CN105978078B - A method of the wheeled robot automatic charging based on wireless and infrared positioning - Google Patents
A method of the wheeled robot automatic charging based on wireless and infrared positioning Download PDFInfo
- Publication number
- CN105978078B CN105978078B CN201610416248.5A CN201610416248A CN105978078B CN 105978078 B CN105978078 B CN 105978078B CN 201610416248 A CN201610416248 A CN 201610416248A CN 105978078 B CN105978078 B CN 105978078B
- Authority
- CN
- China
- Prior art keywords
- robot
- wireless
- beacon
- charging
- infrared
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000005611 electricity Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 241000270295 Serpentes Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000002604 ultrasonography 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
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/26—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for engaging or disengaging the two parts of a coupling device
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of methods of the wheeled robot automatic charging based on wireless and infrared positioning, it is equipped with beacon on the wall, charging pile is equipped on the ground close to beacon, different location is equipped with ZigBee with robot, the left and right sides is respectively provided with infrared sensor, and robot judges beacon orientation by wireless ZigBee, then controls robot by infrared sensor and be parallel to wall walking, until robot bottom power electrode is contacted with the shrapnel on charging pile, charging is realized.Accurate positioning of the present invention, durability are high, energy consumption is low, control is simple, at low cost.
Description
Technical field
The present invention relates to wheeled robots more particularly to a kind of wheeled robot based on wireless and infrared positioning to fill automatically
The method of electricity.
Background technology
With social development and scientific and technological progress, robot is more and more widely used in current production and living.
Mobile robot is to research and develop a kind of robot earlier, and mainly there are wheeled, crawler type, leg formula, snake formula, great-jump-forward in mobile mechanism
And combined type.Wherein, wheeled robot due to having from heavy and light, carrying is big, mechanism is simple, driving and control relatively convenient, row
It walks speed fast, maneuverability, the advantages that work efficiency is high, and is widely used in explosion-proof industry, agricultural, anti-terrorism, family, space
The fields such as detection, but its automatic charging technology is further improved.
Automatic robot is maked a return voyage charging, there are many technical principle, positioning method have it is being positioned using infrared ray, have using nothing
Line positioning, have radar fix, and charging modes have contactless and contact.Wherein, although infrared ray positions precision
It is higher, but can not penetrate opaque article due to being this light so that infrared ray is merely able to position in horizon range；Ultrasound
Wave is influenced very greatly by multipath effect and non-line-of-sight propagation, longer compared to the infrared distance measurement time；The technical solution of wireless location at present
Feasibility is big, compare mostly use be bluetooth positioning, but wireless signal be easy by the objects such as the environment such as wall of surrounding reflect, lead
Cause deviations.Non-contact type wireless charging power consumption in charging scheme is bigger, high to the power requirement of charging pile, so than
More use contact charging scheme, but the scheme of contact mainly solve the problems, such as be how accurately with charging electrode
In contact.
Such as the Chinese patent of application number 201210379375.4《Artificial intelligence charging system》A kind of power outlet neck is disclosed
The artificial intelligence charging system in domain, including intelligent plug device, two part of intelligent socket；Intelligent plug device is mounted on intelligent machine
In tool or robot, when automatically detecting intelligent machine or robot needs charging, charging can be carried out on one side and is prepared, on one side certainly
Dynamic to send out radio signal, triggering sends out radio, infrared waves and laser beam positioning signal mounted on the intelligent socket of metope,
Intelligent plug device drives the actuating unit of intelligent machine or robot to be moved to intelligence and inserts from after motion tracking these positioning signals
Before seat, then mechanical arm is driven to be accurately positioned the power outlet on attaching plug and intelligent socket thereon, and accurately inserted
It charges into power outlet, has achieved the purpose that Automatic-searching power outlet automatic charging.But the infrared positioning of the patent is
It is positioned by the signal of infrared transmission, while being also required to control robot and mechanical arm, control difficulty is big, and docking mode is multiple
Miscellaneous, the requirement to precision is high.
Invention content
, the defects such as charging success rate low big for prior art deviations, the present invention provide a kind of accurate positioning, multiplexing
Property it is high, energy consumption is low, the method for the control wheeled robot automatic charging simple, at low cost based on wireless and infrared positioning.
The present invention is achieved by the following technical programs：
A method of the wheeled robot automatic charging based on wireless and infrared positioning, on the wall be equipped with beacon, by
The ground of nearly beacon is equipped with charging pile, and different location is equipped with ZigBee with robot, and the left and right sides is respectively provided with infrared sensing
Device, robot judges beacon orientation by wireless ZigBee, then controls robot by infrared sensor and be parallel to wall walking,
Until robot bottom power electrode is contacted with the shrapnel on charging pile, charging is realized.The present invention is wireless using ZigBee's
It positions, and ingenious the drawbacks of infrared ray positioning is utilized is converted to advantage, the distance between robot measurement and opaque article
Carry out auxiliary positioning, the two complements each other, and finally solves because of wireless location deviation, caused by the technical problems such as infrared positioning is limited
The low situation of the success rate that charges accurately searches out charging pile to realize, and completes to charge.
Wherein, charging pile is positioned over close to wall locations, on the one hand facilitates charging pile to connect power supply, another aspect wall can
Auxiliary robot is walked more acurrate.The distance between described robot bottom two panels power electrode and two shrapnels on charging pile
The distance between it is identical.
Wireless location reusable can individually be taken out and be used as the navigation of robot, and nothing on the charging pile of the present invention
Control circuit is needed, therefore it is low to consume energy.
Specifically, the ZigBee of robot different location judges beacon orientation according to the signal strength size received, and
Robot is controlled close to beacon orientation.When judging beacon in front, robot then walks toward front direction；When judging beacon
In dead astern, robot then turns around to walk toward dead astern direction；When judging beacon above left/right, robot then turns left/upper right
Fang Fangxiang walks；When judging beacon direction below left/right, robot then turns around/lower right direction walking of turning left.
Preferably, the ZigBee for being set to robot different location is 6.6 ZigBee are surrounded by one by one a positive six
Rectangular, a ZigBee antenna is placed at each angle, and each ZigBee antennas are responsible for the signal strength within the scope of 60 degree of detection, according to
Signal strength size judges the specific orientation of signal.
ZigBee is used to receive the signal of charging pile ZigBee transmittings and judges that it, in the level orientation of robot, gives machine
People finds one accurate direction of charge position.
Further, infrared positioning, by way of ranging, durability is also high, can be used for robot obstacle-avoiding function, right
Also relatively easy for the control of robot, only need to control its actuating unit and adjust itself opposing sides position, while can before
Walking charging can be also retreated into walking charging.
Specifically, homonymy infrared sensor is front and back n arranged side by side, the homonymy infrared sensor measure robot with
Horizontal distance between the walls be X1, X2 ..., Xn, charging pile and wall horizontal distance are Y, robot adjustment run to X1=
X2=...=Xn, and that side infrared sensor measures robot with horizontal distance between the walls equal to Y ± errors close to wall
Value, wherein n >=2.
Preferably, the homonymy infrared sensor is 2.Error amount is 2 ~ 5cm.Preferably, error amount 3cm.
Further, after charging, robot judges whether that charging is complete by detecting electricity, judges machine after charging completely
Device people exits charging pile.
Compared with prior art, beneficial effects of the present invention are as follows：
（1）The present invention uses the wireless location of ZigBee, and ingenious the drawbacks of infrared ray positioning is utilized is converted to advantage,
It solves because of wireless location deviation, the low situation of charging success rate caused by the technical problems such as infrared positioning is limited, to realize
Charging pile accurately is searched out, and completes to charge；
（2）Wireless location and the equal reusable of infrared ray, and control circuit is not necessarily on the charging pile of the present invention, therefore it is low to consume energy；
（3）Present invention control is simple, at low cost.
Description of the drawings
Fig. 1 is flow chart of the present invention；
Fig. 2 is that beacon schematic diagram is found by robot；
Fig. 3 is Robot wall walking schematic diagram；
Wherein, 1, beacon；2, robot；3, wall；4, infrared sensor.
Specific implementation mode
The present invention is made with specific embodiment with reference to the accompanying drawings of the specification and further being elaborated, but embodiment is simultaneously
The present invention is not limited in any form.
Embodiment 1
A method of the wheeled robot automatic charging based on wireless and infrared positioning, on the wall be equipped with beacon, by
The ground of nearly beacon is equipped with charging pile, and different location is equipped with 6 ZigBee with robot, and the left and right sides is respectively provided with infrared biography
Sensor, robot judges beacon orientation by wireless ZigBee, then controls robot by infrared sensor and be parallel to wall row
It walks, until robot bottom power electrode is contacted with the shrapnel on charging pile, realizes charging.
Further, the distance between described robot bottom two panels power electrode is between two shrapnels on charging pile
Apart from identical.
Such as Fig. 1, when wheeled robot needs charging, robot begins look for beacon, robot different location
ZigBee judges beacon orientation according to the signal strength size received, then controls robot close to beacon orientation, then again
Wall is found using infrared sensor, and along the parallel walking of wall, until on robot bottom power electrode and charging pile
In shrapnel contact, charging is realized, after charging, robot judges whether that charging is complete by detecting electricity, after judging charging completely
Robot exits charging pile.
Fig. 2 is that beacon schematic diagram is found by robot, and when judging beacon 1 in front, robot 2 is then toward front direction row
It walks；When judging beacon 1 in dead astern, robot 2 then turns around to walk toward dead astern direction；When judging beacon 1 above left/right,
Robot 2 then turns left/walking of upper right side direction；When judging the direction below left/right of beacon 1, robot 2 then turns around toward left/right
It walks in lower section direction.
Specifically, homonymy infrared sensor be it is front and back be arranged side by side 2, the homonymy infrared sensor measure robot with
Horizontal distance between the walls is X1, X2, and charging pile is Y with wall horizontal distance, and robot adjustment runs to X1=X2, and leans on
That side infrared sensor of nearly wall measures robot and is equal to Y ± error amounts with horizontal distance between the walls.Fig. 3 is Robot
Wall walking schematic diagram, robot 2 walks along left side wall 3, when left front and left back infrared sensor 4 are measured apart from wall
The distance of wall 3 is walked forward when two distance values are equal, when left front distance value be less than left back distance value when, to the right before
Side's walking, on the contrary it walks to left front.
Wherein, error amount 3cm.
Claims (9)
1. a kind of method of the wheeled robot automatic charging based on wireless and infrared positioning, which is characterized in that be equipped on the wall
Beacon is equipped with charging pile on the ground close to beacon, and different location is equipped with ZigBee with robot, and the left and right sides is respectively provided with
Infrared sensor, robot judge beacon orientation by wireless ZigBee, control robot close to beacon orientation, then by infrared
Sensor control robot is parallel to wall walking, until robot bottom power electrode is contacted with the shrapnel on charging pile,
Realize charging.
2. the method for the wheeled robot automatic charging according to claim 1 based on wireless and infrared positioning, feature exist
In the ZigBee of robot different location judges beacon orientation according to the signal strength size received, and controls robot and connect
Nearly beacon orientation.
3. the method for the wheeled robot automatic charging according to claim 2 based on wireless and infrared positioning, feature exist
In the ZigBee for being set to robot different location is 6.
4. the method for the wheeled robot automatic charging according to claim 2 based on wireless and infrared positioning, feature exist
In when judging beacon in front, robot then walks toward front direction；When judging beacon in dead astern, robot then falls
Head is walked toward dead astern direction；When judging beacon above left/right, robot then turns left/upper right side direction walking；When judgement is believed
It is marked on direction below left/right, robot then turns around/lower right direction walking of turning left.
5. the method for the wheeled robot automatic charging according to claim 1 based on wireless and infrared positioning, feature exist
In homonymy infrared sensor is front and back n arranged side by side, and the homonymy infrared sensor measures robot and water between the walls
Flat distance be X1, X2 ..., Xn, charging pile and wall horizontal distance are Y, robot adjustment run to X1=X2=...=Xn,
And that side infrared sensor measures robot with horizontal distance between the walls equal to Y ± error amounts, wherein n >=2 close to wall.
6. the method for the wheeled robot automatic charging according to claim 5 based on wireless and infrared positioning, feature exist
In the homonymy infrared sensor is 2.
7. the method for the wheeled robot automatic charging according to claim 5 based on wireless and infrared positioning, feature exist
In error amount is 2 ~ 5cm.
8. the method for the wheeled robot automatic charging according to claim 1 based on wireless and infrared positioning, feature exist
In after charging, robot judges whether that charging is complete by detecting electricity, and robot exits charging pile after judging charging completely.
9. the method for the wheeled robot automatic charging according to claim 1 based on wireless and infrared positioning, feature exist
In the distance between described robot bottom two panels power electrode is identical as the distance between two shrapnels on charging pile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610416248.5A CN105978078B (en) | 2016-06-15 | 2016-06-15 | A method of the wheeled robot automatic charging based on wireless and infrared positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610416248.5A CN105978078B (en) | 2016-06-15 | 2016-06-15 | A method of the wheeled robot automatic charging based on wireless and infrared positioning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105978078A CN105978078A (en) | 2016-09-28 |
| CN105978078B true CN105978078B (en) | 2018-09-11 |
Family
ID=57011142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610416248.5A Active CN105978078B (en) | 2016-06-15 | 2016-06-15 | A method of the wheeled robot automatic charging based on wireless and infrared positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105978078B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108075514A (en) * | 2016-11-10 | 2018-05-25 | 深圳市朗驰欣创科技股份有限公司 | The control method and control system of automatic charging, for electric installation and ground robot |
| CN106712194A (en) * | 2017-01-18 | 2017-05-24 | 成都黑盒子电子技术有限公司 | Automatic charging control method of robot |
| CN107134836A (en) * | 2017-07-13 | 2017-09-05 | 湖南万为智能机器人技术有限公司 | Robot automatic charging alignment methods |
| CN107355103B (en) * | 2017-07-31 | 2022-12-23 | 江西丹巴赫机器人股份有限公司 | Parking robot |
| CN107770366B (en) * | 2017-08-31 | 2019-02-22 | 珠海格力电器股份有限公司 | A kind of method, apparatus, storage medium and equipment for finding equipment |
| CN107558414A (en) * | 2017-09-29 | 2018-01-09 | 珂伯特机器人（天津）有限公司 | It is a kind of to follow sanitation cart using zigbee |
| CN109283544A (en) * | 2018-10-06 | 2019-01-29 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of autonomous charging of robots alignment methods based on laser ranging |
| CN109933073B (en) * | 2019-04-01 | 2020-12-01 | 珠海市一微半导体有限公司 | Automatic generation method of robot backseat code |
| CN110850896A (en) * | 2019-10-30 | 2020-02-28 | 苏州科瓴精密机械科技有限公司 | Automatic working system and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100999078A (en) * | 2006-01-09 | 2007-07-18 | 田角峰 | Automatic charging method of robot and its automatic charging device |
| CN202455131U (en) * | 2012-02-09 | 2012-09-26 | 唐山现代工控技术有限公司 | Robot induction charging equipment |
| CN203800658U (en) * | 2014-03-27 | 2014-08-27 | 宁波韦尔德斯凯勒智能科技有限公司 | Automatic charging device of mobile robot |
| CN203882195U (en) * | 2014-06-13 | 2014-10-15 | 常州智宝机器人科技有限公司 | Service robot based on multi-sensor fusion and charging socket thereof |
| CN105068534A (en) * | 2015-07-16 | 2015-11-18 | 北京工业大学 | Intelligent logistics robot based on Zigbee |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101721539B1 (en) * | 2010-02-11 | 2017-03-30 | 삼성전자주식회사 | Method and apparatus for providing user interface in mobile terminal |
-
2016
- 2016-06-15 CN CN201610416248.5A patent/CN105978078B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100999078A (en) * | 2006-01-09 | 2007-07-18 | 田角峰 | Automatic charging method of robot and its automatic charging device |
| CN202455131U (en) * | 2012-02-09 | 2012-09-26 | 唐山现代工控技术有限公司 | Robot induction charging equipment |
| CN203800658U (en) * | 2014-03-27 | 2014-08-27 | 宁波韦尔德斯凯勒智能科技有限公司 | Automatic charging device of mobile robot |
| CN203882195U (en) * | 2014-06-13 | 2014-10-15 | 常州智宝机器人科技有限公司 | Service robot based on multi-sensor fusion and charging socket thereof |
| CN105068534A (en) * | 2015-07-16 | 2015-11-18 | 北京工业大学 | Intelligent logistics robot based on Zigbee |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105978078A (en) | 2016-09-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105978078B (en) | A method of the wheeled robot automatic charging based on wireless and infrared positioning | |
| CN102322857B (en) | Position and posture measuring system and method for mechanical equipment | |
| CN204904091U (en) | Motion control system of robot | |
| CN104635730B (en) | A kind of robot autonomous charging method | |
| CN103085070B (en) | Quadruped robot motion planning method for facing complex terrain | |
| CN103342101A (en) | Induction type non-contact charging locating aligning device and locating method thereof | |
| CN204009577U (en) | Intelligent carriage combined type obstacle avoidance system | |
| CN105828431A (en) | UWB-based autonomous following robot positioning method and system | |
| US20120123720A1 (en) | Robotic heliostat calibration system and method | |
| CN105700522B (en) | A kind of robot charging method and its charging system | |
| CN206302168U (en) | Crusing robot automatic charging laser alignment system | |
| CN106774298B (en) | Autonomous charging of robots system and method based on camera and laser aiming positioning | |
| CN107508390A (en) | A kind of crusing robot wireless charging system and method | |
| CN201266322Y (en) | Ultrasonic target positioning and tracking device | |
| CN103487812A (en) | Ultrasonic navigation unit of greenhouse automatic moving vehicle and method | |
| CN109828558A (en) | A kind of smart motion system and method | |
| CN102155913A (en) | Method and device for automatically measuring coal pile volume based on image and laser | |
| CN109407659A (en) | The localization method and system of tennis court robot | |
| CN107918395A (en) | City river sewage draining exit visiting method and inspection system | |
| CN108627171A (en) | The intelligent method of localization for Mobile Robot recharging base based on wireless signal strength gradient | |
| CN102923282A (en) | Underwater mechanical fish detection system | |
| CN102909721A (en) | Multi-track robot capable of locating and operating target object and control method thereof | |
| CN102436260A (en) | Indoor self-positioning and self-directing two-dimensional navigation system | |
| CN215416385U (en) | Robot 3D perception obstacle avoidance system | |
| CN108536146A (en) | The intelligent control method of localization for Mobile Robot recharging base based on path and RSSI |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 510663 Whampoa District, Guangzhou, Guangdong, 512 opening room 2819 (for office use only) Applicant after: Guangzhou high rising robot Co., Ltd. Address before: 510530 Development Zone, Whampoa District, Guangzhou, Guangdong, 512, 2819 Avenue. Applicant before: Guangzhou still online Technology Co., Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |