CN106774295A - A kind of distributed guided robot recharging system - Google Patents
A kind of distributed guided robot recharging system Download PDFInfo
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- CN106774295A CN106774295A CN201510834616.3A CN201510834616A CN106774295A CN 106774295 A CN106774295 A CN 106774295A CN 201510834616 A CN201510834616 A CN 201510834616A CN 106774295 A CN106774295 A CN 106774295A
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- infrared
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- robot body
- infrared transmitter
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- 230000009471 action Effects 0.000 claims abstract description 16
- 238000003032 molecular docking Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000037081 physical activity Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention provides a kind of distributed guided robot recharging system, charged for robot body, including infrared remote receiver and multiple infrared transmitters, the infrared transmitter is disposed in the robot body zone of action, the infrared transmitter is sent in the positional information in robot body zone of action, and the infrared transmitter constitutes charging station；The infrared remote receiver is arranged on the robot body, and the infrared remote receiver receives the infrared emission signal in the robot body zone of action.Distributed guided robot recharging system of the invention, infrared sensing is distributed in the way of row, column coordinate, and the space plane to robot movable is marked.During robot motion, the row, column coordinate being distributed in infrared remote receiver real-time reception on body to space, i.e. robot current position coordinates.By the comparing with built-in map, charging station boot section is quickly found out, realizes docking of charging.
Description
【Technical field】
The present invention relates to robot automatic charging technical field, more particularly to a kind of distributed guided robot is certainly
Main charging system.
【Background technology】
Mobile robot automatic charging can extend the autonomous time of robot, increase its scope of activities, realize
Continuous duty is acted.Automatic charging technical requirements robot energy fast searching charging station, robot and charging station
Between have transmission electric energy efficiency higher and the safety that charges, quick.
Recharging is more it is important that robot can be accurately fixed in the range of zone of action quickly
Position itself and the position of charging station, and select Rational Path arrival charging station to be charged.
The mode that charging station is found by existing robot is divided into two kinds：
1st, robot to be to roam or tracking, the walking manner of seeking wall find charging station boot section, into boot section
Realize docking charging with charging station with certain path planning afterwards.The method advantage is simple and easy to apply, but machine
Device people positions less efficient, the more environment such as barrier, it is likely that cause in search procedure of charging station
Middle dead battery capability.
2nd, robot interior sets up the map of zone of action, is rotated a circle in current location, using laser sensing,
The technologies such as machine vision scan surrounding environment, by recognizing surrounding objects shape and distance, determine that robot exists
Position in map, drives towards charging station direction.
Surrounding environment is judged in real time in motion process, and according to robot ambulation wheel walk distance and
Angle judges robot ambulation distance and works as front direction, if scanning is adjusted to the object of charging station shape
Robot angle and charging station distance, make it drive towards charging station along straight line and complete charging process.
The method advantage is that robot can accurately and rapidly position charging station by the judgement to surrounding environment
Position and complete docking operation.But have the disadvantage identification equipment, such as laser sensor, vision camera etc. into
This is at a relatively high, can increase the manufacturing cost of machine.
From the foregoing, it will be observed that with the robot for positioning self-position equipment, the process efficiency for finding charging station is higher,
But robot cost is also at a relatively high；Although the robot cost without location equipment is relatively low, search is charged
The ability stood with it is less efficient.Robot searching efficiency is caused seriously mutually to be restricted with location equipment cost.
【The content of the invention】
Based on this, it is an object of the invention to provide a kind of distributed guided robot recharging system.
In order to realize the purpose of the present invention, there is provided a kind of distributed guided robot recharging system, it is used for
Robot body charges, including infrared remote receiver and multiple infrared transmitters, and the infrared transmitter interval sets
Put in the robot body zone of action, the infrared transmitter is sent in robot body zone of action
Interior positional information, the infrared transmitter constitutes charging station；The infrared remote receiver is arranged on the machine
On human body, the infrared remote receiver receives the infrared emission signal in the robot body zone of action.
Preferably, the infrared transmitter is arranged as：It is described red away from door, the infrared transmitter of window position
External transmitter is arranged in concave mirror makes the infrared transmitter send parallel infrared light；Door, window position
Infrared transmitter, the infrared transmitter is arranged on door or window both sides, into Sector Angle Launching of An.
Preferably, the infrared remote receiver can be rotated along the robot body.
Preferably, the robot body also includes 4 quadrant detector.
Preferably, the charging station also includes generating laser, and the infrared transmitter and generating laser are high
Degree is highly identical with the infrared remote receiver and 4 quadrant detector.
Preferably, after the robot body enters the guidance field of charging station, the robot body is with tactile
Guidance field border is touched for signal performs zigzag walking.
Be different from prior art, above-mentioned distributed guided robot recharging system, by infrared sensing with row,
The mode of row coordinate is distributed, and the space plane to robot movable is marked.During robot motion, body
On infrared remote receiver real-time reception to the row, column coordinate being distributed in space, i.e. robot current position coordinates.
By the comparing with built-in map, charging station boot section is quickly found out, realizes docking of charging.Infrared sensor
Low cost, and obtain position coordinates method simply, the image without being scanned to surrounding carries out the complicated calculation such as parsing
Method.While ensureing that charging station efficiency is found by robot, the cost of location equipment is substantially reduced.
【Brief description of the drawings】
Fig. 1 is that the space layout of distributed guided robot recharging system in one embodiment of the invention is shown
It is intended to.
Fig. 2 is the infrared remote receiver of distributed guided robot recharging system in one embodiment of the invention
Distribution schematic diagram.
Fig. 3 is the guided robot of distributed guided robot recharging system in one embodiment of the invention
Schematic diagram.
【Specific embodiment】
To describe technology contents of the invention, structural feature, the objects and the effects in detail, below in conjunction with
Implementation method simultaneously coordinates accompanying drawing to be explained in detail.It should be appreciated that specific embodiment described herein is only used to solve
The present invention is released, is not used to limit the present invention.
The present invention provides a kind of distributed guided robot recharging system, is charged for robot body,
Including infrared remote receiver and multiple infrared transmitters.
The infrared transmitter is disposed in the robot body zone of action, the infrared transmitter
The positional information in robot body zone of action is sent in, the infrared transmitter constitutes charging station；It is described
Infrared remote receiver is arranged on the robot body, and the infrared remote receiver receives the robot body and lives
Infrared emission signal in dynamic region.
In a preferred embodiment of the invention, the infrared remote receiver can be rotated along the robot body, with reality
Now more fully receive the infrared emission signal in the robot body zone of action.
Specifically, the infrared transmitter is arranged as：
Away from door, the infrared transmitter of window position, the infrared transmitter be arranged in concave mirror make it is described red
External transmitter sends parallel infrared light；I.e. each infrared transmitter marks itself with the coordinate information of X or Y
The position of row or column in the robot body zone of action of place, as described in Figure 1, in figure (NX3, NY1), (SX2,
SY2), row coordinate is taken with the infrared transmitter of row coordinate and alternates the transmission of formula information, it is to avoid overlapping is red
Outer smooth region produces information chaotic, and the region such as door, window infrared transmitter is all the time in the respective region letter of transmission
Breath.
Door, the infrared transmitter of window position, the infrared transmitter are arranged on door or window both sides, into covering of the fan hair
Penetrate；And two directional light infrared transmitting tubes are also respectively placed on the same straight line in doorframe both sides, the infrared emission is effective
Differentiate in the border of robot body opposite house.
In a preferred embodiment of the invention, robot body sets up the map of zone of action, and robot body is also
Including sonar obstacle avoidance apparatus and photosensitive 4 quadrant detector.As shown in Fig. 2 infrared remote receiver is in robot
Body distribution and the infrared remote receiver around robot surrounding rotate, receive surrounding infrared coordinate signal, and
According to the coordinate that receiver different directions are received, position of the robot body center in map is calculated,
Carry out the planning in path.
The difference of changing coordinates and charging station coordinates is calculated in robot body moving process in real time, if difference increases
Greatly, represent away from charging station, then find the small direction of coordinate difference to opposite direction and advance, and progressively near filling
Power station.
The center line lowest part of charging station sets low power visible light laser emitter device, for send collimation compared with
Good visible laser.The infrared transmitter and laser transmitter height and the infrared remote receiver and four-quadrant
Detector is highly identical.Wherein, the infrared remote receiver of robot body is used to receive infrared signal, four-quadrant
Limit detector is used to receive laser signal.
Distribution guided robot recharging system of the invention, by infrared sensor with the side of row, column coordinate
Formula is distributed, and the space plane to robot body activity is marked.When robot body is moved, body
On infrared remote receiver real-time reception space in the row, column coordinate that is distributed, i.e. robot current position coordinates.
Compare by with built-in map, be quickly found out charging station boot section, realize docking of charging.
The infrared sensor low cost, and obtain position coordinates method simply, without the image scanned to surrounding
Carry out the complicated algorithm such as parsing；While ensureing that robot body finds charging station efficiency, positioning is substantially reduced
The cost of equipment.
Distribution guided robot recharging system of the invention is embodied as,
As shown in figure 3, robot body is arbitrarily placed in into a certain position in figure with arbitrarily angled, start
Robot body, the coordinate that infrared remote receiver is received is (SX, SY), and coordinate understands S：Illustrate robot sheet
Body is located at southern bedroom, infrared remote receiver receiving record zero position coordinate, around robot body after circling simultaneously
The coordinate value that record is scanned, by comparing coordinate, zero position coordinate is X4 and X5, illustrates robot
Body is located at southern bedroom near windowsill, and abscissa does not wait explanation robot body direction of advance by north；Row
Coordinate receives the signal of Y3, illustrates that robot body is located at southern bedroom left side, illustrates that robot body advances
Direction is to the west.
By zero position coordinate with most obtained by my Vector modulation of door coordinate, machine body people is currently located at south
Bedroom left side faces direction northwest near the position of windowsill；Compare with the internal cartographic information set up, machine
Human body should first walk out southern bedroom, to right rotation until zero position coordinate is closed with the vector near door coordinate
Into at the position in direction.
By that analogy, until infrared remote receiver reaches southern bedroom door infrared region border, robot body enters south
Bedroom door region of ultra-red, because infrared remote receiver does not receive infrared signal, root in robot body opposite side
Southern bedroom is walked out as the direction of motion according to the center line for receiving 2 points of region of ultra-red, when infrared receiver WX coordinates
When, robot body reaches parlor region.
It is northwards to travel on row coordinate components due to robot body from southern bedroom direction, and charges
Stand in its northwest side, direction adjustment is not done, move on；When robot body is run near Bei Woshiqiang
During body, its sonar obstacle avoidance apparatus can point out the front to have barrier, now robot body northwestwards adjustment angle
And advance, into charging station region of ultra-red.
Into after the infrared guidance field of charging station, robot body is to touch guidance field border as signal carries out Z
Font walking is opened the 4 quadrant detector of robot body bottommost and goes to receive charging station near charging station
The laser of bottommost, when 4 quadrant detector receives laser signal, four-quadrant detector is radiated at according to laser
The quadrant coordinate system, adjustment robot body position makes laser beam move to detector coordinates origin, and edge
Straight ahead.
Because laser quasi is straightforward good, position is in directly over charging station electrode, when laser and Quadrant detector
When origin overlaps, show that robot body and the electrode of charging station are on same straight line, along this direction straight line
Walking can be directly realized by the accurate docking of the two electrode.
Distribution guided robot recharging system of the invention, by infrared sensing in the way of row, column coordinate
Distribution, the space plane to robot movable is marked.During robot motion, the infrared receiver on body
Device real-time reception is to the row, column coordinate being distributed in space, i.e. robot current position coordinates.By with it is built-in
The comparing of map, is quickly found out charging station boot section, realizes docking of charging.Infrared sensor low cost, and
Obtain position coordinates method simple, the image without being scanned to surrounding carries out the complicated algorithm such as parsing.Guarantee machine
While device people finds charging station efficiency, the cost of location equipment is substantially reduced.
It should be noted that in the present invention, such as first and second or the like relational terms are used merely to
One entity or operation are made a distinction with another entity or operation, and is not necessarily required or is implied this
There is any this actual relation or order between a little entities or operation.And, term " including ", " bag
Containing " or any other variant thereof is intended to cover non-exclusive inclusion, so that including a series of key elements
Process, method, article or terminal device not only include those key elements, but also including not arranging clearly
Other key elements for going out, or also include intrinsic for this process, method, article or terminal device
Key element.In the absence of more restrictions, limited by sentence " including ... " or " including ... "
Key element, it is not excluded that also exist in the process including above-mentioned key element, method, article or terminal device another
Outer key element.Additionally, herein, " being more than ", " being less than ", " exceeding " etc. are interpreted as not including this number；
" more than ", " below ", " within " etc. be interpreted as including this number.
Although being described to the various embodiments described above, those skilled in the art once know
Basic creative concept, then can make other change and modification to these embodiments, so the above is above-mentioned only
It is the embodiment of type of the present invention, not thereby limits scope of patent protection of the invention, it is every using the present invention
Equivalent structure or equivalent flow conversion that specification and accompanying drawing content are made, or directly or indirectly it is used in other
Related technical field, is similarly included within scope of patent protection of the invention.
Claims (6)
1. a kind of distributed guided robot recharging system, charges for robot body, and its feature exists
In, including infrared remote receiver and multiple infrared transmitters,
The infrared transmitter is disposed in the robot body zone of action, the infrared transmitter
The positional information in robot body zone of action is sent in, the infrared transmitter constitutes charging station；
The infrared remote receiver is arranged on the robot body, and the infrared remote receiver receives the machine
Infrared emission signal in human body zone of action.
2. distributed guided robot recharging system according to claim 1, it is characterised in that
The infrared transmitter is arranged as：Away from door, the infrared transmitter of window position, the infrared transmitter is set
The infrared transmitter is set to send parallel infrared light in concave mirror；Door, the infrared transmitter of window position,
The infrared transmitter is arranged on door or window both sides, into Sector Angle Launching of An.
3. distributed guided robot recharging system according to claim 1, it is characterised in that
The infrared remote receiver can be rotated along the robot body.
4. distributed guided robot recharging system according to claim 1, it is characterised in that
The robot body also includes 4 quadrant detector.
5. distributed guided robot recharging system according to claim 4, it is characterised in that
The charging station also includes generating laser, and the infrared transmitter and laser transmitter height are infrared with described
Receiver and 4 quadrant detector are highly identical.
6. distributed guided robot recharging system according to claim 1, it is characterised in that
After the robot body enters the guidance field of charging station, the robot body is touching guidance field side
Boundary is that signal performs zigzag walking.
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| CN201510834616.3A CN106774295B (en) | 2015-11-24 | 2015-11-24 | Distributed autonomous charging system for guided robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510834616.3A CN106774295B (en) | 2015-11-24 | 2015-11-24 | Distributed autonomous charging system for guided robot |
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| CN106774295A true CN106774295A (en) | 2017-05-31 |
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Cited By (6)
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| WO2019056998A1 (en) * | 2017-09-25 | 2019-03-28 | 深圳洛克时代科技有限公司 | Autonomous mobile robot and pile-seeking method therefor, control apparatus and smart cleaning system |
| CN109991980A (en) * | 2019-04-01 | 2019-07-09 | 珠海市一微半导体有限公司 | The forming method of the signal quantization distribution map of cradle |
| CN111904335A (en) * | 2020-08-01 | 2020-11-10 | 尚科宁家(中国)科技有限公司 | Cleaning robot and control method thereof |
| CN112363500A (en) * | 2020-10-29 | 2021-02-12 | 深圳市普渡科技有限公司 | Automatic recharging moving method and system |
| US11054836B2 (en) | 2017-09-25 | 2021-07-06 | Shenzhen Rock Times Technology Co., Ltd. | Autonomous mobile robot, method for docking an autonomous mobile robot, control device and smart cleaning system |
| EP3951541A4 (en) * | 2019-04-01 | 2022-05-04 | Amicro Semiconductor Co., Ltd. | Method for automatically generating robot return to base code |
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