CN109904883A - A kind of new robot automatic charging system - Google Patents
A kind of new robot automatic charging system Download PDFInfo
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- CN109904883A CN109904883A CN201711287141.6A CN201711287141A CN109904883A CN 109904883 A CN109904883 A CN 109904883A CN 201711287141 A CN201711287141 A CN 201711287141A CN 109904883 A CN109904883 A CN 109904883A
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- charging
- robot
- automatic charging
- docking
- charging system
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a kind of new robot automatic charging system, the system comprises: long range dock module uses infrared signal lamp to find and close to charging base；Short range dock module realizes the accurate docking of robot and charging base using laser sensor；Automatic charging module carries out automatic charging according to present battery status and charging time.
Description
Technical field
The present invention relates to automatic charging technologies, and in particular to robot automatic charging system.
Background technique
Currently, mobile robot is all using the airborne chargeable storage group of high quality come to power itself, but one
As can only maintain several hours, once electric energy exhausts, it is necessary to by the way of manual intervention come give robot charging.Work as movement
When robot electric power deficiency, standby signal is issued, the connection of the electric appliance between robot and charger is manually completed by operator,
Then implement charging, be disconnected circuit after the completion and manually.Its main feature is that it is safe and reliable, it is simple and easy, but need special messenger
It keeps an eye on, waste of manpower, and this is but also the automation of robot, intelligent imperfect.If using artificial charging, machine
Device people is at a kind of discrete task ring, and which prevent the long-term autonomies of robot.
When robot and charging base are docked, not only to allow robot reach charging base, it is also necessary to robot with
Certain angle and direction enters charging base, conventional method be require the specific axis of Robot enter and charging base into
Row docking.This method is very high to the accuracy requirement of the mobile accuracy of robot and navigation, is not easy to promote and apply.
Summary of the invention
The purpose of the present invention is to overcome the deficiency in the prior art, especially solves existing robot automatic charging technical requirements machine
Device people enters along specific axis and charging base docks, and the angle and direction precision of docking is excessively high, is difficult to disposable reality
The problem of now docking.
In order to solve the above technical problems, the present invention provides a kind of new robot automatic charging system, wherein described to be based on
The two stages robot automatic charging system of docking includes: long range dock module, finds simultaneously close fill using infrared signal lamp
Electric pedestal；Short range dock module realizes the accurate docking of robot and charging base using laser sensor；Automatic charging mould
Block carries out automatic charging according to present battery status and charging time.
Detailed description of the invention
Fig. 1 is the robot automatic charging system schematic diagram of the embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawing and specific embodiment to the present invention carry out in further detail with complete explanation.It is understood that
It is that described herein the specific embodiments are only for explaining the present invention, rather than limitation of the invention.
Fig. 1 is the robot automatic charging system schematic diagram of embodiment according to the present invention.
Referring to Fig.1, the robot automatic charging system based on two stages docking includes: long range dock module, is used
Infrared signal lamp is found and close to charging base；Short range dock module realizes robot and charging bottom using laser sensor
The accurate docking of seat；Automatic charging module carries out automatic charging according to present battery status and charging time.
Specifically, the present embodiment is described as follows:
Long range dock module is found using infrared signal lamp and close to charging base.Robot is first according to indoor system
System is to determine docking target.The setting navigation infrared signal lamp on charging station, when robot enters docking region, by infrared
Line signal lamp carrys out guided robot and adjusts correct course, it is ensured that robot is docked with correct posture.If it is fixed to reach
The position target area that show of system still can not find charging base signal, then carries out roaming search, until find echo signal and to
Target movement.If can not find that target is considered as docking failure in 0.5min.
Short range dock module realizes the accurate docking of robot and charging base using laser sensor.Robot enters
After docking region, it is accurately positioned using laser sensor, judges the position between robot and charging base, if the bottom of with
Wall where seat is then directly docked at vertical 90 ° of angles, otherwise adjusts robot pose, until robot and wall hang down
Directly；After robot enters charging base, judge whether charging voltage is normal, as abnormal, retrogressing re-starts docking, otherwise
Complete docking operation.
Automatic charging module, when robot adjusts pose to after being suitble to docking, the microcontroller of robot issues instruction, into
Row charging.If robot battery voltage is more than 11.9V, show that current robot without charging, otherwise continues to charge；If super
The longest charging time is spent, shows current robot charging time-out, otherwise continues to charge；If battery temperature is more than 40 °, show to work as
Preceding battery temperature is excessively high dangerous, stops charging, otherwise continues to charge, until charging terminates.
Above-mentioned is the preferable embodiment of the present invention, but embodiments of the present invention are not limited by the foregoing content,
His any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention, should be
The substitute mode of effect, is included within the scope of the present invention.
Claims (1)
1. a kind of new robot automatic charging system, which is characterized in that the system comprises: long range dock module, use are red
Outside line signal lamp is found and close to charging base；Short range dock extraction module realizes robot and charging using laser sensor
The accurate docking of pedestal；Automatic charging module carries out automatic charging according to present battery status and charging time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711287141.6A CN109904883A (en) | 2017-12-07 | 2017-12-07 | A kind of new robot automatic charging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711287141.6A CN109904883A (en) | 2017-12-07 | 2017-12-07 | A kind of new robot automatic charging system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109904883A true CN109904883A (en) | 2019-06-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201711287141.6A Pending CN109904883A (en) | 2017-12-07 | 2017-12-07 | A kind of new robot automatic charging system |
Country Status (1)
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110350630A (en) * | 2019-08-05 | 2019-10-18 | 北京云迹科技有限公司 | A kind of charging method, charging unit and charging equipment |
| CN110584550A (en) * | 2019-09-20 | 2019-12-20 | 江苏天策机器人科技有限公司 | Intelligent water supply and drainage floor washing robot system and water supply and drainage control method thereof |
| CN110838749A (en) * | 2019-11-29 | 2020-02-25 | 上海有个机器人有限公司 | Control method for automatic charging of robot |
-
2017
- 2017-12-07 CN CN201711287141.6A patent/CN109904883A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110350630A (en) * | 2019-08-05 | 2019-10-18 | 北京云迹科技有限公司 | A kind of charging method, charging unit and charging equipment |
| CN110584550A (en) * | 2019-09-20 | 2019-12-20 | 江苏天策机器人科技有限公司 | Intelligent water supply and drainage floor washing robot system and water supply and drainage control method thereof |
| CN110838749A (en) * | 2019-11-29 | 2020-02-25 | 上海有个机器人有限公司 | Control method for automatic charging of robot |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190618 |