CN103997082B - Autonomous mobile robot autonomously charging method and charging apparatus - Google Patents

Autonomous mobile robot autonomously charging method and charging apparatus Download PDF

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CN103997082B
CN103997082B CN201410158874.XA CN201410158874A CN103997082B CN 103997082 B CN103997082 B CN 103997082B CN 201410158874 A CN201410158874 A CN 201410158874A CN 103997082 B CN103997082 B CN 103997082B
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infrared
charging
signal
mobile robot
base
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CN103997082A (en
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伍小军
刘冰冰
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伍小军
刘冰冰
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Abstract

一种移动机器人自主充电装置及其自主充电方法,涉及机器人技术领域,所解决的是降低成本,及提高通用性、可靠性的技术问题。 A mobile robot autonomous independent charging apparatus and charging method, relates to the field of robotics, the solution is to reduce costs, and improve the versatility, reliability technical problems. 该装置包括充电基座,及固定在移动机器人上的伴侣基座,充电基座上置有左右各一个红外发射器,该两个红外发射器发射相异的红外对接信号,从而在充电基座前方形成三个信号区域;伴侣基座上置有左右两组红外接收器,机器人通过该两组红外接收器判断所处信号区域,并结合所接收到的两个红外发射器发射的红外对接信号之间的信号强度差来找出充电基座的具体位置,实现与充电基座的自动对接。 The apparatus comprises a charging base, and fixed to the movable base companion robot, there is one on each opposite charge infrared emitter on the base, the two butted infrared transmitter transmits an infrared signal is different, so that the charging base IR signal is set to have about two mating infrared receiver on the partner base, in which the robot is determined through the two signal regions infrared receiver, and the received combined two infrared emitters emitted; forming three forward signal region the difference between the signal strength to identify the specific location of the charging base, and achieve automatic docking base charging. 本发明提供的装置及方法,特别适用于室内环境中的移动机器人使用,并采用插件式模块设计,可适用于不同的电池类型和机器人物理尺寸。 The present invention provides apparatus and method is especially suitable for indoor use in a mobile robot, and the use of plug-in modular design, suitable for different types of batteries and the physical dimensions of the robot.

Description

移动机器人自主充电装置及其自主充电方法 Autonomous mobile robot autonomously charging method and charging apparatus

技术领域 FIELD

[0001 ] 本发明涉及机器人技术,特别是涉及一种移动机器人自主充电装置及其自主充电方法的技术。 [0001] The present invention relates to robotics, and more particularly to a mobile autonomous robot apparatus charging method for charging and independent technology.

背景技术 Background technique

[0002] 很多服务型移动机器人的任务是在家庭和办公室环境中执行清扫、垃圾收集、包裹递送、做饭、配送饮料、监控等事务。 [0002] Many mobile service robot cleaning tasks are performed in the home and office environments, garbage collection, parcel delivery, cooking, beverage distribution, monitoring and other matters. 这些移动机器人能够将人类从繁重的劳动中解脱出来,这些移动机器人通常都配置有自主充电装置,机器人通过自主充电装置能定期地自动为体内电池充电,从而能完全自动化的运作而不需要人工介入。 The robot can move from the heavy human labor out, these mobile autonomous robots are usually arranged charging apparatus, a charging apparatus by the autonomous robot can automatically periodically charging the battery body, so that it can be fully automated operation without manual intervention .

[0003] 移动机器人的自主充电装置主要由充电站,及安装在机器人上的接收器构成,其中的充电站固定在落地物(墙面、地面)上,充电站持续的发射对接信号,机器人通过接收器来接收充电站发射的对接信号,进而找到充电站的具体位置,实现与充电站的自动对接,现有移动机器人的自主充电装置所采用的充电站自主对接方法具有众多缺陷。 [0003] autonomous mobile robot charging apparatus is mainly composed of a charging station, and a receiver mounted on the robot, wherein the charging station is fixed to the floor object (wall, floor), a charging docking station continuously transmitted signals, by the robot receiver to receive a charging docking station transmitted signal, and thus find the specific position of the charging station, the charging station to achieve automatic docking of a charging docking station autonomously autonomous mobile robot conventional charging apparatus employed has numerous defects.

[0004] 比如,iRobot公司生产的Roomba真空除尘机器人在充电站及机器人分别装有360度红外发射/接收器,机器人通过360度的红外接收器来接收充电站的红外对接信号,进而找到充电站的具体位置,实现与充电站的自动对接,这种采用360度红外发射/接收器实现自主对接的方法必须将360度红外发射/接收器分置于充电站及机器人的顶端位置,对机器人及充电站的结构设计有限制,只能用于特定的机器人,其通用性较差。 [0004] For example, the company iRobot Roomba vacuuming robots are respectively provided with the charging station 360 and the robot infrared transmitter / receiver, the robot receives an infrared signal of a charging docking station by infrared receiver 360, and then find the charging station automatic docking of specific location, and to achieve a charging station, such a 360-degree infrared transmitter / receiver implementation autonomous docking 360 degrees must be an infrared transmitter / receiver points at the top position of the charging station and the robot, and the robot charging station design is limited only for a specific robot, which is less versatile.

[0005] 又如,ffowffee公司的Rov1远端临场机器人在充电站上装有红外发射器,充电站利用红外发射器将红外光斑投射到天花板上,机器人装备的接收器利用三角法来测量位置和朝向,进而找到充电站的具体位置,实现与充电站的自动对接。 [0005] In another example, ffowffee's Rov1 telepresence robot equipped with an infrared emitter on the charging station, charging station using an infrared transmitter to the infrared light spots projected onto the ceiling, the receiver measure the position of the robot equipment and toward the use of trigonometry then to find a specific position of the charging station, the automatic docking and charging station. 但是在家庭和办公室环境中经常有椅子,桌子或者其它家具遮挡住机器人看向天花板的视线,这种情况下机器人无法找到充电站位置,其使用可靠性较差。 But in the home and office environments often have chairs, tables or other furniture blocking the line of sight to look at the ceiling of the robot, the robot can not be found in this case the charging station location, poor use of its reliability.

[0006] 又如,ActiveMedia公司的P1neer机器人采用激光扫描仪识别充电站的形状来找到充电站的具体位置,实现与充电站的自动对接,这种自主对接方法中的对接信号识别需要繁重的计算,激光扫描的运行功率也较高,其软硬件成本较高。 [0006] In another example, ActiveMedia's P1neer robot uses a laser scanner to identify the shape of the charging station to find out where the charging station, charging with automatic docking station, the docking abutment customize this signal recognition method requires heavy computation , operating power of the laser scanning higher, its high hardware and software costs.

[0007] 又如,Silverman等人采用视觉方法来辅助P1neer2_DX机器人实现与充电站的自动对接。 [0007] In another example, Silverman et al., Using visual methods to assist P1neer2_DX robot automatically dock with a charging station. 该方法需要在充电站上方的墙上张贴彩色纸张,并在机器人上安装一个PTZ摄像机用来寻找充电站。 This method requires a color paper posted on the wall above the charging station, and install a PTZ camera is used to find the charging station to the robot. 与之类似,Willow Garage公司开发了一个远端临场机器人,名为Texas机器人,该机器人采用彩色摄像机来寻找充电站,在充电站上放置有一系列的彩色圆环。 Similarly, Willow Garage has developed a telepresence robot, called Texas a robot which uses a color camera to find the charging station, a series of colored rings placed on the charging station. 这种采用视觉方法实现与充电站的自动对接需要稳定的光照条件以实现色彩模态的可靠识别,其使用可靠性较差。 This method of stabilization using visual light conditions and automatically charging docking station need to achieve a reliable identification of the color mode, the use of poor reliability.

发明内容 SUMMARY

[0008] 针对上述现有技术中存在的缺陷,本发明所要解决的技术问题是提供一种实现成本低,且安装高度可任意调节,受环境因素影响小,从而具有较好通用性及使用可靠性的移动机器人自主充电装置及其自主充电方法。 [0008] for the above-mentioned drawbacks in the prior art, the present invention is to solve the technical problem of providing a low cost, and the installation height can be adjusted, little affected by environmental factors, so as to have good versatility and reliable the autonomous mobile robot of the charging apparatus and charging method independent.

[0009] 为了解决上述技术问题,本发明所提供的一种移动机器人自主充电装置,涉及内置有电池的移动机器人,该装置包括固定在落地物上的充电基座,及固定在移动机器人上的伴侣基座,其特征在于: [0009] In order to solve the above problems, a mobile robot of the present invention provides independent charging apparatus, relates to a battery built in the mobile robot, the apparatus comprising a floor material is fixed to the charging base, and fixed to the mobile robot partner base, wherein:

[0010] 所述充电基座具有一红外发射腔,所述红外发射腔在朝前方向及左右方向上均对红外线开放,且红外发射腔的上下两侧腔壁均能隔断红外线,红外发射腔内固定有一竖置的发射端红外隔离板,该发射端红外隔离板将红外发射腔分隔成左右各一个发射子腔,该两个发射子腔内各置有一个红外发射器; [0010] The charging base having a cavity infrared transmitter, the infrared to infrared firing chambers are open in the forward direction and the lateral direction, and the upper and lower sides of the chamber wall cavity can cut off infrared emitting infrared rays, infrared emission chamber there are fixed a vertical infrared emitting end opposite separator plate, the separator plate infrared transmitter to transmit infrared cavity into a left and right transmitted sub-chamber, the two transmitted sub-chamber of the home has an infrared emitter;

[0011] 所述充电基座上置有红外信号发射电路,所述红外信号发射电路具有两个能输出相异信号的红外信号输出端口,该两个红外信号输出端口分别连接两个红外发射器; [0011] The charging two infrared emitters with an infrared signal transmitting circuit is set to the base, the infrared signal transmitting circuit having two distinct signals can output an infrared signal output port, the two output ports are connected to an infrared signal ;

[0012] 所述伴侣基座具有一红外接收腔,所述红外接收腔在左、前、右三个方向上对红外线开放,且在上、下、后三个方向上能隔断红外线,红外接收腔内固定有一竖置的接收端红外隔离板,该接收端红外隔离板将红外接收腔分隔成左右各一个接收子腔,该两个接收子腔内各置有至少一个红外接收器; [0012] The base has an infrared receiving partner cavity, said cavity open to the infrared receiver in the infrared left, front center, and right directions, and upper and lower, can cut off infrared rays, an infrared receiver on the rear three directions a vertical cavity is fixed opposite to the infrared receiving separator plate, the separator plate to the infrared receiving infrared receiving chamber receiving a partition around each of the sub-chamber into the cavity of each of the two receive sub-set has at least one infrared receiver;

[0013] 所述伴侣基座上置有红外信号接收电路,所述红外信号接收电路具有多个红外信号接收端口,红外信号接收电路的各个红外信号输出端口分别连接各个红外接收器; [0013] The chaperone placed on the susceptor with an infrared signal receiving circuit, said infrared signal receiving circuit having a plurality of receiving an infrared signal port, an infrared signal output port the respective infrared signal receiving circuit are connected to respective infrared receiver;

[0014] 所述充电基座及伴侣基座上分置有能以水平向插拔方式分合的充电插头、充电插座。 [0014] The charge can be split with a horizontal division manner to the plug base and companion charging plug base, the charging receptacle.

[0015] 进一步的,所述伴侣基座的前端置有三个按键能触碰到充电基座的微动开关,该三个微动开关从左至右弧形间隔布设。 [0015] Further, the front end of the base opposite the chaperone has three buttons can touch the charging base of the micro switch, the micro switch three arcuately spaced laid from left to right.

[0016] 进一步的,所述充电插头固定在充电基座上,充电插座则安装在伴侣基座上,充电插头的上下两端面上各固定有一个导电触片; [0016] Further, the charge plug is fixed to the base charge, the charging socket is mounted on the base mate, the upper and lower end faces of each plug has a constant charging conductive contacts;

[0017] 所述充电插座具有两个间隔布设且上下正对的滑动块,及用于驱使两个滑动块对向移动的弹簧,两个滑动块的对向端各固定有一个导电触片。 [0017] The charging socket has two spaced and vertically laid facing the slide block, and means for the movement of the spring, an end of each of the conductive contacts fixed to a slider driven by two two slide blocks.

[0018] 进一步的,两个滑动块迎合充电插头一侧的迎合面均为斜面,该两个迎合面的布设成前宽后窄的喇叭形。 [0018] Further, two sliding blocks meet the meet the charging plug side surface are inclined surfaces, the two surfaces to cater to the layout after the narrow width of the front horn.

[0019] 进一步的,所述红外信号发射电路包括发射控制模块、电源连接件; [0019] Further, the infrared signal transmitting circuit includes a transmission control module, the power supply connector member;

[0020] 所述充电插头经一电流传感器、一充电控制继电器接到电源连接件,所述电源连接件接到外部电源; [0020] The charge plug via a current sensor, a charging control relay to the power supply connector, said power connection to an external power source;

[0021] 所述发射控制模块具有传感信号输入端口、充电信号输出端口,及两个红外信号输出端口,发射控制模块的传感信号输入端口接到电流传感器的传感信号输出端,发射控制模块的充电信号输出端口接到充电控制继电器的控制线圈,发射控制模块的两个红外信号输出端口分别接到两个红外发射器。 [0021] The emission control signal input port connected to a sensing module current sensor sensing a sensing signal output terminal having a signal input port, an output port of the charging signal, an infrared signal and two output ports, the transmission control module, controlling the emission charge signal output port connected to the charge control module relay coil, an infrared signal transmitting two output ports are respectively connected to two control module infrared emitters.

[0022] 进一步的,所述红外信号接收电路包括接收控制模块、电池连接件; [0022] Further, the infrared signal receiving circuit comprises a receiving control module, the battery connector;

[0023] 所述充电插座经一受电控制继电器接到电池连接件,所述电池连接件接到移动机器人的内置电池; [0023] The charging socket receiving via a control relay electrically connected to the battery connector, the battery connector to the built-in battery of the mobile robot;

[0024] 所述接收控制模块具有受电信号输出端口,及多个红外信号接收端口,三个对接信号输入端口,接收控制模块的受电信号输出端口接到受电控制继电器的控制线圈,接收控制模块的各个红外信号接收端口分别接到各个红外接收器,接收控制模块的三个对接信号输入端口分别接到三个微动开关。 [0024] The receiving control module receiving an electrical signal having an output port, and a plurality of receiving an infrared signal port, three docking signal input port, a control module receiving the electrical signal output port connected to control the power receiving coil of the relay, receiving the control module of the respective ports are connected to an infrared signal receiving respective infrared receiver, the reception control module of three docking ports are connected to three input signals microswitch.

[0025] 本发明所提供的移动机器人自主充电装置的自主充电方法,其特征在于,使充电基座上的两个红外发射器持续的发射红外信号,并使两个红外发射器发射的红外信号相升; [0025] The mobile robot of the present invention provides a method of independent autonomous charge charging device, characterized in that the two infrared transmitters on the charging base sustained emits an infrared signal, and an infrared transmitter emits two infrared signals phase l;

[0026] 移动机器人需要充电时,执行以下步骤: When the [0026] need to charge the mobile robot, perform the following steps:

[0027] 1)通过伴侣基座上的各个红外接收器,采用原地转动方式检测红外对接信号,所述红外对接信号是指充电基座上的两个红外发射器所发射的红外信号; [0027] 1) by an infrared receiver on each base partner, using the local rotatably mating detecting infrared signals, said IR means an infrared signal mating two infrared transmitter signal on the emitted charging base;

[0028] 移动机器人检测到红外对接信号后,检测是否能同时收到两个红外发射器的红外信号,如果能同时收到两个红外发射器的红外信号,则转至步骤3,反之则转至步骤2 ; [0028] After the mobile robot docked is detected infrared signal, detecting whether two simultaneously received infrared signal of the infrared transmitter, an infrared signal is received if two infrared emitters simultaneously, go to step 3, otherwise turn to step 2;

[0029] 2)移动机器人采用原地往复转动方式找出能检测到红外对接信号的两个临界角度,进而找出能检测到红外对接信号的扇形区域,该扇形区域的中心线所指方向即为红外对接信号的中心,然后使移动机器人先转动至伴侣基座的前侧面正对红外对接信号的中心,再朝向未收到红外对接信号的红外发射器方向转动一个对中调整角度,然后移动机器人再朝向伴侣基座的正前方向直线移动,直至能同时收到两个红外对接信号后转至步骤3 ; [0029] 2) using the local mobile robot reciprocally rotatably identify critical angle can be detected two infrared docking signal, then find the sector can be detected in the region of the infrared signal abutment, the center line of the fan-shaped area that is indicated Infra-red signals to docking, then the mobile robot is rotated to mate to the front side center of the base docking infrared signal, and then toward the mating does not receive an infrared signal, an infrared transmitter in the direction of rotation of one pair of angle adjustment, then the mobile towards the base and then the robot companion moved linearly frontward direction, until the abutment to receive two infrared signals simultaneously go to step 3;

[0030] 其中,所述对中调整角度为预先设定的小于60度的阈值; [0030] wherein the adjustment of the angle is less than a preset threshold value of 60 degrees;

[0031] 3)移动机器人检测所收到两个红外对接信号的信号强度是否一致,如果所收到两个红外对接信号强度一致,则转至步骤5,反之则转至步骤4 ; [0031] 3) the mobile robot detects whether the signal strength of the received signal matches two infrared docking, if the received signal strength is consistent mating two infrared, go to Step 5, otherwise go to step 4;

[0032] 4)移动机器人朝向所收到的红外对接信号强度大的一侧转动,直至所收到两个红外对接信号强度一致后转至步骤5 ; High-intensity infrared mating side signal [0032] 4) received towards the mobile robot is rotated until the mating receipt of the infrared signal intensity consistent two go to step 5;

[0033] 5)移动机器人朝向自身前方移动,直至伴侣基座上的其中一个微动开关闭合后转至步骤6 ; [0033] 5) moves toward the front of the own mobile robot, wherein a microswitch until the switch is closed the base partner go to step 6;

[0034] 6)如果位于左侧的微动开关闭合,则移动机器人朝向右侧转动,直至位于中间的微动开关闭合后转至步骤7 ; [0034] 6) If the left side of the micro-switch is closed, the mobile robot is rotated to the right until the middle of the micro switch to close after step 7;

[0035] 如果位于右侧的微动开关闭合,则移动机器人朝向左侧转动,直至位于中间的微动开关闭合后转至步骤7 ; [0035] If the right side of the micro switch is closed, the mobile robot is rotated to the left, until the micro switch located in the middle of the closed go to step 7;

[0036] 如果位于中间的微动开关闭合,则转至步骤7 ; [0036] If in the middle of the micro switch is closed, then go to step 7;

[0037] 7)通过充电插头及充电插座向移动机器人的内置电池充电。 [0037] 7) to charge the internal battery of the mobile robot and the charging by the charging plug socket.

[0038] 进一步的,移动机器人所收到两个红外对接信号强度一致后朝向自身前方移动过程中,移动机器人的移动速度与红外对接信号强度成反比。 [0038] Further, the mobile robot after the received signal strength is consistent mating two infrared toward their forward movement, the moving speed of the mobile robot and the docking signal is inversely proportional to infrared.

[0039] 进一步的,充电基座上的两个红外发射器所发射的红外信号是由低频控制信号叠加在高频载波上的红外调制信号。 [0039] Further, two infrared emitters charge on the base of the emitted IR signal is an infrared signal modulated on a high frequency carrier superimposed by the low-frequency control signal.

[0040] 进一步的,所述对中调整角度的值为20度。 [0040] Further, the value of adjustment angle of 20 degrees.

[0041] 本发明提供的移动机器人自主充电装置及其自主充电方法,利用充电基座上的两个红外发射器共同沿水平向发射红外对接信号,从而在充电基座前方形成三个信号区域,机器人通过伴侣基座上的红外接收器接收红外对接信号,并根据所属信号区域及所接收到的两个红外对接信号之间的强度差找到充电基座的具体位置,实现与充电基座的自动对接,该装置实现成本低,且对红外发射器及红外接收器的安装高度没有限制,不需要强制安装在机器人顶部,对机器人的结构设计没有限制,安装高度可根据不同规格的机器人任意调节,可用于各种规格的机器人,具有较好通用性,工作环境中的阻挡物及光照对其影响也较小,具有使用可靠性高的特点。 [0041] The present invention provides a mobile robot autonomous and independent charging apparatus charging method, the use of two infrared transmitters on the charging base together along abutting horizontal emits an infrared signal, so as to form three signal charge in the base region of a front, docking the robot receives an infrared signal through the infrared receiver on the base partner, and find out where the charging base according to the intensity difference between the ordinary region and the two signals to infrared signals received mating, and automatically charging base docking, which means low cost, and the installation of an infrared transmitter and infrared receiver height is not limited, at the top of the robot does not need to force the installation, the structural design of the robot is not limited, the installation can be adjusted according to different specifications of the height of the robot, can be used for a variety of robots, having good versatility, the work environment light barrier and its impact is small, with the use of high reliability. 进一步的,充电基座及伴侣基座通过连接件来连接机器人的内置电池及配套充电器,可供未配置有自主充电装置的移动机器人使用,进一步的拓展了其通用性。 Further, the charging base connected to the base of the robot and the partner internal battery charger by connecting and supporting member is not arranged for autonomous mobile robot using a charging device, further expand its versatility. 进一步的采用易于设置且在室内环境中工作稳定性高的红外调制信号作为对接信号,不仅可以屏蔽掉来自阳光、日光灯、加热系统设备的红外干扰,而且红外调制信号可以传输字节型数据信息,调制和解调过程也不需要繁重的计算,红外调制信号的传输功率也较低,与激光扫描仪、声纳等相比较,实现成本较低,使用安全性也高,能在家庭和办公室环境下可靠的工作,即使有孩童或者宠物的家庭环境也适合使用。 Further provided is easy to use in the indoor environment and high operational stability infrared modulated signal as a docking signal, it can be masked not only the infrared interference from sunlight, fluorescent lights, heating equipment system, and the modulated infrared signals can be transmitted byte data, modulation and demodulation process does not require heavy computation, an infrared modulated signal transmit power is low, compared with the laser scanner, sonar, to achieve low cost, high safety, can be in the home and office environment under reliably, even if there are children or pets in the home environment is also suitable for use.

附图说明 BRIEF DESCRIPTION

[0042]图1是本发明实施例的移动机器人自主充电装置的结构示意图; [0042] FIG. 1 is a configuration diagram of a mobile autonomous robot charging apparatus embodiment of the present invention;

[0043] 图2是本发明实施例的移动机器人自主充电装置中的充电插座的结构示意图; [0043] FIG. 2 is a schematic structural diagram of an embodiment of the mobile robot in the present invention, a charging apparatus for charging socket autonomous;

[0044]图3是本发明实施例的移动机器人自主充电装置中的红外信号发射电路的电路图; [0044] FIG. 3 is a mobile robot of the present invention is a circuit diagram of an embodiment of an infrared signal transmitting circuit apparatus of autonomous charge;

[0045]图4是本发明实施例的移动机器人自主充电装置中的红外信号接收电路的电路图; [0045] FIG. 4 is a mobile robot of the present invention is a circuit diagram of an embodiment of an infrared signal receiving circuit means independent charge;

[0046] 图5a是本发明实施例的移动机器人自主充电装置的红外信号覆盖区域示意图; [0046] FIG. 5a is a schematic view of an infrared signal autonomous mobile robot according to an embodiment of the present invention covers the charging device region;

[0047] 图5b是本发明实施例的移动机器人自主充电装置的寻位示意图; [0047] FIG 5b is a schematic view of the bit to find autonomous mobile robot charging apparatus embodiment of the present invention;

[0048] 图6是本发明实施例的移动机器人自主充电装置的定位原理图; [0048] FIG. 6 is a mobile robot according to an embodiment of the present invention the principles of the positioning device of FIG autonomous charge;

[0049]图7是本发明实施例的移动机器人自主充电装置中的红外发射器所发射的红外调制信号的示意图; [0049] FIG. 7 is a schematic view of a mobile robot according to an embodiment of the present invention means an infrared modulated signal emitted by the infrared emitter of the autonomous charge;

[0050] 图8是本发明实施例的移动机器人自主充电装置测试时的移动机器人移动轨迹图。 [0050] FIG. 8 is a view of the mobile robot movement locus of the autonomous mobile robot charging apparatus embodiment of the present invention tested embodiment.

具体实施方式 Detailed ways

[0051] 以下结合附图说明对本发明的实施例作进一步详细描述,但本实施例并不用于限制本发明,凡是采用本发明的相似结构及其相似变化,均应列入本发明的保护范围。 [0051] The following description in conjunction with the accompanying drawings of embodiments of the present invention will be described in further detail, but the present embodiment is not intended to limit the present invention, the present invention is usually a similar structure and similar variations, should be included in the scope of the present invention .

[0052] 如图1-图2所示,本发明实施例所提供的一种移动机器人自主充电装置,涉及内置有电池的移动机器人,该装置包括固定在落地物上的充电基座10,及固定在移动机器人上的伴侣基座20,其特征在于: [0052] Figures 1 to 2, the embodiment of the present invention, a mobile autonomous robot examples provided charging means, relates to a battery built in the mobile robot, the apparatus comprising a fixed object on the floor 10 of the charging base, and fixed to the base 20 of the mobile robot companion, wherein:

[0053] 所述充电基座10具有一红外发射腔11,所述红外发射腔11在左、前、右三个方向上对红外线开放,且在上、下、后三个方向上能隔断红外线,红外发射腔11内固定有一竖置的发射端红外隔离板12,该发射端红外隔离板12将红外发射腔分隔成左右各一个发射子腔,该两个发射子腔内各置有一个红外发射器13 ; [0053] The base 10 has a charging chamber 11 infrared transmitter, the infrared emission infrared cavity 11 open on the left, front center, and right directions, and upper and lower, can cut off infrared rear three directions , infrared firing chamber 11 is fixed to a vertical infrared emitting end opposite separator plate 12, the infrared transmitter transmitting an infrared separator plate 12 about the partition chamber into a respective transmitted sub-chambers, each of the two transmitted sub-cavity has an infrared counter transmitter 13;

[0054] 所述充电基座10上置有红外信号发射电路,所述红外信号发射电路具有两个能输出相异信号的红外信号输出端口,该两个红外信号输出端口分别连接两个红外发射器11 ; [0054] The charge 10 placed on the susceptor with an infrared signal transmitting circuit, the infrared signal transmitting circuit having two distinct output signals can be an infrared signal output port, output signals of the two infrared ports are connected two infrared emitters 11;

[0055] 所述伴侣基座20具有一红外接收腔21,所述红外接收腔21在朝前方向及左右方向上均对红外线开放,且红外接收腔21的上下两侧腔壁均能隔断红外线,红外接收腔21内固定有一竖置的接收端红外隔离板22,该接收端红外隔离板22将红外接收腔分隔成左右各一个接收子腔,该两个接收子腔内各置有至少一个红外接收器23 ; [0055] The base 20 having a chaperone infrared receiving chamber 21, the infrared receiving chamber 21 are open in the infrared forward direction and the lateral direction, and the upper and lower sides of the chamber wall infrared receiving chamber 21 can cut off infrared , infrared receiver 21 is fixed to a vertical cavity opposite to the infrared receiving spacer plate 22, the infrared receiver side separator plate 22 about the partition infrared receiving chamber receiving a respective sub-chamber into the cavity of each of the two receive sub-set having at least one IR receiver 23;

[0056] 所述伴侣基座20上置有红外信号接收电路,所述红外信号接收电路具有多个红外信号接收端口,红外信号接收电路的各个红外信号输出端口分别连接各个红外接收器23 ; [0056] The base 20 on the opposite companion infrared signal receiving circuit, said infrared signal receiving circuit having a plurality of receiving an infrared signal port, an infrared signal output port the respective infrared signal receiving circuit are connected to respective infrared receiver 23;

[0057] 所述伴侣基座20的前端置有三个按键能触碰到充电基座的微动开关25,该三个微动开关25从左至右弧形间隔布设; [0057] The distal end opposite base 20 mate with three buttons can touch the charging base 25 of the micro switch, the micro switch 25 three spaced arcuate laid from left to right;

[0058] 所述充电基座10及伴侣基座20上分置有能以水平向插拔方式分合的充电插头14、充电插座,其中的充电插头14固定在充电基座上10,充电插座则安装在伴侣基座20上,充电插头14的上下两端面上各固定有一个导电触片; [0058] The charging base 10 and can have a horizontal split division manner to charge plug 14 on plug 20 couples the base, the charging socket, wherein the charge plug 14 is fixed on the base 10 in the charging, charging socket is mounted on base 20 mate, the upper and lower surfaces of both ends of the charging plug 14 is fixed to a respective conductive contacts;

[0059] 所述充电插座包括分别固定在伴侣基座上的上下各一个套筒241,及分别活动安装在上下套筒241内的上下各一个滑动块242,两个滑动块242间隔布设且上下正对,两个滑动块242的对向端分别伸至套筒241外部,且两个滑动块241的对向端各固定有一个导电触片243,每个套筒241内均置有用于驱使该套筒内的滑动块242朝向另一滑动块方向移动的弹簧244,每个套筒均与该套筒内的滑动块具有相互配合的用于限制滑动块整体脱出套筒的限位结构,两个滑动块迎合充电插头一侧的迎合面均为斜面,该两个迎合面的布设成前宽后窄的喇叭形,以便于充电插头插入。 An upper and lower slide block 242, two sliding blocks spaced 242 [0059] The charging receptacle includes upper and lower are respectively fixed on each of a partner base sleeve 241, and are vertically movably mounted within the sleeve 241 and laid down is on, the two ends of each slide block 241 extends to the outer sleeve, and two sliding block 241 has a pair of conductive contacts 243, are set to have the inner ends of each sleeve 241 is fixed to a drive 242 within the sleeve slide block 242 toward the other direction of movement of the slider spring 244, each sleeve has a stop cooperating structure for limiting the sliding blocks integral with the slider coming out of the sleeve within the sleeve, two sliding blocks meet the meet the charging plug side surface are inclined surfaces, the two surfaces to cater to the layout after the narrow width of the front horn, so as to plug into the charge.

[0060] 如图3所示,本发明实施例中,所述红外信号发射电路包括发射控制模块U11、电源连接件J11、插头连接件J12 ; [0060] 3, the embodiment of the present invention, the infrared signal includes a transmission control module transmitting circuit U11, the mains connection the J11, J12 plug connector member;

[0061] 所述充电插头的两个导电触片分别接到插头连接件J12的两个端脚,插头连接件J12经一电流传感器U12、一充电控制继电器JD11接到电源连接件J11,电源连接件J11接到外部电源(移动机器人配套充电器); [0061] The charging plug two conductive contacts are connected to the male connector member of two terminal pin J12, J12 plug connection U12 via a current sensor, a charging control relay JD11 to the J11 power connection, power connection J11 member connected to an external power source (charger supporting mobile robot);

[0062] 所述发射控制模块U11具有传感信号输入端口A03、充电信号输出端口P06,及两个红外信号输出端口P09、P10,发射控制模块U11的传感信号输入端口A03接到电流传感器U12的传感信号输出端Vout,发射控制模块U11的充电信号输出端口P06接到充电控制继电器JD11的控制线圈,发射控制模块U11的两个红外信号输出端口P09、P10通过两个电气连接件J13、J14分别接到两个红外发射器Qll、Q12 (Q1UQ12在图1中标记为13); [0062] The transmission control module U11 having a sensing signal input port A03, the charge signal output port P06, an infrared signal and two output ports P09, P10, a transmission control module U11 sensing signal input port A03 to the current sensor U12 sensing the output terminal Vout of the signal, the emission control signal output module charging to the charge port P06 U11 control the relay control coil JD11, the emission control module the two infrared signal output port P09 U11 is, P10 J13 via two electrical connections, J14 are respectively connected to two infrared emitters Qll, Q12 (Q1UQ12 labeled 13 in FIG. 1);

[0063] 所述发射控制模块U11采用的是Arduino微处理模块,电流传感器采用的是型号为ACS712的线性电流传感器,该电流传感器用于检测充电状态。 [0063] U11 using the transmission control module is Arduino microprocessor module, the current sensor uses a linear model of ACS712 current sensor, a current sensor for detecting the state of charge.

[0064] 如图4所示,本发明实施例中,所述红外信号接收电路包括接收控制模块U21、电池连接件J21、插座连接件J22 ; [0064] 4, the embodiment of the present invention, said infrared signal receiving circuit comprises a receiving control module U21, the J21 cell connector, the socket connector the J22;

[0065] 所述充电插座的两个导电触片分别接到插座连接件J22的两个端脚,插座连接件J22经一受电控制继电器JD21接到电池连接件J21,电池连接件J21接到移动机器人的内置电池; [0065] The two conductive contacts of the socket are respectively connected to two charging terminal pin of the socket connector J22, J22 via a receptacle connector receiving member electrically connected to the battery control relay JD21 member J21, J21 cell connector to built-in battery of the mobile robot;

[0066] 所述接收控制模块U21具有受电信号输出端口P06,及多个红外信号接收端口AD3、AD5,三个对接信号输入端口P08、P09、P10,接收控制模块U21的受电信号输出端口P06接到受电控制继电器JD21的控制线圈,接收控制模块U21的各个红外信号接收端口AD3、AD5通过两个电气连接件J23、J24分别接到各个红外接收器Q21、Q22、Q23、Q24 (Q21、Q22、Q23、Q24在图1中标记为23),接收控制模块U21的三个对接信号输入端口P08、P09、P10通过一个电气连接件J25分别接到三个微动开关; [0066] The control module receiving the electrical signal U21 with the output port P06, and a plurality of receiving an infrared signal port AD3, AD5, three docking signal input port P08, P09, P10, the control module receives the electrical signal output ports of U21 P06 to the power receiving coil of the relay control JD21 receiving the respective infrared signal control module receiving port AD3 of U21, J23 of AD5 via two electrical connecting member, respectively, to the J24 respective infrared receiver Q21, Q22, Q23, Q24 (Q21 , Q22, Q23, Q24 mark 23 in FIG. 1), the control module receives three docking U21 signal input port P08, P09, P10 are connected via a member J25 are respectively connected to three electrical micro switch;

[0067] 所述接收控制模块U21采用的是Arduino微处理模块。 [0067] The receiving control module Arduino U21 uses a microprocessor module.

[0068] 如图5a所示,本发明实施例的移动机器人自主充电装置中,充电基座上的两个红外发射器13发射红外信号时,在发射端红外隔离板12的挡隔下,红外信号的覆盖区域从左至右分为A1、A2、A3三个区域,左侧的A1区域只有左红外发射器13的信号,右侧的A3区域只有右红外发射器13的信号,而中间的A2区域则同时存在两个红外发射器13的信号。 [0068] Figure 5a, the mobile robot of the present invention, embodiments of independent charging apparatus, the charging two infrared emitters on the base 13 when transmitting an infrared signal in the infrared transmitter block compartment separator plate 12, infrared, coverage area signal from left to right is divided into A1, A2, A3 three regions, only the signal of the left region A1, A3 left-right area of ​​the infrared emitters 13 emit an infrared signal, closing 13, while the intermediate A2 region of the two infrared emitters 13 signals exist simultaneously.

[0069] 本发明实施例所提供的移动机器人自主充电装置的自主充电方法,其特征在于,使充电基座上的两个红外发射器持续的发射红外信号,并使两个红外发射器发射的红外信号相异; [0069] The autonomous mobile robot charging method embodiment provided by embodiments of the present invention is independent charging apparatus, characterized in that the two infrared transmitters on the charging base sustained emits an infrared signal, and two infrared emitters emitted infrared signals are different;

[0070] 移动机器人需要充电时,执行以下步骤: When the [0070] need to charge the mobile robot, perform the following steps:

[0071] 1)通过伴侣基座上的各个红外接收器,采用原地转动方式检测红外对接信号,所述红外对接信号是指充电基座上的两个红外发射器所发射的红外信号; [0071] 1) by an infrared receiver on each base partner, using the local rotatably mating detecting infrared signals, said IR means an infrared signal mating two infrared transmitter signal on the emitted charging base;

[0072] 移动机器人检测到红外对接信号后,检测是否能同时收到两个红外发射器的红外信号,如果能同时收到两个红外发射器的红外信号,则转至步骤3,反之则转至步骤2 ; [0072] After the mobile robot docked is detected infrared signal, detecting whether two simultaneously received infrared signal of the infrared transmitter, an infrared signal is received if two infrared emitters simultaneously, go to step 3, otherwise turn to step 2;

[0073] 2)此时伴侣基座的前侧面朝向充电基座,且伴侣基座位于充电基座左侧只能接收到左红外发射器信号的A1区域,或位于充电基座右侧只能接收到右红外发射器信号的A3区域,因为左右红外发射器发射的信号相异,所以机器人可以根据所接受到的红外信号内容来判断当前位于A1还是A3区域; [0073] 2) At this time, the base toward the front side of the charging base partner, and the partner is located in the base charge left on the left side of the base receiving only the infrared signal emitter region A1, or only the right side of the charging base receiving the right region A3 infrared transmitter signal, the signal emitter emits infrared as about dissimilar, the robot is currently located may be determined based on the area A1 or A3 infrared signal received content;

[0074] 移动机器人采用原地往复转动方式找出能检测到红外对接信号的两个临界角度,进而找出能检测到红外对接信号的扇形区域,该扇形区域的中心线所指方向即为红外对接信号的中心,然后使移动机器人先转动至伴侣基座的前侧面正对红外对接信号的中心,再朝向未收到红外对接信号的红外发射器方向转动一个对中调整角度,该对中调整角度为预先设定的小于60度的阈值,其优选值为20度,然后移动机器人再朝向伴侣基座的正前方向直线移动,直至能同时收到两个红外对接信号后转至步骤3 ; [0074] The mobile robot using the local reciprocally rotatably identify critical angle can be detected two infrared docking signal, then find the sector can be detected in the region of the infrared signal abutment, the center line of the indicated sector area is the infrared central docking signal, and then the mobile robot is rotated to mate to the front side of the base facing the center of the docking infrared signal, and then toward the mating does not receive an infrared signal direction is rotated by an infrared transmitter to adjust the angle of the adjustment an angle less than 60 degrees threshold value set in advance, which is preferably 20 degrees, and then move the robot toward the frontward direction of the base partner linear movement, until the abutment to receive two infrared signals simultaneously go to step 3;

[0075] 比如,移动机器人收到的红外对接信号来自左红外发射器,则向右红外发射器方向转动一个对中调整角度,移动机器人收到的红外对接信号来自右红外发射器,则向左红外发射器方向转动一个对中调整角度; [0075] For example, an infrared signal from the mobile robot docked received from the left infrared emitter, an infrared emitter right direction is rotated by a pair of angle adjustment, the infrared signal from the mobile robot docked received infrared emitter from the right, to the left direction is rotated by an infrared transmitter to adjust the angle pairs;

[0076] 如图5b所示,假定移动机器人当前位置R位于充电基座左侧只能接收到左红外发射器信号的A1区域内,伴侣基座的前侧面正对指向红外对接信号中心的方向RC,移动机器人朝向右红外发射器方向转动一个对中调整角度Θ后,伴侣基座的前侧面正对方向RB,该方向RB指向中间能同时收到两个红外发射器的红外信号的A2区域,然后移动机器人沿方向RB直线移动,直至进入能同时收到两个红外对接信号的红外覆盖区域A2 ;如果移动机器人处于充电基座右侧只能接收到右红外发射器信号的A3区域内,则移动机器人转动的对中调整角度相同但方向相反; The [0076] As shown in FIG 5b, the mobile robot is assumed that the current position R located on the left side of the base charge left only receive infrared transmitter signals A1 region, the front side of the base facing partner infrared mating direction toward the center of the signal the RC region A2, the mobile robot is rotated in a rightward direction after the infrared emitters [Theta], the front side of the base facing partner RB pair in a direction to adjust the angle of the direction the intermediate point RB can simultaneously receive two infrared emitters infrared signal , then the mobile robot RB linear movement direction, until entering the two simultaneously receive infrared signals IR abutting coverage area A2; if the mobile robot to the charging base on the right side can only receive the infrared emitter area A3 and right signals, adjusting the angle equal and opposite directions of rotation of the mobile robot in;

[0077] 3)此时伴侣基座的前侧面朝向充电基座,且伴侣基座位于能同时收到两个红外发射器信号的A2区域; [0077] 3) At this time, the front side of the base toward the partner base charge, and couples the base positioned to receive two signals simultaneously infrared emitter region A2;

[0078] 移动机器人检测所收到两个红外对接信号的信号强度是否一致,如果所收到两个红外对接信号强度一致,则转至步骤5,反之则转至步骤4 ; [0078] The mobile robot detects whether the signal strength of the received signal matches two infrared docking, if the received signal strength is consistent mating two infrared, go to Step 5, otherwise go to step 4;

[0079] 4)此时伴侣基座位于充电基座的正前方,并处于图6a或图6c所示的伴侣基座的前侧面侧对充电基座的状态; [0079] 4) At this time, a state located in front of the base companion charging base, and at the front side of the base of the partner side shown in FIG. 6a or FIG. 6c charging base;

[0080] 移动机器人朝向所收到的红外对接信号强度大的一侧转动,直至所收到两个红外对接信号强度一致后转至步骤5 ; High-intensity infrared mating side signal [0080] received towards the mobile robot is rotated until the mating receipt of the infrared signal intensity consistent two go to step 5;

[0081] 5)此时伴侣基座位于充电基座的正前方,并处于图6b所示的伴侣基座的前侧面正对充电基座的状态; [0081] 5) located in the base case companion charging base front, and at the front side of the base shown in FIG partner 6b a positive state of the charging base;

[0082] 移动机器人朝向自身前方移动,直至伴侣基座上的其中一个微动开关闭合后转至步骤6,移动机器人的移动速度与红外对接信号强度成反比,以降低移动机器人对充电基座的冲击; [0082] The mobile robot moves itself toward the front, wherein a microswitch until the switch is closed the base partner goes to step 6, the moving speed of the mobile robot and the docking signal is inversely proportional to the infrared, in order to reduce the movement of the robot to the charging base impact;

[0083] 6)如果位于左侧的微动开关闭合,则表明充电插座与充电插头未完全对接,移动机器人朝向右侧转动,直至位于中间的微动开关闭合后转至步骤7 ; [0083] 6) If the left side of the micro-switch is closed, it indicates that the charging socket and the charging plug is not fully mated, the mobile robot is rotated to the right until the middle of the micro switch to close after step 7;

[0084] 如果位于右侧的微动开关闭合,则表明充电插座与充电插头未完全对接,移动机器人朝向左侧转动,直至位于中间的微动开关闭合后转至步骤7 ; [0084] If the right side of the micro switch is closed, it indicates that the charging socket and the charging plug is not fully mated, the mobile robot is rotated toward the left, until the micro switch located in the middle of the closed go to step 7;

[0085] 如果位于中间的微动开关闭合,则表明充电插座与充电插头完全对接,则转至步骤7 ; [0085] If in the middle of the micro switch is closed, it indicates that the charging socket and the mating plug is fully charged, then go to step 7;

[0086] 7)通过充电插头及充电插座向移动机器人的内置电池充电。 [0086] 7) to charge the internal battery of the mobile robot and the charging by the charging plug socket.

[0087] 出于安全原因,只有当充电插座与充电插头完全对接后,充电插头上的导电触片才会有充电电流通过,为实现该安全功能,一个+5v的低压直流电信号作用在充电插座充电触片上,充电插座与充电插头完全对接后,充电插头上的发射控制模块检测到该+5v电信号,发射控制模块随即控制充电控制继电器的开关刀闭合,使得充电插头与外部电源(移动机器人配套充电器)导通。 [0087] For security reasons, only when the plug is fully charged and the charging socket mating conductive contact pads on the charging current through the charging plug will have to achieve this safety feature, a low-voltage DC signal is applied at the + 5v charging socket charging contacts, the charging socket and the charging plug is fully docked, a transmission control module in the charging plug detects the + 5v electric signal transmission control module then controls the charging control relay switch blade is closed, so that the charge plug to an external power supply (a mobile robot matching charger) is turned on.

[0088] 本发明实施例中,充电基座上的两个红外发射器所发射的红外信号是由低频控制信号叠加在高频载波(例如38kHz)上的红外调制信号,伴侣基座上的各个红外接收器调谐到与高频载波一致的频率,以忽略掉环境噪音,避免阳光、灯泡、加热器等环境因素的红外干扰。 [0088] In each of the embodiments, the infrared signals from the two infrared transmitters on the charging base is transmitted superimposed on a high frequency carrier (e.g. 38kHz) by a low-frequency control signal modulated infrared signal, the base embodiment of the present invention companion IR receiver is tuned to the same frequency with the carrier frequency to ignore noise environment, to avoid environmental factors interfering infrared light, light bulbs, such as a heater.

[0089] 红外发射器所发射的红外调制信号属于相位距离调制,该红外调制信号的信号格式为:起始位+地址位+命令位+截止位;其中,起始位采用连续的4ms高电平+lms低电平表述,截止位采用连续的2ms高电平表述,地址位采用4位二进制数表述,命令位采用6位二进制数表述,二进制1采用连续的1ms高电平+2ms低电平表述,二进制0采用连续的lms高电平+3ms低电平表述;使充电基座上的两个红外发射器发射的红外调制信号中包含不同的字符串,即可使移动机器人分辨出接收到的是哪个红外发射器所发射的信号。 Infrared modulation signal [0089] IR emitters are emitted from the phase modulation belongs, the signal format of the infrared signal is modulated: start bit address bits + + + OFF command bit position; wherein the starting position of the continuous high electrical 4ms low expression level + lms, 2ms off bits of continuous high level expression, address bit binary number representation using 4, 6-bit command bit binary number representation, a binary 1 is 1ms continuous high + low 2ms the expression level, binary 0 to a continuous high lms + 3ms low expression; the two infrared transmitters on the charging base emitted infrared modulated signal contain different strings can distinguish the received mobile robot the signal which is emitted by the infrared emitter.

[0090] 如图7为红外发射器所发射的包含有二进制字符串1001100100的红外调制信号实例示意图,该图中的F01区域为起始位,F02区域为地址位,F03区域为命令位,F04区域为截止位,B1区域表示二进制1,B2区域表示二进制0。 [0090] FIG 7 is emitted by infrared emitter comprises an infrared signal modulated with binary string Examples schematic 1001100100, F01 region of the figure is a start bit, F02 region address bits, F03 region command bits, F04 region off position, B1 represents a region of a binary 1, B2 represents a region of a binary 0.

[0091] 本发明实施例中,充电插座及充电插头均采用导电触片实现面接触,并利用弹簧增加接合可靠性,以保证充电插座与充电插头接合牢靠。 Embodiment [0091] of the present invention, the charge plug and charging socket contacts are made of conductive surface contact and increased bonding reliability by the spring, to ensure that the charge plug and charging socket securely engaged.

[0092] 本发明实施例可根据不同规格的移动机器人调整充电基座及伴侣基座的安装高度,可适用于多种规格的移动机器人。 [0092] Embodiments of the present invention can adjust the charging base and the partner base installation height according to different specifications of the mobile robot, applicable to a variety of specifications of the mobile robot.

[0093] 本发明实施例在现有的多种移动机器人(比如现有的差分移动机器人P1neer [0093] Example embodiments of the present invention in a variety of conventional mobile robot (mobile robot, such as a conventional differential P1neer

3-DX、现有的全向移动机器人R1)上进行了自主充电测试,均取得了较好效果; 3-DX, tests carried out on the existing autonomous charge omnidirectional mobile robot R1), have achieved good results;

[0094] 其中,现有的差分移动机器人P1neer 3-DX的内置电池为传统的铅酸电池,生产商所提供的配套充电器的输出规格为14伏,4安培直流电,测试过程中该移动机器人置于不同的开始位置时,都会首先移动到充电基座正前方能同时收到两个红外发射器信号的A2区域,然后朝充电基座直线移动直至充电插座与充电插头完全对接; [0094] wherein the existing differential P1neer 3-DX mobile robot built-in battery as a conventional lead-acid battery, charger supporting manufacturers specifications provided by the output 14 volts, 4 amps DC during the test of the mobile robot when placed in different starting positions, are first moved to the front of the charging base area A2 receive two infrared transmitter signals simultaneously, and then move linearly toward the charging base charging until the charge plug and receptacle are fully mated;

[0095]图8是本发明实施例的移动机器人自主充电装置安装在现有的差分移动机器人P1neer 3-DX上测试时的移动机器人移动轨迹图,该图中X轴及Y轴为位置坐标的横数轴及纵数轴,T0为充电基座所在位置,Tl、T2、T3、T4、T5、T6为各次测试中的机器人所在的初始位置,如图8所示,不论移动机器人从何位置出发,都会首先移动到充电基座正前方能同时收到两个红外发射器信号的A2区域,然后朝充电基座直线移动直至充电插座与充电插头完全对接。 [0095] FIG. 8 is an embodiment of a mobile robot of the present invention, the charging device is mounted independent mobile robot trajectories view when tested on a conventional differential mobile robot P1neer 3-DX, the X-axis and Y-axis position coordinates of the FIG. the number of horizontal axis and vertical axes, the charging base for the location where T0, Tl, T2, T3, T4, T5, T6 each test as the initial position of the robot is located, shown in Figure 8, regardless of where the mobile robot to the starting position , are first moved to the front of the charging base to receive two signals simultaneously infrared emitter area A2, and then moved linearly towards the base charge until the charge plug is fully mated with the charging socket.

[0096] 现有的全向移动机器人R1具有4个驱动轮,每个轮子具备侧向的直接移动能力,该移动机器人配备14.4伏,0.38千瓦时的锂离子电池,本发明实施例的移动机器人自主充电装置安装在该移动机器人上测试时,该移动机器人的移动轨迹与差分移动机器人P1neer 3-DX的移动轨迹类似。 [0096] Existing mobile robot has to move the whole robot R1 4 drive wheels, each wheel is provided with a direct lateral mobility, the mobile robot equipped with 14.4 volts, 0.38 kwh lithium ion battery, embodiments of the present invention. when the charging device is mounted in independent tests on the mobile robot, the trajectory of movement similar to the movement trajectories of the robot and the mobile robot difference of P1neer 3-DX.

[0097] 测试结果表明无论是差分运动机器人还是全向移动机器人,无论配备的是传统的铅酸蓄电池还是锂离子电池,本发明实施例的移动机器人自主充电装置均可以正常的工作。 [0097] The results show that both the differential motion of the robot to move the robot or full, whether it is equipped with a conventional lead-acid battery or lithium ion battery, the mobile robot of the present invention embodiments are independent charging apparatus can work normally.

Claims (10)

1.一种移动机器人自主充电装置,涉及内置有电池的移动机器人,该装置包括固定在落地物上的充电基座,及固定在移动机器人上的伴侣基座,其特征在于: 所述充电基座具有一红外发射腔,所述红外发射腔在左、前、右三个方向上对红外线开放,且在上、下、后三个方向上能隔断红外线,红外发射腔内固定有一竖置的发射端红外隔离板,该发射端红外隔离板将红外发射腔分隔成左右各一个发射子腔,该两个发射子腔内各置有一个红外发射器; 所述充电基座上置有红外信号发射电路,所述红外信号发射电路具有两个能输出相异信号的红外信号输出端口,该两个红外信号输出端口分别连接两个红外发射器; 所述伴侣基座具有一红外接收腔,所述红外接收腔在朝前方向及左右方向上均对红外线开放,且红外接收腔的上下两侧腔壁均能隔断红外线,红外 An autonomous mobile robot charging apparatus, to a battery built in the mobile robot, the apparatus comprising a floor material is fixed to the charging base, and fixed to the movable base robot companion, wherein: the charging base a housing having a cavity infrared transmitter, the infrared emission in the cavity left, front, and right three directions open to the infrared, and the upper and lower, can cut off infrared rear three directions, is fixed to a vertical cavity emitting infrared opposed infrared transmitter separator plate, the separator plate infrared transmitter infrared transmitter into each cavity about a partition transmitted sub-chamber, the two transmitted sub-chamber of the home has an infrared emitter; the charge placed on the susceptor has an infrared signal transmit circuitry, the infrared signal transmitting circuit having two signal output port can output different infrared signals, infrared signals of the two output ports are connected to two infrared emitters; said base having a chaperone infrared receiving cavity, the said infrared receiver cavity open in the infrared are forward direction and the lateral direction, and the upper and lower sides of the infrared receiving chamber cavity wall can cut off infrared rays, an infrared 收腔内固定有一竖置的接收端红外隔离板,该接收端红外隔离板将红外接收腔分隔成左右各一个接收子腔,该两个接收子腔内各置有至少一个红外接收器; 所述伴侣基座上置有红外信号接收电路,所述红外信号接收电路具有多个红外信号接收端口,红外信号接收电路的各个红外信号输出端口分别连接各个红外接收器; 所述充电基座及伴侣基座上分置有能以水平向插拔方式分合的充电插头、充电插座。 Receiving a vertical cavity is fixed opposite an infrared receiving side separator plate, the separator plate to the infrared receiver receives the infrared around each cavity into a sub-receiving cavity, the cavity of each of the two receive sub-set has at least one infrared receiver; the an infrared signal receiving circuit is placed on said base partner, said infrared signal receiving circuit having a plurality of receiving an infrared signal port, an infrared signal receiving circuit of each of the infrared signal output port respectively connected to each of the infrared receiver; the charging base and companion there can be split in a horizontal division manner to plug the charging plug on the base, the charging receptacle.
2.根据权利要求1所述的移动机器人自主充电装置,其特征在于:所述伴侣基座的前端置有三个按键能触碰到充电基座的微动开关,该三个微动开关从左至右弧形间隔布设。 The mobile robot according to claim 1, independent charging apparatus, wherein: said front end facing the base there are three buttons partner can touch the charging base micro switch, the micro switch left three to the right of arcuately spaced layout.
3.根据权利要求1或2所述的移动机器人自主充电装置,其特征在于:所述充电插头固定在充电基座上,充电插座则安装在伴侣基座上,充电插头的上下两端面上各固定有一个导电触片; 所述充电插座具有两个间隔布设且上下正对的滑动块,及用于驱使两个滑动块对向移动的弹簧,两个滑动块的对向端各固定有一个导电触片。 3. The autonomous mobile robot according to the charging device of claim 1 or claim 2, wherein: said upper and lower end faces of each charging plug fixed on the charging base, the receptacle is mounted on the charging base partner, the charging plug a conductive contact plate is fixed; the charging socket and having two spaced vertically laid facing the slide block, and means for driving the two slide blocks movement of the spring, has one end of each fixed to two sliding blocks conductive contacts.
4.根据权利要求3所述的移动机器人自主充电装置,其特征在于:两个滑动块迎合充电插头一侧的迎合面均为斜面,该两个迎合面的布设成前宽后窄的喇叭形。 4. The autonomous mobile robot according to the charging device according to claim 3, wherein: the two sliding blocks are slant faces meet the meet the charging plug side, the two surfaces to cater laid after the narrow width of the front horn .
5.根据权利要求1或2所述的移动机器人自主充电装置,其特征在于:所述红外信号发射电路包括发射控制模块、电源连接件; 所述充电插头经一电流传感器、一充电控制继电器接到电源连接件,所述电源连接件接到外部电源; 所述发射控制模块具有传感信号输入端口、充电信号输出端口,及两个红外信号输出端口,发射控制模块的传感信号输入端口接到电流传感器的传感信号输出端,发射控制模块的充电信号输出端口接到充电控制继电器的控制线圈,发射控制模块的两个红外信号输出端口分别接到两个红外发射器。 The mobile robot of claim 1 or claim 2 independent charging apparatus, wherein: said infrared signal transmitting circuit includes a transmission control module, the power supply connection; the charge plug via a current sensor, a charging control relay contact the mains connection, a power connection to an external power source; the transmission control module having a sensor signal input port, an output port of the sensing signal charging signal, an infrared signal and two output ports, a transmission control module connected to input ports to the sensing signal output terminal of the current sensor, transmitting a charging signal output port control module to control the charging coil of the relay, two infrared signal transmitting module output ports are respectively connected to two control infrared transmitter.
6.根据权利要求1或2所述的移动机器人自主充电装置,其特征在于:所述红外信号接收电路包括接收控制模块、电池连接件; 所述充电插座经一受电控制继电器接到电池连接件,所述电池连接件接到移动机器人的内置电池; 所述接收控制模块具有受电信号输出端口,及多个红外信号接收端口,三个对接信号输入端口,接收控制模块的受电信号输出端口接到受电控制继电器的控制线圈,接收控制模块的各个红外信号接收端口分别接到各个红外接收器,接收控制模块的三个对接信号输入端口分别接到三个微动开关。 The mobile robot of claim 1 or claim 2 independent charging apparatus, wherein: said infrared signal receiving circuit comprises a receiving control module, the battery connector; via the charging socket receiving a control relay electrically connected to a battery member, said cell connector member to the built-in battery of the mobile robot; receiving the electrical signal output by the control module receiving an electrical signal having an output port, and a plurality of receiving an infrared signal port, three docking signal input port, the receiving control module control port connected to the power receiving coil of the relay, a port receiving the respective infrared signal receiver control module are respectively connected to respective infrared receiver, receives a control signal input port three docking modules are respectively connected to three micro-switches.
7.根据权利要求2所述的移动机器人自主充电装置的自主充电方法,其特征在于,使充电基座上的两个红外发射器持续的发射红外信号,并使两个红外发射器发射的红外信号相异; 移动机器人需要充电时,执行以下步骤: 1)通过伴侣基座上的各个红外接收器,采用原地转动方式检测红外对接信号,所述红外对接信号是指充电基座上的两个红外发射器所发射的红外信号; 移动机器人检测到红外对接信号后,检测是否能同时收到两个红外发射器的红外信号,如果能同时收到两个红外发射器的红外信号,则转至步骤3,反之则转至步骤2 ; 2)移动机器人采用原地往复转动方式找出能检测到红外对接信号的两个临界角度,进而找出能检测到红外对接信号的扇形区域,该扇形区域的中心线所指方向即为红外对接信号的中心,然后使移动机器人先转动至伴侣基座的前 The mobile robot as claimed in claim 2, independent of the charging method a charging device independent, characterized in that the two infrared transmitters on the charging base sustained emits an infrared signal, and an infrared transmitter emits two infrared signal different; requires charging the mobile robot, the following steps: 1) by a respective infrared receiver on the base partner, using the local rotatably mating detecting infrared signal, the IR signal is a two abutment on the charging base an infrared signal emitted by the infrared emitter; after docking the mobile robot detects an infrared signal, detects whether the infrared signal is received simultaneously two infrared emitters, if two infrared transmitter to receive infrared signals simultaneously, the switch to step 3, otherwise go to step 2; 2) using the local mobile robot reciprocally rotatably identify the critical angle can be detected two infrared docking signal, then find the infrared area of ​​the sector can be detected docking signal, the sector is the longitudinal center line of the central area indicated by the infrared signal butted, and then the mobile robot is rotated to mate to the front of the base 侧面正对红外对接信号的中心,再朝向未收到红外对接信号的红外发射器方向转动一个对中调整角度,然后移动机器人再朝向伴侣基座的正前方向直线移动,直至能同时收到两个红外对接信号后转至步骤3 ; 其中,所述对中调整角度为预先设定的小于60度的阈值; 3)移动机器人检测所收到两个红外对接信号的信号强度是否一致,如果所收到两个红外对接信号强度一致,则转至步骤5,反之则转至步骤4 ; 4)移动机器人朝向所收到的红外对接信号强度大的一侧转动,直至所收到两个红外对接信号强度一致后转至步骤5 ; 5)移动机器人朝向自身前方移动,直至伴侣基座上的其中一个微动开关闭合后转至步骤6 ; 6)如果位于左侧的微动开关闭合,则移动机器人朝向右侧转动,直至位于中间的微动开关闭合后转至步骤7; 如果位于右侧的微动开关闭合,则移动机器人朝 Is centered on the abutment side infrared signal, and then rotated by an adjustment of the angular orientation does not receive an infrared signal, an infrared transmitter mating direction, and then move the robot toward the partner base moved linearly frontward direction, you can also receive up to two after docking infrared signals go to step 3; wherein the adjustment of the angle is less than a preset threshold value of 60 degrees; 3) the mobile robot received signal strength detecting two infrared signals are consistent mating, if abutting two infrared signals received consistent strength, go to step 5, otherwise go to step 4; large rotating mating infrared signal 4) toward the mobile robot received strength side, until the receipt of two abutting infrared consistent signal strength go to step 5; 5) the mobile robot moves itself toward the front, until after a micro-switch which is closed to step 6 on the partner base; 6) If the left side of the micro-switch is closed, the mobile the robot is rotated to the right until the middle of the micro-switch is closed go to step 7; on the right if the micro-switch is closed, the mobile robot toward 向左侧转动,直至位于中间的微动开关闭合后转至步骤7; 如果位于中间的微动开关闭合,则转至步骤7 ; 7)通过充电插头及充电插座向移动机器人的内置电池充电。 Rotated to the left, until the middle of the micro-switch is closed go to Step 7; if in the middle of the micro-switch is closed, then go to step 7; 7) by a charging plug and socket to charge the built-in battery charging the mobile robot.
8.根据权利要求7所述的移动机器人自主充电装置的自主充电方法,其特征在于:移动机器人所收到两个红外对接信号强度一致后朝向自身前方移动过程中,移动机器人的移动速度与红外对接信号强度成反比。 According to claim 7, the autonomous mobile robot apparatus charging method for charging autonomous, wherein: two infrared consistent signal strength toward the abutment itself forward movement, the moving speed of the mobile robot with the infrared received by the mobile robot docking is inversely proportional to the signal.
9.根据权利要求7或8所述的移动机器人自主充电装置的自主充电方法,其特征在于:充电基座上的两个红外发射器所发射的红外信号是由低频控制信号叠加在高频载波上的红外调制信号。 The charging method according to claim autonomous mobile robot in claim 7 or 8 independent charging device, wherein: the infrared signals from the two infrared transmitters on the charging base is emitted by a high frequency carrier superimposed on low-frequency control signal the infrared modulation signal.
10.根据权利要求7或8所述的移动机器人自主充电装置的自主充电方法,其特征在于:所述对中调整角度的值为20度。 10. The mobile robot as claimed in claim 7 or 8, autonomous self charging method a charging apparatus, wherein: the value of 20 degrees in the angle adjustment.
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