CN107748353A - A kind of robot automatic charging implementation method - Google Patents
A kind of robot automatic charging implementation method Download PDFInfo
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- CN107748353A CN107748353A CN201710912525.6A CN201710912525A CN107748353A CN 107748353 A CN107748353 A CN 107748353A CN 201710912525 A CN201710912525 A CN 201710912525A CN 107748353 A CN107748353 A CN 107748353A
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- robot
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- charging pile
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of robot automatic charging implementation method, robot and charging pile calculate the relative position of charging pile and the machine human world, and the information of barrier by ultrasonic sensor；Robot moves according to the position of position and barrier with charging pile, realizes automatic charging.Robot automatic charging implementation method of the present invention only needs to use ultrasonic generator, two kinds of sensors of ultrasonic probe, ultrasonic receiver and communication module, space coordinates of the robot relative to charging pile can be obtained, using spatial coordinated information, quickly and easily can be moved towards charging pile.The precision ten of ultrasonic sensor/height in short distance, it is ensured that robot charging contact is connected with charging pile；And ultrasonic sensor has fairly obvious advantage relative to other sensor prices for being used to position, and the cost of robot can be greatly lowered.
Description
Technical field
The invention belongs to automatic charging technical field, more particularly, to a kind of robot automatic charging implementation method.
Background technology
With the development of science and technology, more and more robots can into the popular visual field, such as bank, dining room, hospital etc.
Their figure is seen, or even the family for thering is partial service humanoid robot to come into us.Because it is big absolutely to service humanoid robot
Part by battery provides power, therefore, daily in use, when robot electric quantity exhausts or will exhaust, we need by
It moves back to charging place and charged for it.It is daily to be repeated as robot charging, us are greatly reduced to service robot
Usage experience, therefore the automatic charging function of robot, there is very big necessity.Automatic charging of making a return voyage is greatly improved machine
The degree of intelligence and Consumer's Experience of people.The robot of in the market is more using expensive laser radar and other sensors to interior
Environment is rebuild, and its workload is big and expensive, and using ultrasonic wave positioning to make a return voyage has certain advantage to this.Ultrasonic wave
Positioning is maked a return voyage, and its principle can detect target close to the echolocation of bat in a certain distance, and to gtoal setting, most
Complete to make a return voyage eventually.
The content of the invention
In view of this, the present invention is directed to propose a kind of robot automatic charging implementation method, to solve existing robot
Charging uses multiple sensors, the higher situation of cost.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
A kind of robot automatic charging implementation method, it is specific as follows：
S1, robot launch ultrasonic wave by ultrasonic generator, and send clocked command by communication module simultaneously；
After S2, charging pile receive clocked command by communication device, the ultrasonic probe, ultrasonic receiver on charging pile is opened, is connect
Ultrasonic wave is received, and starts timing；
The ultrasound information received is transmitted to robot by S3, charging pile by communication module；
The ultrasound information that S4, robot are sent according to the charging pile received, is positioned；Robot according to itself
Ultrasonic probe, ultrasonic receiver and ultrasonic generator, the barrier of surrounding is positioned；
S5, robot move according to the position of charging pile and barrier, automatically to upper charging socket.
Further, in the step S2, the ultrasonic probe, ultrasonic receiver on charging pile is two, filling on the charging pile
Immediately below a plug ultrasonic probe, ultrasonic receiver installed therein.
Further, described two ultrasonic probe, ultrasonic receivers are located at same level and filled with the ultrasonic wave of robot
Setting in same level, two ultrasonic probe, ultrasonic receiver horizontal ranges are 230mm.
Further, in the step S4, the method positioned to charging pile is specific as follows：
S401, the distance of hypothesis robot to the one of ultrasonic probe, ultrasonic receiver of charging pile are L1, to another ultrasound
The distance of wave receiving device is L2, and the distance between two ultrasonic probe, ultrasonic receivers on charging pile are L3；
S402, using the ultrasonic probe, ultrasonic receiver apart from the artificial L1 of machine as origin, coordinate system is established, if the position of robot
Coordinate is (CX, CY), the angle of the connecting line and X-axis of robot and origin is α；
S403, then drawn according to formula：
Robot coordinate (C is drawn according to above formulaX, CY)。
Further, the robot is provided with 8 ultrasonic generators, and the ultrasonic generator is into circumference etc.
Divide arrangement, circle diameter is 400 millimeters.
Further, the ultrasonic generator is in same level, and horizontal plane distance perpendicular to the ground is 300 millis
Rice, is symmetrically installed with robot axis, and the front of robot is the beginning of first ultrasonic generator installation site.
Further, 4 ultrasonic probe, ultrasonic receivers are installed, the ultrasonic probe, ultrasonic receiver is arranged in the robot
Among two adjacent ultrasonic generators immediately ahead of robot, and with the contour installation of ultrasonic generator.
Further, the robot charging contact is located at the back of robot, when being charged close to charging pile, robot
It is close to charging pile with backside contacts.
Relative to prior art, robot automatic charging implementation method of the present invention has the advantage that：
(1) robot automatic charging implementation method of the present invention need not use expensive sensor or numerous classes
Neighbouring environment is reconstructed the sensor of type, it is only necessary to uses several cheap ultrasonic sensors and communication module
Just the position of charging pile can be positioned.
(2) its is simple in construction for robot automatic charging implementation method of the present invention, it is only necessary to the circumference in robot
Uniformly 8 ultrasonic generators of installation, two ultrasonic wave receiving devices of installation can both complete oneself basic on charging pile
It is dynamic to make a return voyage.
(3) robot automatic charging implementation method of the present invention can cause robot to position the court of charging pile rapidly
To, and it is close to its, when running into barrier, the orientation for the ultrasonic wave disturbance in judgement thing that itself can be also sent by receiving, from
And complete avoidance.
Brief description of the drawings
The accompanying drawing for forming the part of the present invention is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 shows for the robotic ultrasound wave generating device described in the embodiment of the present invention and ultrasonic probe, ultrasonic receiver mounting structure
It is intended to；
Fig. 2 is that the robot described in the embodiment of the present invention carries out charging pile positioning principle schematic diagram.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or dark
Show that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, thus it is it is not intended that right
The limitation of the present invention.In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that instruction or hint phase
To importance or the implicit quantity for indicating indicated technical characteristic.Thus, the feature for defining " first ", " second " etc. can
To express or implicitly include one or more this feature.In the description of the invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
A kind of robot automatic charging implementation method, robot and charging pile calculate charging pile by ultrasonic sensor
With the information of the relative position in the machine human world, and barrier；Robot according to the position of position and barrier with charging pile,
Move, realize automatic charging.
The method for realizing automatic charging, it is specific as follows：
S1, robot launch ultrasonic wave by ultrasonic generator, and send clocked command by communication module simultaneously；
After S2, charging pile receive clocked command by communication device, the ultrasonic probe, ultrasonic receiver on charging pile is opened, is connect
Receive ultrasonic wave, and start timing (L1 and L2 described below is after timing, is calculated)；
The ultrasound information received is transmitted to robot by S3, charging pile by communication module；
The ultrasound information that S4, robot are sent according to the charging pile received, is positioned；Robot according to itself
Ultrasonic probe, ultrasonic receiver and ultrasonic generator, the barrier of surrounding is positioned；
S5, robot move according to the position of charging pile and barrier, automatically to upper charging socket.
In step S2, the ultrasonic probe, ultrasonic receiver on charging pile is two, and the charging plug on the charging pile is arranged on
Immediately below one of ultrasonic probe, ultrasonic receiver.
Two ultrasonic probe, ultrasonic receivers are located at same level and are located at same water with the ultrasonic generator of robot
Plane, two ultrasonic probe, ultrasonic receiver horizontal ranges are 230mm.
In the step S4, the method positioned to charging pile is specific as follows：
S401, the distance of hypothesis robot to the one of ultrasonic probe, ultrasonic receiver of charging pile are L1, to another ultrasound
The distance of wave receiving device is L2, and the distance between two ultrasonic probe, ultrasonic receivers on charging pile are L3；
S402, using the ultrasonic probe, ultrasonic receiver apart from the artificial L1 of machine as origin, coordinate system is established, if the position of robot
Coordinate is (CX, CY), the angle of the connecting line and X-axis of robot and origin is α；
S403, then drawn according to formula：
Robot coordinate (C is drawn according to above formulaX, CY)。
As shown in figure 1, robot is provided with 8 ultrasonic generators, the ultrasonic generator is into circumference equal dividing
Arrangement, circle diameter are 400 millimeters.Ultrasonic generator is in same level, and horizontal plane distance perpendicular to the ground is 300
Millimeter, is symmetrically installed with robot axis, and the front of robot is opened for first ultrasonic generator installation site
Begin.
4 ultrasonic probe, ultrasonic receivers are installed, the ultrasonic probe, ultrasonic receiver is arranged on immediately ahead of robot in robot
Two adjacent ultrasonic generators among, and with the contour installation of ultrasonic generator.
Robot charging contact is located at the back of robot, when being charged close to charging pile, robot with backside contacts to
Charging pile is close.
Operation principle：
8 ultrasonic generators, 4 ultrasonic probe, ultrasonic receivers are installed, 8 ultrasonic waves fill in robot itself
Put and launch ultrasonic wave by some cycles, sending timing to charging pile in the moment for sending out ultrasonic wave by communication module believes
Number.What time charging pile gets started timing after signal if receiving, and open two ultrasonic probe, ultrasonic receivers, charging pile on charging pile
Moment detects the state change of ultrasonic unit.
After ultrasonic probe, ultrasonic receiver receives ultrasonic wave, charging pile stops timing at once, and timing result is converted into
Range information is finally returned robot the distance between to charging pile by robot by communication module.
When robot obtain itself arrive two ultrasonic probe, ultrasonic receivers of charging pile distance, can be calculated by triangle relation
Go out relative coordinate of the robot relative to charging pile, after relative coordinate is obtained, can with by coordinate information to charging pile
Move in direction.
As shown in Fig. 2 by ultrasonic wave transmitting and receiving device, can obtain robot to charging pile two reception devices
The distance between distance L1, L2, two ultrasonic probe, ultrasonic receivers on charging pile be L3, received with ultrasonic wave on the left of charging pile
Device is that the origin of coordinates builds coordinate system, then the coordinate of robot can be tried to achieve by below equation.
It can be obtained by above-mentioned formula, robot is (C relative to the coordinate of charging pilex, Cy).
By coordinate information, robot can be gradually close to charging pile, so as to complete automatic charging.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (8)
- A kind of 1. robot automatic charging implementation method, it is characterised in that the method for realizing automatic charging, it is specific as follows：S1, robot launch ultrasonic wave by ultrasonic generator, and send clocked command by communication module simultaneously；After S2, charging pile receive clocked command by communication device, the ultrasonic probe, ultrasonic receiver on charging pile is opened, is received Ultrasonic wave, and start timing；The ultrasound information received is transmitted to robot by S3, charging pile by communication module；The ultrasound information that S4, robot are sent according to the charging pile received, is positioned；Robot is according to the ultrasound of itself Wave receiving device and ultrasonic generator, the barrier of surrounding is positioned；S5, robot move according to the position of charging pile and barrier, automatically to upper charging socket.
- 2. robot automatic charging implementation method according to claim 1, it is characterised in that：In the step S2, charging Ultrasonic probe, ultrasonic receiver in stake is two, and the charging plug on the charging pile is arranged on two ultrasonic probe, ultrasonic receiver midpoints Underface.
- 3. robot automatic charging implementation method according to claim 2, it is characterised in that：Described two ultrasonic waves receive Device is located at same level and is located at same level, two ultrasonic probe, ultrasonic receivers with the ultrasonic generator of robot Horizontal range is 230mm.
- 4. the robot automatic charging implementation method according to Claims 2 or 3, it is characterised in that：It is right in the step S4 The method that charging pile is positioned is specific as follows：S401, the distance of hypothesis robot to the one of ultrasonic probe, ultrasonic receiver of charging pile are L1, are connect to another ultrasonic wave The distance of receiving apparatus is L2, and the distance between two ultrasonic probe, ultrasonic receivers on charging pile are L3；S402, using the ultrasonic probe, ultrasonic receiver apart from the artificial L1 of machine as origin, coordinate system is established, if the position coordinates of robot For (CX, CY), the angle of the connecting line and X-axis of robot and origin is α；S403, then drawn according to formula：<mrow> <mi>&alpha;</mi> <mo>=</mo> <mi>A</mi> <mi>r</mi> <mi>c</mi> <mi>C</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <msup> <msub> <mi>L</mi> <mn>1</mn> </msub> <mn>2</mn> </msup> <mo>+</mo> <msup> <msub> <mi>L</mi> <mn>2</mn> </msub> <mn>2</mn> </msup> <mo>-</mo> <msup> <msub> <mi>L</mi> <mn>3</mn> </msub> <mn>2</mn> </msup> </mrow> <mrow> <mn>2</mn> <mo>*</mo> <msub> <mi>L</mi> <mn>1</mn> </msub> <mo>*</mo> <msub> <mi>L</mi> <mn>2</mn> </msub> </mrow> </mfrac> <mo>)</mo> </mrow> <mo>;</mo> </mrow><mrow> <msub> <mi>C</mi> <mi>y</mi> </msub> <mo>=</mo> <mrow> <mo>(</mo> <mfrac> <msub> <mi>L</mi> <mn>1</mn> </msub> <mrow> <mi>C</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>&alpha;</mi> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>)</mo> </mrow> <mo>;</mo> </mrow><mrow> <msub> <mi>C</mi> <mi>x</mi> </msub> <mo>=</mo> <mrow> <mo>(</mo> <mfrac> <msub> <mi>L</mi> <mn>1</mn> </msub> <mrow> <mi>S</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mi>&alpha;</mi> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>)</mo> </mrow> <mo>;</mo> </mrow>Robot coordinate (C is drawn according to above formulaX, CY)。
- 5. robot automatic charging implementation method according to claim 1, it is characterised in that：The robot is provided with 8 Individual ultrasonic generator, the ultrasonic generator are arranged into circumference equal dividing, and circle diameter is 400 millimeters.
- 6. robot automatic charging implementation method according to claim 5, it is characterised in that：The ultrasonic generator In same level, horizontal plane distance perpendicular to the ground is 300 millimeters, is symmetrically installed with robot axis, robot Front is the beginning of first ultrasonic generator installation site.
- 7. robot automatic charging implementation method according to claim 6, it is characterised in that：It is provided with the robot 4 ultrasonic probe, ultrasonic receivers, two adjacent ultrasonic waves that the ultrasonic probe, ultrasonic receiver is arranged on immediately ahead of robot occur Among device, and with the contour installation of ultrasonic generator.
- 8. robot automatic charging implementation method according to claim 1, it is characterised in that：The robot charging contact Positioned at the back of robot, when being charged close to charging pile, robot is close to charging pile with backside contacts.
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Cited By (5)
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|---|---|---|---|---|
| CN109324610A (en) * | 2018-09-04 | 2019-02-12 | 南京理工大学 | A kind of crusing robot localization method adapting to charging room door variation |
| CN109799816A (en) * | 2019-01-11 | 2019-05-24 | 华南智能机器人创新研究院 | A kind of alignment methods and system of mobile robot automatic charging |
| CN110058200A (en) * | 2019-05-28 | 2019-07-26 | 北京有感科技有限责任公司 | The position bootstrap technique and system of wireless charging vehicle |
| CN110203098A (en) * | 2019-06-28 | 2019-09-06 | 国创新能源汽车能源与信息创新中心(江苏)有限公司 | A kind of High Precision Automatic charging vehicle guidance positioning system and method |
| WO2022127256A1 (en) * | 2020-12-14 | 2022-06-23 | 京东科技信息技术有限公司 | Guidance control method and apparatus, charging pile and robot |
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| CN110203098A (en) * | 2019-06-28 | 2019-09-06 | 国创新能源汽车能源与信息创新中心(江苏)有限公司 | A kind of High Precision Automatic charging vehicle guidance positioning system and method |
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