CN104242411B - A kind of intelligent charging method, system, patrol robot and charge power supply - Google Patents
A kind of intelligent charging method, system, patrol robot and charge power supply Download PDFInfo
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- CN104242411B CN104242411B CN201410541683.1A CN201410541683A CN104242411B CN 104242411 B CN104242411 B CN 104242411B CN 201410541683 A CN201410541683 A CN 201410541683A CN 104242411 B CN104242411 B CN 104242411B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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Abstract
The invention discloses a kind of intelligent charging method, including：The dump energy of patrol robot is detected；When the dump energy of detection is less than given threshold, precharge request is sent；Pair relationhip is established according to the precharge of reception request；According to the pair relationhip established, the identity of patrol robot in chargeable range is checked；Charge power supply is opened to by the patrol robot of identification checkup.The intelligent charging method of the present invention, the special charge requirement of robot is met by way of charge reservation and charge power supply start-up and shut-down control, balance the situation that multiple robots need to be charged, and reach the effect of low-carbon energy-saving, and use wireless charging technology, charge efficiency is improved, and saves device cost；Patrol robot, without behavior adjustment management, has broken away from artificial charging, has realized really automation and intellectuality in whole charging process.In addition, present invention also offers a kind of intelligent charging system, patrol robot and charge power supply.
Description
Technical field
The present invention relates to patrol robot automatic charging field, more particularly to a kind of intelligent charging method, system, patrol
Robot and charge power supply.
Background technology
With current scientific and technical development, patrol robot substitutes manual inspection and has become a kind of trend.But energy
The problem of source and environment are also paid close attention to the most as Present Global.Due to low-carbon demand and the influence of energy shortage, promote environmentally friendly new
The research and development energetically of the energy.Many wheeled robots are powered by battery, and battery charging at present uses
Most modes is by manually carrying out being manually inserted into attaching plug it to charge.Also there are many companies to be proposed now
The self-charging technology of robot, but its intelligence degree is generally relatively low, can not balance when the same area has multiple robot needs
The situation of charging, and the special charge requirement of robot can not be met, and also its scheme is all built upon robot charging inlet
It is accurate to connecting with power supply, sensor is typically set in robot, and robot is continuous according to the signal of sensor
Adjustment position, achieve a butt joint, this scheme needs very high sensor accuracy, requires high to sensor accuracy, easily increases device
Part cost.
The content of the invention
In view of this, it is an object of the invention to provide a kind of intelligent charging method, system, patrol robot and charging
Power supply, the special charge requirement of robot is met, and balance the situation that multiple robots need to be charged, realize machine
The automation and intellectuality of device people charging.
Technical scheme is as follows used by the present invention solves above-mentioned technical problem：
According to the first aspect of the invention, there is provided a kind of intelligent charging method, including：
The dump energy of patrol robot is detected；
When the dump energy of detection is less than given threshold, precharge request is sent；
Pair relationhip is established according to the precharge of reception request；
According to the pair relationhip established, the identity of patrol robot in chargeable range is checked；
Charge power supply is opened to by the patrol robot of identification checkup.
Preferably, pair relationhip is established according to the precharge of reception request, further comprised：
After receiving precharge request, the current state of charge power supply is checked；
When the current state of inspection is idle condition, identity information, dump energy information to patrol robot and fill
The positional information of power supply is prestored；
Patrol robot is matched in advance with charge power supply.
Preferably, intelligent charging method further comprises：
When the precharge for receiving multiple patrol robots is asked, believed according to the dump energy of the patrol robot to prestore
Breath carries out priority ranking to multiple patrol robots；
Priority level highest patrol robot is matched in advance with charge power supply.
Preferably, establishing pair relationhip according to the precharge of reception request also includes：
When the current state of inspection is working condition, charging outstanding message is sent to patrol robot.
Preferably, according to the pair relationhip established, the identity of patrol robot in chargeable range is checked, enters one
Step includes：
Detect the identity information of patrol robot；
Whether the identity information of patrol robot of the identity information for confirming to detect with prestoring matches.
Preferably, charge power supply is opened to by the patrol robot of identification checkup, further comprised：
When passing through identification checkup, charging signals are received；
The charge power supply is opened according to the charging signals of reception.
Preferably, according to the pair relationhip established, the step checked the identity of patrol robot in chargeable range
Before rapid, in addition to：
According to the positional information of the charge power supply to prestore, in tracking to chargeable range.
According to the second aspect of the invention, there is provided a kind of intelligent charging system, including：
Detection module, for being detected to the dump energy of patrol robot；
Request module, for when the dump energy of detection is less than given threshold, sending precharge request；
Matching module, for establishing pair relationhip according to the precharge of reception request；
Module is checked, for according to the pair relationhip established, core to be carried out to the identity of patrol robot in chargeable range
It is right；
Charging module, for opening charge power supply to by the patrol robot of identification checkup.
According to the third aspect of the present invention, there is provided a kind of patrol robot, including：
Detection module, for being detected to the dump energy of patrol robot；
Request module, for when the dump energy of detection is less than given threshold, sending precharge request.
According to the fourth aspect of the present invention, there is provided a kind of charge power supply, including：
Matching module, for establishing pair relationhip according to the precharge of reception request；
Module is checked, for according to the pair relationhip established, core to be carried out to the identity of patrol robot in chargeable range
It is right；
Charging module, for opening charge power supply to by the patrol robot of identification checkup.
Intelligent charging method, system, patrol robot and charge power supply provided in an embodiment of the present invention, pass through patrol plane
Device people monitors self residual electricity during patrol and determines a need for charging, when judging to need charging to charge power supply
Carry out wireless charging；The present invention uses wireless charging technology, it is not necessary to which charging inlet docks with the accurate of power supply, improves charging
Device cost is saved while efficiency, and the special charge requirement of robot, balance are met by way of charging and preengaging
Multiple robots need situation about being charged；It is also possible to control the start and stop of charge power supply, needing to charge
When open, it is not necessary to closed when charging, so as to reach the effect of low-carbon energy-saving, solving does not have target charging device
Shi Yiran causes the technical problem of energy dissipation in emitted energy.Patrol robot in whole charging process without behavior adjustment management,
Artificial charging has been broken away from, has realized really automation and intellectuality.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the flow chart for the intelligent charging method that first embodiment of the invention provides；
Fig. 2 is the refined flow chart of step S150 in Fig. 1 of the present invention；
Fig. 3 is the refined flow chart of step S170 in Fig. 1 of the present invention；
Fig. 4 is the refined flow chart of step S190 in Fig. 1 of the present invention；
Fig. 5 is the flow chart for the intelligent charging method that second embodiment of the invention provides；
Fig. 6 is the function structure chart for the intelligent charging system that third embodiment of the invention provides；
Fig. 7 is the function structure chart for the intelligent charging system that fourth embodiment of the invention provides；
Fig. 8 is the function structure chart for the patrol robot that fifth embodiment of the invention provides；
Fig. 9 is the function structure chart for the patrol robot that sixth embodiment of the invention provides；
Figure 10 is the function structure chart for the charge power supply that seventh embodiment of the invention provides；
Figure 11 is the structural representation of charging system provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
In order that technical problems, technical solutions and advantages to be solved are clearer, clear, tie below
Drawings and examples are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
It is described in detail below in conjunction with specific implementation of the specific embodiment to the present invention：
Fig. 1 is the flow chart for the intelligent charging method that first embodiment of the invention provides, and for convenience of description, is only listed
The part related to the embodiment of the present invention, details are as follows：
The intelligent charging method that first embodiment of the invention provides, comprises the following steps：
Step S110, the dump energy of patrol robot is detected.
In embodiments of the present invention, patrol robot timing detects to the dump energy of battery.
Step S130, when the dump energy of detection is less than given threshold, precharge request is sent.
In embodiments of the present invention, when patrol robot detects that the dump energy of current battery is less than given threshold
When, it will ask to charge from trend Master Control Center, and precharge request is sent to charge power supply, specifically, patrol robot passes through
Wireless serial module sends precharge request to charge power supply, wherein, wireless serial module plays data penetration transmission effect, sends out i.e.
Received.
Step S150, pair relationhip is established according to the precharge of reception request.
In embodiments of the present invention, charge power supply receives the precharge of patrol robot transmission by wireless serial module
After request, and patrol robot is replied by wireless serial module, patrol robot and charge power supply carried out advance
Pairing.
Fig. 2 show the method for establishing pair relationhip according to the precharge request of reception, specifically includes following steps：
Step S151, after receiving precharge request, the current state of charge power supply is checked；
Step S153, when the current state of inspection is idle condition, identity information, dump energy to patrol robot
The positional information of information and charge power supply is prestored；
Step S155, patrol robot is matched in advance with charge power supply.
Specifically, in embodiments of the present invention, each patrol machine carries RFID label tag per capita, and with RFID label tag sequence
Row number carries out patrol machine by the RFID label tag of patrol robot in embodiments of the present invention as its unique identifying number
The identification of people's identity information；Charge power supply also carries RFID label tag, and the positional information of charge power supply is stored to RFID label tag
In, the identification of charge power supply positional information is carried out by the RFID label tag of charge power supply in embodiments of the present invention, certainly, filled
The storage of electric position of source information can also be other modes, and the various ways of information storage are prior art, are differed herein
One repeats.
In embodiments of the present invention, when patrol robot sends precharge request, precharge request to charge power supply
For a data frame, the data frame includes RFID label tag sequence number, the current residual electricity information of robot, the preliminary filling of charge power supply
Electricity instruction and robot RFID label tag sequence number, after charge power supply receives precharge request by wireless serial module, detection
Current state, if charge power supply is in idle condition, charge power supply can use, successful matching, and patrol robot is by its identity
Information (RFID label tag sequence number) sends to charge power supply, charge power supply with dump energy information and preserves patrol robot to be charged
Identity information (RFID label tag sequence number) and dump energy information into internal memory, charge power supply sends its positional information to patrolling
Robot is patrolled, patrol robot prestores to the positional information of charge power supply.
Further, pair relationhip step S150, is established according to the precharge of reception request, in addition to：Work as charging
Power check to its current state be working condition when, send charging outstanding message to patrol robot；Specifically, in the present invention
Be working condition when checking charge power supply current state in embodiment, then charge power supply is unavailable, current pairing not into
Work(, charge power supply send charging outstanding message to patrol robot by wireless serial module.
As another preferable technical scheme, when charge power supply receives the precharge request of multiple patrol robots
When, priority ranking is carried out to multiple patrol robots according to the dump energy information of the patrol robot to prestore, with priority
Other highest patrol robot is matched in advance, balances the situation that multiple robots need to be charged with this, and meet
Patrol robot special charge requirement；In embodiments of the present invention, when charge power supply receives multiple patrol robots
Precharge request after, charge power supply carries out priority ranking according to the dump energy of patrol robot to patrol robot, really
The patrol robot for determining limit priority enjoys the right to use of charge power supply, by the patrol robot of limit priority and charging electricity
Source is matched in advance, the working condition of charge power supply cycle detection charging module, when the state of charge power supply is by working condition
When becoming idle condition, then the patrol robot charging complete of current highest priority, then charge power supply and next highest are excellent
The patrol robot of first level is matched in advance.
Step S170, according to the pair relationhip established, the identity of patrol robot in chargeable range is checked.
In embodiments of the present invention, realized by the verification to patrol robot RFID label tag to the patrol machine person
The verification of part, identity information that can also be by patrol robot in other embodiment of the present invention and charge power supply position
Information is mutual to be checked to realize the verification of identity each other.
Fig. 3 is shown according to the pair relationhip established, and core is carried out to the identity of the patrol robot in chargeable range
To method, specifically include following steps：
Step S171, the identity information of patrol robot is detected；
Whether the identity information of patrol robot of the identity information for step S173, confirming to detect with prestoring matches.
Specifically, in embodiments of the present invention, patrol robot is reached in chargeable range, and charge power supply control RFID is read
Write device to launch the emitted antenna of coded electromagnetic ripple signal, for activating the RFID label tag for entering the region, while handle connects
The RFID label tag signal that antenna receives is received, effective data are extracted after software demodulation, decoding, charge power supply verification RFID is returned
Sequence number whether the patrol robot to be charged with pre-saving RFID label tag sequence number it is whether consistent, if both sequence
Row number is consistent, then verification passes through, when the charge power supply verification RFID sequence numbers returned and the patrol machine to be charged pre-saved
When the RFID label tag sequence number of people is inconsistent, then checks and do not pass through.
Step S190, charge power supply is opened to by the patrol robot of identification checkup.
In embodiments of the present invention, opening charge power supply to the patrol robot by identification checkup has two kinds of realization sides
Formula：First, when patrol robot passes through identification checkup, charge power supply automatically turns on, second, when patrol robot passes through identity core
Pair when, the patrol robot control charge power supply opened；By controlling the start and stop of charge power supply, when charging is needed
Connect, it is not necessary to disconnected when charging, avoid the charge power supply in no target charging device from also causing energy in transmitting electric energy
Source wastes, so as to reach the effect of low-carbon energy-saving.
Fig. 4 is shown when patrol robot passes through identification checkup, and patrol robot control charge power supply is opened
Method, specifically include following steps：
Step S191, when passing through identification checkup, charging signals are received；
Step S193, charge power supply is opened according to the charging signals of reception.
Specifically, in embodiments of the present invention, when confirm identification checkup by when, patrol robot control traveling motor
Stop, and issue charging instruction, control infrared emission sensor emission infrared signal, the infrared signal is charging signals, charging
The door control unit of power supply is opened after receiving charging signals, and opens electricity transmitting element, while patrol robot opens installation
Electricity receiving unit in chassis, electricity transmitting element and electricity receiving unit wireless connection, patrol robot and charging module
Charging connection is established, patrol robot is charged by wireless charging technology, and patrol robot is in static in charging process
State.Patrol robot monitors self electric quantity in real time, when electricity reaches predetermined threshold value, shows charging complete, patrol robot
Control infrared emission sensor emission charging completion signal to charge power supply, the door control unit of charge power supply receives charging complete
Closed after signal, and close electricity transmitting element, while patrol robot closes the electricity receiving unit for being installed on chassis.
The intelligent charging method that first embodiment of the invention provides, constantly monitored certainly during patrol robot patrol
Body dump energy simultaneously determines a need for charging, and wireless charging is carried out to charge power supply when judging to need charging, using wireless
Charging technique, it is not necessary to charging inlet is docked with the accurate of power supply, and device cost is saved while improving charge efficiency, and
The special charge requirement of robot is met by way of charging and preengaging and balances the feelings that multiple robots need to be charged
Condition, patrol robot, without behavior adjustment management, have broken away from artificial charging, have realized really automation and intelligence in whole charging process
Energyization.In addition, the embodiment of the present invention can also control the start and stop of charge power supply, opened when charging is needed, it is not necessary to fill
Close when electric, so as to reach the effect of low-carbon energy-saving, still led when solving no target charging device in emitted energy
Cause the technical problem of energy dissipation.
Fig. 5 is the flow chart for the intelligent charging method that second embodiment of the invention provides, and for convenience of description, is only listed
The part related to the embodiment of the present invention, details are as follows：
The intelligent charging method that second embodiment of the invention provides, according to the pair relationhip established, to chargeable range
Before the step of identity of interior patrol robot is checked, in addition to：
Step S160, according to the positional information of charge power supply to prestore, in tracking to chargeable range.
In embodiments of the present invention, the Master Control Center of patrol robot is by obtaining the positional information of charge power supply, and
It is determined that reach the path of charge power supply, patrol robot automatic tracking is commanded in chargeable range by Master Control Center, in tracking mistake
Automatic obstacle avoiding function is realized by ultrasonic sensor in journey.Respectively two ultrasonic waves of installation pass for the front and back of patrol robot
Sensor, ultrasonic sensor by detect transmitting ultrasonic wave and its run into the time difference produced after barrier between echo, inspection
The distance of patrol robot and barrier is surveyed, then controls the steering, advance or retrogressing of patrol robot, aids in patrol robot
In tracking to chargeable range.
The intelligent charging method that second embodiment of the invention provides, constantly monitored certainly during patrol robot patrol
Body dump energy simultaneously determines a need for charging, and arriving charge power supply automatically when judging to need charging carries out wireless charging, this hair
It is bright to use wireless charging technology, it is not necessary to which that charging inlet docks with the accurate of power supply, is saved while improving charge efficiency
Device cost, and charge preengage by way of meet the special charge requirement of robot and balance multiple robots need into
The situation of row charging, patrol robot, without behavior adjustment management, have been broken away from artificial charging, realized really in whole charging process
Automation and intellectuality.In addition, the embodiment of the present invention can also control the start and stop of charge power supply, opened when charging is needed
Open, it is not necessary to close when charging, so as to reach the effect of low-carbon energy-saving, still exist when solving no target charging device
Emitted energy causes the technical problem of energy dissipation.
Fig. 6 is the function structure chart for the intelligent charging system that third embodiment of the invention provides, for convenience of description, only
The part related to the embodiment of the present invention is listed, details are as follows：
The intelligent charging system 100 that third embodiment of the invention provides, including：
Detection module 110, for being detected to the dump energy of patrol robot；
Request module 130, for when the dump energy of detection is less than given threshold, sending precharge request；
Matching module 150, for establishing pair relationhip according to the precharge of reception request；
Module 170 is checked, for according to the pair relationhip established, being carried out to the identity of patrol robot in chargeable range
Verification；
Charging module 190：For opening charge power supply to by the patrol robot of identification checkup；
Further, matching module 150 includes inspection unit, pre- memory cell and pairing unit；
Inspection unit, for after precharge request is received, checking the current state of charge power supply；
Pre- memory cell, for when the current state of inspection is idle condition, identity information, residue to patrol robot
The positional information of information about power and charge power supply is prestored；
Pairing unit：For patrol robot to be matched in advance with charge power supply.
Further, pre- memory cell is additionally operable to when the precharge for receiving multiple patrol robots is asked, according to prestoring
Patrol robot dump energy information to multiple patrol robots carry out priority ranking；And
Pairing unit is additionally operable to charge power supply be matched priority level highest patrol robot in advance.
Further, inspection unit is additionally operable to when the current state of inspection is working condition, sends charging outstanding message
To patrol robot.
Further, verification module 170 includes detection unit and confirmation unit；
Detection unit, for detecting the identity information of patrol robot；
Confirmation unit, for confirm the identity information that detects and the identity information of patrol robot that prestores whether phase
Match somebody with somebody.
Further, charging module 190 includes door control unit；
Door control unit, for when passing through identification checkup, receiving charging signals；And opened and filled according to the charging signals of reception
Power supply.
The intelligent charging system that third embodiment of the invention provides, patrol robot constantly monitor certainly during patrol
Body dump energy simultaneously determines a need for charging, and wireless charging is carried out to charge power supply when judging to need charging, using wireless
Charging technique, it is not necessary to charging inlet is docked with the accurate of power supply, and device cost is saved while improving charge efficiency, and
The special charge requirement of robot is met by way of charging and preengaging and balances the feelings that multiple robots need to be charged
Condition, patrol robot, without behavior adjustment management, have broken away from artificial charging, have realized really automation and intelligence in whole charging process
Energyization.In addition, the embodiment of the present invention can also control the start and stop of charge power supply, opened when charging is needed, it is not necessary to fill
Close when electric, so as to reach the effect of low-carbon energy-saving, still led when solving no target charging device in emitted energy
Cause the technical problem of energy dissipation.
Fig. 7 is the function structure chart for the intelligent charging system that fourth embodiment of the invention provides, for convenience of description, only
The part related to the embodiment of the present invention is listed, details are as follows：
Preferably, the intelligent charging system that fourth embodiment of the invention provides also includes：
Tracking module 160, for according to the positional information of charge power supply to prestore, in tracking to chargeable range.
The intelligent charging system that fourth embodiment of the invention provides, constantly monitored certainly during patrol robot patrol
Body dump energy simultaneously determines a need for charging, and wireless charging is carried out to charge power supply when judging to need charging, due to using
Wireless charging technology, it is not necessary to charging inlet docks with the accurate of power supply, saved while improving charge efficiency device into
Originally, and by way of charging and preengaging meeting the special charge requirement of robot and balancing multiple robots needs to be charged
Situation, separately by controlling switching on and off for wireless charging system and power supply, connected when charging is needed, it is not necessary to fill
Disconnected when electric, so as to reach the effect of low-carbon energy-saving, patrol robot, without behavior adjustment management, is broken away from whole charging process
Artificial charging, realize really automation and intelligent.
Fig. 8 is the function structure chart for the patrol robot that fifth embodiment of the invention provides, and for convenience of description, is only listed
The part related to the embodiment of the present invention, details are as follows：
The patrol robot 200 that fifth embodiment of the invention provides includes：
Detection module 210, for being detected to the dump energy of patrol robot；
Request module 230, for when the dump energy of detection is less than given threshold, sending precharge request.
In embodiments of the present invention, the controller TTL interfaces connection wireless serial module of patrol robot, wireless serial
Module is connected with antenna；When the dump energy of detection is less than given threshold, patrol robot is by wireless serial module to filling
Power supply sends precharge request.
Further, patrol robot 200 also includes electricity receiving unit.
The patrol robot that fifth embodiment of the invention provides, self residual electricity is constantly monitored during patrol and is sentenced
It is fixed whether to need to charge, wireless charging is carried out to charge power supply when judging to need charging, patrol robot charged entirely
Cheng Wuxu behavior adjustment managements, artificial charging is broken away from, realized really automation and intellectuality；In addition, the embodiment of the present invention is also
The startup and closing of charging system can be controlled, is opened when charging is needed, it is not necessary to closed when charging, so as to reach
To the effect of low-carbon energy-saving, the technology for still causing energy dissipation in emitted energy when solving no target charging device is asked
Topic.
Fig. 9 is the function structure chart for the patrol robot that sixth embodiment of the invention provides, and for convenience of description, is only listed
The part related to the embodiment of the present invention, details are as follows：
Preferably, the patrol robot that sixth embodiment of the invention provides also includes：
Tracking module 250, for according to the positional information of charge power supply to prestore, in tracking to chargeable range.
In embodiments of the present invention, because charge power supply is arranged in accumulator plant, when patrol robot is held in workspace
Task gone, it is necessary to which returning to accumulator plant could charge.Magnetic conductance trajectory is set between workspace and accumulator plant, and in magnetic wire rail
RFID label tag is set along road, and auxiliary guiding patrol robot returns to accumulator plant, and multiple RFID label tags are arranged at magnetic conductance trajectory
Default turning point, test point, change-over point and charge point along the line, it is embedded in default turning point, test point, change-over point and charge point
Underground, in the range of the RFID card reader in patrol robot can sense.
In embodiments of the present invention, patrol robot tracking comprises the following steps to charge power supply：
Step 1, when judging that patrol robot needs charging, detection patrol robot is currently located magnetic conductance trajectory
Deflection；
Step 2, the speed of steering and the trailing wheel advance of patrol robot front-wheel is adjusted according to deflection, makes patrol machine
People runs along the magnetic conductance trajectory laid in advance；
Step 3, the label string number of the RFID label tag set in advance is read, control patrol robot to hold according to label string number
Row is stopped, turned, the operation of speed governing.
Step 4, patrol robot detect patrol robot and front obstacle during tracking returns to accumulator plant
The distance between.
In step 4, by detect transmitting ultrasonic wave and its run into time after barrier between caused echo
Difference, obtain the distance of barrier.
Step 5, according to the distance between patrol robot and barrier, control patrol robot performs steering, advance or
The action that person retreats, avoiding obstacles.
In embodiments of the present invention, at the turning of magnetic conductance trajectory and default test point, change-over point, charge point etc.
Ad-hoc location has buried RFID (radio frequency identification) label in advance, and label string number and the geographical position of RFID label tag correspond.Patrol
Robot is in motion process, and RFID card reader reads the label string number of RFID label tag and reports master controller, by master controller
The location of patrol robot is judged according to label string number, and issues command adapted thereto control patrol robot and performs stop, turns
Curved, speed governing, detection, charging etc. operate.
The electromagnetic wire of the embodiment of the present invention is easily installed, stability is high, strong adaptability.Because patrol robot works in family
Outside, environment is relatively unstable, and electromagnetic wire line walking mode is better than infrared sensor line walking mode, can be embedded in electromagnetic wire in application
The surface layer of predetermined trajectory, the disguise of electromagnetic wire and the reliability of magnetic track can be strengthened, reduce abrasion.And only need in inspection
Good RFID (radio frequency identification) labels of ad-hoc location pre-plugged such as the turning point in path, test point, change-over point, charge point, are not required to
Whole to lay, save RFID label tag, saving components cost.
The patrol robot that sixth embodiment of the invention provides, self residual electricity is constantly monitored during patrol and is sentenced
Whether fixed to need to charge, when judging to need charging, automatic tracking carries out wireless charging to charge power supply, and patrol robot is whole
Individual charging process has broken away from artificial charging, has realized really automation and intellectuality without behavior adjustment management；It is in addition, of the invention
Embodiment can also control the startup and closing of charging system, be opened when charging is needed, it is not necessary to closed when charging
Close, so as to reach the effect of low-carbon energy-saving, still cause energy dissipation in emitted energy when solving no target charging device
Technical problem.
Figure 10 is the function structure chart for the charge power supply that seventh embodiment of the invention provides, and for convenience of description, is only listed
The part related to the embodiment of the present invention, details are as follows：
The charge power supply 300 that seventh embodiment of the invention provides includes：
Matching module 310, for establishing pair relationhip according to the precharge of reception request；
The controller TTL interfaces connection wireless serial module of charge power supply, wireless serial module are connected with antenna, patrol plane
By formulating, serial port communicating protocol carries out data and command communication, charge power supply pass through wireless serial between device people and charge power supply
Module receives the precharge request that patrol robot is sent.
Module 330 is checked, for according to the pair relationhip established, being carried out to the identity of patrol robot in chargeable range
Verification；
Charging module 350, for opening charge power supply to by the patrol robot of identification checkup.
Further, matching module 310 includes inspection unit, pre- memory cell and pairing unit；
Inspection unit, for after precharge request is received, checking the current state of charge power supply；
Pre- memory cell, for when the current state of inspection is idle condition, identity information, residue to patrol robot
The positional information of information about power and charge power supply is prestored；
Pairing unit：For patrol robot to be matched in advance with charge power supply.
Further, pre- memory cell is additionally operable to when the precharge for receiving multiple patrol robots is asked, according to prestoring
Patrol robot dump energy information to multiple patrol robots carry out priority ranking；And
Pairing unit is additionally operable to charge power supply be matched priority level highest patrol robot in advance.
Further, inspection unit is additionally operable to when the current state of inspection is working condition, sends charging outstanding message
To patrol robot.
Further, verification module 330 includes detection unit and confirmation unit；
Detection unit, for detecting the identity information of patrol robot；
Confirmation unit, for confirm the identity information that detects and the identity information of patrol robot that prestores whether phase
Match somebody with somebody.
Further, charging module 350 includes door control unit；
Door control unit, for when passing through identification checkup, receiving charging signals；And opened and filled according to the charging signals of reception
Power supply.
In embodiments of the present invention, charging module also includes electricity transmitting element, the electricity transmitting element and patrol plane
The electricity receiving unit wireless connection of device people, door control unit are made up of infrared remote control switch receiver and power supply, the infrared remote control
Switch receiver to be electrically connected with electricity transmitting element, power supply respectively, infrared remote control switch receiver and power supply connect through and off
Open and be controlled by patrol robot；The charge power supply is arranged in accumulator plant, and wherein electricity transmitting element is installed on the ground of accumulator plant
Under, and make waterproofing protection, the electricity receiving unit wireless connection with being installed on patrol robot chassis, by magnetic resonance to electricity
Receiving module transmission electric energy is measured, so as to be charged to patrol robot.
The charge power supply that seventh embodiment of the invention provides, using wireless charging technology, it is not necessary to charging inlet and power supply
Accurate docking, save device cost while improving charge efficiency, and machine is met by way of charging and preengaging
The special charge requirement of people, and balance the situation that multiple robots need to be charged, separately by control wireless charging system with
Power supply switches on and off, and is connected when charging is needed, it is not necessary to disconnected when charging, so as to reach low-carbon energy-saving
Effect, patrol robot without behavior adjustment management, have broken away from artificial charging in whole charging process, realize really automation and
It is intelligent.
Figure 11 is the structural representation of charging system provided in an embodiment of the present invention, in the present embodiment, with charging system
Structure to patrol robot by charge power supply carry out wireless charging be described in detail.The charging system is to be based on
The wireless charging system of WiTricity technologies, frequency of use, between 20MHz, WiTricity technologies are transported about in 300kHz
With on the wireless charging of wheeled patrol robot, i.e., by primary coil (i.e. transmit coil) and secondary coil (i.e. receiving coil)
A magnetic resonance system is calibrated for, when the frequency of oscillating magnetic field caused by primary coil and the intrinsic frequency of secondary coil are identical
Or when fairly close, primary coil can then resonate with secondary coil, resonator system is formed, realizes the wireless of internal energy
Transmission.The magnetic coupling of primary coil and secondary coil is not by restriction of obstacle therebetween.The charging system is based on height
Frequency magnetic field resonance principle realizes Radio Transmission Technology of the electric energy in space, solves the skill for needing high-precision sensor accurately to dock
Art problem.For convenience of description, the part related to the embodiment of the present invention is only listed, details are as follows：
Wherein, infrared remote control switch receiver is electrically connected with power supply grid, current rectifying and wave filtering circuit and infrared remote control switch
Receiver is electrically connected with, and high-frequency inverter circuit is electrically connected with current rectifying and wave filtering circuit, high-frequency inverter circuit and capacitance connection, electric capacity
LC resonators are connected and composed with transmitting coil.The alternating current of power supply grid output, usually mains electricity 220V/50hz, is passed through
Over commutation filter circuit is converted to direct current, then by high-frequency inverter circuit, produces high frequency, high-power sine wave as sharp
Source is encouraged, transmitting coil forms around under high_frequency sine wave effect and orients non-radiative magnetic field.
In embodiments of the present invention, the frequency of the receiving coil of electricity receiving unit sends list with electricity in charging system
The frequency of the transmitting coil of member is identical, therefore receiving coil produces resonance with transmitting coil and coupled, and receives magnetic field energy, produces electricity
Stream, electric current caused by the receiving coil of electricity receiving unit pass through rectification filtering voltage stabilizing circuit, export constant voltage to patrol plane
The battery charging of device people.The infrared remote control switch receiver of charge power supply is usually off-state, only works as patrol robot
When needing charging, patrol robot sends wireless charging signal by infrared emission sensor to infrared remote control switch receiver,
Infrared remote control switch receiver receives wireless charging signal and switched on power, and opens the electricity transmitting element transmission of electricity of charge power supply,
Electricity transmitting element transmits electric energy by magnetic resonance to the electricity receiving unit of patrol robot, and electricity receiving unit is to therewith
The battery charging of connection, and after the battery of patrol robot is fully charged, patrol robot control infrared emission sensor
Transmission signal, the infrared remote control switch receiver of charge power supply receive deenergization after signal, and under send instructions charge closing
The door control unit of module, the opening and closing of charge power supply are controlled by patrol robot, opened when charging is needed, no
Need to close when charging, avoid the electricity sending module in no target charging device from also causing the energy unrestrained in transmitting electric energy
Take, so as to reach the effect of low-carbon energy-saving.Whole charging process has been broken away from artificial charging, realized really without behavior adjustment management
Automation and intellectuality.
Intelligent charging method, system, patrol robot and charge power supply provided in an embodiment of the present invention, pass through patrol plane
Device people monitors self residual electricity during patrol and determines a need for charging, when judging to need charging to charge power supply
Carry out wireless charging；The present invention uses wireless charging technology, it is not necessary to which charging inlet docks with the accurate of power supply, improves charging
Device cost is saved while efficiency, and the special charge requirement of robot, balance are met by way of charging and preengaging
Multiple robots need situation about being charged；It is also possible to control the start and stop of charge power supply, needing to charge
When open, it is not necessary to closed when charging, so as to reach the effect of low-carbon energy-saving, solving does not have target charging device
Shi Yiran causes the technical problem of energy dissipation in emitted energy.Patrol robot in whole charging process without behavior adjustment management,
Artificial charging has been broken away from, has realized really automation and intellectuality.
It will be appreciated by those skilled in the art that the modules included for above-described embodiment, unit are simply according to function logic
Divided, but be not limited to above-mentioned division, as long as corresponding function can be realized；In addition, each functional module,
The specific name of unit is also only to facilitate mutually distinguish, the protection domain being not intended to limit the invention.
Those of ordinary skill in the art are further appreciated that all or part of step realized in above-described embodiment method is can
To instruct the hardware of correlation to complete by program, described program can be stored in a computer read/write memory medium
In, described storage medium, including ROM/RAM, disk, CD etc..
Above by reference to the preferred embodiments of the present invention have been illustrated, not thereby limit to the interest field of the present invention.This
Art personnel do not depart from the scope of the present invention and essence, can have a variety of flexible programs to realize the present invention, for example as one
The feature of individual embodiment can be used for another embodiment and obtain another embodiment.All institutes within the technical concept with the present invention
The all any modification, equivalent and improvement of work, all should be within the interest field of the present invention.
Claims (7)
- A kind of 1. intelligent charging method, it is characterised in that including：The dump energy of patrol robot is detected；When the dump energy of detection is less than given threshold, precharge request is sent, the precharge request includes charging The identity information of power supply, the identity information of the patrol robot and dump energy information；Pair relationhip is established according to the precharge of reception request；It is described to be asked to establish pairing pass according to the precharge of reception System, further comprises：After receiving the precharge request, the charge power supply of the identity information to meeting the charge power supply is worked as Preceding state is checked；It is identity information to the patrol robot, surplus when the current state of inspection is idle condition The positional information of remaining information about power and the charge power supply is prestored；The identity information of the charge power supply includes the charging The positional information of power supply, the positional information of the charge power supply is sent to the patrol robot, and by the patrol machine People is matched in advance with the charge power supply；The patrol robot is according to the positional information of the charge power supply to prestore, in tracking to chargeable range；According to the pair relationhip established, the identity of the patrol robot in the chargeable range is checked；Charge power supply is opened to by the patrol robot of identification checkup.
- 2. intelligent charging method according to claim 1, it is characterised in that further comprise：When the precharge for receiving multiple patrol robots is asked, according to the residue electricity of the patrol robot to prestore Measure information and priority ranking is carried out to multiple patrol robots；Patrol robot described in priority level highest is matched in advance with the charge power supply.
- 3. intelligent charging method according to claim 1, it is characterised in that also include：When the current state of inspection is working condition, charging outstanding message is sent to the patrol robot.
- 4. intelligent charging method according to claim 1, it is characterised in that it is described according to the pair relationhip established, The identity of the patrol robot in chargeable range is checked, further comprised：Detect the identity information of the patrol robot；Whether the identity information of the patrol robot of the identity information for confirming to detect with prestoring matches.
- 5. intelligent charging method according to claim 1, it is characterised in that the patrol plane to by identification checkup Device people opens charge power supply, further comprises：When passing through identification checkup, charging signals are received；The charge power supply is opened according to the charging signals of reception.
- 6. intelligent charging method according to claim 1, it is characterised in that the patrol robot is according to the institute to prestore State the positional information of charge power supply, in tracking to chargeable range, including：The Master Control Center of the patrol robot determines to reach institute by the positional information of the charge power supply to prestore described in acquisition State the path of charge power supply；By in the Master Control Center commander patrol robot automatic tracking to the chargeable range.
- A kind of 7. robot automtion charging system, it is characterised in that including：Detection module, for being detected to the dump energy of patrol robot；Request module, for when the dump energy of detection is less than given threshold, sending precharge request, the precharge Request includes the identity information of charge power supply, the identity information of the patrol robot and dump energy information；Matching module, for establishing pair relationhip according to the precharge of reception request；The matching module is specifically used for：Connect Receive the precharge request of the patrol robot, the current state of the charge power supply of the identity information to meeting the charge power supply Detected；When the current state of inspection is idle condition, identity information, dump energy to the patrol robot The positional information of information and the charge power supply is prestored；The identity information of the charge power supply includes the charge power supply Positional information, the positional information of the charge power supply is sent to the patrol robot, and by the patrol robot and institute Charge power supply is stated to be matched in advance；Tracking module, for according to the positional information of charge power supply to prestore, in tracking to chargeable range；Module is checked, for according to the pair relationhip established, core to be carried out to the identity of the patrol robot in chargeable range It is right；Charging module：For opening charge power supply to by the patrol robot of identification checkup.
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| CN201410541683.1A CN104242411B (en) | 2014-10-14 | 2014-10-14 | A kind of intelligent charging method, system, patrol robot and charge power supply |
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| CN201410541683.1A CN104242411B (en) | 2014-10-14 | 2014-10-14 | A kind of intelligent charging method, system, patrol robot and charge power supply |
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