CN110429675A - Robot automatic charge device and charging controller method - Google Patents
Robot automatic charge device and charging controller method Download PDFInfo
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- CN110429675A CN110429675A CN201910702565.7A CN201910702565A CN110429675A CN 110429675 A CN110429675 A CN 110429675A CN 201910702565 A CN201910702565 A CN 201910702565A CN 110429675 A CN110429675 A CN 110429675A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000012545 processing Methods 0.000 claims description 7
- 238000013459 approach Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 2
- 238000011897 real-time detection Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000012937 correction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
- G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
Abstract
Present invention discloses a kind of robot automatic charge device and charging controller methods.Charging unit includes: master controller and private jack, master controller includes one-chip computer module, voltage detection module, motor drive module, infrared transmitter and image capture module, and private jack includes socket, 5V power module, infrared remote receiver and LED lamp module.Charge control method includes: 1) to detect cell voltage state；2) judge whether to need to charge according to voltage signal；3) when needing to charge, control LED lamp module emits beam；4) the morpheme relationship of LED lamp module is analyzed；5) speed and the direction of robot are adjusted in real time；6) it when the morpheme relationship of LED lamp module is matched with setting value, represents robot and is aligned with private jack, can charge.Positioning target fiducials of the light issued by LED lamp module as image capture module adapt to most severe light environments, improve the recognition capability to socket.
Description
Technical field
The embodiment of the present invention is related to automatic charging technology, in particular to a kind of robot automatic charge device and
Charging controller method, robot include but is not limited to AGV trolley and mobile robot.
Background technique
AGV trolley, which refers to, magnetically or optically waits homing guidances device equipped with electricity, can travel, have along defined guide path
There is the transport vehicle of safeguard protection and various transfer functions, is a kind of carrier for being not required to driver in industrial application, with
Chargeable battery is its power resources.Mobile robot is collection environment sensing, dynamic decision and a planning, behaviour control
With the multi-functional integrated system in one such as execute, application range is larger, not only in industry, agricultural, medical treatment, service etc. in industries
It is widely used, and is answered well in the nocuousness such as urban safety, national defence and space exploration field with dangerous situation
With equally with chargeable battery for its power resources.AGV trolley and the common feature of mobile robot are all: with can
The battery of charging is its power resources.In the not enough power supply of rechargeable battery, need user by rechargeable battery and external power supply
Charging is completed in connection.This not only will increase the workload of user, moreover, under manpower working environment in short supply, once due to filling
Electric battery capacity is insufficient and fails to find in time, will cause periods of robot operation stop, to influence working efficiency.
Application No. is 2010105769695 application for a patent for invention, disclose it is a kind of " robot automatic charge device and its
Automatic recharging method " comprising power supply link block, mobile module, battery monitoring module, external image acquisition module, storage
Module and main control module, wherein main control module controls external image acquisition module harvester after receiving charge request signal
The image of device people's ambient enviroment searches for the image to match with external power receptacle reference picture, judgement in the image of acquisition
With the presence or absence of external power receptacle；If existed, then the position of the power supply link block relative to external power receptacle is calculated, controlled
Mobile module drives robot mobile to external power receptacle, is directed at power supply link block with external power receptacle and mutually interconnects
It connects.
It is mentioned in the specification of foregoing invention patent application: in order to avoid power outlet recognition unit 11 occurs externally
The erroneous judgement (image similar with external power receptacle is judged as external power receptacle) of portion's power outlet, in connection external electrical
When supply socket, power supply link block 2 can be made to be inserted into socket aperture by certain dynamics, can not be such as inserted into, or do not had after insertion
There is electric current inflow, then mobile control unit 13 controls robot and finds external power receptacle again.It follows that the patent of invention
Application disclosed " robot automatic charge device and its automatic recharging method " is not strong to the recognition capability of socket, and needs
Certain dynamics is inserted into socket aperture, is inserted into low efficiency.
Summary of the invention
It is strong it is an object of the invention in view of the above-mentioned drawbacks in the prior art, provide the recognition capability of a kind of pair of socket
Robot automatic charge device.
For achieving the above object, present invention employs following technical solutions: a kind of robot automatic charge device, packet
Master controller and private jack are included, master controller includes one-chip computer module, voltage detection module, motor drive module, infrared hair
Emitter and image capture module, private jack include socket, 5V power module, infrared remote receiver and LED lamp module；Voltage
Detection module is coupled with one-chip computer module, for detecting robot cell voltage state, and is generated voltage signal and is given single-chip microcontroller
Module；Motor drive module is coupled between one-chip computer module and the motor of robot；Image capture module is coupled with single-chip microcontroller,
Orientation for scanning collection private jack；Infrared transmitter is coupled with one-chip computer module, and is wirelessly connected with infrared remote receiver
Communication；LED lamp module is coupled with infrared remote receiver；5V power module is coupled with infrared remote receiver and LED lamp module.
In addition, the present invention also provides following attached technical schemes:
Image capture module includes the camera to intercouple and vision identification processing device, the camera also with robot
Y-axis motor connection, the vision identification processing device also couples with one-chip computer module.
Master controller further includes approach switch sensor, which couples with one-chip computer module.
Private jack includes relay, and the coil of relay is coupled with infrared remote receiver, and normally opened contact is coupled with jack.
Jack is in the shape of a trumpet.
LED lamp module includes 4 LED light, 4 square arrangements of LED light.
The present invention also provides a kind of charging controller methods, include the following steps, 1) it is real-time using voltage detection module
The cell voltage state of robot is detected, and generates voltage signal and gives one-chip computer module；2) one-chip computer module is believed according to voltage
Number judge whether battery voltage value is lower than setting value, when lower than when, one-chip computer module generates charge request signal, and by infrared
Transmitter is wirelessly transmitted to infrared remote receiver；3) the charge request signal received is transferred to LED lamp module by infrared remote receiver,
LED lamp module is started by triggering, and is emitted beam；4) one-chip computer module control image capture module real time scan acquires LED light
The light that module issues, and analyze the morpheme relationship of LED lamp module；5) one-chip computer module controls machine by motor drive module
People is to walking at private jack position, and during which, image capture module acquires LED lamp module information in real time, and according to LED lamp module
Morpheme relationship, in real time adjust robot speed and direction；6) when the morpheme of the collected LED lamp module of image capture module
It when relationship is matched with setting value, represents robot and is aligned with private jack, can charge.
LED lamp module includes 4 LED light, and 4 square arrangements of LED light, the step 4) is middle to analyze LED light mould
The method of block morpheme relationship includes: when collected 4 LED light of image capture module are rectangle arrangement, and 2, left side LED
Distance it is higher than what right side was gone together, then judge private jack in the left front of robot；Collected 4 when image capture module
LED light is rectangle arrangement, and the distance of 2 LED in right side is higher than what left side was gone together, then judges private jack on a left side for robot
Front；When the square arrangement of collected 4 LED light of image capture module, then judge private jack robot just before
Side.
In step 6), when the morpheme relationship for the LED lamp module that image capture module scanning collection arrives is matched with setting value,
One-chip computer module also passes through infrared transmitter and infrared remote receiver control LED lamp module is closed.
Compared with the prior art, advantage of the invention includes following items:
1, it may be mounted on general AGV or mobile robot, it is applied widely.
2, positioning target fiducials of the light issued by LED lamp module as image capture module adapt to absolutely mostly
The severe light environment of number, improves the recognition capability to socket.
3, it is realized and is accurately positioned by control tri- spindle motor of X, Y, Z movement, inserted by the bell mouth shape of metope private jack
Mouth guiding realizes correction, improves the stability of automatic charging system.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be in embodiment or description of Related Art
Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description merely relates to of the invention some
Embodiment, not limitation of the present invention.
Fig. 1 is the structural block diagram of robot automatic charge device.
Fig. 2 is the positive structure schematic of private jack.
The structure schematic diagram of Fig. 3 private jack.
Fig. 4 is schematic diagram of the private jack at the left front of robot.
Fig. 5 is schematic diagram of the private jack at the right front of robot.
Fig. 6 is schematic diagram of the private jack at the front of robot.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
It applies mode and further unrestricted detailed description is made to technical solution of the present invention.
Robot includes but is not limited to AGV trolley and mobile robot, and the travel configuration of itself includes but is not limited to: X
Spindle motor 100, y-axis motor 101 and Z axis motor 102, tri- axis of X, Y, Z are short stroke accurate lead screw, for carrying out essence to position
It adjusts, motor is DC speed-reducing.Fig. 1 is the robot automatic charge device of the present embodiment, comprising: master controller and dedicated
Socket, master controller are mounted on robot body, and private jack can be directly inserted on the common socket on metope, with power supply
It connects.
Master controller includes one-chip computer module 1, voltage detection module 2, infrared transmitter 3, image capture module 4, motor
Drive module 5 and approach switch sensor 6.
One-chip computer module 1 is the control core of system, is mainly used for storing data and processing analysis data, and export control
Signal, the one-chip computer module of the present embodiment use ATMEGA128 type single-chip microcontroller, be 8 series monolithics of atmel corp most
A single-chip microcontroller of height configuration possesses 16MHz working frequency, operating voltage 2.7- using risc architecture and AVR kernel
5.5V, stability are high.
Voltage detection module 2 is coupled with one-chip computer module 1, for detecting the cell voltage state of robot, and generates electricity
Pressure signal gives one-chip computer module.The present embodiment, voltage detection module 2 use two-way voltage detector integrated chip
ICXCM410.One-chip computer module storage inside has low-voltage pre-set value and standard voltage value, is lower than low-voltage in voltage signal
When pre-set value, one-chip computer module issues charge request signal, when voltage signal reaches standard voltage value, stops charging.
Infrared transmitter 3 is coupled with one-chip computer module 1, is wirelessly connected with infrared remote receiver 12, is carried out by infrared signal
Telecommunication.The present embodiment, infrared transmitter 3 use TC9012 type infrared remote control chip, and infrared remote receiver 12 uses PIC3388
Type receives head.Infrared transmitter 3 is controlled by one-chip computer module 1, can transmit signals to infrared remote receiver 12, controls LED with this
Lamp module 13 and relay module 14.
Image capture module 4 using open source OpenMV machine vision module comprising the camera 4a that intercouples and
Vision identification processing device 4b, camera 4a use OV7725 type camera, and vision identification processing device 4b is using at STM32F427 type
Reason.Camera 4a and the y-axis motor of robot connect, and can be controlled and be rotated by y-axis motor, expand image pickup scope.Visual identity
Processor 4b is also coupled with one-chip computer module 1, and recognition result is sent to one-chip computer module 1 by serial ports.
Motor drive module 5 is coupled with one-chip computer module 1, and one-chip computer module 1 controls X, Y, Z by motor drive module 5
The positive and negative rotation of three axis DC speed-reducings, to achieve the purpose that controlling robot advances.The present embodiment, motor drive module 5
Using L298N.
Approach switch sensor 6 is coupled with one-chip computer module 1, for detecting the distance between robot and private jack,
Judge whether to have arrived at the predetermined position charged, detecting distance is 1 to 4cm.The present embodiment, approach switch sensor 6 are adopted
With ND8-S4S1-M18S type photoelectric proximity switch sensor.
Private jack includes socket 10,5V power module 11, infrared remote receiver 12, LED lamp module 13 and relay module
14。
See Fig. 2 and Fig. 3, the quantity of socket 10 is 2 or 3, is designed to bell mouth shape, just positioned at private jack
Face, for the conductive column insertion for robot.The back side of private jack is the conductive column of its own, similar to common socket.
5V power module 11 is connect with power supply (220V), for 220V alternating current to be converted to 5V direct current, is connect to be infrared
It receives device 12, LED lamp module 13 and relay module 14 and 5V power supply is provided.The present embodiment, 5V power module 11 use high energy cube
HQ05P10LRN Switching Power Supply 220V turns 5V power module.
Infrared remote receiver 12 is coupled with 5V power module, LED lamp module 13 and relay module 14 respectively, therefore infrared is connect
Receiving device 12 is to be powered always, and LED lamp module 13 and relay module are transferred to after the signal for receiving infrared transmitter 3
14, it can control the start and stop of LED lamp module 13, the on-off of relay module 14 can also be controlled.
See Fig. 2 and Fig. 3, LED lamp module includes 4 high-brightness LED lamps, 4 square distributions of LED light, and top
For 2 red LEDs, lower part is 2 blue leds.
Relay module 14 is connected between socket 10 and power supply (220V), for controlling the power on/off of socket.This implementation
Example, relay module 14 use TQ2-5V relay.
According to above-mentioned robot automatic charge device, the charging controller method of the present embodiment includes the following steps.
Step 1: using the cell voltage state of voltage detection module real-time detection robot, and generate voltage signal and give
To one-chip computer module；
Step 2: one-chip computer module judges whether battery voltage value is lower than setting value according to voltage signal, it is single when being lower than
Piece machine module generates charge request signal, and is wirelessly transmitted to infrared remote receiver by infrared transmitter；
Step 2: the charge request signal received is transferred to LED lamp module by infrared remote receiver, LED lamp module is touched
Hair starting, and emit beam；
Step 3: the camera of one-chip computer module control image capture module carries out 360 degree of scannings, when scan matching arrives
When 4 highlighted LED of LED lamp module, that is, have found the direction and position of private jack, and the vision for passing through image capture module
Recognition processor analyzes the morpheme relationship of 4 highlighted LED of LED lamp module；
It walks step 4: one-chip computer module controls robot by motor drive module at private jack position, during which,
Image capture module acquires LED lamp module information in real time, and according to the morpheme relationship of LED lamp module, adjusts robot in real time
Speed and direction；
As shown in figure 4, when collected 4 LED light of image capture module are rectangle arrangement, and 2, left side LED away from
It is high from than what right side was gone together, then judge private jack in the left front of robot；
As shown in figure 5, when collected 4 LED light of image capture module are rectangle arrangement, and 2, right side LED away from
It is high from than what left side was gone together, then judge private jack in the left front of robot；
As shown in fig. 6, working as the square arrangement of collected 4 LED light of image capture module, then judge that private jack exists
The front of robot.It can also accurately judge private jack at a distance from robot by the size of square simultaneously
Step 5: illustrating that robot is 1- with a distance from private jack when approach switch sensor 6 detects signal
4cm, one-chip computer module keep the shape of 4 LED light of LED lamp module complete by motor drive module fine adjustments axial direction electric machine
Entirely at square, position complies fully with predetermined position.
Step 6: one-chip computer module issues life by infrared remote receiver of the infrared transmitter in the private jack on metope
It enables, control LED lamp module is closed, and 4 LED light are extinguished.
It is rotated step 7: one-chip computer module controls axial direction electric machine by motor drive module, makes two conductions of robot
Column is inserted into two sockets of private jack.
Step 8: one-chip computer module issues life by infrared remote receiver of the infrared transmitter in the private jack on metope
It enables, controls relay module access, the socket in private jack is made to be powered.
Step 9: one-chip computer module passes through infrared hair when voltage detection module detects that cell voltage reaches setting value
Infrared remote receiver of the emitter in the private jack on metope issues order, and control relay module open circuit makes in private jack
Socket power-off.
It is rotated step 10: one-chip computer module controls axial direction electric machine by motor drive module, makes two conductions of robot
Column retracts, charging complete.Of course, it is possible to which conductive column movement can be removed from this time using wireless charging mode.
In conclusion robot automatic charge device and charging controller method have following items advantage:
1, it may be mounted on general AGV or mobile robot, it is applied widely.
2, the overwhelming majority is adapted to as the positioning target fiducials of camera using 4 high-brightness LED lamps of LED lamp module
Severe light environment.
3, realtime graphic feedback is carried out with camera, it at an arbitrary position can the charging of auto-returned metope.
4, it is realized and is accurately positioned by control tri- spindle motor of X, Y, Z movement, pass through the horn mouth jack of metope private jack
Guiding realizes correction, can greatly improve the stability of automatic charging system.
5, private jack is usually off-position, it is ensured that the safety of system by setting relay module.
It is pointed out that the technical concepts and features of above-mentioned preferred embodiment only to illustrate the invention, its object is to
Those skilled in the art can understand the contents of the present invention and implements accordingly, and protection of the invention can not be limited with this
Range.Any equivalent change or modification in accordance with the spirit of the invention should be covered by the protection scope of the present invention.
Claims (9)
1. a kind of robot automatic charge device, it is characterised in that: including master controller and private jack, master controller includes single
Piece machine module, voltage detection module, motor drive module, infrared transmitter and image capture module, private jack include inserting
Mouth, 5V power module, infrared remote receiver and LED lamp module；
Voltage detection module is coupled with one-chip computer module, for detecting robot cell voltage state, and is generated voltage signal and is sent
To one-chip computer module；
Motor drive module is coupled between one-chip computer module and the motor of robot；
Image capture module is coupled with single-chip microcontroller, the orientation for scanning collection private jack；
Infrared transmitter is coupled with one-chip computer module, and with infrared remote receiver wireless communication；
LED lamp module is coupled with infrared remote receiver；
5V power module is coupled with infrared remote receiver and LED lamp module.
2. automatic charge device according to claim 1, it is characterised in that: described image acquisition module includes intercoupling
Camera and vision identification processing device, the camera also connect with the y-axis motor of robot, the vision identification processing device
Also coupled with one-chip computer module.
3. automatic charge device according to claim 1, it is characterised in that: the main control further includes close to switch sensing
Device, the approach switch sensor are coupled with one-chip computer module.
4. automatic charge device according to claim 1, it is characterised in that: the private jack includes relay, described
The coil of relay is coupled with infrared remote receiver, and normally opened contact is coupled with jack.
5. automatic charge device according to claim 1, it is characterised in that: the jack is in the shape of a trumpet.
6. automatic charge device according to claim 1, it is characterised in that: the LED lamp module includes 4 LED light, should
4 square arrangements of LED light.
7. the charging controller method of robot automatic charge device according to claim 1, it is characterised in that:
1) the cell voltage state of voltage detection module real-time detection robot is utilized, and generates voltage signal and gives single-chip microcontroller mould
Block；
2) one-chip computer module judges whether battery voltage value is lower than setting value according to voltage signal, when being lower than, one-chip computer module
Charge request signal is generated, and infrared remote receiver is wirelessly transmitted to by infrared transmitter；
3) the charge request signal received is transferred to LED lamp module by infrared remote receiver, and LED lamp module is started by triggering, and
It emits beam；
4) light that one-chip computer module control image capture module real time scan acquisition LED lamp module issues, and analyze LED light mould
The morpheme relationship of block；
5) one-chip computer module controls robot to walking at private jack position, during which, Image Acquisition by motor drive module
Module acquires LED lamp module information in real time, and according to the morpheme relationship of LED lamp module, adjusts speed and the side of robot in real time
To；
6) when the morpheme relationship of the collected LED lamp module of image capture module is matched with setting value, represent robot and specially
It is aligned, can be charged with socket.
8. charging controller method according to claim 7, it is characterised in that: the LED lamp module includes 4 LED
Lamp, 4 square arrangements of LED light, the middle method for analyzing LED lamp module morpheme relationship of the step 4) include:
When collected 4 LED light of image capture module are rectangle arrangement, and the distance of 2 LED in left side is gone together than right side
Height then judges private jack in the left front of robot；
When collected 4 LED light of image capture module are rectangle arrangement, and the distance of 2 LED in right side is gone together than left side
Height then judges private jack in the left front of robot；
When the square arrangement of collected 4 LED light of image capture module, then judge private jack robot just before
Side.
9. charging controller method according to claim 7, it is characterised in that: in the step 6), work as Image Acquisition
When the morpheme relationship of the collected LED lamp module of module scans is matched with setting value, one-chip computer module also passes through infrared transmitter
It is closed with infrared remote receiver control LED lamp module.
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| CN201910702565.7A CN110429675A (en) | 2019-07-31 | 2019-07-31 | Robot automatic charge device and charging controller method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111082489A (en) * | 2019-12-27 | 2020-04-28 | 北京极智嘉科技有限公司 | Position adjusting method and automatic charging pile |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111082489A (en) * | 2019-12-27 | 2020-04-28 | 北京极智嘉科技有限公司 | Position adjusting method and automatic charging pile |
| CN111082489B (en) * | 2019-12-27 | 2021-12-07 | 北京极智嘉科技股份有限公司 | Position adjusting method and automatic charging pile |
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