CN105790372A - Automatic charging system for fully-automatic patrol cleaning robot - Google Patents
Automatic charging system for fully-automatic patrol cleaning robot Download PDFInfo
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- CN105790372A CN105790372A CN201610260488.0A CN201610260488A CN105790372A CN 105790372 A CN105790372 A CN 105790372A CN 201610260488 A CN201610260488 A CN 201610260488A CN 105790372 A CN105790372 A CN 105790372A
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- automatic
- charging
- robot
- guide rail
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- 238000004140 cleaning Methods 0.000 title abstract description 6
- 238000010408 sweeping Methods 0.000 claims description 25
- 238000007689 inspection Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 8
- 230000010354 integration Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 3
- 238000003032 molecular docking Methods 0.000 abstract 1
- 230000004927 fusion Effects 0.000 description 14
- 238000005516 engineering process Methods 0.000 description 13
- 230000000295 complement effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
-
- H02J7/027—
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic charging system for a fully-automatic patrol cleaning robot. A guide rail is arranged at a charging power supply; guide wheels and an AC charging seat are arranged on the guide rail; the robot is connected with the guide rail via the guide wheels; a charging pole piece and the guide wheels are arranged at the bottom of the robot; a contact point of the AC charging seat is connected with a contact point on the charging pole piece; and a battery power display screen is arranged on the AC charging seat. The automatic charging system of the invention adopts the guide rail to guide the fully-automatic patrol cleaning robot to move, thereby ensuring the precision of a docking position and a gesture of the fully-automatic patrol cleaning robot; the AC 220V is adopted for power supply, the charging seat is arranged on the guide rail, an external DC rectifying device is not needed, and the system structure is simple; and the charging seat and the charging pole piece are docked by adopting a simple pressing mode, and the reliability is high.
Description
Technical field
The invention belongs to automatic charging technical field, particularly relate to a kind of full-automatic tour sweeping robot automatic charging system.
Background technology
Sweeping robot is automatically maked an inspection tour in the cleaning of substation field, it is common to there is the working time short, and once charging cannot ensure the demand of non-stop run in 24 hours.And that personnel's real-time oversight should not be arranged automatically to make an inspection tour sweeping robot is manual powered in working site.
Existing automatic charging automatically makes an inspection tour sweeping robot, and the assurance for the charging interval exists irrationality；The design of charged rail program also occurs deviation often.Above many reasons, causes the full-automatic work making an inspection tour sweeping robot instability occur, and fault happens occasionally.
Summary of the invention
It is an object of the invention to provide a kind of full-automatic tour sweeping robot automatic charging system, aim to solve the problem that cleaning full-automatic tour sweeping robot charging procedure track is inaccurate, cause charging unsuccessful, it is impossible to the problem that fully automatic working, charging and no supervision work 24 hours automatically.
The present invention is realized in, described full-automatic tour sweeping robot automatic charging system installs guide rail at charge power supply place, guide rail is provided with directive wheel and AC charging seat, robot is linked together by directive wheel and guide rail, charging pole piece and directive wheel are arranged on the bottom of robot, the contact of AC charging seat is connected with the electric shock on charging pole piece, and AC charging seat is provided with battery electric quantity display screen.
Further, described charging pole piece is connected with the full-automatic tour charge control module of sweeping robot, rectification module, rechargeable battery successively.
Further, described AC charging seat is connected with zero line and the live wire of electric main
Another object of the present invention is to provide a kind of described full-automatic automatic recharging method making an inspection tour sweeping robot automatic charging system, described automatic recharging method includes:
Robot, according to the path planned in advance, finds the black guide rail being arranged on ground and walks；8 sensors of robot interior differentiate by gathering the carrying out of guide rail, by pid algorithm, form a closed-loop automatic control based on feedback, and pid algorithm passes through the control of measurement repeatedly, integration, differential, judge whether to advance, turn to；
Robot self uses the energy to be DC24V accumulator, and when the energy content of battery is lower than 15%, Automatic Program detection is reported to the police, and robot interior prompting energy is relatively low, it is necessary to after being charged.Automatically starting charge mode, program, by the path pre-set, searches out cradle position；
Front and back limit switch according to cradle position carries out repeatedly searching and location, and the contact being arranged on the full-automatic charging pole piece making an inspection tour sweeping robot side is attached with the contact on cradle, in representing that charging carries out when green light on cradle；
After charging complete, after robot detects that electricity reaches standard, charging terminates.AC charging seat daily period is connected with zero line and the live wire of electric main.
Full-automatic tour sweeping robot automatic charging system provided by the invention, charging system adopts rail guidance automatically to make an inspection tour sweeping robot motion, it is ensured that the full-automatic precision making an inspection tour sweeping robot stop position and attitude；Employing alternating current 220V is powered, and cradle is arranged on fixed position, it is not necessary to external DC rectifier device, system structure is simple；Cradle adopts simple compression mode to dock with charging pole piece, and reliability is high.The PID of the present invention controls technology: current closed-loop automatic control technology is all based on the concept of feedback to reduce uncertainty.The key element of feedback theory includes three parts: measures, compare and performs.Measure the actual value of crucially controlled variable, compared with expected value, carry out the response of correcting system by this deviation, perform regulable control.In engineering reality, the actuator control law being most widely used is ratio, integration, differential control, is called for short PID and controls, regulates also known as PID；Multisensor Data Fusion technology；Multisensor Data Fusion technology is formed at the eighties in last century, has become the focus of research at present.It is different from general signal and processes, monitoring and measurement also different from single or multiple sensors, but to based on the higher level integrated decision-making process on multiple sensor measurement bases, the definition of Data Fusion of Sensor may be summarized to be in addition comprehensive for the local data's resource being distributed in the multiple similar of diverse location or inhomogeneity sensor provides, adopt computer technology that it is analyzed, eliminate redundancy that may be present and contradiction between multi-sensor information, in addition complementary, reduce its not certainty, the concordance obtaining measurand is explained and describes, thus improving the system decision-making, planning, the rapidity of reaction and correctness, system is made to obtain information more fully.Its information fusion occurs on different level of information, including data Layer fusion, Feature-level fusion, Decision-level fusion.
Accompanying drawing explanation
Fig. 1 is the full-automatic tour sweeping robot automatic charging system structural representation that the embodiment of the present invention provides；
Fig. 2 is the charging pole piece structure schematic diagram that the embodiment of the present invention provides；
Fig. 3 is the AC charging holder structure schematic diagram that the embodiment of the present invention provides；
In figure: 1, guide rail；2, directive wheel；3, robot；4, charging pole piece；5, AC charging seat；6, battery electric quantity display screen.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearly understand, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
Below in conjunction with accompanying drawing, the structure of the present invention is explained in detail.
As it is shown in figure 1, the full-automatic sweeping robot automatic charging system of making an inspection tour of the embodiment of the present invention specifically includes that guide rail 1, directive wheel 2, robot 3, charging pole piece 4, AC charging seat 5, battery electric quantity display screen 6.
Robot 3 is linked together by directive wheel 2 and guide rail 1, and charging pole piece 4 and directive wheel 2 are arranged on the bottom of robot 3, and the contact of AC charging seat 5 is connected with the electric shock on charging pole piece 4, and AC charging seat 5 is provided with battery electric quantity display screen 6.
The internally installed of robot 3 has charge control module, rectification module and rechargeable battery.
Guide rail fixedly mounts on the ground, installs No. 8 infrared sensors and a road infrared sensor of the human body bottom robot altogether.For can ensure that robot goes on patrol reliably according to the track set.The fixed station patrol that tracks adopts based on speed by PID and the infrared location technology tracking and combining.Software design adopts pid control algorithm, signals collecting is carried out by No. 8 infrared sensors, use the closed-loop automatic control technology based on feedback, pid algorithm measurement repeatedly, integration, differential control, judge whether to advance, turn to, servos control the concrete direction led by algorithm, so by conjunction with the correlation technique such as infrared tube, photoelectric sensor, to reduce uncertainty, it is effectively guaranteed the degree of accuracy of robot direction controlling.
Robot, according to the path planned in advance, finds the black guide rail being arranged on ground and walks.8 sensors of robot interior differentiate by gathering the carrying out of guide rail, pass through pid algorithm, form a closed-loop automatic control based on feedback, pid algorithm passes through the control of measurement repeatedly, integration, differential, judges whether to advance, turn to, servos control the concrete direction led, on the right side of when turning left, steering wheel turns to, on the left of when turning right, steering wheel turns to, and to reduce uncertainty, is effectively guaranteed the degree of accuracy of robot direction controlling.
Robot self uses the energy to be DC24V accumulator, and when the energy content of battery is lower than 15%, Automatic Program detection is reported to the police.Robot interior prompting energy is relatively low, it is necessary to after being charged.Automatically starting charge mode, program, by the path pre-set, searches out cradle position.Front and back limit switch according to cradle position carries out repeatedly searching and location, and the contact being arranged on the full-automatic charging pole piece making an inspection tour sweeping robot side is attached with the contact on cradle, in representing that charging carries out when green light on cradle.
After charging complete, after robot detects that electricity reaches standard, charging terminates.AC charging seat daily period is connected with zero line and the live wire of electric main.
The operation principle of the present invention:
(1) PID controls technology: current closed-loop automatic control technology is all based on the concept of feedback to reduce uncertainty.The key element of feedback theory includes three parts: measures, compare and performs.Measure the actual value of crucially controlled variable, compared with expected value, carry out the response of correcting system by this deviation, perform regulable control.In engineering reality, the actuator control law being most widely used is ratio, integration, differential control, is called for short PID and controls, regulates also known as PID.
(2) multisensor Data Fusion technology
Multisensor Data Fusion technology is formed at the eighties in last century, has become the focus of research at present.It is different from general signal and processes, monitoring and measurement also different from single or multiple sensors, but to based on the higher level integrated decision-making process on multiple sensor measurement bases, the definition of Data Fusion of Sensor may be summarized to be in addition comprehensive for the local data's resource being distributed in the multiple similar of diverse location or inhomogeneity sensor provides, adopt computer technology that it is analyzed, eliminate redundancy that may be present and contradiction between multi-sensor information, in addition complementary, reduce its not certainty, the concordance obtaining measurand is explained and describes, thus improving the system decision-making, planning, the rapidity of reaction and correctness, system is made to obtain information more fully.Its information fusion occurs on different level of information, including data Layer fusion, Feature-level fusion, Decision-level fusion.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention.
Claims (4)
1. a full-automatic tour sweeping robot automatic charging system, it is characterized in that, described full-automatic tour sweeping robot automatic charging system installs guide rail at charge power supply place, guide rail is provided with directive wheel and AC charging seat, robot is linked together by directive wheel and guide rail, charging pole piece and directive wheel are arranged on the bottom of robot, and the contact of AC charging seat is connected with the electric shock on charging pole piece, and AC charging seat is provided with battery electric quantity display screen.
2. full-automatic tour sweeping robot automatic charging system as claimed in claim 1, it is characterised in that described charging pole piece is connected with the full-automatic tour charge control module of sweeping robot, rectification module, rechargeable battery successively.
3. full-automatic tour sweeping robot automatic charging system as claimed in claim 1, it is characterised in that described AC charging seat is connected with zero line and the live wire of electric main.
4. the full-automatic automatic recharging method making an inspection tour sweeping robot automatic charging system as claimed in claim 1, it is characterised in that described automatic recharging method includes:
Robot, according to the path planned in advance, finds the black guide rail being arranged on ground and walks；8 sensors of robot interior differentiate by gathering the carrying out of guide rail, by pid algorithm, form a closed-loop automatic control based on feedback, and pid algorithm passes through the control of measurement repeatedly, integration, differential, judge whether to advance, turn to；
Robot self uses the energy to be DC24V accumulator, and when the energy content of battery is lower than 15%, Automatic Program detection is reported to the police, and robot interior prompting energy is relatively low, it is necessary to after being charged.Automatically starting charge mode, program, by the path pre-set, searches out cradle position；
Front and back limit switch according to cradle position carries out repeatedly searching and location, and the contact being arranged on the full-automatic charging pole piece making an inspection tour sweeping robot side is attached with the contact on cradle, in representing that charging carries out when green light on cradle；
After charging complete, after robot detects that electricity reaches standard, charging terminates.AC charging seat daily period is connected with zero line and the live wire of electric main.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610260488.0A CN105790372A (en) | 2016-04-22 | 2016-04-22 | Automatic charging system for fully-automatic patrol cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610260488.0A CN105790372A (en) | 2016-04-22 | 2016-04-22 | Automatic charging system for fully-automatic patrol cleaning robot |
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| Publication Number | Publication Date |
|---|---|
| CN105790372A true CN105790372A (en) | 2016-07-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610260488.0A Pending CN105790372A (en) | 2016-04-22 | 2016-04-22 | Automatic charging system for fully-automatic patrol cleaning robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390687A (en) * | 2017-07-17 | 2017-11-24 | 天津帕比特科技有限公司 | A kind of Automatic Track Finding dolly and autonomous tracing in intelligent vehicle |
| CN107482718A (en) * | 2017-08-14 | 2017-12-15 | 深圳市优必选科技有限公司 | Charging base and robot |
| WO2019128636A1 (en) * | 2017-12-26 | 2019-07-04 | 杭州萤石软件有限公司 | Cleaning method and cleaning robot |
| CN110471405A (en) * | 2018-05-10 | 2019-11-19 | 深圳市神州云海智能科技有限公司 | A kind of robot tracking charging method and robot |
| CN112486154A (en) * | 2019-09-10 | 2021-03-12 | 深圳拓邦股份有限公司 | Infrared and tracking based refilling method and system |
| CN112674662A (en) * | 2021-01-11 | 2021-04-20 | 李祥银 | Indoor venue ground cleaning device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH06246654A (en) * | 1993-02-26 | 1994-09-06 | Shimadzu Corp | Line charging robot |
| CN101293539A (en) * | 2008-04-15 | 2008-10-29 | 上海中为智能机器人有限公司 | Modularized portable mobile robot system |
| CN102931711A (en) * | 2012-11-28 | 2013-02-13 | 山东电力集团公司电力科学研究院 | Automatic robot charging system and charging method thereof |
| CN204905925U (en) * | 2015-07-31 | 2015-12-23 | 北京家度科技有限公司 | Power module of robot |
-
2016
- 2016-04-22 CN CN201610260488.0A patent/CN105790372A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06246654A (en) * | 1993-02-26 | 1994-09-06 | Shimadzu Corp | Line charging robot |
| CN101293539A (en) * | 2008-04-15 | 2008-10-29 | 上海中为智能机器人有限公司 | Modularized portable mobile robot system |
| CN102931711A (en) * | 2012-11-28 | 2013-02-13 | 山东电力集团公司电力科学研究院 | Automatic robot charging system and charging method thereof |
| CN204905925U (en) * | 2015-07-31 | 2015-12-23 | 北京家度科技有限公司 | Power module of robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390687A (en) * | 2017-07-17 | 2017-11-24 | 天津帕比特科技有限公司 | A kind of Automatic Track Finding dolly and autonomous tracing in intelligent vehicle |
| CN107482718A (en) * | 2017-08-14 | 2017-12-15 | 深圳市优必选科技有限公司 | Charging base and robot |
| WO2019128636A1 (en) * | 2017-12-26 | 2019-07-04 | 杭州萤石软件有限公司 | Cleaning method and cleaning robot |
| US11589722B2 (en) | 2017-12-26 | 2023-02-28 | Hangzhou Ezviz Software Co., Ltd. | Cleaning method and cleaning robot |
| CN110471405A (en) * | 2018-05-10 | 2019-11-19 | 深圳市神州云海智能科技有限公司 | A kind of robot tracking charging method and robot |
| CN112486154A (en) * | 2019-09-10 | 2021-03-12 | 深圳拓邦股份有限公司 | Infrared and tracking based refilling method and system |
| CN112486154B (en) * | 2019-09-10 | 2023-12-29 | 深圳拓邦股份有限公司 | Recharging method and system based on infrared rays and tracking |
| CN112674662A (en) * | 2021-01-11 | 2021-04-20 | 李祥银 | Indoor venue ground cleaning device |
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Application publication date: 20160720 |
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| RJ01 | Rejection of invention patent application after publication |