CN107145148A - A kind of robot autonomous charging system - Google Patents
A kind of robot autonomous charging system Download PDFInfo
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- CN107145148A CN107145148A CN201710417388.9A CN201710417388A CN107145148A CN 107145148 A CN107145148 A CN 107145148A CN 201710417388 A CN201710417388 A CN 201710417388A CN 107145148 A CN107145148 A CN 107145148A
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- 230000002452 interceptive effect Effects 0.000 claims abstract description 20
- 230000003993 interaction Effects 0.000 claims abstract description 10
- 230000009471 action Effects 0.000 claims abstract description 4
- 230000000694 effects Effects 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 15
- 239000004973 liquid crystal related substance Substances 0.000 claims description 6
- 238000000465 moulding Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000004807 localization Effects 0.000 abstract description 2
- 238000007689 inspection Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot autonomous charging system, belong to robot autonomous localization and field of navigation technology.System includes external interactive module, ROS navigation modules, motion-control module and short distance control module；External interactive module provides platform for man-machine interaction, and extraneous charge command, control system are received during recharging and proceeds by recharging and feeds back charging effect to external world；ROS navigation modules during recharging by robot navigation to charging pile before in the range of 1.5m；Motion-control module is during recharging, receive the control command of ROS navigation modules, controlled motor does corresponding navigation action, after robot reaches 1.5m or so before charging pile, is completed to dock with the accurate of charging pile according to the data control machine people of short distance positioning module；The present invention being capable of avoiding obstacles and completion externally interaction automatically during recharging is realized.
Description
Technical field
The present invention relates to robot autonomous localization and field of navigation technology, and in particular to a kind of robot autonomous Charging
System.
Background technology
Robot industry development was swift and violent in the last few years, and the market demand of robot is also increasing, while to robot
Intelligent requirements also more and more higher.Increasing application scenarios need robot to have recharging function, to realize autonomous
Charging must first determine real-time position information of the robot relative to cradle, and navigate to and fill according to real-time position information
Electric seat.Inside numerous location technologies, " the ROS navigation system based on laser radar " is utilized and " based on ultrasonic and infrared
Closely alignment system " can completely, efficiently realize the recharging function of optional position.The current technical scheme by
Using to polytype robot, such as mall shopping robot, bank's guest-meeting robot, computer room crusing robot, cell
Safety protection robot etc..
Existing robot autonomous charging scheme typically uses infrared positioning and navigation system, and the principle of this scheme is：
Installed on charging pile and infrared receiving device is installed in infrared launcher, robot.Infrared launcher on charging pile is continuous
Infrared ray is outwards launched on ground, after robot inspection is relatively low to electricity, start control machine people according to certain mode constantly
Motion, near robot motion to charging pile and receives infrared signal, then using the infrared ray information received, will
Robot navigation is charged to charging pile.
Carrying out recharging using infrared positioning and navigation system has following three points defect：
1. this scheme efficiency is low, the incipient stage, robot did not had clear and definite path planning, and constantly stroll about searching
Infrared ray, walks many longer ways more；
2. this scheme success rate is low, because infrared ray can not penetrate object so that be merely able to using infrared ray in sighting distance model
Interior positioning is enclosed, just as the infrared ray of our TV remote controller, signal is just lost if thing is blocked, then
Robot will be unable to find infrared signal, and recharging function will fail；
3. this scheme intellectuality is low, application scenario scope is small, because this robot will constantly come up scheme incipient stage
Go on foot to find infrared ray, degree of intelligence is too low, therefore this scheme can only be applied in the robot of low side, machine of such as sweeping the floor
People.
The content of the invention
In view of this, the invention provides a kind of robot autonomous charging system, the system is realizing recharging process
In can automatically avoiding obstacles and complete externally interaction.
A kind of robot autonomous charging system, the system includes external interactive module, ROS navigation modules, motion control mould
Block and short distance control module；
External interactive module provides platform for man-machine interaction, and the interaction for receiving user by " Mike " or " liquid crystal display " is ordered
Order, passes through the echo message of " power amplifier " and " liquid crystal display " external output device people；Extraneous charging is received during recharging
Order, control system proceed by recharging and feed back charging effect to external world；
The walking path of ROS navigation module planning robots, is robot navigation, by robot during recharging
Navigate to before charging pile in the range of 1.5m；
Motion-control module is used for control machine people's motor movement, during recharging, receives ROS navigation modules
Control command, controlled motor does corresponding navigation action, fixed according to short distance after robot reaches 1.5m or so before charging pile
The data control machine people of position module completes to dock with the accurate of charging pile；
Short distance positioning module calculates accurate coordinates of the robot relative to charging pile, and sends coordinate information to fortune
Dynamic control module.
Further, the external interactive module is led with ROS respectively using Android control core by USB and UART interface
Model plane block and motion-control module realize information exchange.
Further, the ROS navigation modules are real by USB interface with internal Navigation Control core using laser radar
Existing information exchange, Navigation Control core is realized with external interactive module and motion-control module respectively by USB and UART interface
Information exchange.
Further, the motion-control module is real by 485 chips and motor and driver using motion control core
Existing information exchange, and information exchange is realized by UART interface and battery electric quantity detection unit, motion control core passes through three
UART interface realizes information exchange with external interactive module, ROS navigation modules and short distance positioning module respectively.
Further, the short distance positioning module is using ultrasonic infrared receiver control core and ultrasonic infrared receiver
Between realize information exchange, ultrasonic infrared receiver control core is using realizing that information hands between UART interface and motion-control module
Mutually.
Beneficial effect：
Recharging system cost of the invention is low, hardware circuit and Design of Mechanical Structure are simple；Inner function module is drawn
The clearly demarcated success rate height for really realizing recharging, can realize the recharging function of optional position；Degree of intelligence is high, has clearly
Path planning function, being capable of avoiding obstacles, and effective, cordiality can be realized automatically during recharging is realized
External interaction.
Brief description of the drawings
Fig. 1 is system theory of constitution figure of the invention.
Embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
As shown in Figure 1, the invention provides a kind of robot autonomous charging system, a kind of robot autonomous Charging
System, the system includes external interactive module, ROS navigation modules, motion-control module and short distance control module；
External interactive module provides platform for man-machine interaction, and the interaction for receiving user by " Mike " or " liquid crystal display " is ordered
Order, passes through the echo message of " power amplifier " and " liquid crystal display " external output device people；Extraneous charging is received during recharging
Order, control system proceed by recharging and feed back charging effect to external world；
The walking path of ROS navigation module planning robots, is robot navigation, by robot during recharging
Navigate to before charging pile in the range of 1.5m；
Motion-control module is used for control machine people's motor movement, during recharging, receives ROS navigation modules
Control command, controlled motor does corresponding navigation action, fixed according to short distance after robot reaches 1.5m or so before charging pile
The data control machine people of position module completes to dock with the accurate of charging pile；
Short distance positioning module calculates accurate coordinates of the robot relative to charging pile, and sends coordinate information to fortune
Dynamic control module.
External interactive module using Android control core by USB and UART interface respectively with ROS navigation modules and motion
Control module realizes information exchange.
ROS navigation modules realize information exchange with internal Navigation Control core using laser radar by USB interface, lead
Boat control core realizes information exchange with external interactive module and motion-control module respectively by USB and UART interface.
Motion-control module realizes information exchange using motion control core by 485 chips and motor and driver, and
Information exchange is realized by UART interface and battery electric quantity detection unit, motion control core by three UART interfaces respectively with
External interactive module, ROS navigation modules and short distance positioning module realize information exchange.
Robot will start recharging system in both cases：
1st, the order of extraneous " going charging " is received, that is, user command robot goes charging；
After robot receives the order of extraneous " going charging ", " Android control core " is by the life of " beginning recharging "
" Navigation Control core " and " motion control core " are issued in order, and " ROS navigation modules " control machine people is by robot navigation to filling
1.5m or so position before electric stake.Then " motion-control module " starts to receive the positioning letter that " short distance positioning module " is sent
Breath, and control machine people completes to dock with charging pile, starts to charge up.When battery electric quantity inspection unit is checked, " battery has filled
After full electricity ", control machine people leaves charging pile, and recharging is completed since then.In robot autonomous charging process, robot is still
It so be free to interact with the external world, and being capable of avoiding obstacles automatically during charging pile is moved towards.
2nd, to detect self electric quantity low for robot oneself, and active control robot goes charging.
When " the battery electric quantity inspection unit " of robot checks not enough power supply, " motion-control module " is by this information
" external interactive module " is fed back to, " external interactive module " makes corresponding interaction content to user, then control system enters
" recharging task ", as flow afterwards is with the flow of " 1 ".
Simple " ROS navigation modules " can complete robot path planning and automatic obstacle avoiding function, but can not complete
Millimetre-sized accurate control；Simple " closely alignment system " can accomplish the other accurate control of grade in effective scope
System, but robot from optional position can not be navigate to charging pile.So two schemes are combined, take two schemes respective
Advantage realizes the recharging function of intelligent robot.
In summary, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included in the present invention's
Within protection domain.
Claims (5)
1. a kind of robot autonomous charging system, it is characterised in that the system includes external interactive module, ROS navigation modules, fortune
Dynamic control module and short distance control module；
External interactive module provides platform for man-machine interaction, and the interactive command of user is received by " Mike " or " liquid crystal display ", leads to
Cross the echo message of " power amplifier " and " liquid crystal display " external output device people；Received during recharging extraneous charge command,
Control system proceeds by recharging and feeds back charging effect to external world；
The walking path of ROS navigation module planning robots, is robot navigation, by robot navigation during recharging
Before to charging pile in the range of 1.5m；
Motion-control module is used for control machine people's motor movement, during recharging, receives the control of ROS navigation modules
Order, controlled motor does corresponding navigation action, after robot reaches 1.5m or so before charging pile, according to short distance positioning mould
The data control machine people of block completes to dock with the accurate of charging pile；
Short distance positioning module calculates accurate coordinates of the robot relative to charging pile, and sends coordinate information to motion control
Molding block.
2. robot autonomous charging system as claimed in claim 1, it is characterised in that the external interactive module uses Android
Control core realizes information exchange with ROS navigation modules and motion-control module respectively by USB and UART interface.
3. robot autonomous charging system as claimed in claim 1, it is characterised in that the ROS navigation modules use laser
Radar realizes information exchange with internal Navigation Control core by USB interface, and Navigation Control core passes through USB and UART interface
Respectively information exchange is realized with external interactive module and motion-control module.
4. robot autonomous charging system as claimed in claim 1, it is characterised in that the motion-control module is using motion
Control core realizes information exchange by 485 chips and motor and driver, and detects single by UART interface and battery electric quantity
Member realizes information exchange, motion control core by three UART interfaces respectively with external interactive module, ROS navigation modules and short
Distance positioning module realizes information exchange.
5. robot autonomous charging system as claimed in claim 1, it is characterised in that the short distance positioning module is using super
Information exchange is realized between sound infrared receiver control core and ultrasonic infrared receiver, ultrasonic infrared receiver control core is used
Information exchange is realized between UART interface and motion-control module.
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| CN201710417388.9A CN107145148A (en) | 2017-06-06 | 2017-06-06 | A kind of robot autonomous charging system |
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| CN201710417388.9A CN107145148A (en) | 2017-06-06 | 2017-06-06 | A kind of robot autonomous charging system |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108173308A (en) * | 2018-01-15 | 2018-06-15 | 潍坊歌尔电子有限公司 | A kind of robot charging method and its device |
| 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 |
| CN108742339A (en) * | 2018-06-06 | 2018-11-06 | 轻客小觅智能科技（北京）有限公司 | A kind of robot and precise positioning method |
| CN108829112A (en) * | 2018-08-24 | 2018-11-16 | 北京猎户星空科技有限公司 | Charging method, device, equipment and the storage medium of robot |
| CN109326050A (en) * | 2018-08-31 | 2019-02-12 | 成都越凡创新科技有限公司 | The automatic recharging method of vending machine |
| CN109613875A (en) * | 2019-01-24 | 2019-04-12 | 上海思岚科技有限公司 | A kind of robot chassis control system |
| CN109782770A (en) * | 2019-02-02 | 2019-05-21 | 南京航空航天大学 | A kind of method of grass trimmer recharging |
| CN111166230A (en) * | 2019-12-26 | 2020-05-19 | 广州锶想智能科技有限责任公司 | Cleaning robot and automatic charging system |
| WO2020238309A1 (en) * | 2019-05-24 | 2020-12-03 | 北京海益同展信息科技有限公司 | Machine room inspection control method and apparatus, device, and storage medium |
| CN112236733A (en) * | 2018-06-28 | 2021-01-15 | 室内机器人有限公司 | Computerized system for guiding mobile robot to docking station and using method thereof |
| CN112332558A (en) * | 2020-11-27 | 2021-02-05 | 亿嘉和科技股份有限公司 | Wireless charging system and method |
| WO2022089537A1 (en) * | 2020-10-29 | 2022-05-05 | 深圳市普渡科技有限公司 | Automatic recharging moving method and system |
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| CN104298233A (en) * | 2013-11-13 | 2015-01-21 | 沈阳新松机器人自动化股份有限公司 | Mobile robot self-charging system |
| CN207337208U (en) * | 2017-06-06 | 2018-05-08 | 青岛克路德机器人有限公司 | A kind of robot autonomous charging system |
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2017
- 2017-06-06 CN CN201710417388.9A patent/CN107145148A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104298233A (en) * | 2013-11-13 | 2015-01-21 | 沈阳新松机器人自动化股份有限公司 | Mobile robot self-charging system |
| CN207337208U (en) * | 2017-06-06 | 2018-05-08 | 青岛克路德机器人有限公司 | A kind of robot autonomous charging system |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN108173308A (en) * | 2018-01-15 | 2018-06-15 | 潍坊歌尔电子有限公司 | A kind of robot charging method and its device |
| CN108173308B (en) * | 2018-01-15 | 2021-08-31 | 潍坊歌尔电子有限公司 | Robot charging method and device |
| CN108742339A (en) * | 2018-06-06 | 2018-11-06 | 轻客小觅智能科技（北京）有限公司 | A kind of robot and precise positioning method |
| CN112236733A (en) * | 2018-06-28 | 2021-01-15 | 室内机器人有限公司 | Computerized system for guiding mobile robot to docking station and using method thereof |
| CN108829112A (en) * | 2018-08-24 | 2018-11-16 | 北京猎户星空科技有限公司 | Charging method, device, equipment and the storage medium of robot |
| CN109326050A (en) * | 2018-08-31 | 2019-02-12 | 成都越凡创新科技有限公司 | The automatic recharging method of vending machine |
| CN109613875A (en) * | 2019-01-24 | 2019-04-12 | 上海思岚科技有限公司 | A kind of robot chassis control system |
| CN109782770A (en) * | 2019-02-02 | 2019-05-21 | 南京航空航天大学 | A kind of method of grass trimmer recharging |
| WO2020238309A1 (en) * | 2019-05-24 | 2020-12-03 | 北京海益同展信息科技有限公司 | Machine room inspection control method and apparatus, device, and storage medium |
| CN111166230A (en) * | 2019-12-26 | 2020-05-19 | 广州锶想智能科技有限责任公司 | Cleaning robot and automatic charging system |
| CN111166230B (en) * | 2019-12-26 | 2022-06-28 | 广州锶想智能科技有限责任公司 | Cleaning robot and automatic charging system |
| WO2022089537A1 (en) * | 2020-10-29 | 2022-05-05 | 深圳市普渡科技有限公司 | Automatic recharging moving method and system |
| CN112332558A (en) * | 2020-11-27 | 2021-02-05 | 亿嘉和科技股份有限公司 | Wireless charging system and method |
| CN112332558B (en) * | 2020-11-27 | 2023-05-12 | 亿嘉和科技股份有限公司 | Wireless charging system and method |
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