CN110928307B - Automatic recharging method and system based on infrared laser, robot and charging dock - Google Patents
Automatic recharging method and system based on infrared laser, robot and charging dock Download PDFInfo
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- CN110928307B CN110928307B CN201911261490.XA CN201911261490A CN110928307B CN 110928307 B CN110928307 B CN 110928307B CN 201911261490 A CN201911261490 A CN 201911261490A CN 110928307 B CN110928307 B CN 110928307B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- 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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/30—Circuit arrangements or systems for wireless supply or distribution of electric power using light, e.g. lasers
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- 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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- 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
Abstract
The invention discloses an automatic recharging method, an automatic recharging system, an automatic recharging robot and a recharging dock based on infrared laser, which comprise the following steps: when the robot detects that the electric quantity is insufficient, an automatic recharging program is started; the robot searches a path on the existing map and moves to the vicinity of the charging dock; after reaching, the robot starts to rotate and continuously transmits a handshake request; the charging dock replies a receiving success signal to the robot after receiving the handshake request, simultaneously transmits infrared laser, and the robot continues to rotate after receiving the receiving success signal; after the robot recognizes the infrared laser, the robot moves to a charging interface of a charging dock to start charging. Through robot discernment "cross" infrared laser, carry out accurate location, manufacturing cost is lower, and the robot of being convenient for discerns, and positioning accuracy is higher, and the robot rectilinear movement in-process can also calibrate, prevents that the robot from appearing deflecting, and recognition process is comparatively simple, does not have special size requirement to the dock that charges.
Description
Technical Field
The invention relates to the technical field of charging, in particular to an automatic recharging method, an automatic recharging system, an automatic recharging robot and a charging dock based on infrared laser.
Background
Along with the continuous development of intellectualization, the mobile robot is widely applied in the fields of catering, communication and industry in recent years, the power supply system used by the existing mobile robot supplies power for a storage battery, and the situation of insufficient electric quantity of the mobile robot can occur after the mobile robot is used for a period of time, so that the mobile robot needs to be charged in time. At present, a movable robot has a plurality of charging dock positioning technologies so as to realize that the movable robot returns to a position near a charging dock and automatically interfaces with the charging dock to realize automatic charging. The existing charging dock positioning technology mainly comprises the following steps: infrared positioning technology, bluetooth positioning technology, ultrasonic positioning technology, visual positioning technology, laser radar scanning profile technology, and the like.
At present, about 70% of automatic charging technologies in the market adopt infrared positioning, and when adopting infrared positioning, the docking accuracy is higher, but an infrared receiver of the movable robot is easier to be interfered by indoor fluorescent lamps or sunlight in the process of receiving infrared rays, so that the docking of the movable robot and a charging dock is influenced. Ultrasonic positioning is mainly used for positioning a charging dock through ultrasonic reflection type ranging, but the ultrasonic ranging is greatly affected by multipath effects, and meanwhile, the manufacturing cost of a circuit is high. The Bluetooth positioning technology adopts Bluetooth to realize positioning by measuring signal intensity, the cost is relatively high, bluetooth equipment needs to be installed respectively on a charging dock and a robot, the docking precision is low, and the circuit is complex. The visual positioning is to identify specific markers of the charging dock through the camera, wherein the specific markers comprise two-dimensional codes, color blocks or laser bright lines, and the like, the complexity of the system can be increased in the identification process, and the requirement on hardware is high. The specific contour of the charging dock is identified by utilizing the laser radar of the movable robot, the charging dock is docked and charged by adopting the method, the identification time is long, the size contour of the charging dock is required to be high, and the volume occupied by the charging dock is relatively large.
Disclosure of Invention
The invention mainly aims to provide an automatic recharging method, an automatic recharging system, a robot and a charging dock based on infrared laser, and aims to solve the technical problems that in the prior art, the butt joint precision of a charging interface of the robot and the charging dock is low, the interface is easy to interfere, the robot identification cost is high, the robot identification process is complex and the robot identification time is long.
In order to achieve the above purpose, the invention provides an automatic recharging method based on infrared laser, comprising the following steps:
when the robot detects that the electric quantity is insufficient, an automatic recharging program is started;
the robot searches a path on the existing map and moves to the vicinity of the charging dock;
after reaching, the robot starts to rotate and continuously transmits a handshake request;
the charging dock replies a receiving success signal to the robot after receiving the handshake request, simultaneously transmits infrared laser, and the robot starts to rotate after receiving the receiving success signal;
after the robot recognizes the infrared laser, the robot moves to a charging interface of a charging dock to start charging;
the infrared laser is cross-shaped infrared laser with the wavelength of more than 780 nm.
Optionally, in the step of moving the robot to a charging interface of a charging dock after the robot recognizes the infrared laser, the robot performs accurate positioning and movement error correction, and the accurate positioning includes moving and rotating the robot after the first sensing device recognizes the infrared laser; the mobile error correction comprises the step that after the second sensing device recognizes the infrared laser, the robot moves to a charging interface of a charging dock to start charging
Optionally, after the first sensing device recognizes the infrared laser, the robot moves and rotates,
after the horizontal laser beams are simultaneously recognized by the multiple groups of photoelectric sensors, the robot starts to move linearly;
and after the second photoelectric sensor recognizes the vertical laser beam, the robot starts to rotate.
Optionally, the second sensing device comprises a first photoelectric sensor group arranged on one side of the central line of the robot and a second photoelectric sensor group arranged on the other side of the central line of the robot;
when the first photoelectric sensor group recognizes the vertical laser beam, the robot deflects to one side far away from the first photoelectric sensor group;
when the second photoelectric sensor group recognizes the vertical laser beam, the robot deflects to a side far away from the second photoelectric sensor group.
Optionally, if the second photoelectric sensor cannot identify the vertical laser beam, the robot returns to the vicinity of the charging pile to restart the automatic recharging program, and if the robot cannot identify the vertical laser beam again, the error is reported; if the second photoelectric sensor group cannot identify the vertical laser beam, the robot returns to the vicinity of the charging pile to restart the automatic recharging program, and if the robot cannot identify the vertical laser beam again, the error is reported.
Optionally, if the charging dock does not reply to receive the success signal, the robot rotates for a circle again and continuously transmits the handshake request, and if the charging dock continues to reply to not receive the success signal, the error is reported.
Optionally, when charging is started, the robot detects whether the charging voltage and the charging current are normal, if so, the robot is successfully recharged, otherwise, the error is reported.
In addition, in order to achieve the above objective, the present invention further provides an automatic recharging system based on infrared laser, and the automatic recharging method based on infrared laser according to any one of the above aspects, comprising:
the power module is used for storing electric energy for the robot to operate and move;
the control module is used for controlling the operation and movement of the robot;
the storage module is used for storing map information to perform path searching;
an identification module comprising a first sensing device and a second sensing device for identifying infrared laser light emitted by the charging dock;
and the signal receiving and transmitting module is used for sending a handshake request to the charging dock and receiving a signal sent by the charging dock.
In addition, in order to achieve the above object, the present invention further provides a robot, including a charging stand, using the automatic recharging method based on infrared laser described in any one of the above, further including:
the power module is used for storing electric energy for the robot to operate and move;
the control module is used for controlling the operation and movement of the robot;
the storage module is used for storing map information to perform path searching;
an identification module comprising a first sensing device and a second sensing device for identifying infrared laser light emitted by the charging dock;
the signal receiving and transmitting module is used for sending a handshake request to the charging dock and receiving a signal sent by the charging dock;
the first sensing device comprises a first photoelectric sensor and a second photoelectric sensor, and the first photoelectric sensor is embedded in the groove;
the second sensing device and the charging seat are positioned on the same side, and the central lines of the second sensing device and the charging seat are positioned on the same straight line;
the second sensing device comprises a first photoelectric sensor group arranged on one side of the central line of the robot and a second photoelectric sensor group arranged on the other side of the central line of the robot.
In addition, in order to achieve the above object, the present invention further provides a charging dock, using the automatic recharging method based on infrared laser described in any one of the above, comprising:
the infrared laser generator is used for emitting infrared laser;
the cross lens is used for converting the infrared laser into cross-shaped infrared laser;
the signal receiver is used for receiving signals sent by the robot;
and the charging interface is used for being matched with the charging seat of the robot to charge.
The invention provides an automatic recharging method, a system, a robot and a charging dock based on infrared lasers, wherein a first sensing device of the robot is used for identifying cross-shaped infrared lasers with the wavelength larger than 780nm emitted by the charging dock, the charging interface of the robot and the charging dock is accurately positioned, the production cost is low, meanwhile, the cross-shaped infrared lasers with the wavelength larger than 780nm can be decomposed into horizontal infrared laser beams and vertical infrared laser beams, the robot can conveniently and sequentially identify infrared lasers with the positioning accuracy higher, the wavelength range of the infrared lasers to be identified is further reduced, and the accuracy of the infrared lasers identified by the robot is improved. The second sensing device can identify the vertical laser beam of the cross infrared laser, calibrate in the linear movement process of the robot, prevent the robot from deflecting, and prevent the phenomenon that the robot is not successfully connected with the charging interface, and the whole identification process is simpler and has no special size requirement on the charging dock.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of an automatic recharging method based on infrared laser of the present invention;
FIG. 2 is a flow chart of a second embodiment of an automatic recharging method based on infrared laser according to the present invention;
FIG. 3 is a flow chart of a third embodiment of an automatic recharging method based on infrared laser according to the present invention;
FIG. 4 is a flow chart of a fourth embodiment of an automatic recharging method based on infrared laser according to the present invention;
FIG. 5 is a schematic flow chart of a fifth embodiment of an automatic recharging method based on infrared laser according to the present invention;
FIG. 6 is a schematic view of a first embodiment of a robot according to the present invention;
FIG. 7 is a schematic view of a second embodiment of a robot according to the present invention;
fig. 8 is a schematic structural view of a third embodiment of the robot of the present invention;
FIG. 9 is a range of infrared laser light emitted from a charging dock according to the present invention;
fig. 10 is a schematic structural view of a first embodiment of a charging dock according to the present invention.
Reference numerals illustrate:
the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The main solutions of the embodiments of the present invention are: the robot recognizes infrared laser emitted by the charging dock, so that the charging seat of the robot and a charging connector of the charging dock realize automatic docking and recharging.
Referring to fig. 1, the invention provides an automatic recharging method based on infrared laser, which comprises the following steps:
step S100, when the robot detects that the electric quantity is insufficient, an automatic recharging program is started;
the invention is applied to the fields of machinery and artificial intelligence of robots, the robots can realize automatic recharging when the robots find out insufficient electric quantity in the running process, the positions of charging docks are identified and accurately positioned, the robots are not required to be manually transported to the charging docks to realize charging, and more time and energy are saved. When the robot detects that the electric quantity is insufficient, an automatic recharging program is started, and the robot moves to the vicinity of the charging dock (80-100 cm).
Step 200, the robot searches a path on the existing map and moves to the vicinity of the charging dock;
the robot needs to search a path on an existing map in the process of moving to the charging dock, then moves to the position of the charging dock according to the set path, and the positioning accuracy of the robot is 10-20cm.
Step S300, the robot starts to rotate after reaching, and continuously transmits a handshake request;
when the robot reaches the vicinity of the charging dock (80-100 cm), the robot rotates first and continuously transmits handshake requests, so that the transmitting range is large, and the charging dock can be ensured to receive the handshake requests sent by the robot.
Step S400, after receiving the handshake request, the charging dock replies a receiving success signal to the robot, and simultaneously transmits infrared laser, and the robot continues to rotate after receiving the receiving success signal;
after receiving the handshake request sent by the robot, the charging dock replies a successful receiving signal to the robot, and simultaneously, the charging dock starts the infrared laser generator and emits the cross-shaped infrared laser forward.
And step S500, the robot recognizes the infrared laser and then moves to a charging interface of a charging dock to start charging.
After the charging dock emits the cross-shaped infrared laser forward, the robot keeps rotating, and as the sensing device is arranged on the robot, the horizontal laser beam "-" of the cross-shaped infrared laser can be firstly identified, and preliminary positioning is carried out to ensure that the robot is positioned in the horizontal range of the infrared laser emitted by the charging dock; when the horizontal laser beam is recognized, the robot starts to move linearly and moves to the middle area of the infrared laser emitted by the charging dock, the vertical laser beam 'I' of the cross-shaped infrared laser is recognized by the sensing device of the robot, and accurate positioning is performed to ensure that the robot is positioned at the center of the infrared laser emitting area, so that the robot and the charging interface of the charging dock can be successfully docked; then the robot starts to rotate again, the sensing device can recognize the vertical laser beam emitted by the charging dock, the robot starts to move towards the charging interface of the charging dock, and when the charging interface of the charging dock and the charging seat of the robot are in butt joint, the robot stops moving to start charging.
The infrared laser is cross-shaped infrared laser with the wavelength of more than 780 nm. The infrared laser is divided into a vertical laser beam and a horizontal laser beam by using invisible light infrared cross laser with the wavelength of more than 780nm, so that the robot can recognize and position conveniently.
Further, referring to fig. 2, this embodiment is a step of refining step S500 in the first embodiment, and the difference between this embodiment and the above embodiment of the present invention is that: the robot performs accurate positioning and mobile error correction.
Step S510, in the accurate positioning process, after the first sensing device recognizes the infrared laser, the robot rotates after moving;
in the process of identifying infrared laser by the robot, the first sensing device arranged on one side of the robot firstly identifies the infrared laser and accurately positions the infrared laser, so that the robot is ensured to be positioned in the middle area of the infrared laser emitted by the charging dock.
And step S520, moving the error correction process, and after the second sensing device recognizes the infrared laser, moving the robot to a charging interface of a charging dock to start charging.
After the first sensing device recognizes the infrared laser, the robot is in the middle range of the infrared laser emission area, then the robot moves and rotates, so that the second sensing device arranged behind the robot recognizes the infrared laser, after the second sensing device recognizes the infrared laser, the robot moves towards the charging interface of the charging dock, the second sensing device is mainly used for preventing the robot from shifting in the middle range of the infrared laser to the charging interface of the charging dock, and the phenomenon of unsuccessful docking (recharging) occurs.
The front ends of the first sensing device and the second sensing device are respectively provided with an optical filter, so that the alignment precision of the charging interface of the robot and the charging dock is mainly improved, the optical filters can filter light with specific wavelengths, such as most of visible light, and the recognition of infrared laser emitted by the charging dock by the robot due to the influence of various external light is avoided, so that the positioning precision is improved.
Further, referring to fig. 3, this embodiment is a step of refining step S510 in the first embodiment, and the difference between this embodiment and the above embodiment of the present invention is that:
step S511, after the horizontal laser beams are simultaneously identified by the plurality of groups of photoelectric sensors, the robot starts to move linearly;
the first sensing device is mainly used for recognizing horizontal laser beams and vertical laser beams of cross-shaped infrared lasers emitted by the charging dock, so that the charging interface of the robot and the charging dock can achieve accurate positioning, the sensing device for recognizing the horizontal laser beams comprises a plurality of groups of photoelectric sensors I, the groups of photoelectric sensors I are arranged on the same horizontal line, the heights of the horizontal laser beams are consistent with those of the photoelectric sensors I, the horizontal laser beams emitted by the charging dock can be recognized at the same time, and accordingly the robot is determined to be in the horizontal range of the infrared lasers emitted by the charging dock, preliminary positioning is achieved. And for the smaller interface that charges of size, robot and interface butt joint precision requirement that charges are higher, can set up more photoelectric sensor one this moment to improve the preliminary positioning's of horizontal direction precision. If the photoelectric sensor for identifying the horizontal laser beam firstly identifies the horizontal laser, the robot moves linearly, and if the photoelectric sensor for identifying the horizontal laser beam firstly fails to identify the horizontal laser, the robot reports errors, because the photoelectric sensor for identifying the horizontal laser beam firstly possibly fails or the charging dock does not emit infrared laser, the photoelectric sensor firstly cannot identify in time, and at the moment, the robot reports errors and timely informs a user to check.
In step S512, after the second photosensor recognizes the vertical laser beam, the robot starts to rotate.
The photoelectric sensors for identifying the vertical laser beams can be single or multiple groups so as to adapt to different precision requirements, the first photoelectric sensor can start to move linearly after identifying the horizontal laser beams, when the second photoelectric sensor identifies the vertical laser beams, the robot starts to rotate, a second sensing device positioned behind the robot can identify infrared lasers, the second photoelectric sensor is used for accurately positioning, the first photoelectric sensor ensures that the robot is positioned in the middle area of infrared laser emission, the second photoelectric sensor can enable the robot to be positioned at the central point of the infrared lasers emitted by the charging dock, and therefore the robot can directly butt-joint with the charging interface after moving linearly, and charging is achieved.
Further, referring to fig. 4 to 5, this embodiment is a step of refining step S520 in the first embodiment, and the difference between this embodiment and the above embodiment of the present invention is that: the second sensing device comprises a first photoelectric sensor group arranged on one side of the central line of the robot and a second photoelectric sensor group arranged on the other side of the central line of the robot.
Step S521, when the first photoelectric sensor group recognizes a vertical laser beam, the robot deflects to a side far away from the first photoelectric sensor group;
when the second sensing device recognizes the vertical laser beam emitted by the charging dock, the robot starts to move linearly and moves towards the charging interface of the charging dock, and as the robot may shift slightly or the charging seat of the robot is not right facing the charging interface of the charging dock in the moving process, in order to ensure that the robot is always at the center position, when the first photoelectric sensor group arranged on one side of the center line of the second sensing device recognizes the vertical laser beam of the charging dock, the first photoelectric sensor group indicates that the robot shifts towards one side of the first photoelectric sensor group in the moving process, so that the moving direction of the robot needs to be adjusted, and the robot shifts towards one side far away from the first photoelectric sensor group;
in step S521, when the second photoelectric sensor group recognizes a vertical laser beam, the robot deflects to a side away from the second photoelectric sensor group.
When the second photoelectric sensor group arranged on the other side of the center line of the second sensing device recognizes a vertical laser beam of the charging dock, the direction adjustment process of the robot is consistent with that of the first photoelectric sensor group, and the first photoelectric sensor group and the second photoelectric sensor group can ensure that the robot after accurate positioning cannot deviate in the moving process when being combined, so that the charging seat of the robot and the charging interface of the charging dock realize automatic docking charging. And setting the moving direction of the robot after the first photoelectric sensor group and the second photoelectric sensor group are calibrated to finish accurate positioning, and preventing the robot from shifting in the moving process.
The first photoelectric sensor group and the second photoelectric sensor group can be provided with a plurality of charging seats and charging interfaces, the smaller the size of each charging seat and the smaller the size of each charging interface is, the higher the positioning accuracy requirement is, therefore, the more the first photoelectric sensor group and the second photoelectric sensor group are provided, the distance between each photoelectric sensor group is reduced, the plurality of first photoelectric sensor groups and the plurality of second photoelectric sensor groups are arranged in a straight line, when the first photoelectric sensor group positioned at the inner side recognizes a vertical laser beam, the offset angle of the robot is smaller, small-amplitude adjustment is carried out, when the first photoelectric sensor group positioned at the outermost side recognizes the vertical laser beam, the offset angle of the robot is larger, and the larger-amplitude adjustment is needed, so that the charging interfaces of the robot and the charging dock are enabled to realize docking. For example, the first photoelectric sensor group is arranged at the left side of the center line of the second sensing device (robot), the second photoelectric sensor group is arranged at the right side of the center line of the second sensing device (robot), the distance between the photoelectric sensor groups is 5 cm to 6cm, when the first photoelectric sensor group detects the vertical laser beam, the robot deflects to the right side, when the second photoelectric sensor group detects the vertical laser beam, the robot deflects to the left side, and when the first photoelectric sensor group and the second photoelectric sensor group do not detect the vertical laser beam, the robot track normally keeps straight line movement, and when the robot contacts with the charging interface, the robot stops moving.
Further, if the second photoelectric sensor cannot identify the vertical laser beam, the robot returns to the vicinity of the charging pile to restart the automatic recharging program, and if the robot cannot identify the vertical laser beam again, the error is reported; if the second photoelectric sensor group cannot identify the vertical laser beam, the robot returns to the vicinity of the charging pile to restart the automatic recharging program, and if the robot cannot identify the vertical laser beam again, the error is reported.
Because the infrared laser generator or the second photoelectric sensor for identifying the vertical laser beam fails, the second photoelectric sensor may not identify the vertical laser beam of the infrared laser, when the second photoelectric sensor does not identify the vertical laser beam for the first time, the robot will restart the automatic recharging program and start to rotate and transmit the handshake request, and when the second photoelectric sensor still does not identify the vertical laser beam, the robot reports errors and notifies a user to process in time. Similarly, in the alignment process of the robot and the charging dock, the infrared laser emitted by the charging dock may fail or the second photoelectric sensor group of the robot fails in the identification process, so that the infrared laser of the charging dock cannot be accurately identified, the situation needs to be timely notified to a user for processing, when the second photoelectric sensor group does not identify the infrared laser for the first time, the robot will restart the automatic recharging program, and if the second photoelectric sensor group does not identify the infrared laser for the second time, the robot will report errors and notify the user to process in time.
Further, if the charging dock does not reply the receiving success signal, the robot rotates for a circle again and continuously transmits a handshake request, and if the charging dock continues to reply the receiving success signal, the robot reports an error.
When the robot transmits a handshake request, the condition that the charging dock is unsuccessful in receiving the handshake request sent by the robot may occur, which may be that a signal receiver of the charging dock or a signal receiving and transmitting module of the robot fails, and a user needs to be informed of timely processing.
Further, when charging is started, the robot detects whether the charging voltage and the charging current are normal, if so, the robot is successfully recharged, otherwise, the error is reported. In the process of docking the charging interface of the robot and the charging dock, the phenomenon of unsuccessful docking may occur, the robot detects charging voltage and charging current to judge whether the robot is successfully recharged, and if the charging voltage and the charging current are abnormal, the fact that the recharging of the robot is unsuccessful is indicated, and a user needs to be informed to process in time.
Furthermore, the invention provides an automatic recharging system based on infrared laser, which uses any one of the above automatic recharging methods based on infrared laser, comprising:
the power module is used for storing electric energy for the robot to operate and move;
the control module is used for controlling the operation and movement of the robot;
the storage module is used for storing map information to perform path searching;
an identification module comprising a first sensing device and a second sensing device for identifying infrared laser light emitted by the charging dock;
and the signal receiving and transmitting module is used for sending a handshake request to the charging dock and receiving a signal sent by the charging dock.
Further, referring to fig. 6-8, the present invention proposes a robot including a charging stand, the robot using the infrared laser-based automatic recharging method described in any one of the above, further including:
the power module is used for storing electric energy for the robot to operate and move;
the control module is used for controlling the operation and movement of the robot;
the storage module is used for storing map information to perform path searching;
an identification module comprising a first sensing device 1 and a second sensing device 2 for identifying the infrared laser light emitted by the charging dock;
the signal receiving and transmitting module is used for sending a handshake request to the charging dock and receiving a signal sent by the charging dock;
the first sensing device 1 comprises a first photoelectric sensor 11 and a second photoelectric sensor 12;
the second sensing device 2 and the charging seat are positioned on the same side, and the central lines of the second sensing device and the charging seat are positioned on the same straight line;
the second sensor device 2 comprises a first photoelectric sensor group 21 arranged on one side of the center line of the robot and a second photoelectric sensor group 22 arranged on the other side of the center line of the robot.
The robot in this technical scheme is equipped with the charging seat for dock with charging dock and charge. The power supply module is used for storing electric energy for the robot to run and move during working; the control module controls the running and moving path of the robot so that the robot can reach the appointed place and make the appointed action; the storage module is used for storing map information, so that the robot can conveniently perform path search to reach a specified place, and can also store actions required to be operated by the robot, so that the robot can conveniently learn to perform specified operation; the recognition module and the signal transceiver module are used for realizing automatic docking and charging of the robot and the charging dock, the recognition module can recognize infrared laser sent by the charging dock, the signal transceiver module can send a handshake request to facilitate the receiving of the charging dock, and the signal robot sent by the charging dock can also receive the signal in time, so that the next action can be started conveniently.
The recognition module comprises a sensing device positioned at the rear side of the robot and a sensing device positioned at the rear side of the robot. The first sensing device 1 is mainly used for accurately positioning the robot and the charging dock, and can identify infrared laser and determine the position of the charging dock and the moving path of the robot; the sensing device positioned at the rear of the robot mainly plays a role in calibration, and when the robot is offset in the moving process or the charging seat is not right opposite to the charging dock, the butt joint of the robot and the charging dock can fail, so that the sensing device is arranged, and the direction of the robot is adjusted when the robot is offset, so that the robot keeps moving towards the charging interface direction of the charging dock without offset. The second sensing device 2 and the charging seat are positioned on the same side, the center lines of the second sensing device 2 and the charging seat are positioned on the same straight line, and when the second sensing device 2 is positioned at the center position of the infrared laser, the charging seat is also positioned at the center position of the infrared laser, so that the accurate butt joint of the charging interface of the charging dock is realized, and the purpose of automatic recharging is achieved.
The robot is provided with the groove, the photoelectric sensor 11 is arranged in the groove, when the robot runs under the condition of high brightness, the robot can be interfered by indoor or outdoor lamplight or sunlight, the alignment of a charging interface of a charging seat and a charging dock is affected, the phenomenon of inaccurate positioning occurs, the sensing device is arranged in the groove, the light of the front end can be identified, part of interference light can be blocked, and the external interference is reduced. And because of the existence of the groove, only when the photoelectric sensor 11 which rotates to identify the horizontal laser beam is in a specific included angle with the horizontal laser beam emitted by the charging dock, the photoelectric sensors 11 can simultaneously receive the horizontal laser beam, so that the robot is in the middle area of the infrared laser emitted by the charging dock, the laser intensity received by the photoelectric sensor 11 is improved to meet the docking requirement, and the alignment accuracy of the charging interface of the charging seat and the charging dock is further improved.
Further, referring to fig. 9-10, the present invention further provides a charging dock, using the automatic recharging method based on infrared laser described in any of the above, comprising:
the infrared laser generator is used for emitting infrared laser;
the cross lens is used for converting the infrared laser into cross-shaped infrared laser;
the signal receiver is used for receiving signals sent by the robot;
and the charging interface is used for being matched with the charging seat of the robot to charge.
The charging dock is provided with the infrared laser generator 3, the cross lens, the signal receiver 4 and the charging interface 5, the charging dock can filter and emit the cross-shaped infrared laser through the cross lens, and the cross-shaped infrared laser is identified by matching with the identification module of the robot, so that the charging seat of the robot and the charging interface 5 of the charging dock are accurately abutted, and the purpose of automatic recharging is achieved. When the automatic recharging program (no handshake request is transmitted) is not started when the electric quantity of the robot is sufficient, the signal receiver 4 of the charging dock keeps running, but the infrared laser generator 3 does not run, so that the power consumption is reduced, and the energy conservation and the environmental protection are realized.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element. The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (8)
1. An automatic recharging method based on infrared laser is characterized by comprising the following steps:
when the robot detects that the electric quantity is insufficient, an automatic recharging program is started;
the robot searches a path on the existing map and moves to the vicinity of the charging dock;
after reaching, the robot starts to rotate and continuously transmits a handshake request;
the charging dock replies a receiving success signal to the robot after receiving the handshake request, simultaneously transmits infrared laser, and the robot continues to rotate after receiving the receiving success signal;
after the robot recognizes the infrared laser, the robot moves to a charging interface of a charging dock to start charging;
in the step of 'the robot identifying the infrared laser and then moving to a charging interface of a charging dock', the robot performs accurate positioning and movement error correction, wherein the accurate positioning comprises the steps that the first sensing device identifies the infrared laser and then the robot rotates after moving; after the second sensing device recognizes the infrared laser, the robot moves to a charging interface of a charging dock to start charging;
the first photoelectric sensors are arranged on the same horizontal line, the heights of the horizontal laser beams are consistent with those of the first photoelectric sensors, the first photoelectric sensors are positioned in the grooves, and the robot starts to move linearly after the first sensing device recognizes the infrared laser and then rotates after moving; after the second photoelectric sensor recognizes the vertical laser beam, the robot starts to rotate;
the infrared laser is cross-shaped infrared laser with the wavelength of more than 780 nm.
2. The method of claim 1, wherein the second sensor device comprises a first photoelectric sensor set disposed on one side of the center line of the robot and a second photoelectric sensor set disposed on the other side of the center line of the robot;
when the first photoelectric sensor group recognizes the vertical laser beam, the robot deflects to one side far away from the first photoelectric sensor group;
when the second photoelectric sensor group recognizes the vertical laser beam, the robot deflects to a side far away from the second photoelectric sensor group.
3. The automatic recharging method based on infrared laser according to claim 2, wherein if the second photoelectric sensor cannot recognize the vertical laser beam, the robot returns to the vicinity of the charging pile to restart the automatic recharging program, and if the robot cannot recognize the vertical laser beam again, an error is reported;
if the second photoelectric sensor group cannot identify the vertical laser beam, the robot returns to the vicinity of the charging pile to restart the automatic recharging program, and if the robot cannot identify the vertical laser beam again, the error is reported.
4. The method of claim 1, wherein if the charging dock does not reply to the reception success signal, the robot rotates again and continuously transmits a handshake request, and if the charging dock continues to not reply to the reception success signal, the robot reports an error.
5. The method for automatically recharging the battery according to claim 1, wherein the robot detects whether the charging voltage and the charging current are normal when the charging is started, if so, the recharging of the robot is successful, otherwise, the recharging is wrong.
6. An infrared laser-based automatic recharging system using the infrared laser-based automatic recharging method as set forth in any one of claims 1 to 5, comprising:
the power module is used for storing electric energy for the robot to operate and move;
the control module is used for controlling the operation and movement of the robot;
the storage module is used for storing map information to perform path searching;
an identification module comprising a first sensing device and a second sensing device for identifying infrared laser light emitted by the charging dock;
and the signal receiving and transmitting module is used for sending a handshake request to the charging dock and receiving a signal sent by the charging dock.
7. A robot comprising a charging cradle, the robot using the infrared laser-based automatic recharging method of any of claims 1-5, further comprising:
the power module is used for storing electric energy for the robot to operate and move;
the control module is used for controlling the operation and movement of the robot;
the storage module is used for storing map information to perform path searching;
an identification module comprising a first sensing device and a second sensing device for identifying infrared laser light emitted by the charging dock;
the signal receiving and transmitting module is used for sending a handshake request to the charging dock and receiving a signal sent by the charging dock;
the first sensing device comprises a first photoelectric sensor and a second photoelectric sensor, and the first photoelectric sensor is embedded in the groove;
the second sensing device and the charging seat are positioned on the same side, and the central lines of the second sensing device and the charging seat are positioned on the same straight line;
the second sensing device comprises a first photoelectric sensor group arranged on one side of the central line of the robot and a second photoelectric sensor group arranged on the other side of the central line of the robot.
8. A charging dock using the infrared laser-based automatic recharging method of any of claims 1-5, comprising:
the infrared laser generator is used for emitting infrared laser;
the cross lens is used for converting the infrared laser into cross-shaped infrared laser;
the signal receiver is used for receiving a handshake request sent by the robot;
and the charging interface is used for being matched with a charging seat of the robot to charge.
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| CN112363500B (en) * | 2020-10-29 | 2023-05-16 | 深圳市普渡科技有限公司 | Automatic recharging and moving method and system |
| CN112748737A (en) * | 2020-12-28 | 2021-05-04 | 上海电机学院 | Laser charging method for estimating trinocular visual pose of patrol robot |
| CN113325833A (en) * | 2021-04-07 | 2021-08-31 | 浙江大学 | Automatic recharging method for mobile robot |
| CN113651002B (en) * | 2021-07-14 | 2022-12-13 | 福建星云电子股份有限公司 | Stacker multi-bin scheduling method, device and medium |
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