receive two infrared docking signal strength signal intensities consistent after towards in self front moving process, the translational speed of mobile robot is inversely proportional to infrared signal strength signal intensity of docking.
Further, the infrared signal that two infrared transmitters on recharging base are launched is the IR modulated signals be superimposed upon by low-frequency control signal on high frequency carrier.
Further, the value of described centering adjustment angle is 20 degree.
Mobile robot's recharging device provided by the invention and recharging method thereof, on recharging base two infrared transmitters are utilized jointly horizontally to launch infrared docking signal, thus form three signal areas in recharging base front, robot receives infrared docking signal by the infrared remote receiver on companion's pedestal, and the particular location of recharging base is found according to the intensity difference between affiliated signal area and received two infrared docking signals, realize the automatic butt with recharging base, it is low that this device realizes cost, and the setting height(from bottom) of infrared transmitter and infrared remote receiver is not limited, do not need solar obligation at robot top, the structural design of robot is not limited, setting height(from bottom) can regulate arbitrarily according to the robot of different size, can be used for the robot of all size, there is better versatility, obstacle in operational environment and illumination also less on its impact, have the advantages that dependability is high.Further, recharging base and companion's pedestal connect the internal battery of robot and supporting charger by connector, for the mobile robot not being configured with recharging device, can further expand its versatility.Further employing be easy to arrange and the IR modulated signals that job stability is high in indoor environment as docking signal, not only can mask from sunlight, fluorescent lamp, the Infrared jamming of heating system device, and IR modulated signals can transmit byte type data message, modulation and demodulation process does not need heavy calculating yet, the through-put power of IR modulated signals is also lower, with laser scanner, sonars etc. are compared, realize cost lower, safety in utilization is also high, can work reliably under family and office environment, even if there is the home environment of child or pet to be also applicable to using.
Accompanying drawing explanation
Fig. 1 is the structural representation of mobile robot's recharging device of the embodiment of the present invention;
Fig. 2 is the structural representation of the charging socket in mobile robot's recharging device of the embodiment of the present invention;
Fig. 3 is the circuit diagram of the infrared signal transmission circuit in mobile robot's recharging device of the embodiment of the present invention;
Fig. 4 is the circuit diagram of the infrared signal receiving circuit in mobile robot's recharging device of the embodiment of the present invention;
Fig. 5 a is the infrared signal overlay area schematic diagram of mobile robot's recharging device of the embodiment of the present invention;
Fig. 5 b be mobile robot's recharging device of the embodiment of the present invention seek a schematic diagram;
Fig. 6 is the positioning principle figure of mobile robot's recharging device of the embodiment of the present invention;
Fig. 7 is the schematic diagram of the IR modulated signals that the infrared transmitter in mobile robot's recharging device of the embodiment of the present invention is launched;
Mobile robot's motion track figure when Fig. 8 is mobile robot's recharging device to test of the embodiment of the present invention.
Embodiment
Illustrate below in conjunction with accompanying drawing and be described in further detail embodiments of the invention, but the present embodiment is not limited to the present invention, every employing analog structure of the present invention and similar change thereof, all should list protection scope of the present invention in.
As Figure 1-Figure 2, a kind of mobile robot's recharging device that the embodiment of the present invention provides, relate to the mobile robot being built-in with battery, this device comprises the recharging base 10 being fixed on and landing on thing, and the companion's pedestal 20 be fixed on mobile robot, it is characterized in that:
Described recharging base 10 has an infrared emission chamber 11, described infrared emission chamber 11 is open to infrared ray on left, front, right three directions, and can infrared ray be cut off on upper and lower, rear three directions, infrared emission chamber 11 internal fixtion has a perpendicular infrared division board 12 of transmitting terminal put, infrared emission chamber is separated into each sub-chamber of transmitting around by the infrared division board of this transmitting terminal 12, launches in sub-chambeies for these two and is respectively equipped with an infrared transmitter 13;
Described recharging base 10 is equipped with infrared signal transmission circuit, and described infrared signal transmission circuit has the infrared signal output port that two can export phase xor signal, and these two infrared signal output ports connect two infrared transmitters 11 respectively;
Described companion's pedestal 20 has an infrared receiver chamber 21, described infrared receiver chamber 21 forward to and left and right directions on all infrared ray is opened, and chamber, the both sides up and down wall in infrared receiver chamber 21 all can cut off infrared ray, infrared receiver chamber 21 internal fixtion has a perpendicular infrared division board 22 of receiving terminal put, infrared receiver chamber is separated into each sub-chamber of reception around by the infrared division board of this receiving terminal 22, is respectively equipped with at least one infrared remote receiver 23 in these two the sub-chambeies of reception;
Described companion's pedestal 20 is equipped with infrared signal receiving circuit, and described infrared signal receiving circuit has multiple IR signal reception port, and each infrared signal output port of infrared signal receiving circuit connects each infrared remote receiver 23 respectively;
The front end of described companion's pedestal 20 is equipped with three touch recharging base sensitive switch 25 by bond energy, and these three sensitive switches 25 from left to right arc interval are laid;
Described recharging base 10 and companion's pedestal 20 point are equipped with can with charging plug 14, the charging socket of level to pluggable mode deciliter, charging plug 14 to be wherein fixed on recharging base 10, charging socket is then arranged on companion's pedestal 20, the both ends of the surface up and down of charging plug 14 is respectively fixed with a conductive contact blade;
Described charging socket comprises each up and down sleeve 241 be separately fixed on companion's pedestal, and each up and down sliding shoe 242 be movably arranged on respectively in upper and lower sleeve 241, two sliding shoe 242 intervals are laid and just right up and down, the opposite end of two sliding shoes 242 extends sleeve 241 outside respectively, and the opposite end of two sliding shoes 241 is respectively fixed with a conductive contact blade 243, all be equipped with for ordering about the spring 244 of the sliding shoe 242 in this sleeve towards another sliding shoe direction movement in each sleeve 241, each sleeve all has the position limiting structure deviating from sleeve for limit slippage block entirety cooperatively interacted with the sliding shoe in this sleeve, the face of catering to that two sliding shoes cater to charging plug side is inclined-plane, these two cloth catering to face is set as front wide and rear narrow tubaeform, so that charging plug inserts.
As shown in Figure 3, in the embodiment of the present invention, described infrared signal transmission circuit comprises emission control module U11, mains connection J11, plug connection J12;
Two conductive contact blades of described charging plug receive two end pin of plug connection J12 respectively, plug connection J12 receives mains connection J11 through a current sensor U12, a charging control relay JD11, and mains connection J11 receives external power source (the supporting charger of mobile robot);
Described emission control module U11 has transducing signal input port A03, charging signals output port P06, and two infrared signal output port P09, P10, the transducing signal input port A03 of emission control module U11 receives the transducing signal output end vo ut of current sensor U12, the charging signals output port P06 of emission control module U11 receives the control coil of charging control relay JD11, two infrared signal output port P09 of emission control module U11, P10 is by two electrical fitting J13, J14 receives two infrared transmitter Q11 respectively, Q12(Q11, Q12 is labeled as 13 in FIG),
What described emission control module U11 adopted is Arduino micro treatment module, and what current sensor adopted is model is the linear current sensing IC of ACS712, and this current sensor is for detecting charged state.
As shown in Figure 4, in the embodiment of the present invention, described infrared signal receiving circuit comprises reception control module U21, battery connecting piece J21, receptacle connectors J22;
Two conductive contact blades of described charging socket receive two end pin of receptacle connectors J22 respectively, and receptacle connectors J22 receives battery connecting piece J21 through a powered control relay JD21, and battery connecting piece J21 receives the internal battery of mobile robot;
Described reception control module U21 has powered signal output port P06, and multiple IR signal reception port AD3, AD5, three docking signal input port P08, P09, P10, the powered signal output port P06 receiving control module U21 receives the control coil of powered control relay JD21, receive each IR signal reception port AD3 of control module U21, AD5 is by two electrical fitting J23, J24 receives each infrared remote receiver Q21 respectively, Q22, Q23, Q24(Q21, Q22, Q23, Q24 is labeled as 23 in FIG), receive three docking signal input port P08 of control module U21, P09, P10 receives three sensitive switches respectively by an electrical fitting J25,
What described reception control module U21 adopted is Arduino micro treatment module.
As shown in Figure 5 a, in mobile robot's recharging device of the embodiment of the present invention, when infrared signal launched by two infrared transmitters 13 on recharging base, under the block of the infrared division board 12 of transmitting terminal, the overlay area of infrared signal is divided into A1, A2, A3 tri-regions from left to right, the A1 region in left side only has the signal of left infrared transmitter 13, and the A3 region on right side only has the signal of right infrared transmitter 13, and the A2 region of centre then exists the signal of two infrared transmitters 13 simultaneously.
The recharging method of mobile robot's recharging device that the embodiment of the present invention provides, is characterized in that, make the transmitting infrared signal that two infrared transmitters on recharging base continue, and the infrared signal that two infrared transmitters are launched is different;
When mobile robot needs to charge, perform following steps:
1) by each infrared remote receiver on companion's pedestal, adopt pirouette flowing mode to detect infrared docking signal, described infrared docking signal refers to the infrared signal that two infrared transmitters on recharging base are launched;
After mobile robot detects infrared docking signal, detect the infrared signal that whether simultaneously can receive two infrared transmitters, if the infrared signal of two infrared transmitters can be received simultaneously, then go to step 3, otherwise then go to step 2;
2) now the leading flank of companion's pedestal towards recharging base, and companion's pedestal is positioned at the A1 region that can only receive left infrared transmitter signal on the left of recharging base, or be positioned at the A3 region that can only receive right infrared transmitter signal on the right side of recharging base, because the signal that left and right infrared transmitter is launched is different, so robot can judge according to received infrared signal content to be currently located at A1 or A3 region;
Mobile robot adopts original place reciprocating rotation mode to find out to detect two critical angle of infrared docking signal, and then find out the sector region that infrared docking signal can be detected, the center line direction of this sector region is the center of infrared docking signal, then mobile robot is made first to turn to the leading flank of companion's pedestal just to the center of infrared docking signal, a centering adjustment angle is rotated again towards the infrared transmitter direction not receiving infrared docking signal, this centering adjustment angle is the threshold value being less than 60 degree preset, its preferred value is 20 degree, then mobile robot is again towards the dead ahead of companion's pedestal to rectilinear movement, until go to step 3 after two infrared docking signals can be received simultaneously,
Such as, the infrared docking signal that mobile robot receives is from left infrared transmitter, then a centering adjustment angle is rotated in infrared transmitter direction to the right, and the infrared docking signal that mobile robot receives is from right infrared transmitter, then a centering adjustment angle is rotated in infrared transmitter direction left;
As shown in Figure 5 b, assuming that mobile robot current location R is positioned at the A1 region that can only receive left infrared transmitter signal on the left of recharging base, the leading flank of companion's pedestal is just to the direction RC pointing to infrared docking signal center, after mobile robot rotates a centering adjustment angle θ towards right infrared transmitter direction, the leading flank of companion's pedestal is just to direction RB, this direction RB can receive the A2 region of the infrared signal of two infrared transmitters simultaneously in the middle of pointing to, then mobile robot moves linearly along direction RB, until enter the infrared overlay area A2 that can receive two infrared docking signals simultaneously, if mobile robot be in can only receive right infrared transmitter signal on the right side of recharging base A3 region in, then mobile robot's centering adjustment angle of rotating is identical but direction is contrary,
3) now the leading flank of companion's pedestal is towards recharging base, and companion's pedestal is positioned at the A2 region that simultaneously can receive two infrared transmitter signals;
Mobile robot detect whether receive the signal strength signal intensity of two infrared docking signals consistent, if institute's two infrared docking signal strength signal intensities that receive are consistent, then go to step 5, otherwise then go to step 4;
4) now companion's pedestal is positioned at the dead ahead of recharging base, and the leading flank side being in Fig. 6 a or the companion's pedestal shown in Fig. 6 c is to the state of recharging base;
Mobile robot rotates towards the large side of received infrared docking signal strength signal intensity, until institute's two infrared docking signal strength signal intensities that receive consistent after go to step 5;
5) now companion's pedestal is positioned at the dead ahead of recharging base, and the leading flank being in the companion's pedestal shown in Fig. 6 b is just to the state of recharging base;
Mobile robot moves towards self front, until one of them sensitive switch on companion's pedestal goes to step 6 after closing, the translational speed of mobile robot is inversely proportional to infrared signal strength signal intensity of docking, to reduce the impact of mobile robot to recharging base;
6) if the sensitive switch being positioned at left side closes, then show that charging socket does not dock completely with charging plug, mobile robot rotates towards right side, goes to step 7 until be positioned at after middle sensitive switch closes;
If the sensitive switch being positioned at right side closes, then show that charging socket does not dock completely with charging plug, mobile robot, towards left pivot movement, goes to step 7 until be positioned at after middle sensitive switch closes;
If be positioned at middle sensitive switch to close, then show that charging socket docks completely with charging plug, then go to step 7;
7) charged by charging plug and the charging socket internal battery to mobile robot.
For security reasons, only have after charging socket docks completely with charging plug, conductive contact blade on charging plug just has charging current to be passed through, for realizing this safety function, the low-voltage DC signal function an of+5v is on charging socket charging contact, after charging socket docks completely with charging plug, emission control module on charging plug detects this+5v signal of telecommunication, the switch cutter that emission control module controls charging control relay immediately closes, and makes charging plug and external power source (the supporting charger of mobile robot) conducting.
In the embodiment of the present invention, the infrared signal that two infrared transmitters on recharging base are launched is the IR modulated signals be superimposed upon by low-frequency control signal on high frequency carrier (such as 38kHz), each infrared remote receiver on companion's pedestal be tuned to the frequency consistent with high frequency carrier, to neglect environmental noise, avoid the Infrared jamming of the environmental factors such as sunlight, bulb, heater.
The IR modulated signals that infrared transmitter is launched belongs to phase place distance modulated, and the signal format of this IR modulated signals is: start bit+address bit+command bit+cut-off position; Wherein, start bit adopts the statement of continuous print 4ms high level+1ms low level, cut-off position adopts the statement of continuous print 2ms high level, address bit adopts 4 bit statements, command bit adopts 6 bit statements, binary one adopts the statement of continuous print 1ms high level+2ms low level, and Binary Zero adopts the statement of continuous print 1ms high level+3ms low level; Comprise different character strings in the IR modulated signals that on recharging base two infrared transmitters are launched, what mobile robot can be made to tell receive is the signal which infrared transmitter is launched.
As Fig. 7 IR modulated signals example schematic including string of binary characters 1001100100 that launched to by infrared transmitter, F01 region in this figure is start bit, F02 region is address bit, F03 region is command bit, F04 region is cut-off position, B1 region representation binary one, B2 region representation Binary Zero.
In the embodiment of the present invention, charging socket and charging plug all adopt conductive contact blade to realize face contact, and utilize spring to increase joint reliability, firm to ensure that charging socket engages with charging plug.
The embodiment of the present invention can adjust the setting height(from bottom) of recharging base and companion's pedestal according to the mobile robot of different size, be applicable to the mobile robot of plurality of specifications.
The embodiment of the present invention has carried out recharging test on existing multiple mobile robot (such as existing difference mobile robot Pioneer3-DX, existing omni-directional mobile robots Rio), all achieves better effects;
Wherein, the internal battery of existing difference mobile robot Pioneer3-DX is traditional lead-acid battery, the output specification of the supporting charger that manufacturer provides is 14 volts, 4 amperes direct electricity, when in test process, this mobile robot is placed in different starting positions, first capital moves to the A2 region that recharging base dead ahead can receive two infrared transmitter signals simultaneously, then towards recharging base rectilinear movement until charging socket docks completely with charging plug;
Fig. 8 is mobile robot's motion track figure that mobile robot's recharging device of the embodiment of the present invention is arranged on when existing difference mobile robot Pioneer3-DX tests, in this figure, X-axis and Y-axis are the horizontal number axis of position coordinates and vertical number axis, T0 is recharging base position, T1, T2, T3, T4, T5, T6 is the initial position at the robot place in each test, as shown in Figure 8, no matter mobile robot is from what position, first capital moves to the A2 region that recharging base dead ahead can receive two infrared transmitter signals simultaneously, then towards recharging base rectilinear movement until charging socket docks completely with charging plug.
Existing omni-directional mobile robots Rio has 4 driving wheels, each wheel possesses the direct locomotivity of side direction, this mobile robot is equipped with 14.4 volts, the lithium ion battery of 0.38 kilowatt hour, when mobile robot's recharging device of the embodiment of the present invention is arranged on and this mobile robot tests, the motion track of this mobile robot and the motion track of difference mobile robot Pioneer3-DX similar.
No matter test result is differential motion robot or omni-directional mobile robots, what no matter be equipped with is traditional lead acid accumulator or lithium ion battery if showing, mobile robot's recharging device of the embodiment of the present invention all can work normally.
Claims (10)
1. mobile robot's recharging device, relates to the mobile robot being built-in with battery, and this device comprises the recharging base being fixed on and landing on thing, and is fixed on the companion's pedestal on mobile robot, it is characterized in that:
Described recharging base has an infrared emission chamber, described infrared emission chamber is open to infrared ray on left, front, right three directions, and can infrared ray be cut off on upper and lower, rear three directions, infrared emission chamber internal fixtion has a perpendicular infrared division board of transmitting terminal put, infrared emission chamber is separated into each sub-chamber of transmitting around by the infrared division board of this transmitting terminal, launches in sub-chambeies for these two and is respectively equipped with an infrared transmitter;
Described recharging base is equipped with infrared signal transmission circuit, and described infrared signal transmission circuit has the infrared signal output port that two can export phase xor signal, and these two infrared signal output ports connect two infrared transmitters respectively;
Described companion's pedestal has an infrared receiver chamber, described infrared receiver chamber forward to and left and right directions on all infrared ray is opened, and chamber, the both sides up and down wall in infrared receiver chamber all can cut off infrared ray, infrared receiver chamber internal fixtion has a perpendicular infrared division board of receiving terminal put, infrared receiver chamber is separated into each sub-chamber of reception around by the infrared division board of this receiving terminal, is respectively equipped with at least one infrared remote receiver in these two the sub-chambeies of reception;
Described companion's pedestal is equipped with infrared signal receiving circuit, and described infrared signal receiving circuit has multiple IR signal reception port, and each infrared signal output port of infrared signal receiving circuit connects each infrared remote receiver respectively;
Described recharging base and companion's pedestal point are equipped with can with charging plug, the charging socket of level to pluggable mode deciliter.
2. mobile robot's recharging device according to claim 1, is characterized in that: the front end of described companion's pedestal is equipped with three touch recharging base sensitive switch by bond energy, and these three sensitive switches from left to right arc interval are laid.
3. mobile robot's recharging device according to claim 1 and 2, is characterized in that: described charging plug is fixed on recharging base, and charging socket is then arranged on companion's pedestal, the both ends of the surface up and down of charging plug is respectively fixed with a conductive contact blade;
Described charging socket has two intervals and lays and sliding shoe just right up and down, and for ordering about the spring of two sliding shoe subtends movement, the opposite end of two sliding shoes is respectively fixed with a conductive contact blade.
4. mobile robot's recharging device according to claim 3, is characterized in that: the face of catering to that two sliding shoes cater to charging plug side is inclined-plane, and these two cloth catering to face is set as front wide and rear narrow tubaeform.
5. mobile robot's recharging device according to claim 1 and 2, is characterized in that: described infrared signal transmission circuit comprises emission control module, mains connection;
Described charging plug receives mains connection through a current sensor, a charging control relay, and described mains connection receives external power source;
Described emission control module has transducing signal input port, charging signals output port, and two infrared signal output ports, the transducing signal input port of emission control module receives the transducing signal output of current sensor, the charging signals output port of emission control module receives the control coil of charging control relay, and two infrared signal output ports of emission control module receive two infrared transmitters respectively.
6. mobile robot's recharging device according to claim 1 and 2, is characterized in that: described infrared signal receiving circuit comprises reception control module, battery connecting piece;
Described charging socket receives battery connecting piece through a powered control relay, and described battery connecting piece receives the internal battery of mobile robot;
Described reception control module has powered signal output port, and multiple IR signal reception port, three docking signal input ports, the powered signal output port receiving control module receives the control coil of powered control relay, each IR signal reception port receiving control module receives each infrared remote receiver respectively, and three the docking signal input ports receiving control module receive three sensitive switches respectively.
7. the recharging method of mobile robot's recharging device according to claim 2, is characterized in that, make the transmitting infrared signal that two infrared transmitters on recharging base continue, and the infrared signal that two infrared transmitters are launched is different;
When mobile robot needs to charge, perform following steps:
1) by each infrared remote receiver on companion's pedestal, adopt pirouette flowing mode to detect infrared docking signal, described infrared docking signal refers to the infrared signal that two infrared transmitters on recharging base are launched;
After mobile robot detects infrared docking signal, detect the infrared signal that whether simultaneously can receive two infrared transmitters, if the infrared signal of two infrared transmitters can be received simultaneously, then go to step 3, otherwise then go to step 2;
2) mobile robot adopts original place reciprocating rotation mode to find out to detect two critical angle of infrared docking signal, and then find out the sector region that infrared docking signal can be detected, the center line direction of this sector region is the center of infrared docking signal, then mobile robot is made first to turn to the leading flank of companion's pedestal just to the center of infrared docking signal, a centering adjustment angle is rotated again towards the infrared transmitter direction not receiving infrared docking signal, then mobile robot is again towards the dead ahead of companion's pedestal to rectilinear movement, until go to step 3 after two infrared docking signals can be received simultaneously,
Wherein, described centering adjustment angle is the threshold value being less than 60 degree preset;
3) mobile robot detect whether receive the signal strength signal intensity of two infrared docking signals consistent, if institute's two infrared docking signal strength signal intensities that receive are consistent, then go to step 5, otherwise then go to step 4;
4) mobile robot rotates towards the large side of received infrared docking signal strength signal intensity, until institute's two infrared docking signal strength signal intensities that receive consistent after go to step 5;
5) mobile robot moves towards self front, until one of them sensitive switch on companion's pedestal goes to step 6 after closing;
6) if the sensitive switch being positioned at left side closes, then mobile robot rotates towards right side, goes to step 7 until be positioned at after middle sensitive switch closes;
If the sensitive switch being positioned at right side closes, then mobile robot is towards left pivot movement, goes to step 7 until be positioned at after middle sensitive switch closes;
If be positioned at middle sensitive switch to close, then go to step 7;
7) charged by charging plug and the charging socket internal battery to mobile robot.
8. the recharging method of mobile robot's recharging device according to claim 7, it is characterized in that: mobile robot receive two infrared docking signal strength signal intensities consistent after towards in self front moving process, the translational speed of mobile robot is inversely proportional to infrared signal strength signal intensity of docking.
9. the recharging method of the mobile robot's recharging device according to claim 7 or 8, is characterized in that: the infrared signal that two infrared transmitters on recharging base are launched is the IR modulated signals be superimposed upon by low-frequency control signal on high frequency carrier.
10. the recharging method of the mobile robot's recharging device according to claim 7 or 8, is characterized in that: the value of described centering adjustment angle is 20 degree.
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