CN207882759U - A kind of robot system of Automatic-searching charging pile - Google Patents

Abstract

The utility model discloses a kind of robot system of Automatic-searching charging pile, it includes charging pile facility, master system, wireless transport module and n slave computer robot system, and the master system includes user log-in block, switch control module and n slave computer robot manipulation's interface module；The slave computer robot system includes controller unit, locating module, drive module, power plant module and battery module；The wireless transport module includes total node and n partial node, and total node is located at master system, and the partial node is mounted in the robot；The charging pile facility includes signal emission module, and the locating module of the slave computer robot system receives the signal that charging pile facility is sent.In the case that the utility model solves prosthetic directly interference, the airborne charging equipment of slave computer carries out the place that Automatic-searching charging pile charges.

Description

A kind of robot system of Automatic-searching charging pile

Technical field

The utility model is related to robot control system more particularly to a kind of robot systems of Automatic-searching charging pile.

Background technology

With popularizing for various electronic equipments, such as mobile phone, computer, electric vehicle etc., timely waited exhausting Battery be charged to unavoidable problem.Can be with the robot of Automatic-searching charging pile although occurring at present, it is deposited The problems such as charging pile utilization rate is low, rechargeable devices are single, robot cost is higher, searching charging pile process is time-consuming longer.

Invention content

The utility model to solve the above-mentioned problems, provides a kind of system of robot that can independently select charging pile facility System.Make in the case where prosthetic is directly interfered, the airborne charging equipment of slave computer can be charged with Automatic-searching charging pile Place.

A kind of robot system of Automatic-searching charging pile comprising charging pile facility, master system, wireless transmission mould Block and n slave computer robot system, the master system include under user log-in block, switch control module and n Position machine robot manipulation's interface module；The slave computer robot system include controller unit, locating module, drive module, Power plant module and battery module, the controller unit connect the locating module, the drive module and the accumulator Module, the drive module connect the power plant module；The wireless transport module realizes robot master system and machine Wireless data transmission between people's lower computer system comprising total node and n partial node, total node are located at host computer system System, the partial node are mounted in the robot；The charging pile facility includes signal emission module, the slave computer machine The locating module of people's system receives the signal that charging pile facility is sent；The slave computer robot system further includes that electronic equipment fills Electrical apparatus interface and charging pile charging interface, the electronics chargers interface are used to connect the electronic equipment for needing to charge, institute Charging pile charging interface is stated for connecting charging pile.

Preferably, the master system is the master system based on LabVIEW.

Preferably, the locating module includes infrared module, RFID module and camera module, the infrared module and RFID module receives the signal that charging pile facility is sent out, and the camera module is shot for current picture, controller unit point The infrared module, RFID module and camera module are not controlled.

Preferably, the wireless transport module uses the home control network communication protocol based on 2.4G and 5.8G, and the 2.4G is wireless Communications protocol is for instructing, information is transmitted, and the 5.8G home control network communication protocols are used for image transmitting.

Preferably, slave computer robot manipulation interface module includes starting module, robotary display module, accumulator Electricity quantity display module, camera shoot display module.

The beneficial effects of the utility model：

1, the pattern of three kinds of Automatic-searching charging piles is combined (RFID, infrared and computer vision skill by the utility model Art), searching charging pile is more efficient, more precisely.

2, slave computer robot carries battery module, in the case where charging pile is using anxiety, first with airborne electric power storage The mode of pond charging greatly improves the utilization rate of charging pile, reduces the input construction of charging pile equipment.

3, the utility model shoots display module using camera, is charged using the Automatic-searching of computer vision technique Stake.In the case of solving prosthetic directly interference, the airborne charging equipment of slave computer carries out Automatic-searching charging pile progress The place of charging.The utilization rate of charging pile can be improved, equipment input cost is reduced, the electronics suitable for different charging interfaces is set It is standby, greatly shorten searching charging using wireless radiofrequency tracer technique, infrared signal tracer technique and computer vision technique The time of stake and the accuracy for improving charging plug docking.

Description of the drawings

Fig. 1 is the robot system module map of Automatic-searching charging pile；

Fig. 2 is the robot master system module map based on LabVIEW；

Fig. 3 is No. 1 robot host computer Operating Interface Module figure；

Fig. 4 is the robot system data transmission module figure of Automatic-searching charging pile.

Specific implementation mode

The present embodiment is illustrated controls Liang Ge robots (No. 1 machine by the central controlled robot system of master system People and No. 2 robots), it is specific as follows：

As shown in Figure 1, this system includes mainly robot master system based on LabVIEW, wireless transport module, 1 Number slave computer robot system and No. 2 slave computer robot systems, wireless transport module include mainly total node, partial node (I) With partial node (II), total node installation is on the robot master system based on LabVIEW, partial node (I) and partial node (II) it is separately mounted in No. 1 slave computer robot system and No. 2 slave computer robot systems.

As shown in Figure 2, the robot master system based on LabVIEW includes mainly user log-in block (including user Name, password), No. 1 robot host computer operation interface, master switch and No. 2 robot host computer operation interfaces.

From the figure 3, it may be seen that No. 1 robot host computer operation interface includes startup, robotary is shown, accumulator electric-quantity is shown Show and camera shooting picture is shown；No. 2 robot host computer operation interfaces and No. 1 robot host computer operation interface phase Together.

As shown in Figure 4, No. 1 slave computer robot system includes RFID module, infrared module, camera module, controller Unit, battery module, drive module and power plant module；No. 2 slave computer robot systems and No. 1 slave computer robot system knot Structure is identical.

(1) operation principle：Use first the robot master system based on LabVIEW user log-in block (with Name in an account book, password) realize master system login, later pass through master switch start whole system master switch, Liang Ge robots Robot host computer operation interface realize robot master system and No. 1 slave computer robot system based on LabVIEW Wireless data transmission between No. 2 slave computer robot systems.

No. 1 robot host computer operation interface is identical with No. 2 robot host computer operation interface structures, and control is different respectively Slave computer robot hardware circuit.This example only use Liang Ge robots, corresponding Liang Ge robots host computer operation interface, In systematic difference, robot host computer mould can be increased or decreased according to the quantity of actual requirement or robot hardware's circuit Block.

This example only introduces No. 1 robot host computer operation interface：The running of individual machine people, machine are controlled by start button Device people's state display module realize No. 1 robot current state (including shutdown, enabling, using accumulator precharge, find fill Charge in electric stake, using charging pile etc.), accumulator electric-quantity display module realizes the residue of the airborne accumulator of real time monitoring robot Electricity, camera shooting picture display module carry out the airborne camera of real-time display and do the real-time pictures transmitted, and ensure host computer It being capable of real-time observer robot ambient conditions.

Wireless transport module realize robot master system based on LabVIEW and No. 1 robot and No. 2 robots it Between data transmitted in both directions, the robot master system based on LabVIEW by transmission module will start control instruction, shape State is shown, accumulator electric-quantity shows the total node for being transferred to unit II, and total node radios to Liang Ge slave computers robot again Partial node (I) and partial node (II), the robot that final instruction is transferred to No. 1 robot and No. 2 robots by serial ports it is hard The controller unit of part circuit；The RFID module of two robot hardware's circuit modules, infrared module, camera module, electric power storage The data of pond module are respectively transmitted to the partial node (I) and partial node (II) of wireless transport module by serial ports, partial node (I) and Partial node (II) is uploaded to total node by wireless transmission method again, and the machine based on LabVIEW is uploaded to eventually by serial ports Calculator people state display module, accumulator electric-quantity display module and the camera shooting picture of people's master system show mould Block.

No. 1 slave computer robot system is identical with No. 2 slave computer robot system architectures, passes through partial node respectively (I) and partial node (II) carries out data communication with total node, while requiring the quantity of the quantity and robot host computer of partial node And the quantity of robot hardware's circuit module is identical.

(2) Automatic-searching charging pile robot is described only by taking No. 1 slave computer robot hardware's circuit module as an example below Hardware circuit operation principle：

Assuming that charging pile is used in You Liangtai robots and a charging pile, No. 2 robots at present.When charging in need Electronic equipment when, suitable charging plug is selected in No. 1 robot first, then equipment to be charged is put into No. 1 machine In people, No. 1 robot can be communicated wirelessly with charging pile later, judged whether there is vacant charging pile and used for charging, When the feedback information of charging pile is for No. 1 robot without vacant charging pile in use, No. 1 robot can first use airborne full electricity The accumulator of amount is to electronic equipment into line precharge.After a period of time, No. 2 robots exit charging using after charging pile Stake.Charging pile sends the information that can use charging pile by wireless device to No. 1 robot.No. 1 robot starts automatic seeking Looking for the charging pile, (at this point, after airborne accumulator after a period of time charges to electronic equipment, airborne accumulator has not been full electricity Amount).

Controller unit uses but is not limited to ARM32 control chips, and RFID module and infrared module realize charging pile General direction is found, and RFID module is cooperateed with using wireless radiofrequency tracer technique and infrared module using infrared signal tracer technique Cooperation, finding out the approximate location of charging pile jointly, (wireless radiofrequency tracer technique is according to sending out the power of radiofrequency signal come substantially Judge that position, infrared signal tracer technique are that the infrared signal by sending out is to judge the approximate location of target, the two The prior art does not repeat in the present embodiment), it then carries out docking and distance signal is sent to controller unit, controller Unit controls drive module according to RFID module and infrared module to the feedback information of charging pile approximate location, makes robot to sentencing Break the charging pile approximate location it is close, controller unit send commands to drive module driving power plant module (the present embodiment Power plant module is wheel) turn direction.After close to charging pile, controller unit controls camera module and is carried out to current picture Shooting, passes the picture after shooting back host computer by the home control network communication protocol of 5.8G, in the processor of host computer, passes through meter Calculation machine vision technique is analyzed the picture passed back, is handled, and makes 1 using Fuzzy Thought and successive approximation algorithm control Number robot is mobile to charging pile direction and precisely aligns charging plug, completes the process of robot Automatic-searching charging pile.Control Device unit processed changes charge mode of the robot to electronic equipment, by airborne accumulator before after successfully docking charging pile Charge mode is changed to carry out charge mode to electronic equipment using charging pile.After a period of time, the fully charged backed off after random of electronic equipment, No. 1 robot remains in charging pile, is charged to the airborne accumulator of non-Full Charge Capacity before using charging pile, in case Next time uses.

Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed, But it should not be understood as limiting the scope of the patent of the utility model.It should be pointed out that for the common of this field For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to In the scope of protection of the utility model.

Claims (5)

1. a kind of robot system of Automatic-searching charging pile, which is characterized in that it include charging pile facility, master system, Wireless transport module and n slave computer robot system, the master system include user log-in block, switch control module And n slave computer robot manipulation's interface module；The slave computer robot system include controller unit, locating module, Drive module, power plant module and battery module, the controller unit connect the locating module, the drive module and institute Battery module is stated, the drive module connects the power plant module；The wireless transport module realizes host computer system of robot Wireless data transmission between system and robot lower computer system comprising total node and n partial node, total node are located at Master system, the partial node are mounted in the robot；The charging pile facility includes signal emission module, under described The locating module of position machine robot system receives the signal that charging pile facility is sent；The slave computer robot system further includes electricity Sub- equipment charger interface and charging pile charging interface, the electronics chargers interface are used to connect the electronics for needing to charge Equipment, the charging pile charging interface is for connecting charging pile.

2. the robot system of Automatic-searching charging pile according to claim 1, which is characterized in that the master system For the master system based on LabVIEW.

3. the robot system of Automatic-searching charging pile according to claim 1, which is characterized in that the locating module packet Infrared module, RFID module and camera module are included, the infrared module and RFID module receive the letter that charging pile facility is sent out Number, the camera module is shot for current picture, and controller unit controls the infrared module, RFID module and takes the photograph respectively As head module.

4. the robot system of Automatic-searching charging pile according to claim 1, which is characterized in that the wireless transmission mould Block uses the home control network communication protocol based on 2.4G and 5.8G, and the 2.4G home control network communication protocols are for instructing, information is transmitted, described 5.8G home control network communication protocols are used for image transmitting.

5. the robot system of Automatic-searching charging pile according to claim 1, which is characterized in that slave computer robot is grasped Include starting module, robotary display module, accumulator electric-quantity display module, camera shooting display mould as interface module Block.