CN107465277B - Magnetic resonance type automatic charging robot and charging method thereof - Google Patents
Magnetic resonance type automatic charging robot and charging method thereof Download PDFInfo
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- CN107465277B CN107465277B CN201710912763.7A CN201710912763A CN107465277B CN 107465277 B CN107465277 B CN 107465277B CN 201710912763 A CN201710912763 A CN 201710912763A CN 107465277 B CN107465277 B CN 107465277B
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- 238000000034 method Methods 0.000 title claims abstract description 54
- 230000008569 process Effects 0.000 claims abstract description 36
- 230000002159 abnormal effect Effects 0.000 claims abstract description 4
- 230000005611 electricity Effects 0.000 claims description 9
- 238000011065 in-situ storage Methods 0.000 claims description 8
- 238000013459 approach Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 6
- KTXUOWUHFLBZPW-UHFFFAOYSA-N 1-chloro-3-(3-chlorophenyl)benzene Chemical compound ClC1=CC=CC(C=2C=C(Cl)C=CC=2)=C1 KTXUOWUHFLBZPW-UHFFFAOYSA-N 0.000 description 4
- 239000011521 glass Substances 0.000 description 4
- CJDNEKOMKXLSBN-UHFFFAOYSA-N 1-chloro-3-(4-chlorophenyl)benzene Chemical compound C1=CC(Cl)=CC=C1C1=CC=CC(Cl)=C1 CJDNEKOMKXLSBN-UHFFFAOYSA-N 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
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- ZGHQUYZPMWMLBM-UHFFFAOYSA-N 1,2-dichloro-4-phenylbenzene Chemical compound C1=C(Cl)C(Cl)=CC=C1C1=CC=CC=C1 ZGHQUYZPMWMLBM-UHFFFAOYSA-N 0.000 description 1
- QHZSDTDMQZPUKC-UHFFFAOYSA-N 3,5-dichlorobiphenyl Chemical compound ClC1=CC(Cl)=CC(C=2C=CC=CC=2)=C1 QHZSDTDMQZPUKC-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a magnetic resonance type automatic charging robot and a charging method thereof, wherein the method comprises the following steps that firstly, a robot searches a charging pile, and an infrared receiving sensor on the robot receives an infrared signal emitted by the charging pile; then the robot is close to the charging pile, and the wireless receiving coil behind the robot is close to the wireless transmitting coil of the charging pile through accurate positioning of infrared signals; then receiving the power supply energy, the wireless transmitting coil transmits fixed-frequency electromagnetic waves to the wireless receiving coil, and the wireless receiving coil receives the electromagnetic waves and converts the electromagnetic waves into usable energy; when the voltage and the current of the power supply are stable, the robot enters a charging mode, the robot detects whether charging is normal in real time in the charging process, and if the charging is abnormal, the robot leaves the charging pile, and the position is continuously and accurately adjusted; when the battery is full, the robot stops charging and leaves the charging pile.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a magnetic resonance type automatic charging robot and a charging method thereof.
Background
Along with the continuous temperature rise of the robot industry, the market demand of the Chinese robot is continuously expanded, and the robot gradually goes into the field of vision of people. The robot can realize various functions such as audio and video intercom, indoor wireless navigation, man-machine interaction, face recognition and the like.
In order to improve the sustainable working capacity of the robot, a convenient and quick charging technology is one of key technologies for the development of the robot on the premise that a battery technology has not been significantly broken through. Compared with contact charging, wireless charging is receiving more and more attention due to the advantages of external leakage interface, safe operation, convenience and flexibility, low maintenance cost, good user experience and the like.
In the wireless charging scheme of the robot, the coupling coil is a component for realizing the mutual conversion of electric energy and field energy. The transmitting coil is usually fixed on the ground, and the receiving coil is mounted under the robot chassis at a distance of about 10cm to 15cm. Both the relative vertical distance and lateral offset of the coupling coil directly affect the performance and efficiency of the charging, especially the lateral offset. The current positioning technologies commonly used by robots include vision, radar, ultrasonic and infrared, and the technologies have certain alignment and positioning limitations when the robots are close to the charging seats. Therefore, how to achieve simple and efficient alignment positioning is an important issue to be solved.
Disclosure of Invention
Aiming at the defects in the technology, the invention provides the magnetic resonance type automatic charging robot which is convenient to operate and efficient in charging and the charging method thereof.
In order to achieve the above object, the invention provides a charging method of a magnetic resonance type automatic charging robot, comprising the following implementation procedures:
s1, searching a charging pile, wherein an emission sensor on the charging pile emits an infrared signal into a controllable area, and an infrared receiving sensor on the robot searches the infrared signal in the moving process of the robot until receiving the infrared signal emitted by the charging pile;
s2, approaching the charging pile, after the robot searches an infrared signal sent by the charging pile, continuously adjusting the position through infrared signal information to gradually approach the charging pile, and accurately positioning through the infrared signal to enable a wireless receiving coil behind the robot to approach a wireless transmitting coil of the charging pile;
s3, receiving power supply energy, wherein after a wireless receiving coil behind the robot is close to a wireless transmitting coil of the charging pile, the wireless transmitting coil transmits fixed-frequency electromagnetic waves to the wireless receiving coil, and the wireless receiving coil receives the electromagnetic waves and converts the electromagnetic waves into usable energy;
s4, stabilizing the voltage and the current of the power supply, detecting whether the input voltage and the current of the power supply are stable or not by the robot, and when the voltage and the current are unstable, selecting the robot to leave the charging pile and continuously and accurately adjusting the position through infrared signals until the position where the voltage and the current are stable is found;
s5, entering a charging mode, when the voltage and the current of the power supply are stable, enabling the robot to enter the charging mode, detecting whether charging is normal or not in real time by the robot in the charging process, and if the charging is abnormal, leaving the charging pile, and continuing to accurately adjust the position;
and S6, detecting whether the battery is fully charged or not in real time by the robot after the charging is completed, stopping the charging of the robot when the electric quantity of the battery is fully charged, and leaving the charging pile.
The transmitting sensor on the charging pile comprises an area A precise sensor for transmitting signals to an area A, an area B precise sensor for transmitting signals to an area B and an area C wide-angle sensor for transmitting signals to an area C, wherein the area A precise sensor is a transmitting tube on the left side of the charging pile, the area B precise sensor is a transmitting tube on the right side of the charging pile, the area C wide-angle sensor is a transmitting tube with a wide angle of more than 135 degrees, in the S1 process of searching the charging pile, an infrared sensor on the robot firstly searches for signals transmitted by the area C wide-angle sensor, when the robot can receive the signals transmitted by the area C wide-angle sensor, the robot walks forward first, further finds out signals of the area A precise sensor or signals of the area B precise sensor, and if not found out, backwards searches for signals of the area A precise sensor or signals of the area B precise sensor.
The infrared receiving sensor on the robot comprises a left receiving sensor, a right receiving sensor and a back receiving sensor, and when the left receiving sensor, the right receiving sensor or the back receiving sensor receives signals emitted by the wide-angle sensor in the C area in the S1 charging pile searching process, the robot walks forwards or backwards until signals of the accurate sensor in the A area or signals of the accurate sensor in the B area are found.
In the process of searching the charging pile, S1, the left side of the robot receives information of the transmitting sensor and then distinguishes the type of the signal; if the signal received by the left side receiving sensor is the signal transmitted by the accurate sensor in the area A, the robot rotates rightwards in situ until the back receiving sensor receives the signal transmitted by the accurate sensor in the area A or the signal transmitted by the accurate sensor in the area B; if the signal received by the left side receiving sensor is the signal transmitted by the B area precise sensor, the robot walks towards the left side in an arc line until the back receiving sensor receives the signal transmitted by the A area precise sensor or the signal transmitted by the B area precise sensor.
In the process of searching the charging pile, S1, the right side of the robot receives information of the transmitting sensor and then distinguishes the type of the signal; if the signal received by the right side receiving sensor is the signal transmitted by the accurate sensor in the area A, the robot walks in an arc to the right until the back receiving sensor receives the signal transmitted by the accurate sensor in the area A or the signal transmitted by the accurate sensor in the area B; if the signal received by the right side receiving sensor is the signal transmitted by the accurate sensor in the area B, the robot rotates leftwards in situ until the back receiving sensor receives the signal transmitted by the accurate sensor in the area A or the signal transmitted by the accurate sensor in the area B.
After receiving the signal transmitted by the accurate sensor in the area A or the signal transmitted by the accurate sensor in the area B, the back receiving sensor performs the process of S2 approaching the charging pile; when the signal received by the back receiving sensor is the signal transmitted by the accurate sensor in the area A, the robot turns left to the area B in a small amplitude, and the robot stops walking to charge when the wireless receiving coil behind the robot is close to the wireless transmitting coil of the charging pile and can receive a stable power supply; when the signal received by the back receiving sensor is the signal transmitted by the accurate sensor in the area B, the robot turns right to the area A in a small amplitude, and the robot stops walking to charge when the wireless receiving coil behind the robot is close to the wireless transmitting coil of the charging pile and can receive a stable power supply.
In the process of searching the charging pile, the charging pile main control firstly carries out infrared coding, codes light source pulses of each infrared ray, then transmits infrared signals through a transmitting sensor, and after receiving the infrared signals, an infrared receiving sensor of the robot decodes the corresponding infrared signals through an infrared decoder and then sends the decoded infrared signals to the robot main control, and the robot main control analyzes the instructions, calculates a motion track and sends the motion track to a motion control module to control a chassis braking system; in the process of receiving power supply energy, the charging pile main control firstly controls the wireless transmitting coil to transmit fixed-frequency electromagnetic waves through the wireless charging module, the wireless receiving coil of the robot receives the electromagnetic waves, converts the electromagnetic waves into electric energy through the wireless charging receiving module and transmits electric energy information to the robot main control, and the robot main control analyzes the stability of the electric energy and the safety of a charged state.
In the moving process of the robot in S1-S4, the robot main control obtains the distance between the robot and the charging pile through the ultrasonic sensor in real time and controls the travelling speed of the robot in real time; specifically, when the distance between the robot and the charging pile is more than or equal to 20cm, the robot walks at a high speed; when the distance between the robot and the charging pile is more than 10cm and less than 20cm, the robot walks at a low speed; when the distance between the robot and the charging pile is smaller than 10cm, the robot walks at an ultra-low speed.
The invention also discloses a magnetic resonance type automatic charging robot, which comprises a robot charging assembly and a charging pile assembly, wherein the robot charging assembly is close to the charging pile assembly and realizes a wireless charging process;
the robot charging assembly comprises a robot main control PCB, a charging receiving coil, a charging receiving PCB, a robot shell, a coil support, a left side receiving sensor, a right side receiving sensor, a back receiving sensor and an ultrasonic sensor, wherein the input end of the charging receiving PCB is electrically connected with the charging receiving coil, the output end of the charging receiving PCB is electrically connected with the robot main control PCB, the left side receiving sensor, the right side receiving sensor and the back receiving sensor are electrically connected with the robot main control PCB, the left side receiving sensor, the right side receiving sensor and the back receiving sensor extend out from the middle of the left side, the right side and the back of the robot shell respectively, the input end of the ultrasonic sensor is led out from the back of the robot shell, the output end of the ultrasonic sensor is electrically connected with the robot main control PCB, one side of the charging receiving coil is fixed on the coil support, and the other side of the charging receiving coil is tightly attached to the robot shell;
the utility model discloses a fill electric pile assembly, including fill electric pile main control PCB board, transmitting coil PCB board, wireless transmitting coil, fill electric pile casing, wide angle transmitting sensor, accurate transmitting sensor and accurate shading seat, the input of transmitting coil PCB board is connected with fill electric pile main control PCB board electricity, just the output and the wireless transmitting coil electricity of transmitting coil PCB board are connected, wireless transmitting coil fixes the internal surface that fills the window on filling electric pile casing, wide angle transmitting sensor and accurate transmitting sensor all are connected with fill electric pile main control PCB board electricity, just fill electric pile casing surface and be equipped with the through-hole of being convenient for wide angle transmitting sensor and accurate transmitting sensor transmit signal, accurate shading seat lid closes the surface at accurate transmitting sensor.
The robot main control PCB is provided with an infrared decoder for decoding a received infrared signal, a wireless receiving module for converting a received electromagnetic wave into electric energy, a power supply detection module for detecting whether an input power supply is stable, an electric quantity monitoring module for monitoring whether a battery is charged or not, and a motion control module for sending a walking instruction to a chassis motor; the charging pile main control PCB is provided with an infrared encoder for encoding infrared signals and a wireless charging module for controlling the wireless transmitting coil to transmit electromagnetic waves.
The beneficial effects of the invention are as follows:
compared with the prior art, the charging method of the magnetic resonance type automatic charging robot has the advantages that the infrared emission sensor is arranged on the charging pile, and the infrared receiving sensor is arranged on the robot, so that the automatic position recognition is convenient, the wireless emission coil on the charging pile is close to the wireless emission coil on the robot, the wireless emission coil sends electromagnetic waves to the wireless receiving coil, and the robot is further converted into usable electric energy, so that the automatic charging of the robot is realized.
Drawings
FIG. 1 is a flow chart of the magnetic resonance type automatic charging robot charging of the present invention;
FIG. 2 is a flow chart of the control of the magnetic resonance type automatic charging robot approaching the charging pile;
fig. 3 is a schematic diagram of a magnetic resonance type automatic charging robot for realizing charging according to the present invention;
FIG. 4 is an exploded view of the structure of the magnetic resonance type automatic charging robot of the present invention;
fig. 5 is an infrared receiving schematic diagram of the magnetic resonance type automatic charging robot of the present invention.
The main reference numerals are as follows:
1. robot charging assembly 2 and charging pile assembly
11. Robot main control PCB 12 and charging receiving coil
13. Charging receiving PCB 14 and robot housing
15. Infrared receiving sensor 16 and ultrasonic sensor
17. Coil support 151, left side receiving sensor
152. Right side receiving sensor 153 and back receiving sensor
21. Fill electric pile master control PCB board 22, transmitting coil PCB board
23. Wireless transmitting coil 24 and charging pile shell
25. Infrared emission sensor 26, wide angle glass baffle
27. Accurate glass baffle 28 and shading seat
241. Charging emission window 251 and wide-angle emission sensor
252. Accurate emission sensor.
Detailed Description
In order to more clearly illustrate the invention, the invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, the charging method of the magnetic resonance type automatic charging robot of the invention comprises the following implementation processes:
s1, searching a charging pile, wherein an emission sensor on the charging pile emits an infrared signal into a controllable area, and an infrared receiving sensor on the robot searches the infrared signal in the moving process of the robot until receiving the infrared signal emitted by the charging pile;
s2, approaching the charging pile, after the robot searches an infrared signal sent by the charging pile, continuously adjusting the position through infrared signal information to gradually approach the charging pile, and accurately positioning through the infrared signal to enable a wireless receiving coil behind the robot to approach a wireless transmitting coil of the charging pile;
s3, receiving power supply energy, wherein after a wireless receiving coil behind the robot is close to a wireless transmitting coil of the charging pile, the wireless transmitting coil transmits fixed-frequency electromagnetic waves to the wireless receiving coil, and the wireless receiving coil receives the electromagnetic waves and converts the electromagnetic waves into usable energy;
s4, stabilizing the voltage and the current of the power supply, detecting whether the input voltage and the current of the power supply are stable or not by the robot, and when the voltage and the current are unstable, selecting the robot to leave the charging pile and continuously and accurately adjusting the position through infrared signals until the position where the voltage and the current are stable is found;
s5, entering a charging mode, when the voltage and the current of the power supply are stable, enabling the robot to enter the charging mode, detecting whether charging is normal or not in real time by the robot in the charging process, and if the charging is abnormal, leaving the charging pile, and continuing to accurately adjust the position;
and S6, detecting whether the battery is fully charged or not in real time by the robot after the charging is completed, stopping the charging of the robot when the electric quantity of the battery is fully charged, and leaving the charging pile.
Referring further to fig. 5, the transmitting sensor on the charging pile includes an area a precise sensor transmitting a signal to an area a, an area B precise sensor transmitting a signal to an area B, and an area C wide sensor transmitting a signal to an area C, where the area a precise sensor is a transmitting tube on the left side of the charging pile, the area B precise sensor is a transmitting tube on the right side of the charging pile, the area C wide sensor is a transmitting tube with a wide angle greater than 135 degrees, in the process of searching the charging pile in S1, the infrared receiving sensor on the robot searches for a signal transmitted by the area C wide sensor first, when the robot can receive the signal transmitted by the area C wide sensor, the robot walks forward first, and further finds a signal of the area a precise sensor or a signal of the area B precise sensor, if not found, then backs up to find a signal of the area a precise sensor or a signal of the area B precise sensor.
In this embodiment, the infrared receiving sensor on the robot includes a left side receiving sensor, a right side receiving sensor and a back receiving sensor, and when the left side receiving sensor, the right side receiving sensor or the back receiving sensor receives the signal emitted by the wide angle sensor in the C area during searching for the charging pile, the robot walks forward or backward until the signal of the accurate sensor in the a area or the signal of the accurate sensor in the B area is found.
With further reference to fig. 2, in the process of searching the charging pile, the left side of the robot receives the information of the transmitting sensor and then distinguishes the type of the signal; if the signal received by the left side receiving sensor is the signal transmitted by the accurate sensor in the area A, the robot rotates rightwards in situ until the back receiving sensor receives the signal transmitted by the accurate sensor in the area A or the signal transmitted by the accurate sensor in the area B; if the signal received by the left side receiving sensor is the signal transmitted by the B area precise sensor, the robot walks towards the left side in an arc line until the back receiving sensor receives the signal transmitted by the A area precise sensor or the signal transmitted by the B area precise sensor.
If the right side of the robot receives the information of the transmitting sensor, distinguishing the type of the signal; if the signal received by the right side receiving sensor is the signal transmitted by the accurate sensor in the area A, the robot walks in an arc to the right until the back receiving sensor receives the signal transmitted by the accurate sensor in the area A or the signal transmitted by the accurate sensor in the area B; if the signal received by the right side receiving sensor is the signal transmitted by the accurate sensor in the area B, the robot rotates leftwards in situ until the back receiving sensor receives the signal transmitted by the accurate sensor in the area A or the signal transmitted by the accurate sensor in the area B.
If the back receiving sensor receives the signal transmitted by the area A accurate sensor or the signal transmitted by the area B accurate sensor, S2 is performed to approach the charging pile; when the signal received by the back receiving sensor is the signal transmitted by the accurate sensor in the area A, the robot turns left to the area B in a small amplitude, and the robot stops walking to charge when the wireless receiving coil behind the robot is close to the wireless transmitting coil of the charging pile and can receive a stable power supply; when the signal received by the back receiving sensor is the signal transmitted by the accurate sensor in the area B, the robot turns right to the area A in a small amplitude, and the robot stops walking to charge when the wireless receiving coil behind the robot is close to the wireless transmitting coil of the charging pile and can receive a stable power supply.
Referring further to fig. 3, in the process of searching the charging pile, the charging pile main control firstly performs infrared coding, codes light source pulses of each infrared ray, then transmits infrared signals through the transmitting sensor, the infrared receiving sensor of the robot receives the infrared signals, decodes the corresponding infrared signals through the infrared decoder and then sends the decoded infrared signals to the robot main control, and the robot main control analyzes the instructions, calculates a motion track and sends the motion track to the motion control module to control the chassis braking system; in the process of receiving power supply energy, the charging pile main control firstly controls the wireless transmitting coil to transmit fixed-frequency electromagnetic waves through the wireless charging module, the wireless receiving coil of the robot receives the electromagnetic waves, converts the electromagnetic waves into electric energy through the wireless charging receiving module and transmits electric energy information to the robot main control, and the robot main control analyzes the stability of the electric energy and the safety of a charged state.
In the embodiment, in the moving process of the robot, the robot main control obtains the distance between the robot and the charging pile through the ultrasonic sensor in real time and controls the walking speed of the robot in real time; specifically, when the distance between the robot and the charging pile is more than or equal to 20cm, the robot walks at a high speed; when the distance between the robot and the charging pile is more than 10cm and less than 20cm, the robot walks at a low speed; when the distance between the robot and the charging pile is smaller than 10cm, the robot walks at an ultra-low speed.
With further reference to fig. 4, the invention also discloses a magnetic resonance type automatic charging robot, which comprises a robot charging assembly 1 and a charging pile assembly 2, wherein the robot charging assembly 1 comprises a robot main control PCB 11, a charging receiving coil 12, a charging receiving PCB 13, a robot housing 14 and an infrared receiving sensor 15, the input end of the charging receiving PCB 13 is electrically connected with the charging receiving coil 12, the output end of the charging receiving PCB 13 is electrically connected with the robot main control PCB 11, the infrared receiving sensor 15 is electrically connected with the robot main control PCB 11, and the infrared receiving sensor 15 extends out from the inside of the robot housing 14;
the electric pile subassembly includes fills electric pile main control PCB board 21, transmitting coil PCB board 22, wireless transmitting coil 23, fills electric pile casing 24 and infrared emission sensor 25, the input of transmitting coil PCB board 22 is connected with filling electric pile main control PCB board 21 electricity, and the output and the wireless transmitting coil 23 electricity of transmitting coil PCB board 22 are connected, wireless transmitting coil 23 fixes the internal surface that fills the window on filling electric pile casing 24, infrared emission sensor 25 is connected with filling electric pile main control PCB board 21 electricity, and fill electric pile casing 24 surface and be equipped with the through-hole of being convenient for infrared emission sensor 25 transmission signal.
Compared with the prior art, the magnetic resonance type automatic charging robot has the advantages that the infrared emission sensor 25 is arranged on the charging pile, and the infrared receiving sensor 15 is arranged on the robot, so that the automatic position recognition is convenient, the position is close to the charging pile, the wireless emission coil 23 on the charging pile is close to the wireless emission coil 23 on the robot, the wireless emission coil 23 sends electromagnetic waves to the wireless receiving coil, and the robot is further converted into usable electric energy, so that the automatic charging of the robot is realized.
Referring further to fig. 5, the infrared emission sensor 25 includes a wide-angle emission sensor 251 and an accurate emission sensor 252, the charging pile housing 24 is further provided with a wide-angle glass baffle 26 and an accurate glass baffle 27, the signal emission angle of the wide-angle emission sensor 251 is greater than 135 degrees and is distributed in the region C, the accurate emission sensor 252 is sleeved with a shading seat 28, the accurate signals passing through the shading seat 28 are respectively distributed in the region a and the region B, and both the region a and the region B are covered in the region C. The signal transmitting interval of the accurate transmitting sensor 252 is limited by the shading seat 28, the middle bisector of the included angle of the area C is used as the central axis to be symmetrically arranged in the area A and the area B, the wireless transmitting coil 23 is positioned right above the wide-angle transmitting sensor 251, and the area A and the area B have a narrower-distance intersection, so that the robot continuously runs at the intersection of the area A and the area B in the forward running process according to the signals of the area A and the area B, and the robot can be ensured to run in a straight line without running off the track.
The shading seat 28 is provided with two through holes, the accurate emission sensor 252 comprises an A infrared sensor for emitting light to an A area and a B infrared sensor for emitting light to a B area, the light of the two sensors is emitted from the two through holes of the shading seat 28 respectively to form an A sensing area and a B sensing area, and the shading seat 28 mainly plays a role in isolating the light emitted by the A infrared sensor and the B infrared sensor in the process, so that the AB areas of the two sensors cannot be overlapped to form a critical point.
In the present embodiment, the infrared receiving sensor 15 includes a left side receiving sensor 151, a right side receiving sensor 152, and a back side receiving sensor 153, the left side receiving sensor 151 protrudes from the left side of the robot housing 14, the right side receiving sensor 152 protrudes from the right side of the robot housing 14, the back side receiving sensor 153 protrudes from the back middle position of the robot housing 14, and the left side receiving sensor 151, the right side receiving sensor 152, and the back side receiving sensor 153 are all electrically connected with the robot main control PCB board 11. In the process of searching the charging pile, the left side of the robot receives the information of the transmitting sensor 151 and then distinguishes the type of the signal; if the signal received by the left side receiving sensor 151 is the signal transmitted by the accurate sensor in the area A, the robot rotates rightwards in situ until the back receiving sensor 153 receives the signal transmitted by the accurate sensor in the area A or the signal transmitted by the accurate sensor in the area B; if the signal received by the left receiving sensor 151 is the signal emitted by the accurate sensor in the B area, the robot walks in an arc to the left until the back receiving sensor 153 receives the signal emitted by the accurate sensor in the a area or the signal emitted by the accurate sensor in the B area. In the process of searching the charging pile, the right side of the robot receives the information of the transmitting sensor 152 and then distinguishes the type of the signal; if the signal received by the right side receiving sensor 152 is the signal transmitted by the accurate sensor in the area A, the robot walks in an arc to the right until the back receiving sensor 153 receives the signal transmitted by the accurate sensor in the area A or the signal transmitted by the accurate sensor in the area B; if the signal received by the right receiving sensor 152 is the signal transmitted by the B area precise sensor, the robot rotates to the left in situ until the back receiving sensor 153 receives the signal transmitted by the a area precise sensor or the signal transmitted by the B area precise sensor.
In this embodiment, the robot charging assembly 1 further includes an ultrasonic sensor 16 for monitoring the distance between the robot charging assembly 1 and the charging post assembly 2 in real time, the input end of the ultrasonic sensor 16 is led out from the back of the robot housing 14, and the output end of the ultrasonic sensor 16 is electrically connected with the robot main control PCB 11. The ultrasonic sensor 16 can monitor the position of the robot in real time to adjust the various speeds at which the robot advances. When the distance between the robot and the charging pile is more than or equal to 20cm, the robot walks at a high speed; when the distance between the robot and the charging pile is more than 10cm and less than 20cm, the robot walks at a low speed; when the distance between the robot and the charging pile is smaller than 10cm, the robot walks at an ultra-low speed.
In this embodiment, the robot charging assembly 1 further includes a coil bracket 17, one surface of the charging receiving coil 12 is fixed on the coil bracket 17, and the other surface is closely attached to the robot housing 14; the charging pile shell 24 is provided with a charging emission window 241 with a smooth surface, and a charging emission coil is accommodated on the inner surface of the charging emission window 241.
The above disclosure is only a few specific embodiments of the present invention, but the present invention is not limited thereto, and any changes that can be thought by those skilled in the art should fall within the protection scope of the present invention.
Claims (10)
1. The charging method of the magnetic resonance type automatic charging robot is characterized by comprising the following implementation processes:
s1, searching a charging pile, wherein an emission sensor on the charging pile emits an infrared signal into a controllable area, and an infrared receiving sensor on the robot searches the infrared signal in the moving process of the robot until receiving the infrared signal emitted by the charging pile;
s2, approaching the charging pile, after the robot searches an infrared signal sent by the charging pile, continuously adjusting the position through infrared signal information to gradually approach the charging pile, and accurately positioning through the infrared signal to enable a wireless receiving coil behind the robot to approach a wireless transmitting coil of the charging pile;
s3, receiving power supply energy, wherein after a wireless receiving coil behind the robot is close to a wireless transmitting coil of the charging pile, the wireless transmitting coil transmits fixed-frequency electromagnetic waves to the wireless receiving coil, and the wireless receiving coil receives the electromagnetic waves and converts the electromagnetic waves into usable energy;
s4, stabilizing the voltage and the current of the power supply, detecting whether the input voltage and the current of the power supply are stable or not by the robot, and when the voltage and the current are unstable, selecting the robot to leave the charging pile and continuously and accurately adjusting the position through infrared signals until the position where the voltage and the current are stable is found;
s5, entering a charging mode, when the voltage and the current of the power supply are stable, enabling the robot to enter the charging mode, detecting whether charging is normal or not in real time by the robot in the charging process, and if the charging is abnormal, leaving the charging pile, and continuing to accurately adjust the position;
and S6, detecting whether the battery is fully charged or not in real time by the robot after the charging is completed, stopping the charging of the robot when the electric quantity of the battery is fully charged, and leaving the charging pile.
2. The method according to claim 1, wherein the transmitting sensor on the charging post includes an a-zone accurate sensor transmitting a signal to a-zone, a B-zone accurate sensor transmitting a signal to a B-zone, and a C-zone wide-angle sensor transmitting a signal to a C-zone, the a-zone accurate sensor being a transmitting tube on the left side of the charging post, the B-zone accurate sensor being a transmitting tube on the right side of the charging post, the C-zone wide-angle sensor being a transmitting tube with a wide angle of more than 135 degrees, the infrared receiving sensor on the robot searching for a signal transmitted by the C-zone wide-angle sensor first in the process of searching for the charging post S1, the robot walking forward first when the robot is able to receive the signal transmitted by the C-zone wide-angle sensor, and if not found, further finding the signal of the a-zone accurate sensor or the signal of the B-zone accurate sensor backward searching for the signal of the a-zone accurate sensor or the signal of the B-zone accurate sensor.
3. The method for charging a magnetic resonance type automatic charging robot according to claim 2, wherein the infrared receiving sensor on the robot comprises a left receiving sensor, a right receiving sensor and a back receiving sensor, and when the left receiving sensor, the right receiving sensor or the back receiving sensor receives signals emitted by the wide-angle sensor in the C area during the process of searching the charging pile in S1, the robot walks forward or backward until signals of the accurate sensor in the a area or signals of the accurate sensor in the B area are found.
4. The method for charging a magnetic resonance type automatic charging robot according to claim 3, wherein in the process of searching for the charging pile in S1, the left side of the robot receives information of the transmitting sensor and then discriminates the kind of the signal; if the signal received by the left side receiving sensor is the signal transmitted by the accurate sensor in the area A, the robot rotates rightwards in situ until the back receiving sensor receives the signal transmitted by the accurate sensor in the area A or the signal transmitted by the accurate sensor in the area B; if the signal received by the left side receiving sensor is the signal transmitted by the B area precise sensor, the robot walks towards the left side in an arc line until the back receiving sensor receives the signal transmitted by the A area precise sensor or the signal transmitted by the B area precise sensor.
5. The method for charging a magnetic resonance type automatic charging robot according to claim 3, wherein in the process of searching for the charging pile in S1, the right side of the robot receives information of the transmitting sensor and then discriminates the kind of the signal; if the signal received by the right side receiving sensor is the signal transmitted by the accurate sensor in the area A, the robot walks in an arc to the right until the back receiving sensor receives the signal transmitted by the accurate sensor in the area A or the signal transmitted by the accurate sensor in the area B; if the signal received by the right side receiving sensor is the signal transmitted by the accurate sensor in the area B, the robot rotates leftwards in situ until the back receiving sensor receives the signal transmitted by the accurate sensor in the area A or the signal transmitted by the accurate sensor in the area B.
6. The method for charging a magnetic resonance type automatic charging robot according to any one of claims 3 to 5, wherein the back receiving sensor receives the signal transmitted by the area a precision sensor or the signal transmitted by the area B precision sensor, and then performs the process of S2 approaching the charging pile; when the signal received by the back receiving sensor is the signal transmitted by the accurate sensor in the area A, the robot turns left to the area B in a small amplitude, and the robot stops walking to charge when the wireless receiving coil behind the robot is close to the wireless transmitting coil of the charging pile and can receive a stable power supply; when the signal received by the back receiving sensor is the signal transmitted by the accurate sensor in the area B, the robot turns right to the area A in a small amplitude, and the robot stops walking to charge when the wireless receiving coil behind the robot is close to the wireless transmitting coil of the charging pile and can receive a stable power supply.
7. The method for charging the magnetic resonance type automatic charging robot according to claim 1, wherein in the process of searching the charging pile, the charging pile main control firstly carries out infrared coding, codes light source pulses of each infrared ray, then transmits infrared signals through the transmitting sensor, and after receiving the infrared signals, the infrared receiving sensor of the robot decodes the corresponding infrared signals through the infrared decoder and then sends the decoded signals to the robot main control, and the robot main control analyzes the motion track through instructions, calculates the motion track and sends the motion track to the motion control module to control the chassis braking system; in the process of receiving power supply energy, the charging pile main control firstly controls the wireless transmitting coil to transmit fixed-frequency electromagnetic waves through the wireless charging module, the wireless receiving coil of the robot receives the electromagnetic waves, converts the electromagnetic waves into electric energy through the wireless charging receiving module and transmits electric energy information to the robot main control, and the robot main control analyzes the stability of the electric energy and the safety of a charged state.
8. The method for charging a magnetic resonance type automatic charging robot according to claim 1, wherein in the process of moving the robot in S1-S4, a robot main control obtains the distance between the robot and a charging pile through an ultrasonic sensor in real time and controls the traveling speed of the robot in real time; specifically, when the distance between the robot and the charging pile is more than or equal to 20cm, the robot walks at a high speed; when the distance between the robot and the charging pile is more than 10cm and less than 20cm, the robot walks at a low speed; when the distance between the robot and the charging pile is smaller than 10cm, the robot walks at an ultra-low speed.
9. The magnetic resonance type automatic charging robot is characterized by comprising a robot charging assembly and a charging pile assembly, wherein the robot charging assembly is close to the charging pile assembly and realizes a wireless charging process;
the robot charging assembly comprises a robot main control PCB, a charging receiving coil, a charging receiving PCB, a robot shell, a coil support, a left side receiving sensor, a right side receiving sensor, a back receiving sensor and an ultrasonic sensor, wherein the input end of the charging receiving PCB is electrically connected with the charging receiving coil, the output end of the charging receiving PCB is electrically connected with the robot main control PCB, the left side receiving sensor, the right side receiving sensor and the back receiving sensor are electrically connected with the robot main control PCB, the left side receiving sensor, the right side receiving sensor and the back receiving sensor extend out from the middle of the left side, the right side and the back of the robot shell respectively, the input end of the ultrasonic sensor is led out from the back of the robot shell, the output end of the ultrasonic sensor is electrically connected with the robot main control PCB, one side of the charging receiving coil is fixed on the coil support, and the other side of the charging receiving coil is tightly attached to the robot shell;
the utility model discloses a fill electric pile assembly, including fill electric pile main control PCB board, transmitting coil PCB board, wireless transmitting coil, fill electric pile casing, wide angle transmitting sensor, accurate transmitting sensor and accurate shading seat, the input of transmitting coil PCB board is connected with fill electric pile main control PCB board electricity, just the output and the wireless transmitting coil electricity of transmitting coil PCB board are connected, wireless transmitting coil fixes the internal surface that fills the window on filling electric pile casing, wide angle transmitting sensor and accurate transmitting sensor all are connected with fill electric pile main control PCB board electricity, just fill electric pile casing surface and be equipped with the through-hole of being convenient for wide angle transmitting sensor and accurate transmitting sensor transmit signal, accurate shading seat lid closes the surface at accurate transmitting sensor.
10. The magnetic resonance type automatic charging robot according to claim 9, wherein an infrared decoder for decoding a received infrared signal, a wireless receiving module for converting a received electromagnetic wave into electric energy, a power supply detecting module for detecting whether an input power supply is stable, an electric quantity monitoring module for monitoring whether a battery is charged, and a motion control module for sending a walking instruction to a chassis motor are arranged on a main control PCB of the robot; the charging pile main control PCB is provided with an infrared encoder for encoding infrared signals and a wireless charging module for controlling the wireless transmitting coil to transmit electromagnetic waves.
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| CN108248437A (en) * | 2018-02-05 | 2018-07-06 | 广州大学 | Electric automobile charging pile and its charging method based on infrared positioning and magnetic principle |
| WO2020016925A1 (en) | 2018-07-17 | 2020-01-23 | 三菱電機株式会社 | Elevator system |
| CN109623816A (en) * | 2018-12-19 | 2019-04-16 | 中新智擎科技有限公司 | A kind of robot recharging method, device, storage medium and robot |
| CN109989332A (en) * | 2019-05-06 | 2019-07-09 | 中国人民解放军陆军军事交通学院镇江校区 | The control system on beach is supported for loading stage |
| CN113741447B (en) * | 2021-08-27 | 2024-02-20 | 优必康(青岛)科技有限公司 | Robot charging pile alignment method and device, terminal equipment and storage medium |
| CN113815458B (en) * | 2021-09-17 | 2023-08-25 | 三峡大学 | Automatic return charging device for patrol aircraft |
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