CN103944202A - Outdoor mobile robot photovoltaic automatic charging method - Google Patents
Outdoor mobile robot photovoltaic automatic charging method Download PDFInfo
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- CN103944202A CN103944202A CN201310024113.0A CN201310024113A CN103944202A CN 103944202 A CN103944202 A CN 103944202A CN 201310024113 A CN201310024113 A CN 201310024113A CN 103944202 A CN103944202 A CN 103944202A
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Abstract
The invention relates to an outdoor mobile robot photovoltaic automatic charging method. The method comprises a GPS receiver (1), an electronic compass (2), an inertia gyroscope (3), a light intensity sensor (4), a power supply voltage measuring circuit (5), a controller (6), a linear push rod motor (7), a push rod motor-drive circuit (8), a limiting protection circuit (9), a solar energy photovoltaic plate (10), a solar energy charging control circuit (11) and a charging battery (12). When an outdoor mobile robot is at an under-voltage state, a work state can be paused, the outdoor mobile robot is automatically controlled to perform azimuth adjustment, a linear push rod is driven, and the solar energy photovoltaic plate can face sunlight for photovoltaic charging. After the charging is finished, the solar energy photovoltaic plate can be automatically lowered, and the normal operation state of the robot is recovered.
Description
Technical field
The present invention relates to a kind of automatic photovoltaic charged method of outdoor moving robot, especially robot.
Background technology
The effective carrier of the work such as outdoor moving robot can be used as detection conventionally, rescue, speedily carry out rescue work, but the DC power source capacity of providing for oneself due to robot is limited, so limited the flying power of outdoor moving robot.Common processing method is that robot stops operation etc. to be charged or enables stand-by power supply.Patent of the present invention, for outdoor moving kind robot provides the photovoltaic automatic recharging method of another expansion of power supply capacity, can effectively increase the flying power of robot.
Summary of the invention
The object of the invention is, for outdoor moving robot provides a kind of automatic photovoltaic charged method, increases the flying power of robot.
For achieving the above object, the present invention includes: (A) GPS receiver, electronic compass, inertial gyroscope, light intensity sensor, supply voltage measuring circuit, controller; (B) line handspike motor, push-rod electric machine drive circuit, position limitation protection switch; (C) solar energy photovoltaic panel, solar charging circuit, rechargeable battery.
In the present invention, A comprises GPS receiver (1), electronic compass (2), inertial gyroscope (3), light intensity sensor (4), supply voltage measuring circuit (5), controller (6).
GPS receiver (1) is for determining the longitude and latitude geography information at the current place of outdoor moving robot; Electronic compass (2) is for determining the absolute reference orientation of outdoor moving robot; Inertial gyroscope (3), for adjusting the azimuth of outdoor moving robot, makes solar energy photovoltaic panel be positioned at robot by a circumsolar side, improves charge efficiency; Intensity of illumination transducer (4) is for detection of weather conditions, thereby determines whether to be applicable to photovoltaic charged; Supply voltage Acquisition Circuit (5) is for detection of robot power supply voltage; Controller (6) moves and battery is charged for the adjustment of control azimuth, push-rod electric machine.Controller (6) is according to the state of toggle switch, its control azimuth adjustment has two kinds of selections: if toggle switch is " ON ", controller (6) gathers the information of each transducer and limit switch, by asynchronous communication interface, the azimuth of needs adjustment etc. is transferred to mobile robot's master controller, completes the azimuthal adjustment of mobile robot by master controller; If toggle switch is " OFF ", controller (6) is directly exported two-way motor control signal and is used for adjusting robot azimuth to main drive motor driver.Meanwhile, controller (6), by certain algorithm drives control line handspike motor, is propped up or falls solar energy photovoltaic panel, and position limitation protection is provided.
In the present invention, B comprises line handspike motor (7), push-rod electric machine drive circuit (8), position limitation protection circuit (9).
Line handspike motor (7), for promoting the hinged solar energy photovoltaic panel in mobile robot top, makes solar energy photovoltaic panel just to sunlight; Motor-drive circuit (8), for receiving the motor motion control instruction of controller (6) output, drives line handspike motor (7); Position limitation protection circuit (9) is for the stroke of straight limit push-rod electric machine.
In the present invention, C comprises solar energy photovoltaic panel (10), solar charging electric control circuit (11), rechargeable battery (12).
Solar energy photovoltaic panel (10), for receiving sunlight, is realized photoelectric energy conversion; Solar charging electric control circuit (11) is for charging to rechargeable battery; Rechargeable battery (12) is for store electrical energy.
As shown in Figure 1, controller (6) is is constantly patrolled and examined and is gathered GPS receiver (1), electronic compass (2), inertial gyroscope (3), intensity of illumination transducer (4), the information of supply voltage Acquisition Circuit (5), after detecting that supply voltage is lower than set point, if fine day or intensity of illumination meet the demands, according to GPS, electronic compass, the robot posture information that electronic gyroscope detects, controller (6) is transferred to mobile robot's master controller according to toggle switch state or by asynchronous communication interface the azimuth of needs adjustment, complete the azimuthal adjustment of mobile robot by master controller, or directly export two-way robot azimuth and adjust control command to robot main drive motor driver.Controller (6) drives control line handspike motor to move, and props up and the monolateral hinged solar energy photovoltaic panel in mobile robot top, makes the contained solar energy photovoltaic panel of mobile robot just carry out photovoltaic charged to sunlight.After having charged, automatically fall solar energy photovoltaic panel, recover normal operating condition.
The present invention has following advantage:
1. the multi-sensor informations such as GPS, absolute orientation, azimuth and the ambient lighting of moveable robot movement can be provided.
2. Local Adaptation is strong, can carry out the azimuthal adjustment of global mobile robot.
3. when under-voltage charging, can automatically realize the azimuthal adjustment of mobile robot.
4. controller can coordinate main motor driver directly to realize the azimuthal adjustment of mobile robot, also can be integrated in mobile robot's master control system by asynchronous communication, adjust mobile robot's azimuth by master control system, so, controller described in this invention (6) had both been applicable to newly-built outdoor moving robot project, was applicable to again project reconstruction and the Function Extension of existing outdoor moving robot.
5. can drive line handspike, make solar energy photovoltaic panel just to sunlight, improve charge efficiency.
After having charged, can automatically fall solar energy photovoltaic panel, recover normal operating condition.
Brief description of the drawings
Accompanying drawing further illustrates this patent below:
Fig. 1 outdoor moving robot photovoltaic charging controller system construction drawing;
Fig. 2 outdoor moving robot photovoltaic charging controller method flow diagram.
Embodiment
Solar energy photovoltaic panel (10) in outdoor moving of the present invention robot photovoltaic automatic recharging method is arranged on mobile robot's top by hinge, when robot normal operating conditions, solar energy photovoltaic panel (10) is in flat condition, and fine day can be to the floating charge of battery poor efficiency; In the time of robot power supply undertension, under the effect of controller (6), according to the geographical position at weather conditions and robot place with work as forward azimuth, mobile robot's stop motion the state of temporarily deactivating, then automatically adjust its azimuth, and drive line handspike motor (7) by motor-drive circuit (8), prop up solar energy photovoltaic panel (10), make the contained solar energy photovoltaic panel of mobile robot just carry out photovoltaic charged to sunlight to rechargeable battery (12).After having charged, controller (6) is controlled line handspike motor (7) and is automatically fallen solar energy photovoltaic panel, recovers normal operating condition.
Claims (4)
1. an outdoor moving robot photovoltaic automatic recharging method; comprise GPS receiver (1); electronic compass (2); inertial gyroscope (3); light intensity sensor (4); supply voltage measuring circuit (5); controller (6); line handspike motor (7); push-rod electric machine drive circuit (8), position limitation protection circuit (9), solar energy photovoltaic panel (10); solar charging electric control circuit (11), rechargeable battery (12).
2. outdoor moving as claimed in claim 1 robot photovoltaic automatic recharging method, it is characterized in that can be according to GPS receiver (1), electronic compass (2), inertial gyroscope (3), longitude and latitude that light intensity sensor (4) and supply voltage measuring circuit (5) provide, absolute reference orientation, when sensor informations such as forward azimuth and ambient lighting intensity, automatically judge whether weather conditions are applicable to mobile robot photovoltaic charged.If it is outdoor photovoltaic charged to judge that weather is applicable to, the azimuthal instruction of mobile robot is adjusted in controller (6) output automatically, and mobile robot's azimuth is adjusted to and made solar energy photovoltaic panel be positioned at the side near sunlight.
3. outdoor moving as claimed in claim 2 robot photovoltaic automatic recharging method, it is characterized in that controller (6) has global adaptive capacity, can judge that mobile robot is currently operating at Northern Hemisphere and Southern Hemisphere according to GPS metrical information, automatically revise robot azimuth adjustment algorithm.
4. outdoor moving as claimed in claim 1 robot photovoltaic automatic recharging method; it is characterized in that controller (6) can automatically control drive line handspike motor (7) move and carry out position limitation protection; prop up solar energy photovoltaic panel, make solar energy photovoltaic panel just carry out photovoltaic charged to sunlight to rechargeable battery.After charging completes, controller (6) can be fallen solar energy photovoltaic panel (10) automatically, recovers mobile robot's normal operating conditions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310024113.0A CN103944202B (en) | 2013-01-23 | 2013-01-23 | A kind of outdoor moving robot photovoltaic automatic recharging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310024113.0A CN103944202B (en) | 2013-01-23 | 2013-01-23 | A kind of outdoor moving robot photovoltaic automatic recharging method |
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| Publication Number | Publication Date |
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| CN103944202A true CN103944202A (en) | 2014-07-23 |
| CN103944202B CN103944202B (en) | 2017-10-24 |
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| CN201310024113.0A Expired - Fee Related CN103944202B (en) | 2013-01-23 | 2013-01-23 | A kind of outdoor moving robot photovoltaic automatic recharging method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104959358A (en) * | 2015-07-08 | 2015-10-07 | 安徽宝昱电子科技有限公司 | Solar charging device of sweeping machine |
| CN105843115A (en) * | 2016-03-22 | 2016-08-10 | 河海大学常州校区 | Photovoltaic intelligent mobile platform |
| CN106655451A (en) * | 2016-11-23 | 2017-05-10 | 河池学院 | Solar charging robot |
| CN108521157A (en) * | 2018-05-09 | 2018-09-11 | 北京铂阳顶荣光伏科技有限公司 | Robot and its charge control method and device, computer readable storage medium |
| CN110011393A (en) * | 2019-04-22 | 2019-07-12 | 佛山职业技术学院 | A kind of wireless charging control method and its system based on photovoltaic O&M |
| CN110190640A (en) * | 2019-04-25 | 2019-08-30 | 国家电网有限公司 | A kind of robot mother port |
| EP3503205A4 (en) * | 2016-08-19 | 2020-02-19 | Positec Power Tools (Suzhou) Co., Ltd | Automatic working system |
| SE545119C2 (en) * | 2022-05-16 | 2023-04-04 | Husqvarna Ab | Method and system for finding a charging position for a solar-driven autonomous robot |
| SE545219C2 (en) * | 2022-06-16 | 2023-05-30 | Husqvarna Ab | Method and system for operating an autonomous robot including searching for a new charging spot |
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| CN101533277A (en) * | 2008-03-10 | 2009-09-16 | 余军 | Solar tracking device based on geographical parameters and method thereof |
| CN101800403A (en) * | 2010-04-06 | 2010-08-11 | 昆山市工业技术研究院有限责任公司 | Inspection robot for ultra-high voltage power transmission lines |
| CN202631435U (en) * | 2012-05-31 | 2012-12-26 | 刘昊烨 | Aquaculture disease diagnosis robot |
| CN202679276U (en) * | 2012-07-23 | 2013-01-16 | 蔡博渊 | Sunflower type solar power station of bionic robot |
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| CN101533277A (en) * | 2008-03-10 | 2009-09-16 | 余军 | Solar tracking device based on geographical parameters and method thereof |
| CN101800403A (en) * | 2010-04-06 | 2010-08-11 | 昆山市工业技术研究院有限责任公司 | Inspection robot for ultra-high voltage power transmission lines |
| CN202631435U (en) * | 2012-05-31 | 2012-12-26 | 刘昊烨 | Aquaculture disease diagnosis robot |
| CN202679276U (en) * | 2012-07-23 | 2013-01-16 | 蔡博渊 | Sunflower type solar power station of bionic robot |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104959358A (en) * | 2015-07-08 | 2015-10-07 | 安徽宝昱电子科技有限公司 | Solar charging device of sweeping machine |
| CN105843115A (en) * | 2016-03-22 | 2016-08-10 | 河海大学常州校区 | Photovoltaic intelligent mobile platform |
| EP3503205A4 (en) * | 2016-08-19 | 2020-02-19 | Positec Power Tools (Suzhou) Co., Ltd | Automatic working system |
| EP3872867A1 (en) * | 2016-08-19 | 2021-09-01 | Positec Power Tools (Suzhou) Co., Ltd | Automatic working system |
| EP3503205B1 (en) | 2016-08-19 | 2021-05-12 | Positec Power Tools (Suzhou) Co., Ltd | Automatic working system |
| CN106655451A (en) * | 2016-11-23 | 2017-05-10 | 河池学院 | Solar charging robot |
| CN108521157A (en) * | 2018-05-09 | 2018-09-11 | 北京铂阳顶荣光伏科技有限公司 | Robot and its charge control method and device, computer readable storage medium |
| CN110011393A (en) * | 2019-04-22 | 2019-07-12 | 佛山职业技术学院 | A kind of wireless charging control method and its system based on photovoltaic O&M |
| CN110190640A (en) * | 2019-04-25 | 2019-08-30 | 国家电网有限公司 | A kind of robot mother port |
| SE545119C2 (en) * | 2022-05-16 | 2023-04-04 | Husqvarna Ab | Method and system for finding a charging position for a solar-driven autonomous robot |
| SE2250587A1 (en) * | 2022-05-16 | 2023-04-04 | Husqvarna Ab | Method and system for finding a charging position for a solar-driven autonomous robot |
| SE545219C2 (en) * | 2022-06-16 | 2023-05-30 | Husqvarna Ab | Method and system for operating an autonomous robot including searching for a new charging spot |
| SE2250721A1 (en) * | 2022-06-16 | 2023-05-30 | Husqvarna Ab | Method and system for operating an autonomous robot including searching for a new charging spot |
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|---|---|
| CN103944202B (en) | 2017-10-24 |
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Granted publication date: 20171024 Termination date: 20200123 |