CN107671888A - A kind of robot charging alignment methods and system based on infrared signal - Google Patents
A kind of robot charging alignment methods and system based on infrared signal Download PDFInfo
- Publication number
- CN107671888A CN107671888A CN201710896516.2A CN201710896516A CN107671888A CN 107671888 A CN107671888 A CN 107671888A CN 201710896516 A CN201710896516 A CN 201710896516A CN 107671888 A CN107671888 A CN 107671888A
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- robot
- charging
- charging pile
- rotary machine
- machine people
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of robot charging alignment methods and system based on infrared signal, when robot is located at the front of the charging pile, rotary machine people, robot is set to be aligned with charging pile charging direction, when the robot is located at the left side or right side of charging pile, rotary machine people, robot direction of advance is set to point to charging pile center line, then robot is proceeded to immediately ahead of charging pile, rotary machine people, robot is set to be aligned with charging pile charging direction, and when the second charging Impactor collides block alignment with the first charging and contacts, realize the robot charging.The present invention, towards being corrected, drastically increases alignment precision, charging effect has been effectively ensured, improve charge efficiency to robot.
Description
Technical field
The present invention relates to charging technique of alignment, specifically a kind of robot charging based on infrared signal and is at alignment methods
System.
Background technology
The alignment methods employed in the charging technique of alignment of the robot based on infrared signal being currently known, without sublevel
Section ground goes to move according to signal, it is impossible to effectively ensure robot alignment result towards precision, often there is robot and arrived
Up near charging pile, robot is towards not just（Fig. 1）, charging electrode loose contact is even resulted in, greatly affected and be charged to
Power.
The content of the invention
The technical problems to be solved by the invention are, in view of the shortcomings of the prior art, providing a kind of machine based on infrared signal
Device people charges alignment methods and system, ensures robot in alignment result towards precision.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of robot based on infrared signal
Charge alignment methods, comprises the following steps：
1）Position of the robot relative to charging pile is judged, if robot is located at the front of charging pile, into step 3）；If
Robot is located at the left side or right side of charging pile, then rotary machine people, robot direction of advance is pointed to charging pile center line, then
Robot is proceeded to immediately ahead of charging pile；
2）Rotary machine people, robot is set to be aligned with charging pile charging direction, into step 3）；
3）Robot advances to be contacted with charging pile charge port, judges whether robot charge port is aligned with charging pile charge port, if
Alignment, then into step 4）；Otherwise, return to step 2）；
4）Charge successfully.
Correspondingly, present invention also offers a kind of robot based on infrared signal to charge to Barebone, and it includes：
Position correction module：For judging position of the robot relative to charging pile, if robot is located at the front of charging pile,
Then rotary machine people, robot is set to be aligned with charging pile charging direction；If robot is located at the left side or right side of charging pile, revolve
Turn robot, robot is aligned with charging pile charging direction, and rotary machine people, make robot and charging pile charging direction pair
Just；
Alignment modules：For judging whether robot charge port is aligned with charging pile charge port, if alignment, charges successfully；It is no
Then, rotary machine people again, align robot and charging pile direction of charging, until people's charge port whether with charging pile charge port
Alignment, realize charging.
As an inventive concept, present invention also offers a kind of robot based on infrared signal to charge to Barebone,
It includes：
Charging pile；
The first charging collision being arranged on charging pile is fast；
Robot；And
The second charging Impactor being arranged in robot；
And when the robot is located at the front of the charging pile, rotary machine people, make robot and charging pile charging side
To aligning, when the robot is located at the left side or right side of charging pile, rotary machine people, points to robot direction of advance and fill
Electric stake center line, then robot proceed to immediately ahead of charging pile, rotary machine people, robot and charging pile is charged direction pair
Just, and when the second charging Impactor collides block alignment with the first charging and contacts, the robot charging is realized.
Infrared sensor is installed in the robot, for correcting robot location so that robot is directed at charging pile.
The first charging collision is fast, the second charging collision is block-shaped, size is identical, more convenient alignment.
The first charging collision is fast, the second charging Impactor is hexahedron structure, is further ensured that alignment result.
Compared with prior art, the advantageous effect of present invention is that：The present invention is corrected to robot direction, pole
The earth improves alignment precision, and charging effect has been effectively ensured, has improved charge efficiency.
Brief description of the drawings
Fig. 1 is that robot is unable to face charging pile；
Fig. 2 is the inventive method flow chart；
Fig. 3 is left side schematic diagram of the robot of the embodiment of the present invention in charging pile；
Fig. 4 is the right schematic diagram of the robot of the embodiment of the present invention in charging pile；
Fig. 5 is front schematic diagram of the robot of the embodiment of the present invention in charging pile；
Fig. 6 is the center signal that robot of embodiment of the present invention direction of advance behind the right of charging pile, rotation points to charging pile
Figure；
Fig. 7 is the center signal that robot of embodiment of the present invention direction of advance behind the left side of charging pile, rotation points to charging pile
Figure；
Fig. 8 be robot of the embodiment of the present invention on the right of charging pile, and proceed to the front schematic diagram of charging pile；
Fig. 9 be robot of the embodiment of the present invention on the left side of charging pile, and proceed to the front schematic diagram of charging pile；
Figure 10 is that robot of the embodiment of the present invention aligns towards charging pile, basic guarantee corner accuracy schematic diagram；
Figure 11 is that robot of the embodiment of the present invention is in contact with charging pile, and charge successfully schematic diagram；
Figure 12 is charging pile signaling zone schematic diagram of the present invention.
Embodiment
The inventive method flow is as shown in Figure 2.
1）Position of the robot relative to charging pile is judged, if robot is located at the front of charging pile, into step
3）；If robot is located at the left side or right side of charging pile, rotary machine people, robot direction of advance is set to point in charging pile
Line, then robot proceed to immediately ahead of charging pile；
2）Rotary machine people, robot is set to be aligned with charging pile charging direction, into step 3）；
3）Robot advances to be contacted with charging pile charge port, judges whether robot charge port is aligned with charging pile charge port, if
Alignment, then into step 4）；Otherwise, return to step 2）；
4）Charge successfully.
A, position of the robot relative to charging pile is judged
Robot judges that the location of its is the left side (Fig. 3 in charging pile）, still on the right（Fig. 4）, so that follow-up is moved
Make.If robot is in the front of charging pile（Fig. 5）, then step d is jumped directly to.
B, rotary machine people, direction of advance is made to point to the center line of charging pile（Fig. 6, Fig. 7)
C, robot proceeds to the front of charging pile（Fig. 8, Fig. 9）
D, rotary machine people, aligned with charging pile charging direction（Figure 10）
E, robot advances, and is in contact with charging pile, completes charging alignment procedures（Figure 11）.Robot during advance,
If too big towards deviateing, d is repeated.
Robot completes the direction adjustment of robot, to ensure last alignment towards precision by several steps of a, b, c.
And in existing method, no matter robot be in where, can all be moved with directly with d and e flow, it is difficult to ensure final
Alignment precision.
In embodiment of the present invention, there are 3 kinds of signal areas on used charging pile（A areas, b areas, c areas in Figure 12）,
There is an infrared sensor in robot, implementation process is as follows.
A, general area is judged；
B, center line of the robot towards charging pile；
B, robot proceeds to the front of charging pile；
C, robot turns to, face charging pile；
E, robot advances, and is contacted with charging pile, completes charging alignment.
Claims (6)
1. a kind of robot charging alignment methods based on infrared signal, it is characterised in that comprise the following steps：
1）Position of the robot relative to charging pile is judged, if robot is located at the front of charging pile, into step 3）；If
Robot is located at the left side or right side of charging pile, then rotary machine people, robot direction of advance is pointed to charging pile center line, then
Robot is proceeded to immediately ahead of charging pile；
2）Rotary machine people, robot is set to be aligned with charging pile charging direction, into step 3）；
3）Robot advances to be contacted with charging pile charge port, judges whether robot charge port is aligned with charging pile charge port, if
Alignment, then into step 4）；Otherwise, return to step 2）；
4）Charge successfully.
2. a kind of robot based on infrared signal charges to Barebone, it is characterised in that including：
Position correction module：For judging position of the robot relative to charging pile, if robot is located at the front of charging pile,
Then rotary machine people, robot is set to be aligned with charging pile charging direction；If robot is located at the left side or right side of charging pile, revolve
Turn robot, robot is aligned with charging pile charging direction, and rotary machine people, make robot and charging pile charging direction pair
Just；
Alignment modules：For judging whether robot charge port is aligned with charging pile charge port, if alignment, charges successfully；It is no
Then, rotary machine people again, align robot and charging pile direction of charging, until people's charge port whether with charging pile charge port
Alignment, realize charging.
3. a kind of robot based on infrared signal charges to Barebone, it is characterised in that including：
Charging pile；
The first charging collision being arranged on charging pile is fast；
Robot；And
The second charging Impactor being arranged in robot；
And when the robot is located at the front of the charging pile, rotary machine people, make robot and charging pile charging side
To aligning, when the robot is located at the left side or right side of charging pile, rotary machine people, points to robot direction of advance and fill
Electric stake center line, then robot proceed to immediately ahead of charging pile, rotary machine people, robot and charging pile is charged direction pair
Just, and when the second charging Impactor collides block alignment with the first charging and contacts, the robot charging is realized.
4. system according to claim 3, it is characterised in that be provided with infrared sensor in the robot.
5. system according to claim 3, it is characterised in that the first charging collision is fast, the second charging Impactor shape
Shape, size are identical.
6. system according to claim 5, it is characterised in that the first charging collision is fast, the second charging Impactor is equal
For hexahedron structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710896516.2A CN107671888A (en) | 2017-09-28 | 2017-09-28 | A kind of robot charging alignment methods and system based on infrared signal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710896516.2A CN107671888A (en) | 2017-09-28 | 2017-09-28 | A kind of robot charging alignment methods and system based on infrared signal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107671888A true CN107671888A (en) | 2018-02-09 |
Family
ID=61138187
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710896516.2A Pending CN107671888A (en) | 2017-09-28 | 2017-09-28 | A kind of robot charging alignment methods and system based on infrared signal |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312882A (en) * | 2018-03-14 | 2018-07-24 | 湖南超能机器人技术有限公司 | The signal record and charging pile position decision method of robot charging technique of alignment |
| CN108427422A (en) * | 2018-04-28 | 2018-08-21 | 湖南超能机器人技术有限公司 | The motion control method that robot charging system, robot are docked with charging pile |
| CN109557927A (en) * | 2019-01-10 | 2019-04-02 | 深圳先进储能技术有限公司 | Paths planning method, device, equipment and the medium of hanging basket are returned for robot |
| CN109002043B (en) * | 2018-08-24 | 2021-06-15 | 湖南超能机器人技术有限公司 | Infrared alignment signal data processing method applied to robot |
| CN113359777A (en) * | 2021-07-20 | 2021-09-07 | 山东新一代信息产业技术研究院有限公司 | Automatic pile returning and charging method and system for robot |
| CN113703456A (en) * | 2021-08-30 | 2021-11-26 | 山东新一代信息产业技术研究院有限公司 | Automatic pile returning and charging method of robot based on multiple sensors |
| CN113725947A (en) * | 2021-07-26 | 2021-11-30 | 季华实验室 | Charging method of electric wheelchair, electric wheelchair and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312882A (en) * | 2018-03-14 | 2018-07-24 | 湖南超能机器人技术有限公司 | The signal record and charging pile position decision method of robot charging technique of alignment |
| CN108312882B (en) * | 2018-03-14 | 2020-11-17 | 湖南超能机器人技术有限公司 | Signal recording and charging pile position determination method for robot charging alignment technology |
| CN108427422A (en) * | 2018-04-28 | 2018-08-21 | 湖南超能机器人技术有限公司 | The motion control method that robot charging system, robot are docked with charging pile |
| CN109002043B (en) * | 2018-08-24 | 2021-06-15 | 湖南超能机器人技术有限公司 | Infrared alignment signal data processing method applied to robot |
| CN109557927A (en) * | 2019-01-10 | 2019-04-02 | 深圳先进储能技术有限公司 | Paths planning method, device, equipment and the medium of hanging basket are returned for robot |
| CN109557927B (en) * | 2019-01-10 | 2021-11-26 | 深圳先进储能技术有限公司 | Path planning method, device, equipment and medium for robot to return to hanging basket |
| CN113359777A (en) * | 2021-07-20 | 2021-09-07 | 山东新一代信息产业技术研究院有限公司 | Automatic pile returning and charging method and system for robot |
| CN113725947A (en) * | 2021-07-26 | 2021-11-30 | 季华实验室 | Charging method of electric wheelchair, electric wheelchair and medium |
| CN113725947B (en) * | 2021-07-26 | 2024-03-22 | 季华实验室 | Charging method of electric wheelchair, electric wheelchair and medium |
| CN113703456A (en) * | 2021-08-30 | 2021-11-26 | 山东新一代信息产业技术研究院有限公司 | Automatic pile returning and charging method of robot based on multiple sensors |
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Application publication date: 20180209 |
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