CN106856350A - A kind of robot autonomous charging system and control method - Google Patents
A kind of robot autonomous charging system and control method Download PDFInfo
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- CN106856350A CN106856350A CN201710061525.XA CN201710061525A CN106856350A CN 106856350 A CN106856350 A CN 106856350A CN 201710061525 A CN201710061525 A CN 201710061525A CN 106856350 A CN106856350 A CN 106856350A
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Abstract
The present invention relates to a kind of robotics, more particularly, to a kind of robot autonomous charging system and control method.A kind of robot autonomous charging system, including：Cradle control unit, robot charhing unit, motor control unit and host computer TU task unit；Cradle control unit includes cradle (8), cradle electronic compass, infrared emission unit (1) and cradle controller；Three infrared transmitters, robot charhing unit, including ultrasonic sensor, infrared remote receiver, infrared tube (14) and electronic compass (15) are set in infrared emission unit (1)；Right infrared remote receiver, preceding infrared remote receiver and left infrared remote receiver are respectively disposed with the right side of robot, positive front end and left side, the receiving angle of each infrared remote receiver is 120 degree；Motor control unit, including electric machine controller and motor, the motor control information for locating reason robot charhing unit or the transmission of host computer TU task unit, are controlled to motor.
Description
Technical field
The present invention relates to a kind of robotics, more particularly, to a kind of robot autonomous charging system and controlling party
Method.
Background technology
At present, mobile robot is just gradually substituting people and is going to perform that some are heavy, complicated, uninteresting, dangerous in industry-by-industry
Work.These robots are all by rechargeable battery for its work provides energy, after battery-depletion, in addition it is also necessary to artificial
Go to be charged to robot.In view of the sustainable work of robot, these robots have to that human intervention feelings can be being departed from
It is long-term autonomous under condition, and the research to robot autonomous charging technique can then make robot almost completely without artificial dry
In advance, go to perform work in every incessantly.
The content of the invention
It is an object of the invention to propose it is a kind of without manual intervention by the robot autonomous charging system that voluntarily charges.
Another object of the present invention is to propose a kind of control method of robot autonomous charging system.
The purpose of the present invention is achieved through the following technical solutions：
A kind of robot autonomous charging system, the system includes：Cradle control unit, robot charhing unit, electricity
Machine control unit and host computer TU task unit；
Cradle control unit includes cradle 8, cradle electronic compass, infrared emission unit 1 and cradle controller；
Cradle 8 includes charge port 2 and power interface 3, and wherein power interface 3 is connected with power supply adaptor；
The front of cradle 8 is disposed with alignment target band, and both sides are disposed with vertical colored belt, alignment target band and two it is vertical
Colored belt constitutes the mark area 9 of rectangle, and mark area 9 surrounds cradle 8；
Cradle electronic compass and cradle controller are arranged in cradle 8；
Infrared emission unit 1 is arranged on cradle 8, and three infrared transmitters are set in the infrared emission unit 1, is used
In different infrared signals are launched to the different direction of the launch respectively, the coverage of every kind of signal is 60 °, infrared emission unit
The coverage of three infrared transmitters in 1 is 180 °；
Robot charhing unit, including ultrasonic sensor, infrared remote receiver, infrared tube 14 and electronic compass 15；
The artificial rectangle of machine, four ultrasonic sensors, respectively first are installed in robot front end successively by right to left
Ultrasonic sensor 10, the second ultrasonic sensor 11, the 3rd ultrasonic sensor 12 and the 4th ultrasonic sensor 13, its
In, the first ultrasonic sensor 10 and the 4th ultrasonic sensor 13 and the second ultrasonic sensor 11 and the 3rd ultrasonic wave are passed
Sensor 12 is symmetrical respectively about robot center；
It is red right infrared remote receiver, preceding infrared remote receiver and a left side to be respectively disposed with the right side of robot, positive front end and left side
Outer receiver, the receiving angle of each infrared remote receiver is 120 degree；
Electronic compass 15 is arranged in robot, and robot front bottom end sets infrared tube 14；
Motor control unit, including electric machine controller and motor, appoint for locating reason robot charhing unit or host computer
The motor control information of business unit transmission, is controlled to motor；
Robot charhing unit and motor control unit are arranged in machine human organism.
Indicate that the distance between two vertical colored belts in area 9 are 1~1.5 times of the width of cradle 8.
Indicate that the distance between two vertical colored belts in area 9 are 1.2 times of the width of cradle 8.
Indicate that two vertical colored belts in area 9 are equal with the distance at the two ends of cradle 8, cradle 8 and front horizontal mark
Will band is apart from d：
Wherein, a is the length of robot, and b is the width of robot.
Charge port 2 includes upper and lower two mouths, and suitable for reading is positive pole, and lower mouth is negative pole.
A kind of control method of charging system robot autonomous as mentioned, it comprises the following steps：
A. robot performs current task；
B. judge that whether robot electric quantity, less than setting value, if electricity is less than setting value, performs step c；If electric
Amount is more than setting value, then return to step a, continues executing with current task；
C. judge whether robot receives infrared signal, if robot does not receive infrared signal, robot is former
Ground rotation, and rejudge whether robot receives infrared signal；If robot receives infrared signal, into step d；
D. robot selects corresponding Motion near cradle 8 according to the infrared signal for receiving；
Three different infrared transmitting tubes in cradle 8 launch three kinds of different infrared signals, every kind of signal
Coverage be 60 °；
Robot be located at infrared signal coverage in when, according to three infrared remote receivers in robot receive it is red
External signal, region and attitude where judging current robot, and determine the ensuing motion state of robot；
E. judge whether robot reaches docking region, if robot does not reach docking region, return to step d；Such as
Fruit robot has arrived at docking region, then into step f；
F. docking algorithm is called；
The orientation angles of the robot measurement of electronic compass 15 being arranged in the robot charhing unit in robot and then
Angular error is eliminated, after the infrared tube 14 of robot detects mark area 9, robot sends to cradle controller and obtains
The instruction of cradle orientation angles is taken, after cradle controller receives the instruction, itself side that cradle electronic compass is measured
Parallactic angle degree beams back robot charhing unit by wireless serial, and robot charhing unit measures the electronic compass 15 in robot
The angle of cradle that is received with robot of angle of robot contrasted, obtain motor control information, the information is defeated
Go out to motor control unit, and then control robot adjustment attitude up to the angle of robot is consistent with the angle of cradle, this
The front end face for carving robot is parallel with the alignment target band in mark area 9；
When robot detect mark area 9 and by robot angle adjustment to mark area 9 in alignment target band
After parallel, four ultrasonic sensors are started working, and the range information as measured by comparing four ultrasonic sensors judges
Robot and the relative position of cradle 8, call docking algorithm to be docked；
G. dock successfully, start to charge up.
In step d, the Motion is：
The right side of robot, positive front end, that left side is respectively disposed with right infrared remote receiver 4, preceding infrared remote receiver 5 and a left side is infrared
Receiver 6, I, II, III represent that three infrared transmitters in the infrared emission unit 1 of cradle 8 send from left to right respectively
Three kinds of different infrared signals, the coverage of every kind of infrared signal is 60 °：
When d1, three infrared remote receivers of robot do not receive any signal, robot is rotated in place；
D2, when only left infrared remote receiver 6 receives signal I, then conclude that robot is currently at a states, now machine
People's rotate counterclockwise；
When d3, current infrared remote receiver 5 and left infrared remote receiver 6 receive signal I, then conclude that robot is currently at b shapes
State, now robot rotate counterclockwise；
D4, when right infrared remote receiver 4 receives signal I, then conclude that robot is currently at c states, now robot is straight
OK；
D5, when left infrared remote receiver 6 receives signal II, then conclude that robot is currently at d states, now robot inverse
Hour hands rotate；
D6, when only before infrared remote receiver 5 receive signal II when, then conclude that robot is currently at e states, robot is straight
OK；
D7, when right infrared remote receiver 4 receives signal II, then conclude that robot is currently at f states, now robot is suitable
Hour hands rotate；
D8, when only right infrared remote receiver 4 receives signal III, then conclude that robot is currently at i states, this opportunity
Device people turn clockwise；
D9, when right infrared remote receiver 4 and preceding infrared remote receiver 5 receive signal III, then conclude that robot is currently at h
State, now robot turn clockwise；
D10, when left infrared remote receiver 6 receives signal III, then conclude that robot is currently at g states, now robot
Straight trip.
In step f, the docking algorithm is：
Robot central point is L with the vertical range of the central axis of cradle 81, d1Represent that the first ultrasonic sensor 10 is surveyed
The distance with front for obtaining, d2Represent the distance with front that the second ultrasonic sensor 11 is measured, d3Represent the 3rd ultrasound
The distance with front that wave sensor 12 is measured, d4Represent the distance with front that the 4th ultrasonic sensor 13 is measured, d
Represent the thickness of cradle 8, L2It is cradle width, d5It is the distance between two axis of adjacent ultrasonic wave sensor,
Δ 1=| | d1-d2|-d|
Δ 2=| | d2-d3|-d|
Δ 3=| | d3-d4|-d|
Find out Δ1, Δ2, Δ3In minimum value m,
When m=Δs1And d1>d2When, then robot is to the right, and vertical range L1=L2/2-d5；
When m=Δs1And d1<d2When, then robot is to the left, and vertical range L1=L2/2+d5；
When m=Δs2And d2>d3When, then robot is to the right, and vertical range L1=L2/2；
When m=Δs2And d2<d3When, then robot is to the left, and vertical range L1=L2/2；
When m=Δs3And d3>d4When, then robot is to the right, and vertical range L1=L2/2+d5；
When m=Δs3And d3<d4When, then robot is to the left, and vertical range L1=L2/2-d5；
If robot is to the right, robot turns clockwise 60 °, its axis direction backway of Robot L, L=
L1/ sin60 °, then, 60 ° of robot rotate counterclockwise, robot is kept straight on towards cradle 8 until completing right with cradle 8
Connect；
If robot is to the left, 60 ° of robot rotate counterclockwise, its axis direction backway of Robot L, L=
L1/ sin60 °, then, robot is turned clockwise 60 °, and then robot is kept straight on towards cradle 8 until completing and cradle 8
Docking.
The beneficial effects of the present invention are：
1. pass through it is demonstrated experimentally that the robot autonomous charging system has preferably repeatable and higher reliability.
2. the robot autonomous charging system is using cheap sensors, cost such as ultrasonic sensor, infrared transmitters
Relatively low, control is simple.
3. the robot autonomous charging system is suitable to the mobile platforms such as Indoor Robot, AGV.
Brief description of the drawings
Fig. 1 is the flow chart of the control method of robot autonomous charging system of the invention；
Fig. 2 is the charging station structural representation of robot autonomous charging system of the invention；
Fig. 3 is the robot and cradle relative position schematic diagram of robot autonomous charging system of the invention；
Fig. 4 is the docking schematic diagram of robot autonomous charging system of the invention；
Fig. 5 a-5e are the lateral error dispelling tactics schematic diagrames of robot autonomous charging system of the invention；
Fig. 6 a-6g are the status representative schematic diagrames of robot of the invention；
Fig. 7 a-7h are the schematic diagrames that robot of the invention is in critical localisation.
Reference：
The power interface of 1 infrared emission unit, 2 charge port 3
The left infrared remote receiver of infrared remote receiver 6 before 4 right infrared remote receivers 5
The ultrasonic sensor of 8 cradle, 9 colored belt 10 first
The ultrasonic sensor of 11 second the 3rd ultrasonic sensor 13 of ultrasonic sensor 12 the 4th
The electronic compass of 14 infrared tube 15
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the invention is described in further detail.
A kind of robot autonomous charging system, including：Cradle control unit, robot charhing unit, motor control list
Unit and host computer TU task unit.Each unit independent operating, using fixed communications protocol between each unit.
Cradle control unit, including cradle 8, cradle electronic compass (not shown), the and of infrared emission unit 1
Cradle controller, for launching infrared signal and sending itself orientation angles to robot, it is with robot charhing unit
Between communicated by infrared communication and wireless serial.
Wherein, as shown in Fig. 2 cradle 8 includes charge port 2 and power interface 3, wherein power interface 3 and power adaptation
Device is connected.
Charge port 2 includes upper and lower two mouths, and suitable for reading is positive pole, and lower mouth is negative pole.
As shown in figure 4, the front of cradle 8 is disposed with alignment target band, both sides are disposed with vertical colored belt, alignment target band
With the mark area 9 that two vertical colored belts constitute rectangle, mark area 9 encirclement cradle 8, it is preferable that the two of mark area 9
The distance between individual vertical colored belt is 1~1.5 times of the width of cradle 8, and preferably 1.2 times, two of mark area 9 are vertical
Colored belt is equal with the distance at the two ends of cradle 8, and cradle 8 is apart from d with front horizontal colored belt：
Wherein, a is the length of robot, and b is the width of robot.
Cradle electronic compass and cradle controller are arranged in cradle 8.
Infrared emission unit 1 is arranged on cradle 8, and three infrared transmitters are set in the infrared emission unit 1, is used
In different infrared signals are launched to the different direction of the launch respectively, the coverage of every kind of signal is 60 °, infrared emission unit
The coverage of three infrared transmitters in 1 is 180 °.
Robot charhing unit, including ultrasonic sensor, infrared remote receiver, infrared tube 14 and electronic compass 15, use
In by gathering ultrasonic sensor, infrared remote receiver, infrared tube 14 and the information of electronic compass 15, motor is obtained after treatment
Control information.
As shown in Figure 3 and Figure 4, the artificial rectangle of machine, four ultrasonic waves biographies are installed in robot front end successively by right to left
Sensor, respectively the first ultrasonic sensor 10, the second ultrasonic sensor 11, the 3rd ultrasonic sensor 12 and the 4th ultrasound
Wave sensor 13, wherein, the first ultrasonic sensor 10 and the 4th ultrasonic sensor 13 and the second ultrasonic sensor 11
It is symmetrical respectively about robot center with the 3rd ultrasonic sensor 12.
Right infrared remote receiver, preceding infrared remote receiver are disposed with the right side of robot, positive front end and left side and left infrared connect
Device is received, the receiving angle of each infrared remote receiver is 120 degree.
Electronic compass 15 is arranged in robot, and robot front bottom end sets infrared tube 14.
Motor control unit, including electric machine controller and motor, for processing by serial ports by robot charhing unit or
The motor control information that host computer TU task unit is transmitted, is controlled to motor.
Robot charhing unit and motor control unit are arranged in machine human organism.
Host computer TU task unit, including host computer, it is for the status information of monitoring robot and sufficient in robot electric quantity
In the case of the motor task of robot is sent to motor control unit by wireless serial, control robot completes corresponding appointing
Business.
As shown in figure 1, a kind of control method of robot autonomous charging system, is directed to robot autonomous charging system
The infrared letter that the infrared emission unit 1 for being located at cradle control unit in recharging closely, i.e. robot initial is launched
Number covering region in, comprise the following steps：
A. robot performs current task；
B. judge that whether robot electric quantity, less than setting value, if electricity is less than setting value, performs step c；If electric
Amount is more than setting value, then return to step a, continues executing with current task；
Wherein, the motor control unit of robot is received and performs the task order of host computer transmission, while constantly detection
Robot electric quantity；
C. judge whether robot receives infrared signal, if robot does not receive infrared signal, robot is former
Ground rotation, and rejudge whether robot receives infrared signal；If robot receives infrared signal, into step d；
D. robot selects corresponding Motion near cradle 8 according to the infrared signal for receiving；
Three different infrared transmitting tubes in cradle 8 launch three kinds of different infrared signals, every kind of signal
Coverage be 60 °.
Robot be located at infrared signal coverage in when, according to three infrared remote receivers in robot receive it is red
External signal, region and attitude where comprehensive descision current robot, and determine the ensuing motion state of robot.
As shown in figure 3, in figure numeral 4,5,6 represent respectively be arranged in the right side of robot, positive front end, left side it is right infrared
Receiver, preceding infrared remote receiver and left infrared remote receiver, I, II, III are represented in the infrared emission unit 1 of cradle 8 respectively
Three kinds of different infrared signals that three infrared transmitters send from left to right, the coverage of every kind of infrared signal is 60 °, three
Individual infrared transmitter can coverage be 180 °.A, b, c, d, e, f, g, h, i represent 9 kinds of different attitudes of robot respectively,
According to the different position and attitude of robot, different Motions have been formulated：
When d1, three infrared remote receivers of robot do not receive any signal, robot is rotated in place；
D2, when only left infrared remote receiver 6 receives signal I, then conclude that robot is currently at a states, now machine
People's rotate counterclockwise；
When d3, current infrared remote receiver 5 and left infrared remote receiver 6 receive signal I, then conclude that robot is currently at b shapes
State, now robot rotate counterclockwise；
D4, when right infrared remote receiver 4 receives signal I, then conclude that robot is currently at c states, now robot is straight
OK；
D5, when left infrared remote receiver 6 receives signal II, then conclude that robot is currently at d states, now robot inverse
Hour hands rotate；
D6, when only before infrared remote receiver 5 receive signal II when, then conclude that robot is currently at e states, robot is straight
OK；
D7, when right infrared remote receiver 4 receives signal II, then conclude that robot is currently at f states, now robot is suitable
Hour hands rotate；
D8, when only right infrared remote receiver 4 receives signal III, then conclude that robot is currently at i states, this opportunity
Device people turn clockwise；
D9, when right infrared remote receiver 4 and preceding infrared remote receiver 5 receive signal III, then conclude that robot is currently at h
State, now robot turn clockwise；
D10, when left infrared remote receiver 6 receives signal III, then conclude that robot is currently at g states, now robot
Straight trip.
E. judge whether robot reaches docking region, if robot does not reach docking region, return to step d；Such as
Fruit robot has arrived at docking region, then into step f；
I.e.：Several situations in step d, robot is infrared right until robot bottom constantly near cradle 8
Pipe 14 detects the mark area 9 in the front of cradle 8, and robot enters the docking stage.
F. docking algorithm is called；
The orientation angles of the robot measurement of electronic compass 15 being arranged in the robot charhing unit in robot and then
Eliminate angular error.After the infrared tube 14 of robot detects mark area 9, robot sends to cradle controller and obtains
The instruction of cradle orientation angles is taken, after cradle controller receives the instruction, itself side that cradle electronic compass is measured
Parallactic angle degree beams back robot charhing unit by wireless serial.Robot charhing unit measures the electronic compass 15 in robot
The angle of cradle that is received with robot of angle of robot contrasted, obtain motor control information, the information is defeated
Go out to motor control unit, and then control robot adjustment attitude until the angle of robot is consistent with the angle of cradle.This
The front end face for carving robot is parallel with the alignment target band in mark area 9.
As shown in Fig. 5 a~5e, when robot detect mark area 9 and by robot angle adjustment arrive with indicate area 9
Alignment target band it is parallel after, four ultrasonic sensors are started working, as measured by comparing four ultrasonic sensors
Range information, judges the relative position of robot and cradle 8, calls docking algorithm to be docked；
As shown in Fig. 6 a~6g and Fig. 7 a~Fig. 7 h, docking opportunity is chosen according to four distribution situations of ultrasonic sensor
8 critical localisations that device people is in：
The state that robot is between critical localisation Fig. 7 a and critical localisation Fig. 7 b is in the state of Fig. 6 a by robot
Represent；
The state that robot is between critical localisation Fig. 7 b and critical localisation Fig. 7 c is in the state of Fig. 6 b by robot
Represent；
The state that robot is between critical localisation Fig. 7 c and critical localisation Fig. 7 d is in the state of Fig. 6 c by robot
Represent；
The state that robot is between critical localisation Fig. 7 d and critical localisation Fig. 7 e is in the state of Fig. 6 d by robot
Represent；
The state that robot is between critical localisation Fig. 7 e and critical localisation Fig. 7 f is in the state of Fig. 6 e by robot
Represent；
The state that robot is between critical localisation Fig. 7 f and critical localisation Fig. 7 g is in the state of Fig. 6 f by robot
Represent；
The state that robot is between critical localisation Fig. 7 g and critical localisation Fig. 7 h is in the state of Fig. 6 g by robot
Represent.
Docking algorithm is as follows：
Robot central point is L with the vertical range of the central axis of cradle 81, d1Represent that the first ultrasonic sensor 10 is surveyed
The distance with front for obtaining, d2Represent the distance with front that the second ultrasonic sensor 11 is measured, d3Represent the 3rd ultrasound
The distance with front that wave sensor 12 is measured, d4Represent the distance with front that the 4th ultrasonic sensor 13 is measured, d
Represent the thickness of cradle 8, L2It is cradle width, d5It is the distance between two axis of adjacent ultrasonic wave sensor.
Δ 1=| | d1-d2|-d|
Δ 2=| | d2-d3|-d|
Δ 3=| | d3-d4|-d|
Find out Δ1, Δ2, Δ3In minimum value m,
When m=Δs1And d1>d2When, as fig. 6 c, then robot is to the right, and vertical range L1=L2/2-d5；
When m=Δs1And d1<d2When, as shown in fig 6e, then robot is to the left, and vertical range L1=L2/2+d5；
When m=Δs2And d2>d3When, as shown in Figure 6 b, then robot is to the right, and vertical range L1=L2/2；
When m=Δs2And d2<d3When, as shown in Figure 6 f, then robot is to the left, and vertical range L1=L2/2；
When m=Δs3And d3>d4When, as shown in Figure 6 a, then robot is to the right, and vertical range L1=L2/2+d5；
When m=Δs3And d3<d4When, as shown in fig 6e, then robot is to the left, and vertical range L1=L2/2-d5；
If robot is to the right, robot turns clockwise 60 °, its axis direction backway of Robot L, L=
L1/sin60 °, then, 60 ° of robot rotate counterclockwise, robot is kept straight on towards cradle 8 until completing right with cradle 8
Connect.
If robot is to the left, 60 ° of robot rotate counterclockwise, its axis direction backway of Robot L, L=
L1/sin60 °, then, robot is turned clockwise 60 °, and then robot is kept straight on towards cradle 8 until completing and cradle 8
Docking.
As shown in Figure 5 a, now Δ3Minimum and d3>d4, it is known that current robot is to the right, and L1=L2/2+d5.Such as Fig. 5 b institutes
Show, robot turns clockwise 60 °.As shown in Figure 5 c, then its axis direction backway of Robot L, L=L1/
sin60°.As fig 5d, 60 ° of robot rotate counterclockwise.Such as Fig. 5 e, then robot is advanced until completion docking.
Work as Δ3Minimum and d3<d4, it is known that current robot is to the left, and transversal displacement L1=L2/2-d5, during robot inverse
Pin rotates 60 °, Robot its axis direction backway L (L=L1/ sin60 °), then robot turns clockwise 60 °,
Then robot is advanced until completion docking.
G. dock successfully, start to charge up.
Claims (8)
1. a kind of robot autonomous charging system, it is characterised in that：The system includes：Cradle control unit, robot fill
Electric unit, motor control unit and host computer TU task unit；
Cradle control unit includes cradle (8), cradle electronic compass, infrared emission unit (1) and cradle controller；
Cradle (8) includes charge port (2) and power interface (3), and wherein power interface (3) is connected with power supply adaptor；
Cradle (8) front is disposed with alignment target band, and both sides are disposed with vertical colored belt, alignment target band and two vertical marks
Will band constitutes the mark area (9) of rectangle, and mark area (9) surrounds cradle (8)；
Cradle electronic compass and cradle controller are arranged in cradle (8)；
Infrared emission unit (1) is arranged on cradle (8), and three infrared transmitters are set in the infrared emission unit (1),
For launching different infrared signals to the different direction of the launch respectively, the coverage of every kind of signal is 60 °, infrared emission list
The coverage of three infrared transmitters in first (1) is 180 °；
Robot charhing unit, including ultrasonic sensor, infrared remote receiver, infrared tube (14) and electronic compass (15)；
The artificial rectangle of machine, four ultrasonic sensors, the respectively first ultrasound are installed in robot front end successively by right to left
Wave sensor (10), the second ultrasonic sensor (11), the 3rd ultrasonic sensor (12) and the 4th ultrasonic sensor (13),
Wherein, the first ultrasonic sensor (10) and the 4th ultrasonic sensor (13) and the second ultrasonic sensor (11) and the 3rd
Ultrasonic sensor (12) is symmetrical respectively about robot center；
Right infrared remote receiver, preceding infrared remote receiver are respectively disposed with the right side of robot, positive front end and left side and left infrared connect
Device is received, the receiving angle of each infrared remote receiver is 120 degree；
Electronic compass (15) is arranged in robot, and robot front bottom end sets infrared tube (14)；
Motor control unit, including electric machine controller and motor, for locating reason robot charhing unit or host computer job order
The motor control information of unit's transmission, is controlled to motor；
Robot charhing unit and motor control unit are arranged in machine human organism.
2. robot autonomous charging system according to claim 1, it is characterised in that：
Indicate that the distance between two vertical colored belts of area (9) are 1~1.5 times of cradle (8) width.
3. robot autonomous charging system according to claim 1, it is characterised in that：
Indicate that the distance between two vertical colored belts of area (9) are 1.2 times of cradle (8) width.
4. robot autonomous charging system according to claim 1, it is characterised in that：
Indicate that two vertical colored belts of area (9) are equal with the distance at cradle (8) two ends, cradle (8) and front horizontal
Colored belt apart from d is：
Wherein, a is the length of robot, and b is the width of robot.
5. robot autonomous charging system according to claim 1, it is characterised in that：
Charge port (2) includes upper and lower two mouths, and suitable for reading is positive pole, and lower mouth is negative pole.
6. the control method of a kind of robot autonomous charging system as described in one of claim 1-5, it is characterised in that：
It comprises the following steps：
A. robot performs current task；
B. judge that whether robot electric quantity, less than setting value, if electricity is less than setting value, performs step c；If electricity is big
In setting value, then return to step a, continues executing with current task；
C. judge whether robot receives infrared signal, if robot does not receive infrared signal, robot original place rotation
Turn, and rejudge whether robot receives infrared signal；If robot receives infrared signal, into step d；
D. robot selects corresponding Motion near cradle 8 according to the infrared signal for receiving；
Three different infrared transmitting tubes in cradle (8) launch three kinds of different infrared signals, every kind of signal
Coverage is 60 °；
Robot is located at when in infrared signal coverage, according to the infrared letter that three infrared remote receivers in robot are received
Number, region and attitude where judging current robot, and determine the ensuing motion state of robot；
E. judge whether robot reaches docking region, if robot does not reach docking region, return to step d；If machine
Device people has arrived at docking region, then into step f；
F. docking algorithm is called；
The orientation angles of electronic compass (15) robot measurement in the robot charhing unit being arranged in robot and then disappear
Except angular error, after the infrared tube (14) of robot detects mark area (9), robot sends to cradle controller
Obtain cradle orientation angles instruction, after cradle controller receives the instruction, cradle electronic compass is measured itself
Orientation angles beam back robot charhing unit by wireless serial, and robot charhing unit is by the electronic compass (15) in robot
The angle of the cradle that the angle of the robot for measuring is received with robot is contrasted, and obtains motor control information, and this is believed
Breath output controls robot adjustment attitude up to the angle of robot and the angle one of cradle to motor control unit
Cause, the front end face of robot is parallel with the alignment target band in mark area (9) this moment；
When robot detect mark area (9) and by robot angle adjustment to indicate area (9) in alignment target band
After parallel, four ultrasonic sensors are started working, and the range information as measured by comparing four ultrasonic sensors judges
Robot and the relative position of cradle (8), call docking algorithm to be docked；
G. dock successfully, start to charge up.
7. the control method of robot autonomous charging system as claimed in claim 6, it is characterised in that：It is described in step d
Motion is：
The right side of robot, positive front end, that left side is respectively disposed with right infrared remote receiver (4), preceding infrared remote receiver (5) and a left side is infrared
Receiver (6), I, II, III represent respectively three infrared transmitters in the infrared emission unit (1) of cradle (8) from a left side to
Three kinds of different infrared signals that the right side sends, the coverage of every kind of infrared signal is 60 °：
When d1, three infrared remote receivers of robot do not receive any signal, robot is rotated in place；
D2, when only left infrared remote receiver (6) receives signal I, then conclude that robot is currently at a states, now robot
Rotate counterclockwise；
When d3, current infrared remote receiver (5) and left infrared remote receiver (6) receive signal I, then conclude that robot is currently at b shapes
State, now robot rotate counterclockwise；
D4, when right infrared remote receiver (4) receives signal I, then conclude that robot is currently at c states, now robot straight trip；
D5, when left infrared remote receiver (6) receives signal II, then conclude that robot is currently at d states, now during robot inverse
Pin rotates；
D6, when only before infrared remote receiver (5) receive signal II when, then conclude that robot is currently at e states, robot is straight
OK；
D7, when right infrared remote receiver (4) receives signal II, then conclude that robot is currently at f states, now robot up time
Pin rotates；
D8, when only right infrared remote receiver (4) receives signal III, then conclude that robot is currently at i states, now machine
People turns clockwise；
D9, when right infrared remote receiver (4) and preceding infrared remote receiver (5) receive signal III, then conclude that robot is currently at h
State, now robot turn clockwise；
D10, when left infrared remote receiver (6) receives signal III, then conclude that robot is currently at g states, now robot is straight
OK.
8. the control method of robot autonomous charging system as claimed in claims 6 or 7, it is characterised in that：In step f,
It is described docking algorithm be：
Robot central point is L with the vertical range of cradle (8) central axis1, d1Represent that the first ultrasonic sensor (10) is surveyed
The distance with front for obtaining, d2Represent the distance with front that the second ultrasonic sensor (11) is measured, d3Represent that three surpasses
The distance with front that sonic sensor (12) is measured, d4Represent that the 4th ultrasonic sensor (13) measures with front
Distance, d represents the thickness of cradle (8), L2It is cradle width, d5For between two axis of adjacent ultrasonic wave sensor
Distance,
Δ 1=| | d1-d2|-d|
Δ 2=| | d2-d3|-d|
Δ 3=| | d3-d4|-d|
Find out Δ 1, Δ2, Δ3In minimum value m,
When m=Δs1And d1>d2When, then robot is to the right, and vertical range L1=L2/2-d5；
When m=Δs1And d1<d2When, then robot is to the left, and vertical range L1=L2/2+d5；
When m=Δs2And d2>d3When, then robot is to the right, and vertical range L1=L2/2；
When m=Δs2And d2<d3When, then robot is to the left, and vertical range L1=L2/2；
When m=Δs3And d3>d4When, then robot is to the right, and vertical range L1=L2/2+d5；
When m=Δs3And d3<d4When, then robot is to the left, and vertical range L1=L2/2-d5；
If robot is to the right, robot turns clockwise 60 °, its axis direction backway of Robot L, L=L1/
Sin60 °, then, 60 ° of robot rotate counterclockwise, robot is kept straight on towards cradle (8) until completing right with cradle (8)
Connect；
If robot is to the left, 60 ° of robot rotate counterclockwise, its axis direction backway of Robot L, L=L1/
Sin60 °, then, robot is turned clockwise 60 °, and then robot is kept straight on towards cradle (8) until completing and cradle
(8) docking.
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