CN108312882A - The signal record and charging pile position decision method of robot charging technique of alignment - Google Patents
The signal record and charging pile position decision method of robot charging technique of alignment Download PDFInfo
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- CN108312882A CN108312882A CN201810207234.1A CN201810207234A CN108312882A CN 108312882 A CN108312882 A CN 108312882A CN 201810207234 A CN201810207234 A CN 201810207234A CN 108312882 A CN108312882 A CN 108312882A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of the signal record and charging pile position decision method of robot charging technique of alignment.The method includes：Image signal disk；By signal panels sectorization；By each sector division unit；While robot rotates in place one week correspond to signal panels unit record signal whether there is or not；There is nil case to judge robot with respect to charging pile position according to signal record on unit.The signal determining method provided by the invention overcomes the defect needed in existing infrared charging technique using multiple sensors, the signal detection that multizone can be realized in single-sensor is used only in robot, hardware cost and consumption can be substantially reduced, also it is conducive to the maintenance of equipment in the production and use process, synchronous signal disk can time-sharing multiplex, greatly facilitate operation and the programing work of signal processing.
Description
Technical field
The present invention relates to charging technique of alignment, the signal record and charging pile of specifically a kind of robot charging technique of alignment
Position decision method.
Background technology
In the prior art, the alignment methods employed in the robot charging technique of alignment based on infrared signal, machine
People mostly uses multiple infrared sensors and goes to judge charging signals.For example, Samsung sweeping robot NaviBotSR8845 uses 4
A sensor, the robot of beautiful group's Patent No. 201510355476.1 announced in 2015 use 4 or more and sense
Device.As a result of multiple sensors, unnecessary hardware cost and maintenance cost are increased.And use the method in the present invention
Afterwards, the using effect of multiple sensors can be reached using a sensor.
Invention content
The signal record and charging pile location determination for the technique of alignment that charges the purpose of the present invention is to provide a kind of robot
Method reduces number of sensors needed for robot charging after can using the method, reduces hardware cost and consumption.
A kind of the signal record and charging pile position decision method of robot charging technique of alignment, include the following steps：
S1：Image signal disk；
S2：Signal panels are divided into multiple sectors；
S3：Each sector is divided into multiple units；
S4：While robot rotates in place one week correspond on the unit of signal panels tracer signal whether there is or not；
S5：There are nil case and decision rule to judge robot with respect to charging pile position according to signal record on unit.
In the signal record of robot provided by the invention charging technique of alignment and one kind of charging pile position decision method
In preferred embodiment, step S1 be specially the o centered on robot central shaft, with sensor between robot central shaft away from
Circle image is drawn into signal panels from for radius r.
In the signal record of robot provided by the invention charging technique of alignment and one kind of charging pile position decision method
Signal panels, which are divided into, in preferred embodiment, in step S2 respectively makes.
In the signal record of robot provided by the invention charging technique of alignment and one kind of charging pile position decision method
In preferred embodiment, step S3 middle fan zonings, which are divided into, respectively to be made.
In the signal record of robot provided by the invention charging technique of alignment and one kind of charging pile position decision method
In preferred embodiment, to ensure accuracy of the robot with respect to charging pile position judgment in step S4, robot rotates in place more
Week；When robot often rotates to each unit corresponding position, collected signal is detected, while corresponding in signal panels
Tracer signal has nil case on unit.
In the signal record of robot provided by the invention charging technique of alignment and one kind of charging pile position decision method
In preferred embodiment, effective sector is judged according to the record case of S4 judgement in step S5, and then judges the covering of charging pile signal
Region and the position of charging pile.
In the signal record of robot provided by the invention charging technique of alignment and one kind of charging pile position decision method
In preferred embodiment, the decision rule of step S5 needs to be determined by testing procedure before concrete application in the method：
On the basis of clear robot is relative to charging pile position, circulation step S1 to S5, balance movement time and accuracy determine
Number of sectors N, element number n, and according to the record case of step S4, determine effective sector definition rule and step S5 in institute
The decision rule used.
In the signal record of robot provided by the invention charging technique of alignment and one kind of charging pile position decision method
In preferred embodiment, the decision rule used in step S5 is：If there is signal element quantity to be more than no signal list in certain sector
First quantity, then this sector is effective sector；Orientation corresponding to the most region of continuous effective number of sectors is charging pile letter
Orientation where number overlay area, that is, charging pile.
Compared to the prior art, the signal record of the robot charging technique of alignment provided by the invention and charging pile position
Determination method is set to have the advantages that：
Overcoming needs to use multiple sensors in existing infrared charging technique, and each unit institute in signal panels of robot
Must all there be the defect of corresponding hardware facility in corresponding position.After method provided by the invention, robot is used only single
Sensor, you can realize the signal detection of multizone；The precision of detection is determined by setting corresponding element number：Unit number
Amount is bigger, and the precision of detection is higher.Clearly as the reduction of number of sensors, can substantially reduce hardware cost and consumption, it is also sharp
In the maintenance of equipment in the production and use process.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, used in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure, wherein：
Fig. 1 is the signal record and charging pile position decision method stream of robot charging technique of alignment provided by the invention
Cheng Tu；
Fig. 2 is a kind of robot schematic diagram of preferred application embodiment of method provided by the invention；
Fig. 3 is the signal panels schematic diagram of Fig. 2 embodiments；
Fig. 4 is robot location's schematic diagram of Fig. 2 embodiments；
Fig. 5 is the signal panels signal record case schematic diagram of Fig. 2 embodiments.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that the described embodiments are merely a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig. 1, being the signal record and charging pile location determination of robot charging technique of alignment provided by the invention
Method flow diagram.The signal record and charging pile position decision method for the technique of alignment that charges the present invention provides a kind of robot,
Specifically comprise the following steps：
S1：Image signal disk；
S2：Signal panels are divided into multiple sectors；
S3：Each sector is divided into multiple units；
S4：While robot rotates in place one week correspond to signal panels unit record signal whether there is or not；
S5：There is nil case to judge robot with respect to charging pile position according to signal record on unit.
Wherein, step S1 be specially the o centered on robot central shaft, with sensor between robot central shaft away from
Circle image is drawn into signal panels from for radius r.Signal panels are divided into N number of sector by step S2, and the specific number of sector can be according to need
It is suitably adjusted, specific system of dividing equally is preferable, differentiates that the location of charging pile is more acurrate and is also convenient for subsequent signal note
Record；Sector is divided into n unit by step S3, and the specific number of unit can be adjusted suitably as needed, specific to divide equally
System is preferable, so that the judgement of effective sector is more accurate.Theoretically, element number is bigger, and the precision of detection is higher.Step S4
In a specific embodiment, to ensure accuracy of the robot with respect to charging pile position judgment, robot can be made to rotate in place more
Week is detected collected signal when robot often rotates to each unit corresponding position, while corresponding in signal panels
Unit record signal has nil case, to prevent signal loss cause robot judge by accident charging pile position the case where.But robot
Robot will be increased more weeks by, which rotating, finds the time of charging pile and the physical deterioration of robot, just needs to have in practical applications
Depending on body tradeoff.
Specifically, judging effective sector according to the record case of S4 judgement in step S5, and then judge electric stake charging pile letter
Number overlay area and the position of charging pile.Effective sector definition can be：If there is signal element quantity more than no letter in certain sector
Number element number, then this sector is effective sector；Orientation corresponding to the most region of continuous effective number of sectors is to charge
Orientation where stake signal coverage areas, that is, charging pile.
When concrete application, the decision rule of step S5 needs to carry out by testing procedure before concrete application true in the method
It is fixed：On the basis of clear robot is relative to charging pile position, circulation step S1 to S5, balance movement time and accuracy
It determines number of sectors N, element number n, and according to the record case of step S4, finally combines actual conditions, as robot is run
Operation time, charging pile positional accuracy and programing work, determine used in the definition rule and step S5 of effective sector
Decision rule.In specific implementation mode, signal panels can indicate to compile with time-sharing multiplex, the location determination rule available algorithm of charging pile
Journey is implanted into robot CPU.
After method provided by the invention, the signal inspection that multizone can be realized in single-sensor is used only in robot
It surveys, due to the reduction of number of sensors, substantially reduces hardware cost and consumption, while in the production and use process conducive to equipment
Maintenance.
Embodiment 1
One robot is provided, is furnished with a sensor, is located at center position immediately ahead of robot, as shown in Figure 2.By robot
Centered on central shaft, the circle regional image that includes is drawn into signal panels using the distance of sensor to robot central shaft by radius,
Signal panels are divided into 4 sectors, each sector there are 3 units, as shown in figure 3, the corresponding angular range of i.e. each unit is
30 degree.Assuming that left side of the robot in charging pile signal area, as shown in figure 4, then robot often turns over during rotation
30 degree are detected signal when going to the corresponding position of each unit, when there is signal, then mark this element in signal panels
To there is signal, indicated with symbol √ in figure, as shown in figure 5, from fig. 5, it can be seen that sector R0, R2, R3 can detect signal,
After robot rotates a circle, that is, complete the detection of signal.Wherein, having the unit of signal in R2, only there are one C0, according to analysis
This may be due to actual environment influence it is more complicated because the factors such as signal reflex cause should the unit of no signal have
Signal；Wherein, in R3 unit C0C1 have a signal and unit C2 without signal, be swinging of signal according to possible reason is analyzed
It is fixed, cause unit C2 that there should be signal but to detect signal without nothing.It is effectively to fan according to the decision rule R3 of effective sector
Area, the non-effective sectors R2.Therefore, it is necessary to carry out signal scaling in actual application, at the same determine sector signals whether there is or not
Criterion, the judgement of as effective sector.Judge that effective sector principle is to have the element number of signal to be more than nothing in this example
The quantity of signal element.
As a result, from Fig. 5 binding signals decision principle it is found that sector R0 is effective sector, sector R3 is effective sector, other
The equal no signal in sector, the orientation corresponding to the most region of continuous effective number of sectors are charging pile signal coverage areas
Orientation i.e. where charging pile, so charging pile should be at the region corresponding to sector R0 and R3.
Using method provided by the invention, after the processing of signal panels, can by interference signal (should no signal ground
There is signal in side) and the case where dropout (local but no signal that should have signal) excluded, consequently facilitating robot
Judge the position of charging pile, while the operation convenient for the signal processing of robot control system and programing work.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks
Domain is similarly included within the scope of patent protection of the present invention.
Claims (8)
1. the signal record and charging pile position decision method of a kind of robot charging technique of alignment, it is characterised in that：Including such as
Lower step：
S1：Image signal disk；
S2：Signal panels are divided into multiple sectors；
S3：Each sector is divided into multiple units；
S4：While robot rotates in place one week correspond on the unit of signal panels tracer signal whether there is or not；
S5：There are nil case and decision rule to judge robot with respect to charging pile position according to signal record on unit.
2. the signal record and charging pile position decision method of robot charging technique of alignment according to claim 1,
It is characterized in that：Step S1 is specially the o centered on robot central shaft, is with the distance between sensor to robot central shaft
Radius r draws circle image into signal panels.
3. the signal record and charging pile position decision method of robot charging technique of alignment according to claim 1,
It is characterized in that, signal panels, which are divided into, in step S2 respectively makes.
4. the signal record and charging pile position decision method of robot charging technique of alignment according to claim 1,
It is characterized in that：Step S3 middle fan zonings, which are divided into, respectively to be made.
5. the signal record and charging pile position decision method of robot charging technique of alignment according to claim 1,
It is characterized in that：It is to ensure accuracy of the robot with respect to charging pile position judgment in step S4, robot rotates in place mostly all；Machine
When device people often rotates to each unit corresponding position, collected signal is detected, while the corresponding unit in signal panels
Upper tracer signal has nil case.
6. the signal record and charging pile position decision method of robot charging technique of alignment according to claim 1,
It is characterized in that：Effective sector is judged according to the record case of S4 judgement in step S5, and then judges charging pile signal coverage areas
And the position of charging pile.
7. the signal record and charging pile position decision method of robot charging technique of alignment according to claim 6,
It is characterized in that：The decision rule of step S5 needs to be determined by testing procedure before concrete application in the method：It is bright
On the basis of true robot is relative to charging pile position, circulation step S1 to S5, balance movement time and accuracy determine sector
Quantity N, element number n, and according to the record case of step S4, determine used in the definition rule and step S5 of effective sector
Decision rule.
8. the signal record and charging pile position decision method of robot charging technique of alignment according to claim 7,
It is characterized in that：Decision rule used in step S5 is：If there is signal element quantity to be more than no signal unit number in certain sector
Amount, then this sector is effective sector；Orientation corresponding to the most region of continuous effective number of sectors is that charging pile signal covers
Orientation where cover area, that is, charging pile.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810207234.1A CN108312882B (en) | 2018-03-14 | 2018-03-14 | Signal recording and charging pile position determination method for robot charging alignment technology |
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| CN201810207234.1A CN108312882B (en) | 2018-03-14 | 2018-03-14 | Signal recording and charging pile position determination method for robot charging alignment technology |
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Cited By (1)
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| CN109215171A (en) * | 2018-08-20 | 2019-01-15 | 深圳市长龙铁路电子工程有限公司 | A kind of storage method of cab signaling equipment data record |
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