CN106787266A - A kind of mobile robot wireless charging method and device - Google Patents
A kind of mobile robot wireless charging method and device Download PDFInfo
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- CN106787266A CN106787266A CN201710104185.4A CN201710104185A CN106787266A CN 106787266 A CN106787266 A CN 106787266A CN 201710104185 A CN201710104185 A CN 201710104185A CN 106787266 A CN106787266 A CN 106787266A
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Classifications
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- H02J7/025—
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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
- H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
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Abstract
The present invention relates to field of intelligent control technology, a kind of mobile robot wireless charging method and device are disclosed, the method includes：The battery electric quantity of mobile robot is monitored by battery and power management module, when the battery electric quantity is less than default power threshold, charge request is sent, the bottom of the mobile robot is provided with secondary coil；According to the default cradle positional information in map, by Mobile Robotics Navigation to cradle, primary coil is provided with the cradle；Vision positioning is carried out to the mobile robot by the primary coil and the secondary coil, deviation is docked in acquisition primary coil center with secondary coil center；When the docking deviation is less than default deviation threshold, mobile robot is charged；Primary Location can be carried out by navigation, then be accurately positioned by vision camera, robot autonomous wireless charging be realized, without manually operating and improve charge efficiency.
Description
Technical field
The present invention relates to field of intelligent control technology, more particularly to a kind of mobile robot wireless charging method and device.
Background technology
Robot progresses into family and service industry, directly to personal offer service, such as sweeping robot, welcome's food delivery
Robot, customer service robot, security protection patrol robot etc., after robot terminates in not enough power supply or task, automatic moving is arrived
The charging device for being configured is charged, so as to realize long-term autonomous work.
Existing mobile robot recharging technology uses wired charging of contact mostly, generally by laser acquisition
Device, visual sensing or infrared acquisition and charging equipment carry out mechanical splice, between wired mode requirement robot and cradle
Metal butt contact is exposed outside, there are problems that reliability, maintainability, and exist in docking operation
Cradle is pushed by robot, it is impossible to the problem of accurate docking.
The content of the invention
It is a primary object of the present invention to propose a kind of mobile robot wireless charging method and device, can be by navigation
Primary Location is carried out, then is accurately positioned by vision camera, realize robot autonomous wireless charging, without artificial operation
And improve charge efficiency.
To achieve the above object, a kind of mobile robot wireless charging method that the present invention is provided, including：
The battery electric quantity of mobile robot is monitored by battery and power management module, when the battery electric quantity is less than default
Power threshold when, send charge request, the bottom of the mobile robot is provided with secondary coil；
According to the default cradle positional information in map, by Mobile Robotics Navigation to cradle, the cradle
On be provided with primary coil；
Vision positioning is carried out to the mobile robot by the primary coil and the secondary coil, primary line is obtained
Deviation is docked with secondary coil center in circle center；
When the docking deviation is less than default deviation threshold, mobile robot is charged.
Alternatively, the upper surface of the primary coil is provided with concentric circumferences grain pattern, the center of circle of the concentric circumferences grain pattern
With the center superposition of the primary coil；Vision positioning camera, the vision are installed on the center of the secondary coil
Positioning camera is directed downward；LED illumination equipment is provided with around the vision camera, the position for aiding in obtaining primary coil
Put；The primary coil and the secondary coil carry out energy exchange by the magnetic induction of loose coupling.
Alternatively, it is described by the primary coil and the secondary coil mobile robot is carried out vision determine
Position, obtain primary coil center includes with the deviation of docking at secondary coil center：
The part grain pattern image of the concentric circumferences grain pattern is obtained by vision positioning camera, to the part grain pattern image
Carry out circumference and extract computing, obtain circle center, the circle center is the center of the primary coil；
Obtain the position deviation and the deviation of directivity at primary coil center and secondary coil center.
Alternatively, the acquisition primary coil center includes with the position deviation and the deviation of directivity at secondary coil center：
The circle center is transformed into camera coordinates system by image coordinate system, the X-axis of the camera coordinates system is movement
The front of robot, upwards, the Y direction of the camera coordinates system meets right-handed helix method to the Z axis of the camera coordinates system
Then, the camera coordinates system origin is the center of secondary coil；
Calculate the air line distance between the circle center and coordinate origin, namely position deviation；Calculate the circumference
The angle between line and X-axis between center and coordinate origin, namely the deviation of directivity.
Alternatively, the basis default cradle positional information in map, by Mobile Robotics Navigation to cradle
Including：
The cradle positional information is registered in advance in the navigation map of mobile robot；
Planning mobile robot is from current location to the optimal path of the cradle；
Navigation pattern is opened, the mobile robot is travelled to the cradle according to the optimal path, wherein, it is described
Laser is provided with mobile robot, the laser is located at robot front, for the Real Time Obstacle Avoiding under navigation pattern.
As another aspect of the present invention, there is provided a kind of mobile robot wireless charging device, including：Primary coil,
Secondary coil, cradle, battery and power management module, navigation coarse positioning module and vision fine positioning module, wherein,
The primary coil is arranged on the cradle, and the secondary coil is arranged at the bottom of mobile robot；
The battery and power management module, the battery electric quantity for monitoring mobile robot, when the battery electric quantity is low
When default power threshold, charge request is sent；
The navigation coarse positioning module, for basis in map default cradle positional information, by mobile robot
Navigate to cradle；
The vision fine positioning module, for by the primary coil and the secondary coil to the mobile robot
Vision positioning is carried out, deviation is docked in acquisition primary coil center with secondary coil center；When the docking deviation is less than default
Deviation threshold when, mobile robot is charged.
Alternatively, the upper surface of the primary coil is provided with concentric circumferences grain pattern, the center of circle of the concentric circumferences grain pattern
With the center superposition of the primary coil；Vision positioning camera, the vision are installed on the center of the secondary coil
Positioning camera is directed downward；LED illumination equipment is provided with around the vision camera, the position for aiding in obtaining primary coil
Put；The primary coil and the secondary coil carry out energy exchange by the magnetic induction of loose coupling.
Alternatively, the vision fine positioning module includes：
Primary coil center acquiring unit, the part line for obtaining the concentric circumferences grain pattern by vision positioning camera
Sampled images, circumference are carried out to the part grain pattern image and extract computing, obtain circle center, and the circle center is described first
The center of level coil；
Docking deviation acquiring unit, it is inclined with the position deviation at secondary coil center and direction for obtaining primary coil center
Difference.
Alternatively, the docking deviation acquiring unit includes：
The circle center is transformed into camera coordinates system by image coordinate system, the X-axis of the camera coordinates system is movement
The front of robot, upwards, the Y direction of the camera coordinates system meets right-handed helix method to the Z axis of the camera coordinates system
Then, the camera coordinates system origin is the center of secondary coil；
Calculate the air line distance between the circle center and coordinate origin, namely position deviation；Calculate the circumference
The angle between line and X-axis between center and coordinate origin, namely the deviation of directivity.
Alternatively, the navigation coarse positioning module includes：
Default unit, for the cradle positional information is registered in advance in the navigation map of mobile robot；
Path planning unit, for planning mobile robot from current location to the optimal path of the cradle；
Navigation elements, for opening navigation pattern, the mobile robot is travelled to described according to the optimal path fills
Electric seat, wherein, laser is provided with the mobile robot, the laser is located at robot front, in navigation mould
Real Time Obstacle Avoiding under formula.
A kind of mobile robot wireless charging method proposed by the present invention and device, the method include：By battery and electricity
The battery electric quantity of source control module monitors mobile robot, when the battery electric quantity is less than default power threshold, transmission is filled
Electricity request, the bottom of the mobile robot is provided with secondary coil；According to the default cradle positional information in map, will
Mobile Robotics Navigation is provided with primary coil to cradle on the cradle；By the primary coil and the secondary
Coil carries out vision positioning to the mobile robot, and deviation is docked in acquisition primary coil center with secondary coil center；When
When the docking deviation is less than default deviation threshold, mobile robot is charged；It is tentatively fixed to be carried out by navigation
Position, then be accurately positioned by vision camera, robot autonomous wireless charging is realized, filled without manually operating and improve
Electrical efficiency.
Brief description of the drawings
Fig. 1 is a kind of mobile robot wireless charging method flow chart that the embodiment of the present invention one is provided；
Fig. 2 is the specific method flow chart of step S20 in Fig. 1；
Fig. 3 is the specific method flow chart of step S30 in Fig. 1；
Fig. 4 is circle center's algorithm schematic diagram of the concentric circumferences grain pattern that the embodiment of the present invention one is provided；
Fig. 5 is a kind of mobile robot wireless charging device exemplary block diagram that the embodiment of the present invention two is provided；
Fig. 6 is the navigation coarse positioning module exemplary block diagram that the embodiment of the present invention two is provided；
Fig. 7 is the vision fine positioning module exemplary block diagram that the embodiment of the present invention two is provided.
Wherein, reference is：1- primary coils, 2- secondary coils, 3- batteries and power management module, 4- lasers.
The realization of the object of the invention, functional characteristics and advantage will be described further referring to the drawings in conjunction with the embodiments.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In follow-up description, the suffix using such as " module ", " part " or " unit " for representing element is only
Be conducive to explanation of the invention, itself do not have a specific meaning.Therefore, " module " can mixedly make with " part "
With.
Embodiment one
As shown in figure 1, in the present embodiment, a kind of mobile robot wireless charging method, including：
S10, the battery electric quantity that mobile robot is monitored by battery and power management module, when the battery electric quantity is less than
During default power threshold, charge request is sent, the bottom of the mobile robot is provided with secondary coil；
S20, basis default cradle positional information in map, it is described to fill by Mobile Robotics Navigation to cradle
Primary coil is provided with electric seat；
S30, vision positioning is carried out to the mobile robot by the primary coil and the secondary coil, obtained just
Level hub of a spool docks deviation with secondary coil center；
S40, when it is described docking deviation be less than default deviation threshold when, mobile robot is charged.
In the present embodiment, Primary Location is carried out by navigation, then is accurately positioned by vision camera, realize machine
The autonomous wireless charging of device people, without manually operating and improve charge efficiency.
In the present embodiment, the battery and power management module BMS (BATTERY MANAGEMENT SYSTEM) are used for
The battery electric quantity of mobile robot is monitored, when the battery electric quantity is less than default power threshold, such as battery electric quantity is less than
When 20%, charge request is sent to Mobile Robot Control System, realize the recharging of robot.
In the present embodiment, the upper surface of the primary coil is provided with concentric circumferences grain pattern, the concentric circumferences grain pattern
The center of circle and the primary coil center superposition；Vision positioning camera, institute are installed on the center of the secondary coil
State being directed downward for vision positioning camera；LED illumination equipment is provided with around the vision camera, for aiding in obtaining primary line
The position of circle；The primary coil and the secondary coil carry out energy exchange by the magnetic induction of loose coupling, and by infrared
Mode is communicated.
As shown in Fig. 2 in the present embodiment, the step S20 includes：
It is S21, the cradle positional information is registered in advance in the navigation map of mobile robot；
S22, planning mobile robot are from current location to the optimal path of the cradle；
S23, unlatching navigation pattern, the mobile robot are travelled to the cradle according to the optimal path, wherein,
Laser 4 is provided with the mobile robot, the laser is located at robot front, for being kept away in real time under navigation pattern
Barrier.
Because navigation accuracy is limited, primary coil can not be docked accurately with secondary coil, and based on this, this case is using pine
Coupling framework, to reduce overall complexity and dependence.Loose coupling makes application environment quicker, can quickly adapt to more
Change, and reduce risk, system maintenance is also more convenient；In addition it is also necessary to carry out more accurate positioning.
As shown in figure 3, in the present embodiment, the step S30 includes：
S31, the part grain pattern image that the concentric circumferences grain pattern is obtained by vision positioning camera, to the part grain pattern
Image carries out circumference and extracts computing, obtains circle center, and the circle center is the center of the primary coil；
S32, the position deviation and the deviation of directivity that obtain primary coil center and secondary coil center.
In the present embodiment, the concentric circumferences grain pattern is printed on the upper surface of primary coil, in order to vision positioning phase
Machine is shot, and camera captures the part grain pattern pattern of primary coil from any direction, optional position, can all calculate primary
Hub of a spool position, calculates primary coil and secondary coil centre distance and the deviation of directivity accordingly.
In the present embodiment, the step S32 is specially：
The circle center is transformed into camera coordinates system by image coordinate system, the X-axis of the camera coordinates system is movement
The front of robot, upwards, the Y direction of the camera coordinates system meets right-handed helix method to the Z axis of the camera coordinates system
Then, the camera coordinates system origin is the center of secondary coil；
Calculate the air line distance between the circle center and coordinate origin, namely position deviation；Calculate the circumference
The angle between line and X-axis between center and coordinate origin, namely the deviation of directivity.
As shown in figure 4, when the part grain pattern image for photographing includes multi-section circular arc, the circumference of multi-section circular arc is calculated respectively
Center, in theory, the center of circle of multi-section circular arc should overlap, but can there is error in actually calculating, now can be by calculating
The mode of circle center's average value reduces the influence of this error.
The part grain pattern image of the primary coil that Current vision sensor is captured by Hough transformation as shown in figure 4, entered
Row circle detection, any two camber line c1, c2The circumference at place is concentric, all circle center is averaged and obtains central point
Od, point correspondence primary coil center, error vector d=[dx, dy] it is defined as secondary coil center OcPoint to primary coil
Center OdVectorBy linearity error Feedback Design visual servo algorithm, for omni-directional mobile robots, control speed
Degree vx, vyAlong reference axis x respectively in robot coordinate system, the velocity component of y
[vx, vy]T=[kxdx, kydy]T
K in above formulax, kyRespectively linearity error feedback factor.
For differential driving robot, axial movement suffers restraints, vy=0, vxFor in robot coordinate system along reference axis x
Velocity component,It is the angular speed around z-axis
K in above formulax, kαRespectively linearity error feedback factor.
After obtaining position deviation and the deviation of directivity, judge the position deviation (or position deviation and deviation of directivity) whether
Within the scope of predetermined deviation, if it is, representing that primary coil and secondary coil are docked successfully, mobile robot is filled
Electricity, otherwise, Schemes of Angular Velocity Estimation for Robots and linear velocity, the deviation that makes correction for direction and position deviation is controlled by linearity error feedback algorithm；
After the completion of the error correction cycle performs, it is again introduced into circumference and extracts computing, judges whether primary coil and secondary coil are butted into
Work(, and so on, until accurately docking successfully.
Further, after docking successfully, robot sends " starting to charge up " signal to wireless charging system；Secondary coil connects
After receiving " starting to charge up " signal, " allowing to charge " signal is sent to primary coil by infrared mode；Primary coil is received
After " allow charge " signal, city electric control switch PS_ON is opened；Control and electricity in drive module, start soft start, high-frequency inversion
Module is started to charge up；After battery pack is fully charged, robot controller sends " complete charge " to wireless charging secondary coil again
Signal；After secondary coil receives " stopping charging " signal, stop sending infrared signal；Or robot leaves charging device
Afterwards；Primary coil does not receive any infrared signal, then close power supply signal and stop charging.
Embodiment two
As shown in figure 5, in the present embodiment, a kind of mobile robot wireless charging device, including：Primary coil 1, secondary
Coil 2, cradle (not shown), battery and power management module 3, navigation coarse positioning module and vision fine positioning module,
Wherein,
The primary coil is arranged on the cradle, and the secondary coil is arranged at the bottom of mobile robot；
The battery and power management module, the battery electric quantity for monitoring mobile robot, when the battery electric quantity is low
When default power threshold, charge request is sent；
The navigation coarse positioning module, for basis in map default cradle positional information, by mobile robot
Navigate to cradle；
The vision fine positioning module, for by the primary coil and the secondary coil to the mobile robot
Vision positioning is carried out, deviation is docked in acquisition primary coil center with secondary coil center；When the docking deviation is less than default
Deviation threshold when, mobile robot is charged.
In the present embodiment, Primary Location is carried out by navigation, then is accurately positioned by vision camera, realize machine
The autonomous wireless charging of device people, without manually operating and improve charge efficiency.
In the present embodiment, the battery and power management module BMS (BATTERY MANAGEMENT SYSTEM) are used for
The battery electric quantity of mobile robot is monitored, when the battery electric quantity is less than default power threshold, such as battery electric quantity is less than
When 20%, charge request is sent to Mobile Robot Control System, realize the recharging of robot.
In the present embodiment, the upper surface of the primary coil is provided with concentric circumferences grain pattern, the concentric circumferences grain pattern
The center of circle and the primary coil center superposition；Vision positioning camera, institute are installed on the center of the secondary coil
State being directed downward for vision positioning camera；LED illumination equipment is provided with around the vision camera, for aiding in obtaining primary line
The position of circle；The primary coil and the secondary coil carry out energy exchange by the magnetic induction of loose coupling, and by infrared
Mode is communicated.
As shown in fig. 6, in the present embodiment, the navigation coarse positioning module includes：
Default unit 11, for the cradle positional information is registered in advance in the navigation map of mobile robot；
Path planning unit 12, for planning mobile robot from current location to the optimal path of the cradle；
Navigation elements 13, for opening navigation pattern, the mobile robot is travelled to described according to the optimal path
Cradle, wherein, laser is provided with the mobile robot, the laser is located at robot front, in navigation
Real Time Obstacle Avoiding under pattern.
Because navigation accuracy is limited, primary coil can not be docked accurately with secondary coil, and based on this, this case is using pine
Coupling framework, to reduce overall complexity and dependence.Loose coupling makes application environment quicker, can quickly adapt to more
Change, and reduce risk, system maintenance is also more convenient；In addition it is also necessary to carry out more accurate positioning.
As shown in fig. 7, in the present embodiment, the vision fine positioning module includes：
Primary coil center acquiring unit 21, the part for obtaining the concentric circumferences grain pattern by vision positioning camera
Grain pattern image, circumference is carried out to the part grain pattern image and extracts computing, obtains circle center, and the circle center is described
The center of primary coil；
Docking deviation acquiring unit 22, for obtaining position deviation of the primary coil center with secondary coil center and direction
Deviation.
In the present embodiment, the concentric circumferences grain pattern is printed on the upper surface of primary coil, in order to vision positioning phase
Machine is shot, and camera captures the part grain pattern pattern of primary coil from any direction, optional position, can all calculate primary
Hub of a spool position, calculates primary coil and secondary coil centre distance and the deviation of directivity accordingly.
In the present embodiment, the docking deviation acquiring unit includes：
The circle center is transformed into camera coordinates system by image coordinate system, the X-axis of the camera coordinates system is movement
The front of robot, upwards, the Y direction of the camera coordinates system meets right-handed helix method to the Z axis of the camera coordinates system
Then, the camera coordinates system origin is the center of secondary coil；
Calculate the air line distance between the circle center and coordinate origin, namely position deviation；Calculate the circumference
The angle between line and X-axis between center and coordinate origin, namely the deviation of directivity.
As shown in figure 4, when the part grain pattern image for photographing includes multi-section circular arc, the circumference of multi-section circular arc is calculated respectively
Center, in theory, the center of circle of multi-section circular arc should overlap, but can there is error in actually calculating, now can be by calculating
The mode of circle center's average value reduces the influence of this error.
The part grain pattern image of the primary coil that Current vision sensor is captured by Hough transformation as shown in figure 4, entered
Row circle detection, any two camber line c1, c2The circumference at place is concentric, all circle center is averaged and obtains central point
Od, point correspondence primary coil center, error vector d=[dx, dy] it is defined as secondary coil center OcPoint to primary coil
Center OdVectorBy linearity error Feedback Design visual servo algorithm, for omni-directional mobile robots, control speed
Degree vx, vyAlong reference axis x respectively in robot coordinate system, the velocity component of y
[vx, vy]T=[kxdx, kydy]T
K in above formulax, kyRespectively linearity error feedback factor.
For differential driving robot, axial movement suffers restraints, vy=0, vxFor in robot coordinate system along reference axis x
Velocity component,It is the angular speed around z-axis
K in above formulax, kαRespectively linearity error feedback factor.
After obtaining position deviation and the deviation of directivity, judge the position deviation (or position deviation and deviation of directivity) whether
Within the scope of predetermined deviation, if it is, representing that primary coil and secondary coil are docked successfully, mobile robot is filled
Electricity, otherwise, Schemes of Angular Velocity Estimation for Robots and linear velocity, the deviation that makes correction for direction and position deviation is controlled by linearity error feedback algorithm；
After the completion of the error correction cycle performs, it is again introduced into circumference and extracts computing, judges whether primary coil and secondary coil are butted into
Work(, and so on, until accurately docking successfully.
Further, after docking successfully, robot sends " starting to charge up " signal to wireless charging system；Secondary coil connects
After receiving " starting to charge up " signal, " allowing to charge " signal is sent to primary coil by infrared mode；Primary coil is received
After " allow charge " signal, city electric control switch PS_ON is opened；Control and electricity in drive module, start soft start, high-frequency inversion
Module is started to charge up；After battery pack is fully charged, robot controller sends " complete charge " to wireless charging secondary coil again
Signal；After secondary coil receives " stopping charging " signal, stop sending infrared signal；Or robot leaves charging device
Afterwards；Primary coil does not receive any infrared signal, then close power supply signal and stop charging.
It should be noted that herein, term " including ", "comprising" or its any other variant be intended to non-row
His property is included, so that process, method, article or device including a series of key elements not only include those key elements, and
And also include other key elements being not expressly set out, or also include for this process, method, article or device institute are intrinsic
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this
Also there is other identical element in the process of key element, method, article or device.
The embodiments of the present invention are for illustration only, and the quality of embodiment is not represented.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably implementation method.Based on such understanding, technical scheme is substantially done to prior art in other words
The part for going out contribution can be embodied in the form of software product, and the computer software product is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions are used to so that a station terminal equipment (can be mobile phone, computer, clothes
Business device, air-conditioner, or network equipment etc.) perform method described in each embodiment of the invention.
The preferred embodiments of the present invention are these are only, the scope of the claims of the invention is not thereby limited, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of mobile robot wireless charging method, it is characterised in that including：
The battery electric quantity of mobile robot is monitored by battery and power management module, when the battery electric quantity is less than default electricity
During amount threshold value, charge request is sent, the bottom of the mobile robot is provided with secondary coil；
According to the default cradle positional information in map, Mobile Robotics Navigation to cradle sets on the cradle
It is equipped with primary coil；
Vision positioning is carried out to the mobile robot by the primary coil and the secondary coil, in acquisition primary coil
The heart docks deviation with secondary coil center；
When the docking deviation is less than default deviation threshold, mobile robot is charged.
2. a kind of mobile robot wireless charging method according to claim 1, it is characterised in that the primary coil
Upper surface is provided with concentric circumferences grain pattern, the center of circle of the concentric circumferences grain pattern and the center superposition of the primary coil；It is described
Vision positioning camera is installed, the vision positioning camera is directed downward on the center of secondary coil；The vision phase
LED illumination equipment is provided with around machine, the position for aiding in obtaining primary coil；The primary coil and the secondary coil
Energy exchange is carried out by the magnetic induction of loose coupling.
3. a kind of mobile robot wireless charging method according to claim 2, it is characterised in that it is described by it is described just
Level coil and the secondary coil carry out vision positioning to the mobile robot, in acquisition primary coil center and secondary coil
The docking deviation of the heart includes：
The part grain pattern image of the concentric circumferences grain pattern is obtained by vision positioning camera, the part grain pattern image is carried out
Circumference extracts computing, obtains circle center, and the circle center is the center of the primary coil；
Obtain the position deviation and the deviation of directivity at primary coil center and secondary coil center.
4. a kind of mobile robot wireless charging method according to claim 3, it is characterised in that the acquisition primary line
Circle center includes with the position deviation and the deviation of directivity at secondary coil center：
The circle center is transformed into camera coordinates system by image coordinate system, the X-axis of the camera coordinates system is mobile machine
The front of people, upwards, the Y direction of the camera coordinates system meets right-hand rule to the Z axis of the camera coordinates system, institute
State the center that camera coordinates system origin is secondary coil；
Calculate the air line distance between the circle center and coordinate origin, namely position deviation；Calculate the circle center
The angle between line and X-axis between coordinate origin, namely the deviation of directivity.
5. a kind of mobile robot wireless charging method according to claim 2, it is characterised in that the basis is in map
In default cradle positional information, Mobile Robotics Navigation to cradle is included：
The cradle positional information is registered in advance in the navigation map of mobile robot；
Planning mobile robot is from current location to the optimal path of the cradle；
Navigation pattern is opened, the mobile robot is travelled to the cradle according to the optimal path, wherein, the movement
Laser is provided with robot, the laser is located at robot front, for the Real Time Obstacle Avoiding under navigation pattern.
6. a kind of mobile robot wireless charging device, it is characterised in that including：Primary coil, secondary coil, cradle, electricity
Pond and power management module, navigation coarse positioning module and vision fine positioning module, wherein,
The primary coil is arranged on the cradle, and the secondary coil is arranged at the bottom of mobile robot；
The battery and power management module, the battery electric quantity for monitoring mobile robot, when the battery electric quantity is less than pre-
If power threshold when, send charge request；
The navigation coarse positioning module, for basis in map default cradle positional information, by Mobile Robotics Navigation
To cradle；
The vision fine positioning module, for being carried out to the mobile robot by the primary coil and the secondary coil
Deviation is docked with secondary coil center in vision positioning, acquisition primary coil center；When the docking deviation is inclined less than default
During difference limen value, mobile robot is charged.
7. a kind of mobile robot wireless charging device according to claim 6, it is characterised in that the primary coil
Upper surface is provided with concentric circumferences grain pattern, the center of circle of the concentric circumferences grain pattern and the center superposition of the primary coil；It is described
Vision positioning camera is installed, the vision positioning camera is directed downward on the center of secondary coil；The vision phase
LED illumination equipment is provided with around machine, the position for aiding in obtaining primary coil；The primary coil and the secondary coil
Energy exchange is carried out by the magnetic induction of loose coupling.
8. a kind of mobile robot wireless charging device according to claim 7, it is characterised in that the vision fine positioning
Module includes：
Primary coil center acquiring unit, the part grain pattern figure for obtaining the concentric circumferences grain pattern by vision positioning camera
Picture, circumference is carried out to the part grain pattern image and extracts computing, obtains circle center, and the circle center is the primary line
The center of circle；
Docking deviation acquiring unit, position deviation and the deviation of directivity for obtaining primary coil center and secondary coil center.
9. a kind of mobile robot wireless charging device according to claim 8, it is characterised in that the docking deviation is obtained
Taking unit includes：
The circle center is transformed into camera coordinates system by image coordinate system, the X-axis of the camera coordinates system is mobile machine
The front of people, upwards, the Y direction of the camera coordinates system meets right-hand rule to the Z axis of the camera coordinates system, institute
State the center that camera coordinates system origin is secondary coil；
Calculate the air line distance between the circle center and coordinate origin, namely position deviation；Calculate the circle center
The angle between line and X-axis between coordinate origin, namely the deviation of directivity.
10. a kind of mobile robot wireless charging device according to claim 7, it is characterised in that the navigation is slightly fixed
Position module includes：
Default unit, for the cradle positional information is registered in advance in the navigation map of mobile robot；
Path planning unit, for planning mobile robot from current location to the optimal path of the cradle；
Navigation elements, for opening navigation pattern, the mobile robot is travelled to the cradle according to the optimal path,
Wherein, laser is provided with the mobile robot, the laser is located at robot front, for real under navigation pattern
When avoidance.
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| CN107370246A (en) * | 2017-07-27 | 2017-11-21 | 无锡昊瑜节能环保设备有限公司 | A kind of energy-conservation sweeping robot based on wireless charging function |
| CN107515602A (en) * | 2017-07-27 | 2017-12-26 | 无锡昊瑜节能环保设备有限公司 | A kind of wireless charging control method of energy-saving sweeping robot |
| CN108032759A (en) * | 2017-12-20 | 2018-05-15 | 上海玖锶自动化技术有限公司 | A kind of AGV automatic charge devices, system and method |
| CN108418316A (en) * | 2018-03-27 | 2018-08-17 | 广东工业大学 | A kind of wireless charging autocontrol method and system |
| CN108983603A (en) * | 2018-06-27 | 2018-12-11 | 广州视源电子科技股份有限公司 | Butt joint method of robot and object and robot thereof |
| CN109484216A (en) * | 2018-11-21 | 2019-03-19 | 深圳市迈康信医用机器人有限公司 | The automated wireless charging method and its system of wheel-chair |
| CN110649720A (en) * | 2019-09-18 | 2020-01-03 | 乐牙工业设计(深圳)有限公司 | Wireless charging equipment capable of automatically centering and maximizing efficiency |
| CN110867916A (en) * | 2019-11-01 | 2020-03-06 | 清华大学 | Wireless charging system of transformer substation discharge source positioning robot |
| CN111864920A (en) * | 2020-07-09 | 2020-10-30 | 中国电力科学研究院有限公司 | Transformer substation inspection robot, wireless charging room, wireless charging system and method |
| CN112578799A (en) * | 2021-02-25 | 2021-03-30 | 德鲁动力科技(成都)有限公司 | Autonomous charging method for four-foot robot and autonomous charging four-foot robot |
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| WO2024114177A1 (en) * | 2022-11-28 | 2024-06-06 | 同济人工智能研究院(苏州)有限公司 | Mobile explosion-proof monitoring apparatus and autonomous charging method |
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| CN107515602A (en) * | 2017-07-27 | 2017-12-26 | 无锡昊瑜节能环保设备有限公司 | A kind of wireless charging control method of energy-saving sweeping robot |
| CN107370246A (en) * | 2017-07-27 | 2017-11-21 | 无锡昊瑜节能环保设备有限公司 | A kind of energy-conservation sweeping robot based on wireless charging function |
| CN108032759A (en) * | 2017-12-20 | 2018-05-15 | 上海玖锶自动化技术有限公司 | A kind of AGV automatic charge devices, system and method |
| CN108418316A (en) * | 2018-03-27 | 2018-08-17 | 广东工业大学 | A kind of wireless charging autocontrol method and system |
| CN108983603B (en) * | 2018-06-27 | 2021-07-16 | 广州视源电子科技股份有限公司 | Butt joint method of robot and object and robot thereof |
| CN108983603A (en) * | 2018-06-27 | 2018-12-11 | 广州视源电子科技股份有限公司 | Butt joint method of robot and object and robot thereof |
| CN109484216A (en) * | 2018-11-21 | 2019-03-19 | 深圳市迈康信医用机器人有限公司 | The automated wireless charging method and its system of wheel-chair |
| CN110649720A (en) * | 2019-09-18 | 2020-01-03 | 乐牙工业设计(深圳)有限公司 | Wireless charging equipment capable of automatically centering and maximizing efficiency |
| CN110867916A (en) * | 2019-11-01 | 2020-03-06 | 清华大学 | Wireless charging system of transformer substation discharge source positioning robot |
| CN110867916B (en) * | 2019-11-01 | 2022-02-15 | 清华大学 | Wireless charging system of transformer substation discharge source positioning robot |
| CN111864920A (en) * | 2020-07-09 | 2020-10-30 | 中国电力科学研究院有限公司 | Transformer substation inspection robot, wireless charging room, wireless charging system and method |
| CN114256899A (en) * | 2020-09-24 | 2022-03-29 | 北京小米移动软件有限公司 | Wireless charging stand, wireless charging method, wireless charging device, and storage medium |
| CN112578799A (en) * | 2021-02-25 | 2021-03-30 | 德鲁动力科技(成都)有限公司 | Autonomous charging method for four-foot robot and autonomous charging four-foot robot |
| WO2024114177A1 (en) * | 2022-11-28 | 2024-06-06 | 同济人工智能研究院(苏州)有限公司 | Mobile explosion-proof monitoring apparatus and autonomous charging method |
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Address after: 518000 room 1306, Press Plaza, Shennan Avenue, Futian District, Shenzhen, Guangdong Applicant after: ANKE ROBOT CO.,LTD. Address before: 518054 room 1306, Press Plaza, Shennan Avenue, Futian District, Shenzhen, Guangdong Applicant before: ANKE SMART CITY TECHNOLOGY (PRC) Co.,Ltd. |
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Effective date of registration: 20180905 Address after: 518000 Shenzhen, Guangdong Guangming New District Guangming Street Wan Dai Heng hi tech Industrial Park 5, 5 floor. Applicant after: SHENZHEN ZHONGZHI KECHUANG ROBOT Co.,Ltd. Address before: 518000 room 1306, Press Plaza, Shennan Avenue, Futian District, Shenzhen, Guangdong Applicant before: ANKE ROBOT CO.,LTD. |
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Application publication date: 20170531 |