CN106078723A - Robot system based on automatic addressing charging - Google Patents
Robot system based on automatic addressing charging Download PDFInfo
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- CN106078723A CN106078723A CN201610473560.8A CN201610473560A CN106078723A CN 106078723 A CN106078723 A CN 106078723A CN 201610473560 A CN201610473560 A CN 201610473560A CN 106078723 A CN106078723 A CN 106078723A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
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- H02J7/025—
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Abstract
The invention discloses a kind of robot system based on automatic addressing charging, mainly solve the problem that in prior art, robot cannot carry out automatic charging flexibly, its robot body just before and left and right side respectively lay an infrared remote receiver (6,7,8), left and right sides at metope charging device (10) respectively lays an infrared transmitter (11,12), and lays a mechanical interface (13) on the ground, underface of metope charging device.Metope charging device (10) is internal is provided with internal circuit chip, and this chip comprises power detecting module and wireless communication module.When robot is when entering low state of charge, and left and right two infrared transmitters are opened, and rely on the infrared remote receiver detection infrared signal in main body, find the position of metope charging device and be mated with；After electricity is full of, robot disconnects charging connection automatically.The robot energy automatic charging of the present invention, extends the working time, improves machine task efficiency and motility.
Description
Technical field
The invention belongs to machine control techniques field, particularly to a kind of robot system, can be used for the complete of charging
Process.
Background technology
Along with improving constantly of people's living standard, the requirement to quality of life improves the most day by day, and domestic robot meets the tendency
And give birth to.In the last few years, have benefited from maturation and the innovation of robotics, domestic robot in home services, entertain, clean, supervise
The service field such as protect obtain successfully and be widely applied.Household intelligent robot to be ensured can be the most autonomous in indoor environment
Mobile, it is necessary to have the electricity of abundance.Being limited by robot volume and cost, existing household intelligent robot is frequently with electricity
Pond powers.The power supply capacity of battery is limited, it is impossible to maintain robot work requirements lasting, long-time, large range of, greatly
Limit the power of household intelligent robot.When conventional household machines people is after entering low state of charge, often need to use
Person manually charges for it, and this mode is loaded down with trivial details, poor efficiency, does not meets the functional requirement of intelligent robot, it is impossible to when ensureing robot
Be in quarter can duty, often result in robot owing to charging and out-of-work consequence in time.
Publication number CN 103440602 discloses a kind of robot of ordering dishes with automatic charging function, and this robot passes through
It is charged by arriving charging device at the circuit that surface deployment is good in advance, has possessed the merit of automatic charging to a certain extent
Energy.But the method is only applicable to the scene that robot ambulation route is fixing, in most of actual scenes, robot needs in room
Inside move freely, be not appropriate for deployment line road guided robot in advance and be charged, it is therefore necessary to design one is not based on following
Mark can also complete the robot device of charging.
Summary of the invention
Present invention aims to above-mentioned the deficiencies in the prior art, propose a kind of machine based on automatic addressing charging
People's system, cannot carry out the problem of automatic charging neatly solving existing household intelligent robot, complete the complete of automatic charging
Process.
The technical thought of the present invention is: robot enters after low state of charge, near independent navigation to charging device 3～5
In the range of meter, and rely on infrared signal to interact with charging device, constantly adjust the direction of motion and self attitude, successively find
Two infrared transmitters, final alignment also connects charging inlet, starts to charge up.After electricity is full of, robot motion disconnects metope
Charging device, charging terminates.
One. according to above-mentioned thinking, the robot system that the present invention charges based on automatic addressing, including robot body, wheel
Formula chassis, left omni-directional wheel, right omni-directional wheel, robot charging plug, core circuit control unit and metope charging device, core electricity
Road control unit includes ultrasonic distance measuring module, motion-control module, surrounding enviroment detection module, detection of obstacles module, electricity
Source detection module, robot wireless communication module；
It is characterized in that:
Dead ahead robot body is laid with direct bearing infrared remote receiver, for perception from robot dead ahead
Infrared signal；
Left outside receptor and right infrared remote receiver is laid respectively, for perception from robot in the both sides of robot body
The infrared signal of both sides；
Left infrared transmitter and right infrared transmitter it is laid with respectively, for emission in the both sides of metope charging device
Infrared signal is to indicate the position of metope charging inlet；
On the ground, underface of metope charging device, it is laid with one group of ground machine interface, is used for improving robot and fills
The precision that plug docks with metope charging device.
Two. according to above-mentioned thinking, the method that the present invention carries out automatic addressing charging based on said system, including:
1), after the power detecting module in core circuit control unit detects that robot enters low state of charge, machine is passed through
The signal that device people's wireless communication module transfer-out electricity is low, is simultaneously based on indoor map and navigates, to metope charging device
Neighbouring 3～5 meters of scopes move；
2) the charging device wireless communication module in metope charging device receives the signal that robot electric quantity is low, opens a left side
Infrared transmitter and right infrared transmitter are to emission infrared signal；
3) robot successfully arrives near metope charging device based on navigation, three infrared remote receivers on robot body
According to receiving infrared signal, begin look for the concrete orientation of metope charging device；
4) whether robot receives infrared signal by three infrared remote receivers of detection and carries out rotating and moving, finally
Robot is made to keep straight on towards nearer infrared transmitter:
If direct bearing infrared remote receiver detects infrared signal, then the current direction of moving control module for controlling Robot is straight
OK；
If left infrared remote receiver detects infrared signal, then moving control module for controlling robot turns left, in turn-left process
In, if direct bearing infrared remote receiver detects infrared signal, then stop turning left and keeping straight on, otherwise continue to turn left；
If right infrared remote receiver detects infrared signal, then moving control module for controlling robot turns right, in right-hand rotation process
In, if direct bearing infrared remote receiver detects infrared signal, then stop turning right and keeping straight on, otherwise continue to turn right；
5), after robot keeps straight on a segment distance towards nearer infrared transmitter, moving control module for controlling robot adjusts fortune
Dynamic direction and self attitude so that it is drive to the dead ahead position of relatively near infrared emission device, and just to this infrared transmitter direction
Keep straight on；
6) keep straight on during, the distance between ultrasonic distance measuring module test constantly robot and metope, if robot with
The distance of front metope is less than given distance threshold, and direct bearing infrared remote receiver detects high-intensity signal, then it represents that machine
Device people has been found that the exact position of this infrared transmitter, and records this infrared transmitter, simultaneously moving control module for controlling machine
Device people's stop motion, otherwise, robot continues to keep straight on；
7) robot is after recorded first infrared transmitter, continues to adjust the direction of motion and self attitude, searches out
The concrete orientation of another infrared transmitter, is subsequently moved on the perpendicular bisector of the two infrared transmitter line, and the most right
Metope charging inlet is kept straight on；
8), after robot keeps straight on and docks with ground machine interface, sail track into and accelerate, until robot charging plug
It is inserted into metope charging inlet；
9) metope charging device detects that metope charging inlet connects, by charging device wireless communication module to machine
The signal that people's wireless communication module transmission metope charging inlet has connected；
10) robot receives the signal that metope charging inlet has connected, motion-control module send instruction control machine
Device people's stop motion, charging connection is successfully established, and starts to charge up；
11), in charging process, robot power supply detection module and charging device power detecting module continue measuring robots
Battery condition；
12) after charging a period of time, when robot power supply detection module and charging device power supply monitoring module are monitored simultaneously
To electricity have been filled with time, charging device power detecting module by charging device wireless communication module to robot radio communication mold
The signal that block transmission charging has terminated；
13) after robot wireless communication module receives the signal that charging has terminated, by moving control module for controlling machine
Device people's setting in motion, disconnects metope charging inlet, completes charging process.
Present invention have the advantage that
1. due to the fact that on robot body, be additionally arranged three infrared remote receivers, and increase in metope charging device both sides
If two infrared transmitters, thus robot can be made to search out metope charging device by infrared signal and to be attached thereto.
2. due to the fact that and persistently detect battery condition in charging process, after electricity can be made to be full of, robot disconnects automatically
Metope charging inlet, completes the overall process of automatic addressing charging.
3. the robot system of the present invention is owing to can detect surrounding enviroment by infrared remote receiver under low state of charge
Infrared signal, and automatically adjust the direction of motion and self attitude, search out metope charging device and be charged, thus avoid biography
System robot, often owing to charging and out-of-work consequence in time, solves conventional machines people and uses battery power supply station to bring
Performance limit, improve intelligent machine task efficiency and motility.
Accompanying drawing explanation
Fig. 1 is robot system schematic diagram based on automatic addressing charging；
Fig. 2 is the robot body's structure chart in the present invention；
Fig. 3 is the core circuit control unit module composition diagram in the present invention；
Fig. 4 is the metope charging device structure chart in the present invention；
Fig. 5 is the internal circuit chip module composition diagram of metope charging device in the present invention；
Fig. 6 is the process schematic that the present invention carries out automatic addressing charging.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
With reference to Fig. 1, automatic addressing charging robot system includes: robot body 1, metope charging device 10 and ground machine
Tool interface 13.
With reference to Fig. 2, robot body 1 includes: wheel undercarriage 2, left omni-directional wheel 3, right omni-directional wheel 4, robot charging plug
5, direct bearing infrared remote receiver 6, left infrared remote receiver 7, right infrared remote receiver 8 and core circuit control unit 9.The most wheeled end
Dish 2 constitutes the bottom of robot body 1, and left omni-directional wheel 3 is arranged on the left side of wheel undercarriage 2, and right omni-directional wheel 4 is arranged on the wheeled end
The right side of dish 2, robot charging plug 5 and direct bearing infrared remote receiver 6 are positioned at the dead ahead of robot body 1, wherein machine
People's charging plug 5 is positioned at the underface of direct bearing infrared remote receiver 6, and left infrared remote receiver 6 is positioned at the left side of robot body 1,
Right infrared remote receiver 8 is positioned at the right side of robot body 1, and core circuit control unit 9 is arranged on wheel undercarriage 2, is positioned at machine
The inside of device human agent 1.
With reference to Fig. 3, core circuit control unit 9 includes: ultrasonic distance measuring module 91, motion-control module 92, Zhou Bianhuan
Border detection module 93, detection of obstacles module 94, power detecting module 95 and robot wireless communication module 96.Wherein:
Ultrasonic distance measuring module 91, the distance between robot measurement main body and metope charging device, to judge machine
Device people has sufficiently closed to metope charging device；
Motion-control module 92, for controlling turning to and rotating speed of left omni-directional wheel 3 and right omni-directional wheel 4, thus controls machine
The direction of motion of people, adjusts self attitude of robot；
Context detection module 93, for gathering the ambient parameter of robot local environment, and the ambient parameter that will collect
Send detection of obstacles module 94 to and robot wireless communication module 96 uses；
Detection of obstacles module 94, for measuring robots barrier in way of advancing, passes context detection module 93
The ambient parameter passed is analyzed, and helps robot avoiding barrier under the auxiliary of motion-control module 92, rationally selects
Select course；
Battery condition data for the battery condition of monitoring robot battery, and are passed through machine by power detecting module 95
People's wireless communication module 96 sends metope charging device 10 to；
Robot wireless communication module 96, for handing over charging device wireless communication module 1022 or other equipment rooms
Mutually；
With reference to Fig. 4, metope charging device 10, for being connected with robot charging plug 5, comprising: metope charging inlet
101 and internal circuit chip 102, metope charging inlet 101 is positioned at the centre of metope charging device 10, internal circuit chip
102 inside being positioned at metope charging device 10.On the ground, underface of metope charging device 10, it is laid with one group of ground machine
Interface 13, for improving the precision that robot charging plug 5 docks with metope charging device 10.Ground machine interface 13 is by two
Individual parallel being laid in ground guide rail composition, guide rail spacing is equal to wheelspan between the left omni-directional wheel of robot 3 and right omni-directional wheel 4.
Before robot charging plug 5 is connected with metope charging inlet 101, robot first passes through motion-control module 92 and connects with ground machine
Mouth 13 docking, accelerates to drive towards metope charging device 10 under the auxiliary directional of ground machine interface 13, charging plug 5 is inserted wall
In face charging inlet 101.
With reference to Fig. 5, in the present invention, the internal circuit chip 102 of metope charging device 10 includes: charging device power detecting
Module 1021 and charging device wireless communication module 1022.Wherein:
Charging device power detecting module 1021 is used for the battery condition of measuring robots when charging, and by battery condition
Robot wireless communication module 96 is sent to by charging device wireless communication module 1022；
Charging device wireless communication module 1022 is for interacting with robot wireless communication module 96；
With reference to Fig. 6, the step that the robot body of the present invention carries out automatic addressing charging is as follows:
Step 1 robot moves and sends low electric quantity signal based on navigation directions to metope charging device.
Power detecting module 95 in core circuit control unit 9 lasting electricity to robot in robot work process
Amount situation is monitored, when power detecting module 95 detects the electricity of robot less than 10%, by robot channel radio
Letter module 96 transmits, to charging device wireless communication module 1022, the signal that electricity is low, is simultaneously based on indoor map and navigates,
Move about to metope charging device 10.
Assume that described robot can arrive near metope charging device 10 with independent navigation.
Infrared transmitter opened by step 2 metope charging device.
Charging device wireless communication module 1022 in metope charging device 10 receives by robot wireless communication module
After the signal that 96 electricity sent are low, send instruction by its internal circuit to two infrared transmitters, open left infrared transmitter
11 with right infrared transmitter 12, to emission infrared signal, the effective range of this infrared signal is 3～5 meters.
Left and right two infrared transmitters are only just opened after the instruction receiving charging device wireless communication module 1022,
In remaining time, left infrared transmitter 11 and right infrared transmitter 12 are in closed mode, and this mode can effectively be saved
The power consumption of infrared transmitter, reaches the purpose of economize on electricity.
Step 3 infrared remote receiver receives infrared signal.
After a period of time, robot successfully arrives near metope charging device 10 based on navigation, when robot enters metope
Near charging device 10 in the range of 3～5 meters after, one of three infrared remote receivers on robot body it would be possible to receive by
The infrared signal that left infrared transmitter 11 or right infrared transmitter 12 send, according to receiving infrared signal, robot starts to seek
Look for the concrete orientation of relatively near infrared emission device.
Relatively near infrared emission device orientation is found by step 4 robot
Whether robot receives infrared signal according to three infrared remote receivers detected and carries out rotating and moving,
Zhong Shi robot keeps straight on towards nearer infrared transmitter direction:
If direct bearing infrared remote receiver 6 detects infrared signal, then motion-control module 92 controls Robot and works as front
To craspedodrome；
If left infrared remote receiver 7 detects infrared signal, then motion-control module 92 controls robot, is turning left
Cheng Zhong, if direct bearing infrared remote receiver 6 detects infrared signal, then stops turning left and keeping straight on, otherwise continues to turn left；
If right infrared remote receiver 8 detects infrared signal, then motion-control module 92 controls robot right-hand rotation, is turning right
Cheng Zhong, if direct bearing infrared remote receiver 6 detects infrared signal, then stops turning right and keeping straight on, otherwise continues to turn right；
As shown in 6 (a), robot arrives at the primary importance point A near metope charging device 10 based on independent navigation, machine
Right infrared remote receiver 8 on the right side of device people will receive the infrared signal that two infrared transmitters send, and motion-control module 92 controls
Robot turns right, and detects whether direct bearing infrared remote receiver 6 detects infrared signal during turning right；Turn right in robot
Suitably after angle, direct bearing infrared remote receiver 6 is first it is detected that the infrared signal that sends from left infrared transmitter 11, motion control
Molding block 92 controls again robot and stops turning right, and infrared transmitter 11 is kept straight at second position point B to the left.
Step 5 robot adjusts the direction of motion makes self just to infrared transmitter.
As shown in 6 (b), robot keeps straight on after second position point B, and motion-control module 92 controls robot and adjusts motion
Direction and self attitude so that it is drive to the 3rd location point C of left infrared transmitter 11 dead ahead, and just to left infrared transmitter
11, robot starts infrared transmitter 11 to the left from the 3rd location point C and keeps straight on.
Step 6 robot finds relatively near infrared emission device exact position.
As shown in 6 (c), robot is during keeping straight on, between ultrasonic distance measuring module 91 test constantly robot and metope
Distance,
If robot is less than 1m with the distance of front metope, and direct bearing infrared remote receiver 6 detects high-intensity signal, then
Representing that robot has been found that the exact position of left infrared transmitter 11, stop keeping straight on, otherwise, robot continues to keep straight on；
As shown in 6 (d), when robot keeps straight on the 4th location point D, ultrasonic distance measuring module 91 measure to robot with
The distance of front metope is less than 1m, and direct bearing infrared remote receiver 6 detects high-intensity signal simultaneously, shows that robot is found that
The exact position of left infrared remote receiver 11, robot stops keeping straight on and record left side infrared transmitter 11.
Another infrared transmitter orientation is found by step 7 robot
As shown in 6 (e), robot after infrared transmitter 11, enters and finds another infrared transmitter side on the left of record
The state of position, in this case, direct bearing receptor will no longer detect the signal from left infrared transmitter, and robot is from the 4th
Location point D continues to adjust the direction of motion and self attitude, finds the concrete side of right infrared transmitter 12 according to the method for step 4
Position；
When robot is in the 4th location point D, right infrared remote receiver 8 detects the letter sent by right infrared transmitter 12
Number, robot turns right, and during turning right, sends by right infrared transmitter 12 when direct bearing receptor 6 detects
After signal, motion-control module 92 controls robot and stops turning right, and towards the direction craspedodrome of right infrared transmitter 12.
Step 8 robot arrives on the perpendicular bisector of left and right two infrared transmitter lines.
As shown in 6 (f), robot, during keeping straight on, receives the situation of infrared signal by detection infrared remote receiver
Judge self the most to have arrived on the perpendicular bisector of left and right two infrared transmitter lines, when keeping straight on to the 5th location point E,
Robot arrives on the perpendicular bisector of left and right two infrared transmitter lines.
Step 9 robot adjusts self attitude, makes self just to metope charging device 10.
As shown in 6 (g), robot turns left at the 5th location point E, and detects left infrared remote receiver 7 in turn-left process
With right infrared remote receiver 8, the intensity receiving infrared signal when left and right two infrared remote receivers is equal, and connects direct bearing is infrared
Receive device when receiving signal, then motion-control module 92 controls robot and stops operating, and now robot is in left and right two infrared
On the perpendicular bisector of emitter line, and just to metope charging inlet 101.
Step 10 robot is connected with charging inlet on wall 101, starts to charge up.
As shown in 6 (h), robot first keeps straight on towards metope charging device 10 at the 5th location point E, when keeping straight on and ground
After mechanical interface 13 docking, then give it the gun under the auxiliary directional of mechanical guide, until the charging plug 5 of robot is inserted into
Metope charging inlet 101；
After metope charging device 10 detects the signal that metope charging inlet 101 has connected, by charging device channel radio
Letter module 1022 transmits, to robot wireless communication module 96, the signal that metope charging inlet 101 has connected；
Robot receives the signal that metope charging inlet 101 has connected, motion-control module 92 send instruction control
Robot stop motion, charging connection is successfully established, and starts to charge up.
After step 11 electricity is full of, robot disconnects.
In charging process, robot power supply detection module 95 and charging device power detecting module 1021 continue testing machine
The battery condition of device people；
After charging a period of time, when robot power supply detection module 95 and charging device power supply monitoring module 1021 are supervised simultaneously
Measure electricity when having been filled with, charging device power detecting module 1021 by charging device wireless communication module 1022 to robot
The signal that wireless communication module 96 transmission charging has terminated.
As shown in 6 (i), after robot wireless communication module 96 receives the signal that charging has terminated, pass through motor control
Module 92 controls robot setting in motion, disconnects the connection of metope charging inlet 101 and ground machine interface 13, completes to charge
Journey.
The present invention can solve the work limit that household intelligent robot uses battery power supply station to bring, and decreases user
Participation, improves intelligent machine task efficiency and motility.
Above description is only example of the present invention, it is clear that for those skilled in the art, is understanding
After present invention and principle, all may carry out in form and details in the case of without departing substantially from the principle of the invention, structure
Various corrections and change, but these corrections based on inventive concept and change are still at the claims of the present invention
Within.
Claims (4)
1. a robot system based on automatic addressing charging, including robot body (1), wheel undercarriage (2), left omni-directional wheel
(3), right omni-directional wheel (4), robot charging plug (5), core circuit control unit (9) and metope charging device (10), this core
Heart circuit control unit (9) includes ultrasonic distance measuring module (91), motion-control module (92), surrounding enviroment detection module
(93), detection of obstacles module (94), power detecting module (95), robot wireless communication module (96)；
It is characterized in that:
Dead ahead robot body (1) is laid with direct bearing infrared remote receiver (6), for perception from robot dead ahead
Infrared signal；
Lay left outside receptor (7) and right infrared remote receiver (8) respectively in the both sides of robot body (1), for perception from
The infrared signal of robot both sides；
It is laid with left infrared transmitter (11) and right infrared transmitter (12) in the both sides of metope charging device (10) respectively, is used for
To emission infrared signal to indicate the position of metope charging inlet (101)；
On the ground, underface of metope charging device (10), it is laid with one group of ground machine interface (13), is used for improving machine
The precision that people's charging plug (5) docks with metope charging device (10).
System the most according to claim 1, it is characterised in that: metope charging device (10) including: metope charging inlet
(101) and internal circuit chip (102), charging device power detecting module (1021) is included in internal circuit chip (102)
With charging device wireless communication module (1022), charging device power detecting module (1021) is for testing machine in charging process
The battery condition of device people, charging device wireless communication module (1022) is for sending and receive the indication signal in charging process.
System the most according to claim 1, it is characterised in that: ground machine interface (13) parallel is laid in ground by two
On guide rail composition, guide rail spacing is equal to wheelspan between the left omni-directional wheel of robot (3) and right omni-directional wheel (4), during charging, robot
First docked with ground machine interface (13) by motion-control module (92), then sailed with right omni-directional wheel (4) by left omni-directional wheel (3)
Enter in the groove of two side rails, under the auxiliary directional of ground guide groove, accelerate to drive towards metope charging device (10), will charging
Plug (5) inserts in metope charging inlet (101).
4. the method carrying out automatic addressing charging based on claim 1 system, including:
1) after the power detecting module (95) in core circuit control unit (9) detects that robot enters low state of charge, logical
Cross the signal that robot wireless communication module (96) transfer-out electricity is low, be simultaneously based on indoor map and navigate, to metope
Near charging device (10), 3～5 meters of scopes move；
2) the charging device wireless communication module (1022) in metope charging device (10) receives the signal that robot electric quantity is low,
Open left infrared transmitter (11) with right infrared transmitter (12) to emission infrared signal；
3) robot successfully arrives near metope charging device (10) based on navigation, receives and is sent out by left and right two infrared transmitters
The infrared signal gone out, three infrared remote receivers on robot body (1), according to receiving infrared signal, begin look for metope and fill
The concrete orientation of electric installation；
4) whether robot receives infrared signal by three infrared remote receivers of detection and carries out rotating and moving, and finally makes machine
Device people keeps straight on towards nearer infrared transmitter:
If direct bearing infrared remote receiver (6) detects infrared signal, then motion-control module (92) control Robot works as front
To craspedodrome；
If left infrared remote receiver (7) detects infrared signal, then motion-control module (92) controls robot left-hand rotation, is turning left
Cheng Zhong, if direct bearing infrared remote receiver (6) detects infrared signal, then stops turning left and keeping straight on, otherwise continues to turn left；
If right infrared remote receiver (8) detects infrared signal, then motion-control module (92) controls robot right-hand rotation, is turning right
Cheng Zhong, if direct bearing infrared remote receiver (6) detects infrared signal, then stops turning right and keeping straight on, otherwise continues to turn right；
5), after robot keeps straight on a segment distance towards nearer infrared transmitter, motion-control module (92) controls robot and adjusts fortune
Dynamic direction and self attitude so that it is drive to the dead ahead position of relatively near infrared emission device, and just to this infrared transmitter direction
Keep straight on；
6) keep straight on during, the distance between ultrasonic distance measuring module (91) test constantly robot and metope, if robot with
The distance of front metope is less than given distance threshold, and direct bearing infrared remote receiver (6) detects high-intensity signal, then it represents that
Robot has been found that the exact position of this infrared transmitter, and records this infrared transmitter, motion-control module (92) simultaneously
Controlling robot stop motion, otherwise, robot continues to keep straight on；
7) robot is after recorded first infrared transmitter, continues to adjust the direction of motion and self attitude, searches out another
The concrete orientation of infrared transmitter, is subsequently moved on the perpendicular bisector of the two infrared transmitter line, and just to metope
Charging inlet (101) is kept straight on；
8), after robot keeps straight on and docks with ground machine interface (13), sail track into and accelerate, until robot charging plug
(5) metope charging inlet (101) it is inserted into；
9) metope charging device (10) detects that metope charging inlet (101) connects, by charging device wireless communication module
(1022) signal connected to robot wireless communication module (96) transmission metope charging inlet (101)；
10) robot receives the signal that metope charging inlet (101) has connected, motion-control module (92) send instruction control
Robot processed stop motion, charging connection is successfully established, and starts to charge up；
11), in charging process, robot power supply detection module (95) and charging device power detecting module (1021) persistently detect
The battery condition of robot；
12) after charging a period of time, when robot power supply detection module (95) and charging device power supply monitoring module (1021) are same
Time monitor electricity when having been filled with, charging device power detecting module (1021) passes through charging device wireless communication module (1022)
The signal terminated to robot wireless communication module (96) transmission charging；
13), after robot wireless communication module (96) receives the signal that charging has terminated, controlled by motion-control module (92)
Robot processed setting in motion, disconnects metope charging inlet (101), completes charging process.
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106814739A (en) * | 2017-04-01 | 2017-06-09 | 珠海市微半导体有限公司 | A kind of mobile robot recharges control system and control method |
| CN106873578A (en) * | 2017-04-27 | 2017-06-20 | 南通大学 | Unmanned operation intelligence boat equipment and control system |
| CN107465277A (en) * | 2017-09-30 | 2017-12-12 | 深圳市锐曼智能装备有限公司 | Magnetic resonance type automatic charging machine people and its charging method |
| CN107671888A (en) * | 2017-09-28 | 2018-02-09 | 湖南超能机器人技术有限公司 | A kind of robot charging alignment methods and system based on infrared signal |
| CN107748353A (en) * | 2017-09-29 | 2018-03-02 | 珂伯特机器人（天津）有限公司 | A kind of robot automatic charging implementation method |
| CN108772842A (en) * | 2018-06-05 | 2018-11-09 | 宁波力芯科信息科技有限公司 | A kind of smart home management robot with wireless charging |
| CN108829112A (en) * | 2018-08-24 | 2018-11-16 | 北京猎户星空科技有限公司 | Charging method, device, equipment and the storage medium of robot |
| CN108897323A (en) * | 2018-07-23 | 2018-11-27 | 福建（泉州）哈工大工程技术研究院 | The control method of mobile robot self alignment recharging base |
| CN109066853A (en) * | 2018-08-14 | 2018-12-21 | 珠海市微半导体有限公司 | The charge control system and control method and its charge position localization method of robot |
| CN109471442A (en) * | 2018-12-11 | 2019-03-15 | 珠海市微半导体有限公司 | Robot straight line encounters the processing method and chip and robot of barrier when returning seat |
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| CN110174675A (en) * | 2019-05-24 | 2019-08-27 | 创泽智能机器人股份有限公司 | A kind of domestic robot charging pile position determination means and method |
| CN110202569A (en) * | 2019-05-08 | 2019-09-06 | 深圳爱根斯通科技有限公司 | Robot recharging method, device, system, electronic equipment and storage medium |
| CN112207810A (en) * | 2019-07-10 | 2021-01-12 | 江苏美的清洁电器股份有限公司 | Self-moving robot and recharging method, charging seat and storage medium thereof |
| CN114919616A (en) * | 2022-06-28 | 2022-08-19 | 中车制动系统有限公司 | Car coupler coupling center alignment system |
| CN116395165A (en) * | 2023-06-08 | 2023-07-07 | 成都航空职业技术学院 | Relay planting unmanned aerial vehicle system and charging method thereof |
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| CN106814739A (en) * | 2017-04-01 | 2017-06-09 | 珠海市微半导体有限公司 | A kind of mobile robot recharges control system and control method |
| CN106873578A (en) * | 2017-04-27 | 2017-06-20 | 南通大学 | Unmanned operation intelligence boat equipment and control system |
| CN110015069A (en) * | 2017-09-11 | 2019-07-16 | 比亚迪股份有限公司 | The automatic alignment apparatus and method of vehicle and its charge port |
| CN107671888A (en) * | 2017-09-28 | 2018-02-09 | 湖南超能机器人技术有限公司 | A kind of robot charging alignment methods and system based on infrared signal |
| CN107748353A (en) * | 2017-09-29 | 2018-03-02 | 珂伯特机器人（天津）有限公司 | A kind of robot automatic charging implementation method |
| CN107465277A (en) * | 2017-09-30 | 2017-12-12 | 深圳市锐曼智能装备有限公司 | Magnetic resonance type automatic charging machine people and its charging method |
| CN107465277B (en) * | 2017-09-30 | 2024-02-09 | 深圳市锐曼智能装备有限公司 | Magnetic resonance type automatic charging robot and charging method thereof |
| CN108772842A (en) * | 2018-06-05 | 2018-11-09 | 宁波力芯科信息科技有限公司 | A kind of smart home management robot with wireless charging |
| CN108897323A (en) * | 2018-07-23 | 2018-11-27 | 福建（泉州）哈工大工程技术研究院 | The control method of mobile robot self alignment recharging base |
| CN108897323B (en) * | 2018-07-23 | 2021-06-29 | 福建（泉州）哈工大工程技术研究院 | Control method for automatically aligning mobile robot to charging base |
| CN109066853A (en) * | 2018-08-14 | 2018-12-21 | 珠海市微半导体有限公司 | The charge control system and control method and its charge position localization method of robot |
| CN108829112A (en) * | 2018-08-24 | 2018-11-16 | 北京猎户星空科技有限公司 | Charging method, device, equipment and the storage medium of robot |
| CN109471442B (en) * | 2018-12-11 | 2022-03-04 | 珠海一微半导体股份有限公司 | Processing method for meeting obstacle when robot linearly returns to seat, chip and robot |
| CN109471442A (en) * | 2018-12-11 | 2019-03-15 | 珠海市微半导体有限公司 | Robot straight line encounters the processing method and chip and robot of barrier when returning seat |
| CN110202569A (en) * | 2019-05-08 | 2019-09-06 | 深圳爱根斯通科技有限公司 | Robot recharging method, device, system, electronic equipment and storage medium |
| CN110174675A (en) * | 2019-05-24 | 2019-08-27 | 创泽智能机器人股份有限公司 | A kind of domestic robot charging pile position determination means and method |
| CN112207810A (en) * | 2019-07-10 | 2021-01-12 | 江苏美的清洁电器股份有限公司 | Self-moving robot and recharging method, charging seat and storage medium thereof |
| CN114919616A (en) * | 2022-06-28 | 2022-08-19 | 中车制动系统有限公司 | Car coupler coupling center alignment system |
| CN114919616B (en) * | 2022-06-28 | 2023-08-15 | 中车制动系统有限公司 | Coupler coupling center alignment system |
| CN116395165A (en) * | 2023-06-08 | 2023-07-07 | 成都航空职业技术学院 | Relay planting unmanned aerial vehicle system and charging method thereof |
| CN116395165B (en) * | 2023-06-08 | 2023-10-13 | 成都航空职业技术学院 | Relay planting unmanned aerial vehicle system and charging method thereof |
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