CN106026288A - Robot automatic charging system and charging method thereof - Google Patents
Robot automatic charging system and charging method thereof Download PDFInfo
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- CN106026288A CN106026288A CN201610564039.5A CN201610564039A CN106026288A CN 106026288 A CN106026288 A CN 106026288A CN 201610564039 A CN201610564039 A CN 201610564039A CN 106026288 A CN106026288 A CN 106026288A
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- 230000033001 locomotion Effects 0.000 claims abstract description 14
- 238000012544 monitoring process Methods 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims description 24
- 230000005611 electricity Effects 0.000 claims description 23
- 230000011664 signaling Effects 0.000 claims description 8
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 238000012567 pattern recognition method Methods 0.000 description 6
- 230000002596 correlated effect Effects 0.000 description 2
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- 238000003032 molecular docking Methods 0.000 description 1
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- H02J7/0077—
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- 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
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- 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
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- 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
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00034—Charger exchanging data with an electronic device, i.e. telephone, whose internal battery is under charge
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- 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
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses a robot automatic charging system and a charging method thereof. The system comprises a power monitoring unit, an infrared signal receiving unit, an infrared distance measuring unit, a wireless signal transceiver unit, a visual recognition unit, a robot control unit, and a motion system unit, wherein the robot control unit is connected with the power monitoring unit, the infrared signal receiving unit, the infrared distance measuring unit, the wireless signal transceiver unit, the visual recognition unit and the motion system unit. According to the invention, an infrared signal tracking method and an image identification method are combined together. By fusing originally single methods, problems occurring in tracking using only one method are solved. Thus, a robot can accurately and stably find a charging pile for charging without environmental interference.
Description
Technical field
The present invention relates to a kind of robot, specifically a kind of robot automatic charging system and charging method thereof.
Background technology
Machine man-based development is the rapidest at present, its function is also increasing day by day, but robot is operationally frequently run onto the problem that battery electric quantity is not enough, this is that robot is accomplished by staff and goes operation to help robot to continue a journey, and this makes robot have received restriction when performing work.In order to reduce the problem that robot is continued a journey by staff, research robot recharging becomes the great direction of current robot development.For robot autonomous charging, domestic and international existing solution substantially has three kinds: be respectively infrared signal tracking, wireless radiofrequency is followed the trail of and pattern-recognition method.
For robot autonomous charging, domestic and international existing solution substantially has three kinds: be respectively infrared signal tracking, wireless radiofrequency is followed the trail of and pattern-recognition method.It is to look for charging pile position by the infrared signal sent then to dock that infrared signal is followed the trail of；It is that the power according to sending radiofrequency signal judges charging pile position that wireless radiofrequency is followed the trail of；And pattern-recognition method goes the image treating carrying out being correlated with to find charging pile according to photographic head.
For robot autonomous charging, domestic and international existing solution substantially has three kinds: be respectively infrared signal tracking, wireless radiofrequency is followed the trail of and pattern-recognition method.It is to look for charging pile position by the infrared signal sent then to dock that infrared signal is followed the trail of, but its docking location is the most not accurate enough, easily has deviation；It is that the power according to sending radiofrequency signal judges charging pile position, but can only substantially search out the position of charging pile that wireless radiofrequency is followed the trail of；And pattern-recognition method goes the image treating carrying out being correlated with to find charging pile according to photographic head, also it is easily subject to the impact of environment.In sum, the subject matter of current robot autonomous charging be find charging pile time position is not accurate enough, degree of safety is low and is easily subject to environmental disturbances.
Summary of the invention
It is an object of the invention to provide a kind of robot automatic charging system and charging method thereof, with the problem solving to propose in above-mentioned background technology.
For achieving the above object, the present invention provides following technical scheme:
A kind of robot automatic charging system and charging method thereof, including power supply supervision unit, IR signal reception unit, infrared distance measurement unit, wireless signal Transmit-Receive Unit, visual identity unit, robot control unit and motor system unit, described robot control unit connects power supply supervision unit, IR signal reception unit, infrared distance measurement unit, wireless signal Transmit-Receive Unit, visual identity unit and motor system unit respectively
A kind of robot automatic recharging method, uses power supply supervision unit to be responsible for supervisory-controlled robot electricity, and after electricity is less than certain threshold value, automatic charging flow process is opened；Wireless signal Transmit-Receive Unit is after automatic charging flow process is opened, wireless signal is utilized to be opened by infrared for charging pile guiding signal, or in robot when and completing to revolve after turnback less than 1 meter with charging pile distance, utilize wireless signal by infrared for electricity stake guiding signal at stop and electric stake on and off switch instruction unpack；IR signal reception unit is that charging pile infrared guiding signal will be opened after automatic charging flow process is opened, different by receiving charging pile infrared guiding signal, it is judged that charging pile range areas, robot place, and moves toward region 3 with robot in season；Infrared distance measurement unit is that infrared distance measurement unit will start the distance judging robot to charging pile, and when distance is less than 1 meter, robot will revolve turnback, make robot facing away from charging pile after robot arrives region 3；Visual identity unit is to open after device people completes to facing away from charging pile action, is identified the location figure on charging pile judge position, being finally successfully completed robot and dock with charging pile；Robot control unit and motor system unit are that power supply supervision unit, wireless signal Transmit-Receive Unit, IR signal reception unit, infrared distance measurement unit and visual identity unit all send movement instruction by robot control unit to motor system unit, and motor system unit completes robot motion's execution after accepting movement instruction.
As the further scheme of the present invention: use described power supply supervision unit supervisory-controlled robot battery electric quantity in real time, after electricity is less than certain threshold value, robot will start automatic charging flow process, and threshold value can be set to arbitrary value.
As the further scheme of the present invention: after described robot starts to start automatic charging flow process, robot is sent by wireless signal and opens the instruction of charging pile infrared guiding signaling switch, and receives the response that charging pile infrared guiding signal is opened.
As the further scheme of the present invention: described electricity stake infrared guiding signal has five kinds, different at different region infrared guiding signals, different regions is distinguished, it is also possible to use same frequency, but use different signal instructions to distinguish different regions by different infrared frequencies.
As the further scheme of the present invention: infrared distance measurement unit is during charging pile is found by robot, in robot, four IR signal reception unit are installed, angle is spaced 90 ° two-by-two, cover robot and receive IR signal reception without dead angle, after robot collects the infrared guiding signal that charging pile sends, judge robot region, the robot direction towards region 3 and toward charging pile is made to walk in the past, when robot is positioned at region 3 and is less than 1 meter by the distance of infrared distance measurement unit judges robot to charging pile, robot will revolve turnback, robot is made to facing away from charging pile, send charge closing stake infrared guiding signaling switch by wireless signal simultaneously and instruct and open the instruction of charging pile on and off switch.
As the further scheme of the present invention: when robot completes facing away from charging pile, visual identity unit will be started, location figure on charging pile is identified, judge that robot is relative to the position of charging pile and orientation according to recognition result, by constantly adjusting the orientation angle of robot, robot is made to be parallel to charging pile, the most slowly near charging pile, receiving electrode is connected by last robot with the charging electrode on charging pile, and starts to charge up.
As the present invention further scheme: when robot power supply monitoring unit detects that electricity has reached 100%, then send charge closing stake on and off switch by wireless signal and instruct.
Compared with prior art, the invention has the beneficial effects as follows: infrared signal is followed the trail of and combines both pattern-recognition method by the present invention, the most single method is merged, solve simple produced problem when using a kind of method to follow the trail of, allow robot can accurately, stablize and be not readily susceptible to environmental disturbances thus find charging pile to carry out recharging.
Accompanying drawing explanation
Fig. 1 is the schematic block circuit diagram of robot automatic charging system and charging method thereof；
Fig. 2 is that the charging pile infrared guiding signal area of robot automatic charging system and charging method thereof divides schematic diagram.
Detailed description of the invention
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 clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of protection of the invention.
Refer to Fig. 1 ~ 2, in the embodiment of the present invention, a kind of robot automatic recharging method, use power supply supervision unit to be responsible for supervisory-controlled robot electricity, after electricity is less than certain threshold value, automatic charging flow process is opened；Wireless signal Transmit-Receive Unit is after automatic charging flow process is opened, wireless signal is utilized to be opened by infrared for charging pile guiding signal, or in robot when and completing to revolve after turnback less than 1 meter with charging pile distance, utilize wireless signal by infrared for electricity stake guiding signal at stop and electric stake on and off switch instruction unpack；IR signal reception unit is that charging pile infrared guiding signal will be opened after automatic charging flow process is opened, different by receiving charging pile infrared guiding signal, it is judged that charging pile range areas, robot place, and moves toward region 3 with robot in season；Infrared distance measurement unit is that infrared distance measurement unit will start the distance judging robot to charging pile, and when distance is less than 1 meter, robot will revolve turnback, make robot facing away from charging pile after robot arrives region 3；Visual identity unit is to open after device people completes to facing away from charging pile action, is identified the location figure on charging pile judge position, being finally successfully completed robot and dock with charging pile；Robot control unit and motor system unit are that power supply supervision unit, wireless signal Transmit-Receive Unit, IR signal reception unit, infrared distance measurement unit and visual identity unit all send movement instruction by robot control unit to motor system unit, and motor system unit completes robot motion's execution after accepting movement instruction.Using described power supply supervision unit supervisory-controlled robot battery electric quantity in real time, after electricity is less than certain threshold value, robot will start automatic charging flow process, and threshold value can be set to arbitrary value.After described robot starts to start automatic charging flow process, robot is sent by wireless signal and opens the instruction of charging pile infrared guiding signaling switch, and receives the response that charging pile infrared guiding signal is opened.Described electricity stake infrared guiding signal has five kinds, different at different region infrared guiding signals, distinguishes different regions by different infrared frequencies, it is also possible to use same frequency, but use different signal instructions to distinguish different regions.Infrared distance measurement unit is during charging pile is found by robot, in robot, four IR signal reception unit are installed, angle is spaced 90 ° two-by-two, cover robot and receive IR signal reception without dead angle, after robot collects the infrared guiding signal that charging pile sends, judge robot region, the robot direction towards region 3 and toward charging pile is made to walk in the past, when robot is positioned at region 3 and is less than 1 meter by the distance of infrared distance measurement unit judges robot to charging pile, robot will revolve turnback, robot is made to facing away from charging pile, send charge closing stake infrared guiding signaling switch by wireless signal simultaneously and instruct and open the instruction of charging pile on and off switch.When robot completes facing away from charging pile, visual identity unit will be started, location figure on charging pile is identified, judge that robot is relative to the position of charging pile and orientation according to recognition result, by constantly adjusting the orientation angle of robot, robot is made to be parallel to charging pile, the most slowly near charging pile, receiving electrode is connected by last robot with the charging electrode on charging pile, and starts to charge up.When robot power supply monitoring unit detects that electricity has reached 100%, then send charge closing stake on and off switch by wireless signal and instruct.
The operation principle of the present invention is: refer to Fig. 1, and power supply supervision unit is responsible for supervisory-controlled robot electricity, and after electricity is less than certain threshold value, automatic charging flow process is opened；Wireless signal Transmit-Receive Unit is after automatic charging flow process is opened, wireless signal is utilized to be opened by infrared for charging pile guiding signal, or in robot when and completing to revolve after turnback less than 1 meter with charging pile distance, utilize wireless signal by infrared for electricity stake guiding signal at stop and electric stake on and off switch instruction unpack；IR signal reception unit is that charging pile infrared guiding signal will be opened after automatic charging flow process is opened, different by receiving charging pile infrared guiding signal, it is judged that charging pile range areas, robot place, and moves toward region 3 with robot in season；Infrared distance measurement unit is that infrared distance measurement unit will start the distance judging robot to charging pile, and when distance is less than 1 meter, robot will revolve turnback, make robot facing away from charging pile after robot arrives region 3；Visual identity unit is to open after device people completes to facing away from charging pile action, is identified the location figure on charging pile judge position, being finally successfully completed robot and dock with charging pile；Robot control unit and motor system unit are that power supply supervision unit, wireless signal Transmit-Receive Unit, IR signal reception unit, infrared distance measurement unit and visual identity unit all send movement instruction by robot control unit to motor system unit, and motor system unit completes robot motion's execution after accepting movement instruction.
Automatic charging flow process:
1. robot power supply monitoring unit supervisory-controlled robot battery electric quantity in real time, after electricity is less than certain threshold value, robot will start automatic charging.Here threshold value is for may be configured as arbitrary value, and user could be arranged to 30%, 25%, 20% etc..
2. robot starts to start automatic charging flow process, and robot is sent by wireless signal and opens the instruction of charging pile infrared guiding signaling switch, and receives the response that charging pile infrared guiding signal is opened.Wireless signal is based on zigbee agreement, but is not limited to zigbee agreement wireless signal, it would however also be possible to employ wifi, bluetooth and the self-defined RF wireless signals of 2.4G etc..
3. charging pile infrared guiding signal has five kinds, as in figure 2 it is shown, different at different region infrared guiding signals, distinguish different regions now by different infrared frequencies, same frequency can also be used, but use different signal instructions to distinguish different regions.
4. infrared distance measurement unit, during charging pile is found by robot.Being provided with four IR signal reception unit in robot, angle is spaced 90 ° two-by-two, and covering robot reception IR signal reception is without dead angle, and such robot can receive infrared signal in any direction.After robot collects the infrared guiding signal that charging pile sends, it is judged that robot region, the robot direction towards region 3 and toward charging pile is made to walk in the past.When robot is positioned at region 3 and is less than 1 meter by the distance of infrared distance measurement unit judges robot to charging pile, robot will revolve turnback, makes robot facing away from charging pile.Send charge closing stake infrared guiding signaling switch by wireless signal simultaneously and instruct and open the instruction of charging pile on and off switch.
5. when robot completes facing away from charging pile, visual identity unit will be started, location figure on charging pile is identified, judge that robot is relative to the position of charging pile and orientation according to recognition result, by constantly adjusting the orientation angle of robot, robot is made to be parallel to charging pile, the most slowly near charging pile, receiving electrode is connected by last robot with the charging electrode on charging pile, and starts to charge up.
6. detect that electricity has reached 100% when robot power supply monitoring unit, then send charge closing stake on and off switch by wireless signal and instruct.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, and without departing from the spirit or essential characteristics of the present invention, it is possible to realize the present invention in other specific forms.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is limited by claims rather than described above, it is intended that all changes fallen in the implication of equivalency and scope of claim included in the present invention.Should not be considered as limiting involved claim by any reference in claim.
In addition, it is to be understood that, although this specification is been described by according to embodiment, but the most each embodiment only comprises an independent technical scheme, this narrating mode of description is only for clarity sake, description should can also be formed, through appropriately combined, other embodiments that it will be appreciated by those skilled in the art that as an entirety, the technical scheme in each embodiment by those skilled in the art.
Claims (8)
1. a robot automatic charging system, including power supply supervision unit, IR signal reception unit, infrared distance measurement unit, wireless signal Transmit-Receive Unit, visual identity unit, robot control unit and motor system unit, it is characterized in that, described robot control unit connects power supply supervision unit, IR signal reception unit, infrared distance measurement unit, wireless signal Transmit-Receive Unit, visual identity unit and motor system unit respectively.
2. a robot automatic recharging method, it is characterised in that use described power supply supervision unit to be responsible for supervisory-controlled robot electricity, after electricity is less than certain threshold value, automatic charging flow process is opened；Wireless signal Transmit-Receive Unit is after automatic charging flow process is opened, wireless signal is utilized to be opened by infrared for charging pile guiding signal, or in robot when and completing to revolve after turnback less than 1 meter with charging pile distance, utilize wireless signal by infrared for electricity stake guiding signal at stop and electric stake on and off switch instruction unpack；IR signal reception unit is that charging pile infrared guiding signal will be opened after automatic charging flow process is opened, different by receiving charging pile infrared guiding signal, it is judged that charging pile range areas, robot place, and moves toward region 3 with robot in season；Infrared distance measurement unit is that infrared distance measurement unit will start the distance judging robot to charging pile, and when distance is less than 1 meter, robot will revolve turnback, make robot facing away from charging pile after robot arrives region 3；Visual identity unit is to open after device people completes to facing away from charging pile action, is identified the location figure on charging pile judge position, being finally successfully completed robot and dock with charging pile；Robot control unit and motor system unit are that power supply supervision unit, wireless signal Transmit-Receive Unit, IR signal reception unit, infrared distance measurement unit and visual identity unit all send movement instruction by robot control unit to motor system unit, and motor system unit completes robot motion's execution after accepting movement instruction.
Robot the most according to claim 2 automatic recharging method, it is characterized in that, use described power supply supervision unit supervisory-controlled robot battery electric quantity in real time, after electricity is less than certain threshold value, robot will start automatic charging flow process, and threshold value can be set to arbitrary value.
Robot the most according to claim 3 automatic recharging method, it is characterized in that, after described robot starts to start automatic charging flow process, robot is sent by wireless signal and opens the instruction of charging pile infrared guiding signaling switch, and receives the response that charging pile infrared guiding signal is opened.
Robot the most according to claim 4 automatic recharging method, it is characterized in that, described electricity stake infrared guiding signal has five kinds, different at different region infrared guiding signals, different regions is distinguished by different infrared frequencies, it also is able to use same frequency, but uses different signal instructions to distinguish different regions.
Robot the most according to claim 5 automatic recharging method, it is characterized in that, infrared distance measurement unit is during charging pile is found by robot, in robot, four IR signal reception unit are installed, angle is spaced 90 ° two-by-two, cover robot and receive IR signal reception without dead angle, after robot collects the infrared guiding signal that charging pile sends, judge robot region, the robot direction towards region 3 and toward charging pile is made to walk in the past, when robot is positioned at region 3 and is less than 1 meter by the distance of infrared distance measurement unit judges robot to charging pile, robot will revolve turnback, robot is made to facing away from charging pile, send charge closing stake infrared guiding signaling switch by wireless signal simultaneously and instruct and open the instruction of charging pile on and off switch.
Robot the most according to claim 6 automatic recharging method, it is characterized in that, when robot completes facing away from charging pile, visual identity unit will be started, the location figure on charging pile will be identified, judge that robot is relative to the position of charging pile and orientation according to recognition result, by constantly adjusting the orientation angle of robot, robot is made to be parallel to charging pile, the most slowly near charging pile, receiving electrode is connected by last robot with the charging electrode on charging pile, and starts to charge up.
Robot the most according to claim 7 automatic recharging method, it is characterised in that when robot power supply monitoring unit detects that electricity has reached 100%, then send charge closing stake on and off switch by wireless signal and instruct.
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