CN107124014A - The charging method and charging system of a kind of mobile robot - Google Patents
The charging method and charging system of a kind of mobile robot Download PDFInfo
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- CN107124014A CN107124014A CN201611265738.6A CN201611265738A CN107124014A CN 107124014 A CN107124014 A CN 107124014A CN 201611265738 A CN201611265738 A CN 201611265738A CN 107124014 A CN107124014 A CN 107124014A
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- cradle
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000005611 electricity Effects 0.000 claims description 16
- 238000012544 monitoring process Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 6
- 230000000875 corresponding effect Effects 0.000 claims description 4
- 238000013439 planning Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000012913 prioritisation Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
Classifications
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- H02J7/025—
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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
Abstract
Present invention is disclosed a kind of charging method of mobile robot, comprise the following steps：S1：Mobile robot detects cradle in non-refill conditions by laser radar or infrared signal；S2：The positional information of itself when detecting cradle or the positional information of cradle are added to map by mobile robot；S3：Mobile robot seeks cradle position according to the map；S4：Mobile robot recharges signal with cradle and realizes that alignment is recharged according to infrared.The present invention by the position of mobile robot information or cradle positional information when detecting charging signals by being added to map, cradle is found by cartographic information when mobile robot needs to recharge, can be rapidly by near Mobile Robotics Navigation to cradle, then it is aligned again using infrared positioning method, rapid, the high advantage of alignment precision with recharging.In addition, present invention further teaches provide a kind of mobile robot charging system.
Description
Technical field
The present invention relates to the charging method of mobile robot technology, particularly mobile robot and charging system.
Background technology
With the development of science and technology, mobile robot can operate with various occasions and be used to complete every instead of manpower
Business, is a kind of with height self planning, self-organizing, the machinery of adaptive ability, can be worked in complicated non-structure environment,
Effective space, each generic task is efficiently completed in the time, be widely used in the fields such as logistics, detection, service at present.
Existing mobile robot typically provides power using rechargeable battery, and that rechargeable battery can be provided is continuous
Power-on time is shorter, and general run time is more than 2,3 hours, it is necessary to charged.How mobile robot is made in electricity
It is reasonable in design to recharge algorithm in the case of deficiency, its completion is recharged automatically, as one of mobile robot facing challenges.
At present, mobile robot it is automatic recharge scheme can be divided into it is following two：Recharging automatically based on infrared positioning
With recharging automatically based on laser barcode scanning.Cradle is received based on infrared mode by infrared sensor in mobile robot to send out
The infrared light carrier projected recognizes cradle, and the mode based on laser barcode scanning recognizes charging by recognizing the feature of cradle
Seat.Scheme is recharged when mobile robot is recharged at a distance based on infrared positioning, the searching cradle time is long, and also needs to
There is the ability for differentiating wall and isolated island barrier in robot；And when being recharged using laser barcode scanning, when laser barcode scanning is aligned on hand
There is deviation.
In summary, existing two kinds recharge scheme all have the shortcomings that it is certain, therefore, it is necessary to design a kind of new shifting
Mobile robot charging scheme is to solve the above problems.
The content of the invention
An object of the present invention is to overcome prior art defect there is provided a kind of based on laser radar and infrared signal
Mobile robot charging method.
In order to achieve the above object, the technical scheme of the inventive method is as follows：
A kind of charging method of mobile robot, comprises the following steps：S1：Mobile robot passes through laser in non-refill conditions
Radar or infrared signal detection cradle；S2：Mobile robot is by the positional information or cradle of itself when detecting cradle
Positional information be added to map；S3：Mobile robot seeks cradle position according to the map；S4：Mobile robot is according to infrared
Recharge signal and realize that alignment is recharged with cradle.
Specifically, the non-refill conditions includes map building, path planning or performs task.
Further, also same fill is detected including being considered as multiple positional informations by clustering method in the step S3
Electric seat.
Further, it is described infrared to recharge that signal recharges signal including a left side and the right side recharges signal.
The second object of the present invention is to overcome prior art defect there is provided a kind of based on laser radar and infrared signal
Mobile robot charging system.
To reach above-mentioned purpose, one of scheme of mobile robot charging system of the invention is as follows：
A kind of mobile-robot system, including cradle and mobile robot, the cradle include charging pole piece and infrared hair
Head is penetrated, the mobile robot includes infrared receiving terminal, by electrode slice, laser radar, power module, electric power detection module, control
Molding block, memory module and executing agency, the infrared receiving terminal are used to receive the infrared signal that cradle is sent, the laser
Radar is used to carry out real-time positioning map establishment, and the memory module is used for storing map information and mobile robot non-refill shape
Positional information during cradle signal is received under state, the control module is used for anti-according to laser radar and electric quantity monitoring module
The information control executing agency of feedback performs corresponding actions.
Further, the cradle includes left infrared emission head and right infrared emission head, and the mobile robot includes
Left infrared receiving terminal and right infrared receiving terminal.
The two of the scheme of the mobile robot charging system of the present invention are as follows：
A kind of mobile-robot system, including cradle and mobile robot, the cradle include charging pole piece, infrared emission
Head and signature, the mobile robot include infrared receiving terminal, by electrode slice, laser radar, power module, electric power detection
Module, control module, memory module and executing agency, the infrared receiving terminal are used to receive the infrared signal that cradle is sent,
The laser radar is used to carry out real-time positioning map establishment and recognizes the signature of cradle, and the memory module is used to deposit
Store up the positional information of cartographic information and cradle, the control module is used for according to laser radar and electric quantity monitoring module feedback
Information control executing agency performs corresponding actions.
Further, the signature is bar code or Quick Response Code.
Compared with prior art, present patent application has advantages below：
The present invention by the position of mobile robot information or cradle positional information when detecting charging signals by being added to ground
Figure, cradle is found when mobile robot needs to recharge by cartographic information, can be rapidly by Mobile Robotics Navigation to charging
Seat nearby, is then aligned using infrared positioning method again, have the advantages that to recharge rapidly, alignment precision it is high.
Brief description of the drawings
Fig. 1 is mobile robot charging method overall flow figure of the present invention；
Fig. 2 is that mobile robot of the present invention recharges process flow diagram flow chart；
Fig. 3 is the composition block diagram of mobile robot charging system embodiment 1 of the present invention；
Fig. 4 is the composition block diagram of mobile robot charging system embodiment 2 of the present invention.
Embodiment
The present invention program is further elaborated with reference to the accompanying drawings and detailed description.
Embodiment 1
As shown in Fig. 2 the charging system of mobile robot of the present invention includes cradle and mobile robot, wherein, cradle bag
Include charging pole piece and infrared emission head, mobile robot includes by electrode slice, laser radar, infrared receiving terminal, control module, deposited
Store up module, power module, electricity monitoring module and executing agency.It is described to be used to connect with the charging pole piece of cradle by electrode slice
Touch for powering, the laser radar is used to position in real time and map building（That is SLAM）, the infrared receiving terminal is for receiving
The signal that cradle infrared emission head is sent（Infrared receiving terminal in the present embodiment includes left and right two reception heads, cradle
Infrared emission head also includes left and right two infrared emission heads）, the control module is for according to laser radar and electric quantity monitoring
The information of module feedback sends to executing agency and instructed, and the memory module is used for storing map information（Including mobile robot
The infrared positional information of itself when recharging signal is received under non-refill conditions）, the power module is for being mobile robot
Electricity is provided, the electricity monitoring module is used to monitor power module electricity, and is sent out when power module electricity is less than preset value
The number of delivering letters gives control module, and the executing agency includes motion and functional entity, for what is sent according to control module
Particular task is moved or performed in instruction（Such as clean, monitor）.
With reference to Fig. 1, Fig. 2, Fig. 3, the charging method of mobile robot is specific as follows in the present embodiment：
S1：Mobile robot detects cradle in non-refill conditions by infrared signal；
Mobile robot in non-refill conditions in real time by infrared receiving terminal monitor cradle send it is infrared recharge signal, its
In, non-refill conditions includes map building, navigation or performs particular task（Such as clean, monitor）.
S2：The positional information of itself when detecting cradle is added to map by mobile robot；
Mobile robot infrared receiving terminal receive it is infrared recharge signal when, the current positional information of mobile robot is marked
For the position of cradle signal can be received, and it is added in cartographic information, updates map and store to memory module.
S3：Mobile robot seeks cradle position according to the map；
Mobile robot recharges instruction receiving（Instruction or recharging of assigning of user are recharged including what electricity monitoring module was triggered
Instruction）Afterwards, judge whether there is mark to receive the position of cradle signal on map, if so, then navigating to according to the map
Labeled as that can receive the position of cradle signal, prioritizing selection is apart from shorter position；Enter if it is not, being back to origin
Row is recharged（Mobile robot initialization position is placed with cradle）.In the prioritization scheme of this step, cluster can be passed through
Any number of marks are that receive that the position of cradle signal is considered as that same cradle sends infrared recharges signal by method,
Criterion is that any two is less than some threshold value labeled as that can receive the distance between position of cradle signal（Such as 2
Rice）, so in the environment of having multiple cradles mobile robot can be contributed to more accurately and rapidly to find and recharge seat.
S4：Mobile robot recharges signal with cradle and realizes that alignment is recharged according to infrared.
Mobile robot receive it is infrared recharge signal when, by adjusting itself pose, connect until left and right two infrared
Infrared recharge for receiving the left and right infrared emission head that head is respectively received cradle simultaneously travels forward after signal, makes to move machine
People's is docked by electrode slice with the charging pole piece of cradle.
Embodiment 2
As shown in figure 3, the charging system of mobile robot of the present invention includes cradle and mobile robot, wherein, cradle bag
Include charging pole piece, infrared emission head and signature（Including bar code or Quick Response Code）, mobile robot include by electrode slice,
Laser radar, infrared receiving terminal, control module, memory module, power module, electricity monitoring module and executing agency.It is described
It is used to contact with the charging pole piece of cradle for powering by electrode slice, the laser radar is used to position in real time and map building
（That is SLAM）And the signature of scanning cradle, the infrared receiving terminal is for receiving what cradle infrared emission head was sent
Signal, the control module, which is used to send executing agency according to the information of laser radar and electric quantity monitoring module feedback, to be referred to
Order, the memory module is used for storing map information（Including being detected under mobile robot non-refill conditions by laser radar
Cradle positional information）, the power module for mobile robot for providing electricity, and the electricity monitoring module is used for
Power module electricity is monitored, and control module, the executing agency are sent a signal to when power module electricity is less than preset value
Including motion and functional entity, for the instruction campaign sent according to control module or particular task is performed（Such as
Cleaning, monitoring etc.）.
With reference to Fig. 1, Fig. 2, Fig. 4, the charging method of mobile robot is specific as follows in the present embodiment：
S1：Mobile robot detects cradle in non-refill conditions by laser radar；
Mobile robot passes through the signature on Laser Radar Scanning cradle in real time in non-refill conditions（Such as bar code or
Quick Response Code etc.）, non-refill conditions is including map building, navigation or performs particular task（Such as clean, monitor）.
S2：The positional information for detecting cradle is added to map by mobile robot；
The positional information of cradle is added to map by mobile robot in the signature of Laser Radar Scanning to cradle
In information, update map and store to memory module.
S3：Mobile robot seeks cradle position according to the map；
Mobile robot recharges instruction receiving（Instruction or recharging of assigning of user are recharged including what electricity monitoring module was triggered
Instruction）Afterwards, judge whether there is mark cradle position on map, if so, then navigating to cradle position according to the map, preferentially
The shorter cradle position of chosen distance；Recharged if it is not, being back to origin（Mobile robot initialization position
It is placed with cradle）.In the prioritization scheme of this step, any number of cradle positions can be considered as by inspection by clustering method
Same cradle is measured, criterion is that the distance between any two cradle position is less than some threshold value（Such as 2 meters）, this
Sample can contribute to mobile robot more accurately and rapidly to find to recharge seat in the environment of having multiple cradles.
S4：Mobile robot recharges signal with cradle and realizes that alignment is recharged according to infrared.
Mobile robot receive it is infrared recharge signal when, by adjusting itself pose, connect until left and right two infrared
Infrared recharge for receiving the left and right infrared emission head that head is respectively received cradle simultaneously travels forward after signal, makes to move machine
People's is docked by electrode slice with the charging pole piece of cradle.
Above is the detailed description of presently preferred embodiments of the present invention, does not assert that the present invention is confined to these explanations.For
For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise it is made be equal replace
Generation or substantially deformation, and performance or purposes are identical, should all be considered as the protection model for claims determination that the present invention is submitted
In enclosing.
Claims (8)
1. a kind of charging method of mobile robot, it is characterised in that comprise the following steps：
S1：Mobile robot detects cradle in non-refill conditions by laser radar or infrared signal；
S2：The positional information of itself when detecting cradle or the positional information of cradle are added to map by mobile robot；
S3：Mobile robot seeks cradle position according to the map；
S4：Mobile robot recharges signal with cradle and realizes that alignment is recharged according to infrared.
2. the charging method of mobile robot as claimed in claim 1, it is characterised in that the non-refill conditions includes map
Establishment, path planning perform task.
3. the charging method of mobile robot as claimed in claim 1, it is characterised in that also include passing through in the step S3
Multiple positional informations are considered as by clustering method detects same cradle.
4. the charging method of mobile robot as claimed in claim 1, it is characterised in that the infrared signal that recharges includes a left side
Recharge signal and the right side recharges signal.
5. a kind of mobile-robot system, including cradle and mobile robot, it is characterised in that the cradle includes charging
Pole piece and infrared emission head, the mobile robot include infrared receiving terminal, by electrode slice, laser radar, power module, electricity
Detection module, control module, memory module and executing agency, the infrared receiving terminal are used to receive the infrared letter that cradle is sent
Number, the laser radar is used to carry out real-time positioning map establishment, and the memory module is used for storing map information and moving machine
Positional information during cradle signal is received under device people's non-refill conditions, the control module is used for according to laser radar and electricity
Measure monitoring modular feedack control executing agency and perform corresponding actions.
6. mobile-robot system as claimed in claim 5, it is characterised in that the cradle include left infrared emission head and
Right infrared emission head, the mobile robot includes left infrared receiving terminal and right infrared receiving terminal.
7. a kind of mobile-robot system, including cradle and mobile robot, it is characterised in that the cradle includes charging
Pole piece, infrared emission head and signature, the mobile robot include infrared receiving terminal, by electrode slice, laser radar, power supply
Module, electric power detection module, control module, memory module and executing agency, the infrared receiving terminal are used to receive cradle hair
The infrared signal gone out, the laser radar is used to carry out real-time positioning map establishment and recognizes the signature of cradle, described
Memory module is used for storing map information and the positional information of cradle, and the control module is used for according to laser radar and electricity
Monitoring modular feedack control executing agency performs corresponding actions.
8. mobile-robot system as claimed in claim 7, it is characterised in that the signature is bar code or two dimension
Code.
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| CN201611265738.6A CN107124014A (en) | 2016-12-30 | 2016-12-30 | The charging method and charging system of a kind of mobile robot |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107817801A (en) * | 2017-11-03 | 2018-03-20 | 深圳市杉川机器人有限公司 | Robot control method, device, robot and cradle |
| CN107825425A (en) * | 2017-11-03 | 2018-03-23 | 深圳市杉川机器人有限公司 | Robot control method, device, robot and cradle |
| CN107894770A (en) * | 2017-11-24 | 2018-04-10 | 北京奇虎科技有限公司 | Robot cradle, the charging method of robot and device |
| CN107910915A (en) * | 2017-11-24 | 2018-04-13 | 北京奇虎科技有限公司 | Charging method, device and the electronic equipment of robot |
| CN108061886A (en) * | 2017-11-30 | 2018-05-22 | 深圳市沃特沃德股份有限公司 | The recharging method and sweeping robot of sweeping robot |
| CN108089584A (en) * | 2017-12-25 | 2018-05-29 | 广州科语机器人有限公司 | The recharging method of grass-removing robot and grass-removing robot charging system |
| CN108227698A (en) * | 2017-11-28 | 2018-06-29 | 广东雷洋智能科技股份有限公司 | The method and apparatus that robot recharges electricity automatically |
| CN108398947A (en) * | 2018-02-09 | 2018-08-14 | 弗徕威智能机器人科技（上海）有限公司 | A kind of cradle recognition methods |
| CN109062207A (en) * | 2018-08-01 | 2018-12-21 | 深圳乐动机器人有限公司 | Localization method, device, robot and the storage medium of cradle |
| CN109491382A (en) * | 2018-11-07 | 2019-03-19 | 深圳乐动机器人有限公司 | A kind of robot charging method, device, storage medium and robot |
| CN109656253A (en) * | 2019-01-02 | 2019-04-19 | 浙江孚宝智能科技有限公司 | A kind of robot recharges system and method automatically |
| CN109662662A (en) * | 2017-10-13 | 2019-04-23 | 松下家电研究开发（杭州）有限公司 | A kind of method that sweeping robot automatically updates battery charger cradle position |
| CN109901588A (en) * | 2019-03-27 | 2019-06-18 | 广州高新兴机器人有限公司 | A kind of charging unit and automatic recharging method that patrol robot uses |
| CN110488831A (en) * | 2019-08-26 | 2019-11-22 | 深圳市杉川机器人有限公司 | The cradle and method and system of robot evacuation are realized based on infrared light |
| CN110838144A (en) * | 2018-08-15 | 2020-02-25 | 杭州萤石软件有限公司 | Charging equipment identification method, mobile robot and charging equipment identification system |
| CN111290384A (en) * | 2020-02-14 | 2020-06-16 | 弗徕威智能机器人科技（上海）有限公司 | Charging seat detection method with multi-sensor integration |
| CN111481107A (en) * | 2019-01-28 | 2020-08-04 | 北京奇虎科技有限公司 | Positioning method and device of charging seat of sweeper, computing equipment and storage medium |
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| CN107817801A (en) * | 2017-11-03 | 2018-03-20 | 深圳市杉川机器人有限公司 | Robot control method, device, robot and cradle |
| CN107825425A (en) * | 2017-11-03 | 2018-03-23 | 深圳市杉川机器人有限公司 | Robot control method, device, robot and cradle |
| CN107894770A (en) * | 2017-11-24 | 2018-04-10 | 北京奇虎科技有限公司 | Robot cradle, the charging method of robot and device |
| CN107910915A (en) * | 2017-11-24 | 2018-04-13 | 北京奇虎科技有限公司 | Charging method, device and the electronic equipment of robot |
| CN108227698A (en) * | 2017-11-28 | 2018-06-29 | 广东雷洋智能科技股份有限公司 | The method and apparatus that robot recharges electricity automatically |
| CN108061886A (en) * | 2017-11-30 | 2018-05-22 | 深圳市沃特沃德股份有限公司 | The recharging method and sweeping robot of sweeping robot |
| CN108061886B (en) * | 2017-11-30 | 2020-10-09 | 深圳市无限动力发展有限公司 | Recharging method of sweeping robot and sweeping robot |
| CN108089584A (en) * | 2017-12-25 | 2018-05-29 | 广州科语机器人有限公司 | The recharging method of grass-removing robot and grass-removing robot charging system |
| CN108398947A (en) * | 2018-02-09 | 2018-08-14 | 弗徕威智能机器人科技（上海）有限公司 | A kind of cradle recognition methods |
| CN109062207A (en) * | 2018-08-01 | 2018-12-21 | 深圳乐动机器人有限公司 | Localization method, device, robot and the storage medium of cradle |
| CN109062207B (en) * | 2018-08-01 | 2021-09-24 | 深圳乐动机器人有限公司 | Charging seat positioning method and device, robot and storage medium |
| CN110838144A (en) * | 2018-08-15 | 2020-02-25 | 杭州萤石软件有限公司 | Charging equipment identification method, mobile robot and charging equipment identification system |
| US11715293B2 (en) | 2018-08-15 | 2023-08-01 | Hangzhou Ezviz Software Co., Ltd. | Methods for identifying charging device, mobile robots and systems for identifying charging device |
| CN109491382B (en) * | 2018-11-07 | 2021-09-24 | 深圳乐动机器人有限公司 | Robot charging method and device, storage medium and robot |
| CN109491382A (en) * | 2018-11-07 | 2019-03-19 | 深圳乐动机器人有限公司 | A kind of robot charging method, device, storage medium and robot |
| CN109656253A (en) * | 2019-01-02 | 2019-04-19 | 浙江孚宝智能科技有限公司 | A kind of robot recharges system and method automatically |
| CN111481107B (en) * | 2019-01-28 | 2023-02-17 | 北京奇虎科技有限公司 | Positioning method and device of charging seat of sweeper, computing equipment and storage medium |
| CN111481107A (en) * | 2019-01-28 | 2020-08-04 | 北京奇虎科技有限公司 | Positioning method and device of charging seat of sweeper, computing equipment and storage medium |
| WO2020192407A1 (en) * | 2019-03-26 | 2020-10-01 | 速感科技（北京）有限公司 | Mobile device recharging method and mobile device |
| CN109901588A (en) * | 2019-03-27 | 2019-06-18 | 广州高新兴机器人有限公司 | A kind of charging unit and automatic recharging method that patrol robot uses |
| CN112207810A (en) * | 2019-07-10 | 2021-01-12 | 江苏美的清洁电器股份有限公司 | Self-moving robot and recharging method, charging seat and storage medium thereof |
| CN110488831A (en) * | 2019-08-26 | 2019-11-22 | 深圳市杉川机器人有限公司 | The cradle and method and system of robot evacuation are realized based on infrared light |
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| CN112748727A (en) * | 2019-10-31 | 2021-05-04 | 珠海市一微半导体有限公司 | Navigation control method and chip using target point and robot |
| CN111290384A (en) * | 2020-02-14 | 2020-06-16 | 弗徕威智能机器人科技（上海）有限公司 | Charging seat detection method with multi-sensor integration |
| CN111290384B (en) * | 2020-02-14 | 2023-03-21 | 弗徕威智能机器人科技（上海）有限公司 | Charging seat detection method with multi-sensor integration |
| CN111772544A (en) * | 2020-06-28 | 2020-10-16 | 深圳拓邦股份有限公司 | Sweeper recharging candidate point generation method and device and sweeper recharging system |
| CN111772544B (en) * | 2020-06-28 | 2022-01-04 | 深圳拓邦股份有限公司 | Sweeper recharging candidate point generation method and device and sweeper recharging system |
| CN112904846A (en) * | 2021-01-15 | 2021-06-04 | 厦门攸信信息技术有限公司 | Mobile robot homing charging method and system |
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