CN109901588A - A kind of charging unit and automatic recharging method that patrol robot uses - Google Patents
A kind of charging unit and automatic recharging method that patrol robot uses Download PDFInfo
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- CN109901588A CN109901588A CN201910239099.3A CN201910239099A CN109901588A CN 109901588 A CN109901588 A CN 109901588A CN 201910239099 A CN201910239099 A CN 201910239099A CN 109901588 A CN109901588 A CN 109901588A
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Abstract
The invention belongs to charging technique fields, more particularly to a kind of charging unit and automatic recharging method that patrol robot uses, robot detects self electric quantity lower than given threshold in operation, control robot is moved in default environmental field locating for charging unit, the direction of charging unit is accurately determined by infrared sensor, robot, using the exact position of laser radar confirmation charging unit, charges during mobile to charging unit to control robot and be moved to exact position.The present invention can accurately navigate to charging unit by the sensor of itself, effectively increase the efficiency of movement of automatic charging, make its fluent movements, and improve the intelligence degree of robot, reduce human input.
Description
Technical field
The invention belongs to charging technique fields, and in particular to a kind of charging unit and automatic charging that patrol robot uses
Method.
Background technique
With the development of modern machines people technology and network technology, the application range of robot is increasing.Especially taking
The application in business field, robot has had received widespread attention and has paid attention to.Now, such as household service robot, medical machine
The existing application example such as people, rescue robot.In terms of security and guard technology, security robot also comes into being, but existing peace
Anti- robot is all to set patrol approach and place, complicated for operation, and can not optimize path, can not preferably meet footpath between fields
The demand of raw secure environment.In prior art: sticking mark near the charge position of robot or using wireless beacon
Method make machine know the approximate location of charging unit, robot is kept using the infrared sensor of itself and surrounding obstacles
The distance of object is explored to target direction simultaneously, is the mistake that mark terminates searching charging unit with robotic contact to charging signals
Journey.Or directly adopt the charging pile of no active signal, only using the convex shape of itself as criterion of identification after rough pair
It is quasi-.The shortcomings that prior art: 1) mark, therefore inconvenient moving charging current potential at any time the charge position of robot on are nearby needed
It sets；2) robot has no idea to be accurately positioned to charging unit, so that acting not flexible and easy error.
Summary of the invention
In order to solve technological deficiency existing in the prior art, the invention proposes a kind of chargings that patrol robot uses
Device and automatic recharging method.
The invention is realized by the following technical scheme:
A kind of charging unit that patrol robot uses, comprising:
Charging module, for providing stable power supply for patrol robot；
Mark module, positioned at the surface of charging unit, the mark module is divided into K segment, K according to pattern difference
For the integer more than or equal to 1, two regions: radar visibility region and radar are divided into according to its visibility under laser radar
Invisible area；
Infrared launcher is made of L infrared discharge lamps, and L is the integer more than or equal to 1, can be emitted through toning
Infrared signal after system；
Indicator light, on the pole piece of charging unit exist load and charging unit correctly recognize patrol robot
Working condition is characterized after corresponding charging management chip by lighting to enter in charging；
It is provided with infrared sensor on robot body, the side of charging unit is determined by incuding the infrared signal
To；
The laser radar is arranged on robot body, uses during patrol robot is mobile to charging unit
The position of laser radar confirmation charging unit.
Preferably, the infrared launcher, locating for height it is corresponding with the position of the infrared sensor.
Preferably, navigation system is provided on robot body, the navigation system cooperation laser radar may be implemented together
Step builds figure and positioning, can construct the map of environment in the environment.
Preferably, the K segment is 5 segments；Radar visibility region is first segment, and third section, the 5th section, radar is not
Visible region is second segment and the 4th section.
A kind of automatic recharging method, includes the following steps:
S1, robot detect self electric quantity in operation, and judge whether the electricity is lower than given threshold；
If S2, electricity are lower than given threshold, control robot and be moved in default environmental field locating for charging unit；
Equipped with navigation system on robot body, cooperate laser radar that can accomplish to synchronize to build figure and positioning, it can structure in the environment
Build out the map of environment；
S3, the direction for determining charging unit；
S4, robot use the position of laser radar confirmation charging unit during mobile to charging unit；
S5, control robot are moved at the position of charging unit and charge.
Further, the judgment method of the exact position includes the following steps:
S11, electricity reach preset threshold, and there are the predeterminated positions of charging unit in the map in navigation system；
S12, robot is moved to predeterminated position；
S13, the environment that surrounding is constantly searched during infrared signal guidance, searching meet preset code section；
S14, when finding doubtful code section, start to carry out length screening, i.e., it is visible to each segment with invisible information
Length carries out screening observation, and whether it meets preset length；
S15, start to screen the length ratio of continuous segment after the screening of a upper segment passes through, that is, choose N number of
Segment is compared with remaining K-N fragment length, and whether length ratio meets expection；N is the positive integer less than K；K is pre-
If the length of code section；
The qualified segment of S16, screening carries out linear fit, generate code section linear space position Yu Suojian map it
In；
The midpoint generation vertical line of S17, access code section straight line, choose terminal of the suitable point as navigation in vertical line section；
On S18, mobile robot to charging unit, charging is completed.
Preferably, infrared sensor is provided on robot body, the infrared sensor passes through induction charging device
The infrared signal of infrared launcher transmitting accurately determines charging unit direction.
Preferably, the priority list of charge position is equipped in Algorithms of Robots Navigation System, when the electricity of robot reaches threshold
When value, the position that there may be charging unit is successively gone to according to the sequence of the list.
Preferably, the K is 5, and code presupposition section is 1001101, wherein visible segment table is shown as 1, invisible segment is expressed as 0.
The invention also includes a kind of non-volatile memory mediums comprising one or more computer instruction, described one
Or a plurality of computer instruction realizes above-mentioned charging method when being executed.
Compared with prior art, the present invention at least has the following beneficial effects or advantage:
1) robot charging device itself does not need additional additional identification with specific mark；Without to existing machine
Device people reequips, and infrared sensor and laser radar sensor are common sensors with robot, therefore lands real
It applies and is easier；
2) robot can accurately navigate to charging unit by the sensor of itself, effectively increase automatic charging
Efficiency of movement makes its fluent movements, and speed, which is speeded, to be not easy to go wrong；
3) the identical charging unit in the independent searching environment that robot can be convenient, does not need to preset, so that
Its is more convenient to use；It is simpler compared to current application scheme deployment, without presetting the position of charging unit, only
It can be made to go to charging automatically automatically on the both sides that charging unit is placed in robot ambulation route；
4) the effective automatic charging technical solution of complete set is given, the intelligence degree of robot is improved, is reduced
Human input.
5) robot is allowed voluntarily to record charging pile position and with the information assurance of the multisensor standard voluntarily recorded
True property.
6) technical foundation has been laid for the action planning of multirobot, multi-robot self-determination is facilitated to coordinate in same place
Charging and Automatic dispatching.
Detailed description of the invention
The present invention is described in further details below with reference to attached drawing；
Fig. 1 is infrared launcher top view of the invention；
Fig. 2 is the automatic charging flow chart of charging unit of the invention；
Fig. 3 is the decision flow chart of elaborate position of the invention.
Specific embodiment
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 description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
The present invention relates to the charging unit that uses of patrol robot be described as follows:
1) function itself having for patrol robot stable power-supplying.
2) charging unit has a mark, which has used invisible under laser radar and visible two kinds of materials,
By the visible material and invisible material according to default rule, apply on the charging device, for identifying charging unit.
3) itself has the infrared launcher for meeting Fig. 1 pattern.The feature of the device is as shown in Fig. 2, and the dress
Setting can emit by modulated infrared coding, convenient for parsing.
4) itself has LED or other indicator lights that can be shone, and can be used to refer to the state of charging.
5) mark is located at the surface of charging unit, it should be adjusted accordingly according to the installation site of patrol robot laser radar
It is whole it is positioned such that the plane of scanning motion of laser radar is concordant with pattern position.
6) infrared launcher of Fig. 1 is described as follows.
It is made of four infrared discharge lamps, can emit the infrared signal by modulated 940nm wavelength.Its angle
(left side right-side signal is in respectively 45 ° of angles with plane, and intermediate two signals are vertical with plane) shown in as illustrated.Four lamp hairs
The modulated signal penetrated is not identical, and different signal sources can be told in receiving end.
7) to infrared launcher described in Fig. 1, further description is:
The external transparent materials composition that will not be hindered infrared signal and it will not be made excessively to scatter, locating for height
It is corresponding with corresponding patrol robot sensor position.
8) to the indicator light of charging unit, effect is there is load and charging unit just on the pole piece of charging unit
It really recognizes and characterizes working condition by lighting after the corresponding charging management chip of patrol robot and enter in charging.
The invention further relates to the automatic recharging method of the charging unit, detailed process is as shown in Fig. 2, include the following steps:
Detect electricity lower than given threshold in S1, equipment operation；
S2, control robot are moved in default environmental field locating for charging unit；On the robot body equipped with
Navigation system, cooperation laser radar, which can be accomplished to synchronize, builds figure and positioning, can construct the map of environment in the environment；
S3, charging unit direction is accurately determined by infrared sensor；
S4, the position of laser radar confirmation charging unit is used during mobile to charging unit；
S5, control robot are moved at the position of charging unit and charge.
The invention further relates to key technology, that is, equipment component parameter declarations:
1) the general sighting distance of infrared launcher is 5-8 meters, i.e., if robot can be at 5 meters in the case where not blocking
Receive infrared guidance signal outside to confirm direction.
2) infrared emission detection visual angle is small, and skewed popularity is lower, therefore can be used as the stabilization signal source of a guidance.According to
Experiment, robot at most receive the signal of three lamps within the same time.Suggesting while receiving signal can be with itself rotation
The signal total amount of received each emission lamp in a period of time is counted, to estimate the relative position of oneself and charging unit.
3) mark has different visual ranges because of size difference.The visual range of the size hereinbefore set is about 2m
I.e. when charging unit is within two meters of laser radar, robot can accurately determine the position of charging unit.
4) mark can be in the feedback information of laser radar because of its significant difference on the visibility of laser radar
Now apparent information, herein it will be seen that the information setting of section is 1, the information setting of invisible segment is 0, then the information of the mark is answered
It should be 1001101.
Therefore to the judgment method of its elaborate position as shown in figure 3, steps are as follows:
S11, electricity reach preset threshold, and there are the positions of preset charging unit in the map in navigation system；
S12, robot is moved to preset position；
S13, the environment that surrounding is constantly searched during infrared guidance, searching meet 1001101 code section；
S14, when finding doubtful code section, start to carry out length screening, i.e., to each section of visible length with invisible information
Degree carries out screening observation, and whether it meets preset length；Screening at this time should relax threshold value accordingly, because under different perspectives
Mark can because angle bring truncated error.
S15, start to screen the length ratio of continuous segment after the preceding paragraph screening passes through, that is, choose N sections of pieces
Section is compared with remaining 5-N segment length, and whether length ratio meets expection；
S16, the successful segment of screening carry out linear fit, generate code section linear space position Yu Suojian map it
In；
The midpoint generation vertical line of S17, access code section straight line, choose terminal of the suitable point as navigation in vertical line section.
Robot should be in immediately ahead of charging unit after the completion of this step；Specifically, it can be selected according to robot size
Terminal of the suitable point as navigation.
On S18, mobile robot to charging unit, charging is completed.
5) the charging unit position stored in Algorithms of Robots Navigation System is not unique, it should which being one, there are the column of priority
Table.Prepreerence should be the position manually set from the position and user stored when charging unit starting, followed by make
With the doubtful charging unit for being detected simultaneously by mark shown in infrared signal and figure -1 in the process.When the electricity of robot reaches
When threshold value, the region that there may be charging unit is successively gone to according to the sequence of list.When the region can not detect infrared signal
When with visual cues shown in figure -1, that is, go to the possible position of next charging unit.Until charge successfully or list
Through being emptied.
6) user is when the beat of robot disposes new charging unit, without doing any volume in robot system
Charging unit need to only be placed in the reachable region of robot and guarantee at least once to pass through when robot patrol by outer setting
Crossing the primary device can (device, which need to be powered, to be worked normally).Navigation system can pass through doubtful charging unit region
When to doubtful marker and infrared signal discovery point record, in original charging unit power-off failure or by mobile feelings
It can be moved at suspicious charging unit and charge under condition.Meanwhile in the case where multirobot more charging units, without mentioning
The position of preceding measurement charging unit only needs simple scheduling communication method that can easily find that the position of more charging units is convenient
Its automatic charging.
7) range of signal of infrared signal emitter is distant, therefore when search listing empties and robot is still dynamic
When, user, which can choose, allows robot voluntarily to search for charging unit, and infrared signal emitter makes the search of robot
Efficiency can greatly promote.
The present invention also provides a kind of non-volatile memory mediums comprising one or more computer instruction, described one
Item or a plurality of computer instruction realize above-mentioned automatic recharging method when being executed.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Describe in detail it is bright, it should be understood that the above is only a specific embodiment of the present invention, the guarantor being not intended to limit the present invention
Protect range.Without departing from the spirit and scope of the invention, any modification, equivalent substitution, improvement and etc. done also belong to this
Within the protection scope of invention.
Claims (10)
1. a kind of charging unit that patrol robot uses, which is characterized in that the charging unit includes:
Charging module, for providing stable power supply for patrol robot；
Mark module, positioned at the surface of charging unit, the mark module is divided into K segment according to pattern difference, and K is big
In the integer for being equal to 1, be divided into two regions according to its visibility under laser radar: radar visibility region and radar can not
See region；
Infrared launcher is made of L infrared discharge lamps, and L is the integer more than or equal to 1, can be emitted after ovennodulation
Infrared signal；
Indicator light, for there is load on the pole piece of charging unit and charging unit correctly to recognize patrol robot corresponding
Charging management chip after characterize working condition by lighting and enter in charging；
It is provided with infrared sensor on robot body, the direction of charging unit is determined by incuding the infrared signal；
The laser radar is arranged on robot body, uses laser during patrol robot is mobile to charging unit
The position of radar confirmation charging unit.
2. the charging unit that patrol robot according to claim 1 uses, which is characterized in that the infrared emission dress
Set, locating for height it is corresponding with the position of the infrared sensor.
3. the charging unit that patrol robot according to claim 1 uses, which is characterized in that be arranged on robot body
There is navigation system, the navigation system cooperation laser radar, which may be implemented to synchronize, builds figure and positioning, can construct in the environment
The map of environment.
4. the charging unit that patrol robot according to claim 1 uses, which is characterized in that the K segment is 5
Segment；Radar visibility region is first segment, and third section, the 5th section, the sightless region of radar is second segment and the 4th section.
5. a kind of automatic recharging method, which comprises the steps of:
S1, robot detect self electric quantity in operation, and judge whether the electricity is lower than given threshold；
If S2, electricity are lower than given threshold, control robot and be moved in default environmental field locating for charging unit；Machine
Human body is upper equipped with navigation system, cooperates laser radar that can accomplish to synchronize to build figure and positioning, can construct in the environment
The map of environment；
S3, the direction for determining charging unit；
S4, robot use the position of laser radar confirmation charging unit during mobile to charging unit；
S5, control robot are moved at the position of charging unit and charge.
6. automatic recharging method according to claim 5, which is characterized in that the judgment method of the exact position includes
Following steps:
S11, electricity reach preset threshold, and there are the predeterminated positions of charging unit in the map in navigation system；
S12, robot is moved to predeterminated position；
S13, the environment that surrounding is constantly searched during infrared signal guidance, searching meet preset code section；
S14, when finding doubtful code section, start to carry out length screening, i.e., the length with invisible information visible to each segment
Carrying out screening observation, whether it meets preset length；
S15, start to screen the length ratio of continuous segment after the screening of a upper segment passes through, that is, choose N number of segment
It is compared with remaining K-N fragment length, whether length ratio meets expection；N is the positive integer less than K；K is code presupposition
The length of section；
The qualified segment of S16, screening carries out linear fit, generates among the linear space position Yu Suojian map of code section；
The midpoint generation vertical line of S17, access code section straight line, choose terminal of the suitable point as navigation in vertical line section；
On S18, mobile robot to charging unit, charging is completed.
7. automatic recharging method according to claim 5, which is characterized in that be provided with infrared sensing on robot body
Device, the infrared sensor determine charging dress by the infrared signal that the infrared launcher of induction charging device emits come accurate
Set direction.
8. automatic recharging method according to claim 5, which is characterized in that be equipped with charge position in Algorithms of Robots Navigation System
Priority list, when the electricity of robot reaches threshold value, charging unit may be had by successively going to according to the sequence of the list
Position.
9. the method according to claim 6, the K is 5, and code presupposition section is 1001101, wherein visible segment table is shown as 1, no
It can be seen that segment table is shown as 0.
10. a kind of non-volatile memory medium, which is characterized in that including one or more computer instruction, described one or more
Computer instruction realizes the described in any item methods of the claims 5-9 when being executed.
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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 |
| CN115185278A (en) * | 2022-07-15 | 2022-10-14 | 广州高新兴机器人有限公司 | Relocation method, relocation device, relocation medium and relocation equipment for patrol robot |
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Application publication date: 20190618 |