CN106774295B - Distributed autonomous charging system for guided robot - Google Patents
Distributed autonomous charging system for guided robot Download PDFInfo
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- CN106774295B CN106774295B CN201510834616.3A CN201510834616A CN106774295B CN 106774295 B CN106774295 B CN 106774295B CN 201510834616 A CN201510834616 A CN 201510834616A CN 106774295 B CN106774295 B CN 106774295B
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- 230000033001 locomotion Effects 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 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
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- 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 distributed type guiding robot autonomous charging system which is used for charging a robot body and comprises an infrared receiver and a plurality of infrared transmitters, wherein the infrared transmitters are arranged in an active area of the robot body at intervals, the infrared transmitters send position information in the active area of the robot body, and the infrared transmitters form a charging station; the infrared receiver is arranged on the robot body and receives infrared emission signals in the moving area of the robot body. The distributed guiding robot autonomous charging system distributes infrared sensing in a row and column coordinate mode and marks the moving space plane of the robot. When the robot moves, the infrared receiver on the body receives row and column coordinates distributed in the space in real time, namely the current position coordinates of the robot. Through the comparison with the built-in map, a charging station guide area is quickly found, and charging butt joint is realized.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of automatic charging of robots, in particular to a distributed type automatic charging system for a guided robot.
[ background of the invention ]
The automatic charging of the mobile robot can prolong the autonomous time of the robot, increase the range of motion of the robot and realize continuous task action. The automatic charging technology requires that the robot can quickly find the charging station, and the robot and the charging station have higher electric energy transmission efficiency and are safe and quick to charge.
The important point of autonomous charging is that the robot can quickly and accurately position itself and the charging station within the range of the moving area, and select a reasonable path to reach the charging station for charging.
The mode that current robot looked for the charging station divide into two kinds:
1. the robot searches for a charging station guide area in a roaming or tracking and wall-searching walking mode, and after entering the guide area, the robot realizes butt joint charging with a charging station by certain path planning. The method has the advantages of simplicity and feasibility, but the efficiency of the robot for positioning the charging station is low, and if the robot meets the environment with more obstacles, the battery power is likely to be exhausted in the searching process.
2. A map of an active area is built in the robot, the robot rotates for a circle at the current position, the surrounding environment is scanned by utilizing the technologies of laser sensing, machine vision and the like, the position of the robot in the map is determined by identifying the shape and the distance of surrounding objects, and the robot drives to a charging station.
And judging the surrounding environment in real time in the motion process, judging the walking distance and the current direction of the robot according to the walking distance and the walking angle of the walking wheels of the robot, and if an object in the shape of the charging station is scanned, adjusting the distance between the angle of the robot and the charging station to enable the robot to drive to the charging station along a straight line to complete the charging process.
The method has the advantages that the robot can accurately and quickly position the charging station and complete the docking process by judging the surrounding environment. However, the disadvantage is that the identification devices, such as laser sensors, vision cameras, etc., are relatively expensive and increase the manufacturing costs of the machine.
Therefore, the process efficiency of finding the charging station is high by the robot with the device for positioning the self position, but the cost of the robot is quite high; robots without a positioning device, while less costly, have less ability and efficiency to search for charging stations. Leading to severe mutual restriction between the robot searching efficiency and the positioning equipment cost.
[ summary of the invention ]
Based on this, the invention aims to provide a distributed guiding robot autonomous charging system.
In order to achieve the purpose of the invention, the invention provides a distributed type guiding robot autonomous charging system which is used for charging a robot body and comprises an infrared receiver and a plurality of infrared transmitters, wherein the infrared transmitters are arranged in an active area of the robot body at intervals, the infrared transmitters send position information in the active area of the robot body, and the infrared transmitters form a charging station; the infrared receiver is arranged on the robot body and receives infrared emission signals in the moving area of the robot body.
Preferably, the infrared emitter is arranged to: the infrared emitter is arranged in the concave mirror, so that the infrared emitter emits parallel infrared light; the infrared emitters are arranged on two sides of the door or the window and emit in a sector mode.
Preferably, the infrared receiver is rotatable along the robot body.
Preferably, the robot body further comprises a four-quadrant detector.
Preferably, the charging station further comprises a laser transmitter, and the heights of the infrared transmitter and the laser transmitter are the same as the heights of the infrared receiver and the four-quadrant detector.
Preferably, after the robot body enters the guiding area of the charging station, the robot body performs zigzag walking by using the touching of the guiding area boundary as a signal.
Different from the prior art, the distributed guiding robot autonomous charging system distributes infrared sensing in a row and column coordinate mode and marks a space plane of robot movement. When the robot moves, the infrared receiver on the body receives row and column coordinates distributed in the space in real time, namely the current position coordinates of the robot. Through the comparison with the built-in map, a charging station guide area is quickly found, and charging butt joint is realized. The infrared sensor is low in cost, the position coordinate obtaining method is simple, and complex algorithms such as analysis of images scanned all around are not needed. When guaranteeing that the robot seeks charging station efficiency, greatly reduced positioning device's cost.
[ description of the drawings ]
Fig. 1 is a schematic spatial layout diagram of an autonomous charging system of a distributed guidance robot according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of the distribution of infrared receivers of the distributed guiding robot autonomous charging system in an embodiment of the present invention.
Fig. 3 is a schematic diagram of a guidance robot of the distributed guidance robot autonomous charging system according to an embodiment of the present invention.
[ detailed description ] embodiments
In order to explain technical contents, structural features, and objects and effects of the present invention in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a distributed type guiding robot autonomous charging system which is used for charging a robot body and comprises an infrared receiver and a plurality of infrared transmitters.
The infrared transmitters are arranged in the moving area of the robot body at intervals, the infrared transmitters send position information in the moving area of the robot body, and the infrared transmitters form a charging station; the infrared receiver is arranged on the robot body and receives infrared emission signals in the moving area of the robot body.
In the preferred embodiment of the invention, the infrared receiver can rotate along the robot body so as to more comprehensively receive the infrared emission signals in the moving area of the robot body.
In particular, the infrared emitter is arranged to:
the infrared emitter is arranged in the concave mirror, so that the infrared emitter emits parallel infrared light; namely, each infrared emitter marks the position of a row or a column in the moving area of the robot body where the infrared emitter is located by using coordinate information of X or Y, as shown in FIG. 1, (NX3, NY1), (SX2, SY2), the infrared emitters of the row coordinate and the column coordinate adopt interval alternating type information transmission, the information confusion of overlapped infrared light areas is avoided, and the infrared emitters of the areas such as doors, windows and the like are always in the state of transmitting the information of the respective areas.
The infrared emitters are arranged on two sides of the door or the window and emit in a sector; and two parallel light infrared transmitting tubes are respectively arranged on the same straight line on the two sides of the door frame and used for distinguishing the boundary of the robot body to the door.
In the preferred embodiment of the invention, the robot body establishes a map of the moving area, and the robot body further comprises a sonar obstacle avoidance device and a photosensitive four-quadrant detector. As shown in fig. 2, the infrared receivers are distributed on the robot body and rotate around the robot to receive the infrared coordinate signals around, and according to the coordinates received by the receivers in different directions, the position of the center of the robot body in the map is calculated to plan the path.
And calculating the difference value between the current coordinate and the coordinate of the charging station in real time in the moving process of the robot body, if the difference value is increased and indicates that the robot body is far away from the charging station, searching the direction with the small coordinate difference value in the opposite direction to move forward, and gradually approaching the charging station.
The lowest part of the central line of the charging station is provided with a low-power visible light laser transmitter for emitting visible laser with better collimation. The heights of the infrared transmitter and the laser transmitter are the same as those of the infrared receiver and the four-quadrant detector. The infrared receiver of the robot body is used for receiving infrared light signals, and the four-quadrant detector is used for receiving laser signals.
The distributed guiding robot autonomous charging system distributes the infrared sensors in a row and column coordinate mode and marks the moving space plane of the robot body. When the robot body moves, the infrared receiver on the body receives the row and column coordinates distributed in the space in real time, namely the current position coordinates of the robot. Through comparing with the built-in map, find the charging station guide area fast, realize the butt joint of charging.
The infrared sensor is low in cost, the method for acquiring the position coordinates is simple, and complex algorithms such as analysis on images scanned all around are not needed; when guaranteeing that the robot body seeks charging station efficiency, greatly reduced positioning device's cost.
The distributed guiding robot autonomous charging system of the invention is embodied in that,
as shown in fig. 3, the robot body is randomly placed at a certain position in the figure at any angle, the robot body is started, the coordinates received by the infrared receiver are (SX, SY), and the coordinates are known as S: the robot body is described to be located in a south bedroom, the infrared receiver receives and records a zero position coordinate, the infrared receiver rotates around the robot body for a circle and records a scanned coordinate value, the zero position coordinate is X4 and X5 through comparison of the coordinates, the robot body is described to be located near a windowsill in the south bedroom, and the abscissa is unequal to indicate that the advancing direction of the robot body is north; the column coordinate receives a signal of Y3, which indicates that the robot body is positioned at the left side of the south bedroom and indicates that the advancing direction of the robot body is westernly deviated.
The robot body is located at the left side of a south bedroom and close to a windowsill at present and faces the northwest direction; compared with the map information established inside, the robot body firstly leaves the south bedroom and rotates rightwards until the zero position coordinate and the position closest to the vector synthesis direction of the door coordinate.
By analogy, until infrared receiver reachs south bedroom door infrared zone boundary, the robot body gets into south bedroom door infrared zone, because infrared receiver can not receive infrared signal at the robot body opposite side, walks out of the south bedroom as the direction of motion according to receiving the central line of infrared regional two points, when infrared receipt WX coordinate, the robot body reachs the living room region.
The robot body comes from the south bedroom direction and drives in the north direction on the column coordinate component, and the charging station does not adjust the direction and continues to move forwards on the northwest side of the robot body; when the robot body moves to the wall body close to the north bedroom, the sonar obstacle avoidance device can prompt that an obstacle exists in front, and the robot body adjusts the angle to the northwest and moves forward to enter the infrared region of the charging station.
After the robot enters the infrared guide area of the charging station, the robot body walks in a Z shape to approach the charging station by taking the boundary of the touch guide area as a signal, and the four-quadrant detector at the bottommost part of the robot body is started to receive laser at the bottommost part of the charging station.
Because the laser collimation is good, the position is right above the charging station electrode, when the laser and the four-quadrant detection origin coincide, the robot body and the charging station electrode are on the same straight line, and the accurate butt joint of the two electrodes can be directly realized by straight line walking along the direction.
The distributed guiding robot autonomous charging system distributes infrared sensing in a row and column coordinate mode and marks a space plane of robot movement. When the robot moves, the infrared receiver on the body receives row and column coordinates distributed in the space in real time, namely the current position coordinates of the robot. Through the comparison with the built-in map, a charging station guide area is quickly found, and charging butt joint is realized. The infrared sensor is low in cost, the position coordinate obtaining method is simple, and complex algorithms such as analysis of images scanned all around are not needed. When guaranteeing that the robot seeks charging station efficiency, greatly reduced positioning device's cost.
It is to be noted that, in the present invention, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrases "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article, or terminal that comprises the recited element. Further, herein, "greater than," "less than," "more than," and the like are understood to exclude the present numbers; the terms "above", "below", "within" and the like are to be understood as including the number.
Although the embodiments have been described, once they have known the basic inventive concept, other variations and modifications can be made to the embodiments by those skilled in the art, so that the above embodiments are only examples of the present invention, and not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the contents of the present specification and drawings, or any other related technical fields, are included in the scope of the present invention.
Claims (4)
1. A distributed guiding robot autonomous charging system is used for charging a robot body and is characterized by comprising an infrared receiver and a plurality of infrared transmitters,
the infrared transmitters are arranged in the moving area of the robot body at intervals, the infrared transmitters send position information in the moving area of the robot body, and the infrared transmitters form a charging station;
the infrared receiver is arranged on the robot body and receives infrared emission signals in the moving area of the robot body;
the robot body is also provided with a sonar obstacle avoidance device and a photosensitive four-quadrant detector;
the plurality of infrared emitters are arranged as: the infrared emitter far away from the door and the window and the infrared emitter arranged in the concave mirror emit parallel infrared light; the infrared emitters at the positions of the door and the window are arranged at two sides of the door or the window and emit in a sector mode.
2. The distributed guided robot autonomous charging system of claim 1, wherein the infrared receiver is rotatable along the robot body.
3. The distributed guided robotic autonomous charging system of claim 1, wherein the charging station further comprises a laser transmitter, the infrared transmitter and laser transmitter being the same height as the infrared receiver and four quadrant detector.
4. The distributed guided robot autonomous charging system according to claim 1, wherein the robot body performs zigzag walking by using a signal of touching a boundary of a guide area after entering the guide area of the charging station.
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114675636A (en) | 2017-09-25 | 2022-06-28 | 北京石头创新科技有限公司 | Autonomous mobile robot, pile searching method thereof, control device and autonomous mobile system |
| CN108852174B (en) * | 2017-09-25 | 2022-02-25 | 北京石头创新科技有限公司 | Autonomous mobile robot and pile searching method, control device and intelligent cleaning system thereof |
| CN109933073B (en) * | 2019-04-01 | 2020-12-01 | 珠海市一微半导体有限公司 | Automatic generation method of robot backseat code |
| CN109991980B (en) * | 2019-04-01 | 2022-07-08 | 珠海一微半导体股份有限公司 | Method for forming signal quantization distribution diagram of charging seat |
| CN111904335B (en) * | 2020-08-01 | 2022-06-03 | 尚科宁家(中国)科技有限公司 | Cleaning robot and control method thereof |
| CN112363500B (en) * | 2020-10-29 | 2023-05-16 | 深圳市普渡科技有限公司 | Automatic recharging and moving method and system |
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