CN104635728A - Automatic charging system and automatic charging method for robot - Google Patents
Automatic charging system and automatic charging method for robot Download PDFInfo
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- CN104635728A CN104635728A CN201310567490.9A CN201310567490A CN104635728A CN 104635728 A CN104635728 A CN 104635728A CN 201310567490 A CN201310567490 A CN 201310567490A CN 104635728 A CN104635728 A CN 104635728A
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Abstract
The invention provides an automatic charging system for a robot. The automatic charging system for the robot comprises an infrared transmitting tube, infrared receiving tubes, a DSP (digital signal processor) controller, an edge guiding module, an angle compensating module and a charging module; and the infrared receiving tubes are arranged in the front of the robot and at the rear of the robot. According to the automatic charging system and an automatic charging method for the robot in an embodiment, the single infrared transmitting tube is used for transmitting infrared signals, the edge characteristics of an infrared transmitting range are skillfully used, and butt joint guidance on the robot can be implemented by an angle compensation strategy. Because edge angle characteristics of different infrared transmitting tubes are different, when the automatic charging system is used for the first time, a tangent angle of the transmitting angle at a transmitting point requires to be measured manually. Even if an approach angle has deviation due to external interferences, a charging head is within a range of a charging socket through the angle compensation strategy. Deviation of an inserting angle can be compensated through a mechanical structure of a charging station. In addition, the invention also provides an automatic charging method for the robot.
Description
Technical field
The present invention relates to robot charging technique field, particularly relate to a kind of robot autonomous charging system and method.
Background technology
Along with automatic technology improves constantly, people are to living facilities robotization, and intelligentized demand is more and more higher.In recent years the robot of various service for life class emerges in large numbers in market as emerged rapidly in large numbersBamboo shoots after a spring rain, sweeping robot, guide robot, consulting robot etc.These robots have some common features, and such as scope of activities is little and fixing, battery durable ability etc.So automatic charging technology is arisen at the historic moment, when robot electric quantity is not enough, goes to charging station voluntarily by certain mode guided robot, automatically start working again after completing charging.This just eliminates frequently manual powered demand.
In prior art, the mode for indoor navigation mainly contains laser navigation, ultrasonic listening, heat homing, vision guide and map retrieval mode.Wherein laser navigation concentrates characteristic due to the light beam of laser, and the accuracy of adjusting to a line is the highest.But laser is not suitable for the guiding in polarizers of big angle scope, be only suitable for the auxiliary docking calibration of final stage.And the cost of laser aid is higher.Ultrasonic measuring distance technology is very extensive in present stage application, and technology maturity is higher, but ultrasound wave coverage is large, angularity bad, is relatively applicable at a distance the guiding in roughly direction.Vision guide and map retrieval mode are all emerging technology, and technology is not mature enough, and cost is higher, and very high to the designing requirement of software algorithm and database aspect.Heat homing does not have ultrasound wave far away, but front-to-back ratio ultrasound wave is good.Directivity is not as laser simultaneously, but can be used for the guiding of wide-angle.So in actual applications, be mostly two or more cooperation.Sharp's clean robot of such as commercial type, uses ultrasound wave to carry out long-range vectoring, uses heat homing when arriving near charging station.
Present stage heat homing technology be substantially all with infrared emission angle for ideal pie-shaped wedge is for model, fail to take into full account the change of infrared emission angle and the signal fluctuation situation at emission angle edge.So be that robot success ratio in automatic charging bootup process of having prior art to manufacture is lower, need repeatedly to attempt and adjust, even there will be robot far from charging station very close to but cannot complete guiding always.Some technology uses infrared distance measurement technology, and according to the phase of echo measuring distance received, this method receiving intensity is subject to external interference, and can judge the equipment cost of phase differential.
Summary of the invention
For the defect that prior art exists, the invention provides a kind of robot autonomous charging system.
A kind of robot autonomous charging system, comprising:
Infrared transmitting tube is single infrared transmitting tube, for launching infrared ray;
Be installed on the infrared receiving tube at robot front and rear, for receiving described infrared ray;
Dsp controller, signal is connected to described infrared receiving tube, for receiving described infrared ray, and processes described infrared ray, identifies described robot region;
Margin guide module, signal is connected to described dsp controller, for guiding the transmitting boundary of infrared transmitting tube described in described Robot near charging station;
Angle compensation module, signal is connected to described margin guide module, for being made described robot by angle compensation just to described charging station;
Charging module, comprises charging head and charging station, and described charging station comprises socket, and described charging head is installed in described robot, by described charging head being inserted the charging of described socket realization to described robot.
Preferably, the emission angle of described infrared transmitting tube is 30 °, and maximum launch range is 6.6m.
Preferably, described infrared receiving tube is four, and the maximum acceptance angle degree of described infrared receiving tube is 90 °, and the dead ahead of described robot is provided with receiver A and receiver B, and the rear of described robot is provided with receiver C and receiver D.
Preferably, the distance between described receiver A and receiver B is less than the distance between described receiver C and receiver D.
Preferably, described dsp controller is sampled to the infrared signal received with cycle t, adopts a low level or high level, and counting once, when count value arrives setting value, judges that described robot is in range of signal.
Preferably, described charging station also comprises baffle plate, hinge, spring stack and metal clips, described baffle plate connects ground wire, its one end is hingedly coupled to described charging station described in passing through, it is inner that described metal clips is located at described socket, and under non-charged state, described spring stack supports described baffle plate and makes described socket be in closed state; When described charging head inserts, described baffle plate is pushed open by described charging head, and makes described metal clips generation deformation start charging.
Preferably, described charging head comprises cylinder-shaped joint, electro-insulating rubber and ground wire, during charging, described cylinder-shaped joint pushes described baffle plate open, and contacts described metal clips and make described metal clips generation deformation, and described baffle plate can press the ground wire of described charging head under the effect of described spring stack.
In addition, present invention also offers a kind of robot autonomous charging docking calculation, comprise the steps:
Infrared transmitting tube launches infrared ray;
The infrared receiving tube being installed on robot front and rear receives described infrared ray;
Dsp controller receives described infrared ray, and processes described infrared ray, identifies described robot region;
Described in margin guide module booting, the transmitting boundary of infrared transmitting tube described in Robot is near charging station;
Angle compensation module makes described robot just to described charging station by angle compensation;
Described charging head inserts the charging of described socket realization to described robot.
Preferably, dsp controller receives described infrared ray, and described infrared ray is processed, identify described robot region, be specially: described dsp controller is sampled to the infrared signal received with cycle t, adopt a low level or high level, counting once, when count value arrives setting value, judges that described robot is in range of signal, wherein t is 1ms, and setting value is 4.
Preferably, described in margin guide module booting, described in Robot, the transmitting boundary of infrared transmitting tube, near charging station, comprises the steps:
When in the transmitting boundary that described robot enters described infrared transmitting tube from the outside, described robot, by self direct of travel of adjustment and distance, makes the infrared receiving tube being installed on robot front receive infrared signal until by the barrier avoiding function module detection in described robot close to described charging station.
Preferably, when described robot is within transmitting boundary, the receiver at described robot rear receives signal, by self direct of travel of described adjustment and distance, the infrared receiving tube being installed on robot front is made to receive infrared signal until by the barrier avoiding function module detection in described robot close to described charging station.
Preferably, angle compensation module makes described robot just to described charging station by angle compensation, comprises the steps:
By judging the direction of described robot near described charging station, the travel path adjusting described robot carries out angle compensation to described robot makes described robot just to described charging station.
The above embodiment of the present invention provides a kind of robot autonomous charging system and method, infrared signal is launched by using single infrared transmitting tube, utilize the local edge of infrared emission scope cleverly, be aided with angle compensation strategy and realize guiding the docking of robot completely.Because the edge angle characteristic of each infrared transmitting tube is slightly different, first time manual operation in use procedure, is only needed to measure the tangential angle of transmitting boundary at launching site.Even if external interference causes have deviation near angle, also can ensure that charging head is within charging socket scope by angle compensation strategy.The deviation inserting angle can be come compatible by the physical construction of charging station.
In addition, the margin guide strategy in the present invention is simple, is applicable to various types of infrared transmitting tube and infrared receiving tube.In the present invention, robot is near charging station substantially along firing zone boundary, relative to traditional " Z " font traveling method, path that margin guide is walked is much smaller, wants much less near the charging station time used, and not easily lossing signal, greatly improve boot efficiency.
In addition, the present invention uses cheap infrared transmitting tube, use infrared receiving tube to be also there is no infrared echo test function, holistic cost is very low, guides with to dock accuracy very high simultaneously, is applicable to very much being applied on civilian intelligent robot, such as sweeping robot, guide robot etc.
Accompanying drawing explanation
Fig. 1 is the structural representation of robot autonomous charging system;
Fig. 2 is infrared transmitting tube transmitting boundary and receiving tube range of receiving schematic diagram;
Fig. 3 is robot four infrared remote receiver arrangements and range of receiving schematic diagram with it;
Fig. 4 is that transmitting boundary fringe region receiver receives signal type schematic diagram;
Fig. 5 is that robot is just in time in situation in transmitting boundary when starting to perform automatic charging strategy;
Fig. 6 is robot angle compensation strategy schematic diagram;
Fig. 7 is the non-charging moment view of charging station;
To be charging station dock schematic diagram with robot charging head to Fig. 8;
Fig. 9 is that charging head non-perpendicular angle inserts charging socket schematic diagram;
Figure 10 is by the flow chart of steps of robot autonomous charging method provided by the invention;
Figure 11 is that robot vertical direction is through reflected range edge schematic diagram;
Figure 12 robot arrives to advance behind transmitting boundary edge 0.5m rotation α+5 ° of schematic diagram;
Figure 13 robot advances to receiver B and loses infrared signal from position 311;
Figure 14 robot rotates 5 ° and advances to position 330 lossing signal schematic diagram from position 320;
Figure 15 robot rotates β+5 ° of schematic diagram in position 380;
Figure 16 Robot edge tangent line direction is near charging station in-position schematic diagram;
Figure 17 robot whole margin guide process adjusting point schematic diagram.
Label declaration: 1 is infrared transmitting tube; 2 is infrared receiving tube; 10 is infrared transmitting tube transmitting boundary
20 is infrared receiving tube range of receiving; 21 is infrared receiving tube A; 22 is infrared receiving tube B; 23 is infrared receiving tube C; 24 is infrared receiving tube D; 210 is infrared receiving tube A range of receiving; 220 is infrared receiving tube B range of receiving; 230 is infrared receiving tube C range of receiving; 240 is infrared receiving tube D range of receiving; 100 is robot body; 101 is robot angle compensation walking path a; 102 is robot angle compensation walking path b; 103 is robot angle compensation walking path c; 104 is robot angle compensation walking path d; 200 is charging station; 201 is socket; 202 is baffle plate; 203 is metal clips; 204 is spring stack; 205 is hinge; 110 is socket cap; 111 is electro-insulating rubber; 112 charging head ground wires; 30 receive signal location for robot outside enters transmitting boundary receiver A; 310 to move ahead 0.5m position for robot on basis, position 30; 311 is the position of robot on basis, position 310 after rotation alpha+5 °; 320 is the position that robot proceeds to receiver B lossing signal on basis, position 311; 321 is the position after robot rotates 5 ° on basis, position 320; 330 proceed to receiver B lossing signal position for robot on basis, position 321; 380 leave the position that transmitting boundary causes lossing signal for receiver B in robot traveling process; 40 is that robot marches to the position kept away and hinder and detect and send signal by margin guide mode.
Embodiment
In order to make object of the present invention, technical scheme and advantage more clear, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Robot autonomous charging system 100 provided by the invention, comprising: infrared transmitting tube 1, infrared receiving tube 2, dsp controller 3, margin guide module 4, angle compensation module 5 and charging module 6.
Wherein, infrared transmitting tube 1 is single infrared transmitting tube, for launching infrared ray; Infrared receiving tube 2 is installed on robot front and rear, for receiving described infrared ray; Dsp controller 3, signal is connected to infrared receiving tube 2, for receiving infrared-ray, and processes infrared ray, recognition machine people region; Margin guide module 4, signal is connected to dsp controller 3, for guided robot along the transmitting boundary of infrared transmitting tube near charging station; Angle compensation module 5, signal is connected to margin guide module 4, for being made robot by angle compensation just to described charging station; Charging module 6, comprise charging head 110 and charging station 200, charging station comprises socket 201, and charging head 110 is installed in robot, by charging head 110 being inserted the charging that socket 201 realizes described robot.
Preferably, the emission angle of infrared transmitting tube 1 is 30 °, and maximum launch range is 6.6m.The present invention uses single infrared transmitting tube, is all generally on the market to use lens principle to manufacture the infrared transmitting tube of different emission angle, and therefore the emission angle of infrared transmitting tube and transmitting range are reverse relation, and emission angle is less, and transmitting range is far away.Select a Effective emission angle degree about 30 ° in the present embodiment, maximum launch range is about the circular package infrared transmitting tube of 6.6m to carry out confirmatory experiment, and model is LD271.
Infrared receiving tube 2 is installed on robot front and rear, for receiving described infrared ray.This example uses four infrared remote receivers to be arranged on it robot, and the maximum acceptance angle degree of each receiving tube is about 90 °, and model is PNA4602.As shown in Figure 3, two receiver A21 in robot dead ahead are adjacent with receiver B22 comparatively near, and receiving angle 210 and receiving angle 220 have most coincidence scope for the mounting means of four infrared remote receivers.When charging station guides, main use receiver A21 and B22, another two receiver C23 and D24 are only used to miss infrared signal when preventing robot from starting automatic charging strategy in infra-red range and help out in margin guide process, but still fail to reach the degree of 360 ° of all standings in this example, actual can passing through increases receiver, and replacement wide-angle receiver or robot rotation scanning ensure the acquisition of signal.As shown in Figure 5, itself be within transmitting boundary time robot starts automatic charging strategy, but owing to being back to transmitter, so receiver A21 and B22 can not receive signal.If do not have receiver C23, robot will start the state of cruising, and finds infrared signal, causes the appearance of a lot of idle work.The receiving angle of infrared remote receiver itself can only be weighed by receiving sensitivity, and its receiving range is determined by the transmitting range of transmitter, and Fig. 2 shows the scope corresponding relation of infrared transmitting tube and the infrared remote receiver used in this example.
Particularly, the present invention uses the infrared signal that infrared transmitting tube 1 transmission frequency is 38KHz, if infrared receiving tube receives signal, then directly exports the low level continued, when not receiving signal, then keeps high level.At the edge of transmitting boundary, due to instability and the external interference of signal, as shown in Figure 4, low level state is non-steady state to the signal that receiver receives.
Dsp controller 3 signal is connected to infrared receiving tube 2, for receiving infrared-ray, and processes infrared ray, identifies described robot region.
Be appreciated that if use the interrupt mode of dsp controller 3, once receive hopping edge, just think that robot leaves transmitting boundary or enters transmitting boundary from the external world, this is irrational.The instability at transmitting boundary edge will make robot cause confusion to region recognition.So use in the present invention to level inquiry mode to judge position situation.DSP samples to received signal with cycle t, adopts a low level, and just counting once, when count value arrives certain setting value, just think that robot is in range of signal now, according to corresponding strategy action, until the count value of next low level or high level arrives setting value.In like manner, adopt a high level, just counting once, when count value arrives certain setting value, just thinks that robot is in outside range of signal now, until the count value of next low level or high level arrives setting value.Low level is identical with the setting value of high level, and the count value of whichever multilevel type first arrives setting value, and the count value of two level all resets, and restarts counting.This detection mode, relative to requiring that the mode of stable level has reaction velocity faster, is just in time applicable to margin guide of the present invention.
Charging station 200 also comprises baffle plate 202, hinge 205, spring stack 204 and metal clips 203, baffle plate 202 connects ground wire, its one end is connected to charging station 200 by hinge 205, it is inner that metal clips 203 is located at socket 201, and non-charged state lower spring post 204 supports baffle plate 202 makes socket 201 be in closed state; When charging head 110 inserts, baffle plate 202 is pushed open by charging head 110, and make metal clips 203 occur deformation start charging.
Baffle plate 202 is metal material, connects ground wire.Due to the effect of spring stack 204 under non-charged state, baffle plate 202 makes charging socket be in closed state, avoids 30V power supply terminal to expose (this Li Zhong robot charging voltage is 30V).Baffle plate 202 is ground wire, and exposed is safe outside.Metal clips 203 is 30V line.
When charging head inserts, baffle plate 202 is arched upward by charging head, as shown in Figure 8.Charging head is 30V line 110 foremost, is cylinder-shaped joint.Intermediate insulation rubber 111 isolates 30V plug 110 and ground wire 112, and ground wire 112 is square body.Along with charging head inserts, 30V plug 110 contacting metal shell fragment 203, and make shell fragment that certain deformation occur.Baffle plate 202 can press charging head ground wire 112 under the effect of spring stack 204.At this moment charging head completes with socket and docks, and starts charging, and robot stops action.During charging complete, charging head is extracted, and baffle plate 202 falls, and closes charging socket.When also non-fully is vertical in the level insertion of charging head, this charging station structure still can ensure the success of docking of charging, as shown in Figure 9.
Referring to Figure 10 is the robot autonomous charging docking calculation of one provided by the invention, comprises the steps:
Step S110: infrared transmitting tube launches infrared ray;
Step S120: the infrared receiving tube being installed on robot front and rear receives described infrared ray;
Step S130:DSP controller receives described infrared ray, and processes described infrared ray, identifies described robot region;
Particularly, described dsp controller is sampled to the infrared signal received with cycle t, adopts a low level or high level, and once, when count value arrives setting value, judge that described robot is in range of signal, wherein t is 1ms to counting, and setting value is 4.
Step S140: described in margin guide module booting, the transmitting boundary of infrared transmitting tube described in Robot is near charging station;
Preferably, when in the transmitting boundary that described robot enters described infrared transmitting tube from the outside, described robot, by self direct of travel of adjustment and distance, makes the infrared receiving tube being installed on robot front receive infrared signal until by the barrier avoiding function module detection in described robot close to described charging station.
Particularly, when robot enters from the outside, because robot keeps front line direction, so must be that receiver A21 or receiver B22 first receive signal.After receiving signal, robot moves ahead a segment distance again, and being set to 0.5m in this example, is to ensure that robot can entirety enter in transmitting boundary.Ensure that the receiver initially receiving signal in this 0.5m process can receive signal always.If robot is lossing signal in the traveling process of this 0.5m, be likely because robot ambulation route is vertical with charging station, as shown in Figure 10.
Advance after 0.5m, robot rotation adjustment direction, make two receivers receive signal, then robot moves ahead, until one of them receiver lossing signal and another can also keep Received signal strength.Lossing signal has two kinds of possibilities, and one is that acceptance point leaves within transmitting boundary, and one is that launching site is not within receiver range of receiving.At this moment robot halts, and to the receiver direction rotation keeping Received signal strength, embodies the effect of the almost parallel receiver of use two herein.Rotation until the receiver of lossing signal receives signal again, then turns 5 °, as the pre-allowance of travel angle.Robot moves ahead again, runs into a receiver lossing signal, then turns, until robot goes to the edge of transmitting boundary.Receiver lossing signal all belongs to the situation of transmitter not in range of receiving before this.Robot readvances, and has receiver to leave transmitting boundary, and robot rotation, gives signal for change, and so forth.At this moment robot is all gradually near charging station along the tangential direction at transmitting boundary edge.Robot ambulation to from charging station enough close to time, can be known by robot obstacle-avoiding function and at once will knock charging station.At this moment infrared bootup process terminates.
Preferably, when described robot is within transmitting boundary, the receiver at described robot rear receives signal, by self direct of travel of described adjustment and distance, the infrared receiving tube being installed on robot front is made to receive infrared signal until by the barrier avoiding function module detection in described robot close to described charging station.
Particularly, if robot is within transmitting boundary when starting automatic charging strategy, as shown in Figure 5.Robot receiver C23 receives signal.Robot rotation, till receiver A21 and receiver B22 receives signal.Such robot can continue according to strategy execution before.There is a kind of special situation, when robot enters transmitting boundary from the angle that power valve faces, the robot receiver A21 and receiver B22 in process that moves ahead can receive signal always, and can not find transmitting boundary edge, now the mode of margin guide can not be implemented.At this moment can use DSP measuring robots enter into transmitting boundary after to first time lossing signal time avoid robot in such cases to guide unsuccessfully.
Step S150: angle compensation module makes described robot just to described charging station by angle compensation;
Preferably, by judging the direction of described robot near described charging station, the travel path adjusting described robot carries out angle compensation to described robot makes described robot just to described charging station.
Particularly, because robot is along the edge of transmitting boundary near charging station, and the emission angle characteristic of power valve is fixing, can be obtained by measurement.Can know that what angle current robot and charging station are thus, robot can be made just to charging station by angle compensation.There are two kinds of directions in robot near charging station, from left close or close from the right side, can be learnt from left close or close from the right side by robot in the adjustment in guiding later stage.If robot traveling process is the continuous lossing signal of receiver B22, then robot is near charging station from right side.If robot traveling process is the continuous lossing signal of receiver A21, then robot is near charging station from left side.Fig. 6 shows the implementation method of angle compensation.If robot near charging station 200, then carries out angle compensation along path 101 from right side.Robot first retreats a rice (a value is setting artificially), (θ is the intrinsic parameter of power valve to rotation θ angle, can obtain by measuring), to advance b rice (b=a*cos θ) then c rice of advancing (c is the half of charging station length), rotation 90 °, march to charging head to contact with socket 201, start charging, then robot stops, and the bootup process of whole automatic charging terminates.If robot is close from left side, then the routing 102 of angle compensation.Due to disturbing factors such as ectocines, may there be deviation in robot near the angle of charging station and point of theory θ, now robot is according to the walking of original angle compensation process, and result can be found out from path 103 and 104, and the actual docking point of robot still remains within socket.In the present invention, socket uses elastic press type contact design.Can accept docking angle has same scarcely.
Step S160: described charging head inserts the charging of described socket realization to described robot.
Particularly, when charging head inserts, baffle plate 202 is arched upward by charging head, as shown in Figure 8.Charging head is the cylinder-shaped joint 110 of 30V line foremost.Intermediate insulation rubber 111 isolates 30V plug 110 and ground wire 112, and ground wire 112 is square body.Along with charging head inserts, 30V plug 110 contacting metal shell fragment 203, and make shell fragment that certain deformation occur.Baffle plate 202 can press the ground wire 112 of charging head under the effect of spring stack 204.At this moment charging head completes with socket and docks, and starts charging, and robot stops action.During charging complete, charging head is extracted, and baffle plate 202 falls, and closes charging socket.When also non-fully is vertical in the level insertion of charging head, this charging station structure still can ensure the success of docking of charging, as shown in Figure 9.
Embodiment
Refer to Figure 11 to Figure 17.Robot 100 starts searching infrared signal of cruising after startup automatic charging strategy.When roaming to position 30, in robot, receiver A21 receives signal.Robot continues the 0.5m that moves ahead, in-position 310.In the process, receiver A21 keeps receiving signal always.The rotation of robot inverse hour hands, when turning over α angle, receiver B22 receives infrared signal.Rotate 5 ° more on this basis.Robot pose changes, and location point is 311.
Robot moves ahead on location point 311 basis, and at position 320 place lossing signal, robot stops.Now receiver B22 is in lossing signal critical conditions, and receiver A21 keeps receiving signal.Robot inverse hour hands rotation 5 °.Robot pose converts, and location point is 321.Robot moves ahead on location point 321 basis, and be again in receiver B22 lossing signal critical conditions at location point 330, then robot adjusts 5 ° again.By that analogy, until in-position point 380.
Robot marches to position 380, receiver B22 lossing signal.In process, receiver B22 lossing signal is all because the range of receiving that power valve 1 leaves receiver B22 causes before, is then that receiver B22 leaves infrared emission scope in position 380.So robot inverse hour hands rotation β angle, receiver B22 gets back within transmitting boundary.Robot is rotation 5 ° again.
From position 380, robot advances along the edge of transmitting boundary, once receiver B22 leaves transmitting boundary, then adjusts machine People's Bank of China and enters angle.Robot goes to and closes on charging station 200 position, and obstacle avoidance apparatus provides signal, and robot stops, now robot in-position 40.Infrared bootup process terminates.Start to perform angle compensation strategy.Robot walks by path 101 shown in Fig. 6, and charging head docks with charging socket, and as shown in Figure 8, robot detects that charging starts, and stops action.The infrared guiding automatic charging process of whole robot completes.As can be seen from Figure 17, robot is from position 30 to position 40, and altogether only through 10 adjustment location points, and institute of robot walks route and compares traditional " Z " font way to get there, short many.
The above embodiment of the present invention provides a kind of robot autonomous charging system and method, infrared signal is launched by using single infrared transmitting tube, utilize the local edge of infrared emission scope cleverly, be aided with angle compensation strategy and realize guiding the docking of robot completely.Because the edge angle characteristic of each infrared transmitting tube is slightly different, first time manual operation in use procedure, is only needed to measure the tangential angle of transmitting boundary at launching site.Even if external interference causes have deviation near angle, also can ensure that charging head is within charging socket scope by angle compensation strategy.The deviation inserting angle can be come compatible by the physical construction of charging station.
In addition, the margin guide strategy in the present invention is simple, is applicable to various types of infrared transmitting tube and infrared receiving tube.In the present invention, robot is near charging station substantially along firing zone boundary, relative to traditional " Z " font traveling method, path that margin guide is walked is much smaller, wants much less near the charging station time used, and not easily lossing signal, greatly improve boot efficiency.
In addition, the present invention uses cheap infrared transmitting tube, use infrared receiving tube to be also there is no infrared echo test function, holistic cost is very low, guides with to dock accuracy very high simultaneously, is applicable to very much being applied on civilian intelligent robot, such as sweeping robot, guide robot etc.
Be understandable that, for the person of ordinary skill of the art, other various corresponding change and distortion can be made by technical conceive according to the present invention, and all these change the protection domain that all should belong to the claims in the present invention with distortion.
Claims (12)
1. a robot autonomous charging system, comprising:
Infrared transmitting tube is single infrared transmitting tube, for launching infrared ray;
Be installed on the infrared receiving tube at robot front and rear, for receiving described infrared ray;
Dsp controller, signal is connected to described infrared receiving tube, for receiving described infrared ray, and processes described infrared ray, identifies described robot region;
Margin guide module, signal is connected to described dsp controller, for guiding the transmitting boundary of infrared transmitting tube described in described Robot near charging station;
Angle compensation module, signal is connected to described margin guide module, for being made described robot by angle compensation just to described charging station;
Charging module, comprises charging head and charging station, and described charging station comprises socket, and described charging head is installed in described robot, by described charging head being inserted the charging of described socket realization to described robot.
2. robot autonomous charging system according to claim 1, is characterized in that, the emission angle of described infrared transmitting tube is 30 °, and maximum launch range is 6.6m.
3. robot autonomous charging system according to claim 1, it is characterized in that, described infrared receiving tube is four, the maximum acceptance angle degree of described infrared receiving tube is 90 °, the dead ahead of described robot is provided with receiver A and receiver B, and the rear of described robot is provided with receiver C and receiver D.
4. robot autonomous charging system according to claim 3, is characterized in that, the distance between described receiver A and receiver B is less than the distance between described receiver C and receiver D.
5. robot autonomous charging system according to claim 1, is characterized in that, described dsp controller is sampled to the infrared signal received with cycle t, adopt a low level or high level, counting once, when count value arrives setting value, judges that described robot is in range of signal.
6. robot autonomous charging system according to claim 1, it is characterized in that, described charging station also comprises baffle plate, hinge, spring stack and metal clips, described baffle plate connects ground wire, its one end is hingedly coupled to described charging station described in passing through, it is inner that described metal clips is located at described socket, and under non-charged state, described spring stack supports described baffle plate and makes described socket be in closed state; When described charging head inserts, described baffle plate is pushed open by described charging head, and makes described metal clips generation deformation start charging.
7. the robot autonomous charging system according to claim 1 or 6, it is characterized in that, described charging head comprises cylinder-shaped joint, electro-insulating rubber and ground wire, during charging, described cylinder-shaped joint pushes described baffle plate open, and contact described metal clips and make described metal clips generation deformation, described baffle plate can press the ground wire of described charging head under the effect of described spring stack.
8. a robot autonomous charging docking calculation, is characterized in that, comprise the steps:
The infrared transmitting tube of single infrared transmitting tube launches infrared ray;
The infrared receiving tube being installed on robot front and rear receives described infrared ray;
Dsp controller receives described infrared ray, and processes described infrared ray, identifies described robot region;
Described in margin guide module booting, the transmitting boundary of infrared transmitting tube described in Robot is near charging station;
Angle compensation module makes described robot just to described charging station by angle compensation;
Described charging head inserts the charging of described socket realization to described robot.
9. robot autonomous charging docking calculation according to claim 8, it is characterized in that, dsp controller receives described infrared ray, and described infrared ray is processed, identify described robot region, be specially: described dsp controller is sampled to the infrared signal received with cycle t, adopts a low level or high level, counting once, when count value arrives setting value, judge that described robot is in range of signal, wherein, t is 1ms, and setting value is 4.
10. robot autonomous charging docking calculation according to claim 8, it is characterized in that, described in margin guide module booting, described in Robot, the transmitting boundary of infrared transmitting tube, near charging station, comprises the steps:
When in the transmitting boundary that described robot enters described infrared transmitting tube from the outside, described robot, by self direct of travel of adjustment and distance, makes the infrared receiving tube being installed on robot front receive infrared signal until by the barrier avoiding function module detection in described robot close to described charging station.
11. robot autonomous charging docking calculations according to claim 8, it is characterized in that, when described robot is within transmitting boundary, the receiver at described robot rear receives signal, by self direct of travel of described adjustment and distance, the infrared receiving tube being installed on robot front is made to receive infrared signal until by the barrier avoiding function module detection in described robot close to described charging station.
12. robot autonomous charging docking calculations according to claim 8, it is characterized in that, angle compensation module makes described robot just to described charging station by angle compensation, comprises the steps:
By judging the direction of described robot near described charging station, the travel path adjusting described robot carries out angle compensation to described robot makes described robot just to described charging station.
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| CN201310567490.9A CN104635728A (en) | 2013-11-14 | 2013-11-14 | Automatic charging system and automatic charging method for robot |
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| CN201310567490.9A CN104635728A (en) | 2013-11-14 | 2013-11-14 | Automatic charging system and automatic charging method for robot |
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| CN106406316A (en) * | 2016-10-26 | 2017-02-15 | 山东大学 | Autonomous charging system and charging method thereof for intelligent home accompanying robot |
| CN106444736A (en) * | 2015-08-11 | 2017-02-22 | 苏州宝时得电动工具有限公司 | Automatic return system and control method |
| CN107367729A (en) * | 2017-06-06 | 2017-11-21 | 青岛克路德机器人有限公司 | Real-time location method based on infrared ray and ultrasonic wave |
| CN107462869A (en) * | 2017-06-27 | 2017-12-12 | 深圳市优必选科技有限公司 | Alignment methods and robot, system and the storage medium that robot recharges |
| WO2018028361A1 (en) * | 2016-08-09 | 2018-02-15 | 深圳光启合众科技有限公司 | Charging method, apparatus, and device for robot |
| CN108664017A (en) * | 2017-04-01 | 2018-10-16 | 富泰华工业（深圳）有限公司 | The method for searching of electronic device and electronic device |
| CN109283544A (en) * | 2018-10-06 | 2019-01-29 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of autonomous charging of robots alignment methods based on laser ranging |
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| CN109742832A (en) * | 2019-03-25 | 2019-05-10 | 苏州博众机器人有限公司 | A kind of cradle and robot |
| CN111801635A (en) * | 2017-11-22 | 2020-10-20 | 轨迹机器人公司 | Robot charger docking control |
| CN116604241A (en) * | 2023-06-06 | 2023-08-18 | 深圳雅鑫建筑钢结构工程有限公司 | Welding robot capable of automatically and continuously working and control method |
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| CN106444736A (en) * | 2015-08-11 | 2017-02-22 | 苏州宝时得电动工具有限公司 | Automatic return system and control method |
| CN105511497A (en) * | 2016-02-05 | 2016-04-20 | 深圳前海勇艺达机器人有限公司 | Automatic robot charging system with voice prompting function |
| WO2018028361A1 (en) * | 2016-08-09 | 2018-02-15 | 深圳光启合众科技有限公司 | Charging method, apparatus, and device for robot |
| CN106406316B (en) * | 2016-10-26 | 2023-07-11 | 山东大学 | Autonomous charging system of household intelligent accompanying robot and charging method thereof |
| CN106406316A (en) * | 2016-10-26 | 2017-02-15 | 山东大学 | Autonomous charging system and charging method thereof for intelligent home accompanying robot |
| CN108664017A (en) * | 2017-04-01 | 2018-10-16 | 富泰华工业（深圳）有限公司 | The method for searching of electronic device and electronic device |
| CN107367729A (en) * | 2017-06-06 | 2017-11-21 | 青岛克路德机器人有限公司 | Real-time location method based on infrared ray and ultrasonic wave |
| CN107462869A (en) * | 2017-06-27 | 2017-12-12 | 深圳市优必选科技有限公司 | Alignment methods and robot, system and the storage medium that robot recharges |
| CN111801635B (en) * | 2017-11-22 | 2023-10-13 | 轨迹机器人公司 | Robot charger docking control |
| CN111801635A (en) * | 2017-11-22 | 2020-10-20 | 轨迹机器人公司 | Robot charger docking control |
| CN109283544A (en) * | 2018-10-06 | 2019-01-29 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of autonomous charging of robots alignment methods based on laser ranging |
| CN109464074A (en) * | 2018-11-29 | 2019-03-15 | 深圳市银星智能科技股份有限公司 | Area division method, subarea cleaning method and robot thereof |
| US11131996B2 (en) | 2018-11-29 | 2021-09-28 | Shenzhen Silver Star Intelligent Technology Co., Ltd. | Area partitioning method, partition cleaning method and robot thereof |
| CN109464074B (en) * | 2018-11-29 | 2021-05-28 | 深圳市银星智能科技股份有限公司 | Area division method, subarea cleaning method and robot thereof |
| CN109742832A (en) * | 2019-03-25 | 2019-05-10 | 苏州博众机器人有限公司 | A kind of cradle and robot |
| CN116604241A (en) * | 2023-06-06 | 2023-08-18 | 深圳雅鑫建筑钢结构工程有限公司 | Welding robot capable of automatically and continuously working and control method |
| CN116604241B (en) * | 2023-06-06 | 2024-02-23 | 深圳雅鑫建筑钢结构工程有限公司 | Welding robot capable of automatically and continuously working and control method |
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