CN112564297A - Charging seat, robot recharging system based on magnetic sensor and recharging method - Google Patents
Charging seat, robot recharging system based on magnetic sensor and recharging method Download PDFInfo
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- CN112564297A CN112564297A CN201910920362.5A CN201910920362A CN112564297A CN 112564297 A CN112564297 A CN 112564297A CN 201910920362 A CN201910920362 A CN 201910920362A CN 112564297 A CN112564297 A CN 112564297A
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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
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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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
- G05D1/12—Target-seeking control
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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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- 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
Abstract
The invention discloses a charging seat, a robot recharging system based on a magnetic sensor and a recharging method, wherein the recharging system comprises a base, the bottom of the base is provided with a preset charging position and a tracking guide element for recharging and butting of the robot, and the recharging robot is limited to move forward within a sensing range of a signal generated by the tracking guide element, so that the recharging direction of the robot is guided to be close to the central line of the tracking guide element until the robot moves to the preset charging position; wherein the signal sensible range is a swept range of the signal generated by the tracking guide element; the bottom of the base is arranged at the lower end of the base, which is contacted with the ground. When the robot enters the signal wave range generated by the tracking guide element, a roundabout forward recharging path is planned by taking the straight line where the tracking guide element is positioned as a reference, so that the guide efficiency of the charging seat is improved.
Description
Technical Field
The invention relates to the technical field of robot recharging, in particular to a charging seat, a robot recharging system based on a magnetic sensor and a recharging method.
Background
Chinese patent 2010101499697 discloses a robot system, the robot in the robot system relies on infrared mode of filling back and charging seat butt joint to fill back, however, infrared transmitting tube in the robot system needs to set up transmission angle limit structure, infrared receiving tube in the robot system also needs to set up receiving angle limit structure, limit infrared modulation signal's transmission angle, infrared modulation signal's transmission and receipt are disturbed easily, make the projection of charging seat appear easily in some narrow and small areas, lead to charging the not high accuracy of butt joint.
Disclosure of Invention
In order to overcome the technical defects, the invention abandons the technical means of infrared guiding recharging, and adjusts the recharging butt joint direction of the robot by arranging the tracking guiding element at the bottom of the charging seat contacted with the ground, thereby completing the accurate butt joint with the charging seat.
The technical scheme of the invention is as follows: a charging seat comprises a base, wherein the bottom of the base is provided with a preset charging position and a tracking guide element for recharging and butting of a robot, and the recharging direction of the robot is guided to be close to the central line of the tracking guide element until the robot moves to the preset charging position; wherein the signal sensible range is a swept range of the signal generated by the tracking guide element; the bottom of the base is arranged at the lower end of the base, which is contacted with the ground. When the robot enters the signal wave range generated by the tracking guide element, a roundabout forward recharging path is planned by taking the straight line where the tracking guide element is positioned as a reference, so that the guide efficiency of the charging seat is improved.
Further, when the bottom of the base is provided with the charging electrode, the charging electrode is arranged on two sides of the tracking guiding element, and the tracking guiding element is arranged on the central line of the charging seat, so that the robot is just butted with the charging electrode when moving to the preset charging position. The horizontal part that this technical scheme provided cooperates vertical portion, guide the robot returns the seat butt joint to charge to the restriction the robot returns the position of filling.
Further, the vertical portion of base is provided with the baffle that is used for propping against outside wall for the charging seat sets up along the wall to inject the shift position of butt joint robot that charges, wherein, the base be provided with the vertical portion that the bottom is connected. Compared with the prior art, this baffle can not assemble infrared emission device, reduces the robot is returned and is filled the disturbed degree of guide, can also let vertical portion thinner, saves the mould cost of charging seat.
Further, a charging electrode is arranged on the surface of the baffle plate, so that the robot can be just butted with the charging electrode when moving to a preset charging position. This technical scheme lets the robot can contact realize the butt joint when the baffle charges, makes the bottom of base can reserve out and be used for fixing the screens of robot.
Further, the base is provided with wireless power transmission coil, makes the robot open when moving to preset charging position and receive the electric quantity. In the technical scheme, the charging electrode is not required to be arranged on the surface of the charging seat, so that the shape of the charging seat is more concise and attractive.
Furthermore, the tracking guide element is a unipolar magnetic strip and is arranged on the ground contact surface of the bottom, and the robot for limiting recharging is limited to advance within a sensing range of a magnetic signal generated by the magnetic strip, so that the recharging direction of the robot is guided to be close to the central line of the tracking guide element until the robot moves to the preset charging position; wherein the centerline of the tracking guide element is the centerline of a unipolar magnetic strip; the ground contact surface is the contact surface of the bottom part and the ground. According to the technical scheme, the recharging guide structure of the charging seat is simplified, the recharging efficiency is effectively improved, and the accuracy of the charging and butting of the robot and the charging seat is improved.
Furthermore, the tracking guide element is two parallel magnetic strips with opposite magnetic poles, is arranged on the ground contact surface of the bottom, and limits the recharging robot to advance in a magnetic signal sensing channel formed by the two parallel magnetic strips, so that the recharging direction of the robot is guided to be close to the central line of the tracking guide element until the robot moves to a preset charging position; wherein the central line of the tracking guiding element is the central line of a sensible channel formed by the two parallel magnetic strips; the ground contact surface is the contact surface of the bottom part and the ground. According to the technical scheme, the bipolar magnetic strip is used as the tracking guide element, a more specific limited moving area is arranged, and the anti-interference capability is improved.
The robot recharging system based on the magnetic sensor comprises a robot and the charging seat, wherein the robot is provided with a corresponding sensing detection element, so that the robot detects the tracking guide element of the charging seat in real time in the recharging direction, and the robot moves to the preset charging position. In conclusion, the charging seat provided by the invention has a simple structure, so that a transparent window and a structure are not required to be designed in front of the shell of the robot, the shape is better, the working efficiency is high, and the success rate of charging and butting the robot and the charging seat is improved.
Further, the induction detection element is arranged at the front lower part of the shell in the advancing direction of the robot, wherein the induction detection element comprises one or more hall magnetic sensors which are distributed in front of the bottom of the robot, so that the hall magnetic sensors detect the tracking guide element on the charging seat in real time. And the stability and the sensitivity of the robot recharging butt joint charging electrode are enhanced.
Further, the robot recharging system further comprises a magnetic virtual wall, and when the tracking guide element is a single-polarity magnetic strip, the magnetic strip built in the magnetic virtual wall is correspondingly set to have a magnetic polarity opposite to that of the tracking guide element. According to the technical scheme, the robot is limited to move in the area around the charging seat by arranging the magnetic virtual wall. And magnetic stripes with opposite magnetic polarities are adopted, so that the robot recharging system can distinguish the charging seat from the magnetic virtual wall.
A recharging method based on the robot recharging system comprises the following steps: after the robot is switched into the recharging mode, the motion direction of the robot relative to the tracking guide element is adjusted according to a sensible signal generated by the tracking guide element detected by the robot, the recharging of the robot is limited to be carried out within a sensible range of the signal generated by the tracking guide element, so that the recharging direction of the robot is guided to be close to the central line of the tracking guide element until the robot moves to the preset charging position, wherein the sensible range of the signal is the range of the signal generated by the tracking guide element. The technical scheme overcomes the defect that the transmission and the reception of the infrared modulation signal in the prior art are easily interfered, and the robot which is back-charged is limited to advance within the sensing range of the signal generated by the tracking guide element only according to the signal generated by the tracking guide element, so that butt joint charging is realized, and the accuracy of back-seat charging of the robot is improved.
Further, before the robot detects the sensible signal generated by the tracking guiding element, the method further includes: and judging whether the robot identifies the charging seat, if so, moving the robot to the charging seat in a map navigation or visual navigation mode, and otherwise, controlling the robot to search the charging seat in a edgewise walking mode. The efficiency that the robot approaches the charging seat is improved.
Further, when the inductive detecting element detects the sensible signal generated by the tracking guiding element, the method for adjusting the moving direction of the robot relative to the tracking guiding element according to the sensible signal generated by the robot detecting the tracking guiding element, and limiting the backward-charged robot to advance within the sensible range of the signal generated by the tracking guiding element includes the following specific steps: step 1, controlling the robot to deflect a first preset angle from the current moving direction to one side of a first preset recharging direction, so that the deflected moving direction of the robot forms a second preset angle relative to the first preset recharging direction; then entering step 2; step 2, controlling the robot to move according to the deflected direction, and judging whether the robot receives external supplementary electric energy in real time, if so, entering step 3, otherwise, entering step 4; the robot receives externally supplemented electric energy in a mode comprising electrode contact charging and wireless charging; step 3, controlling the robot to stop moving; step 4, judging whether the robot detects a sensible signal generated by the tracking guide element in the current moving direction, if so, returning to the step 1, otherwise, entering the step 5; step 5, controlling the robot to deflect a third preset angle from the current moving direction to the other side of the first preset recharging direction, enabling the deflected moving direction of the robot to form a second preset angle relative to the first preset recharging direction, and then returning to the step 2; the second preset angle is set for limiting the robot with the changed moving direction within a sensing range of a signal generated by the tracking guide element, so that the recharging direction of the robot is guided to be close to the central line of the tracking guide element. According to the technical scheme, the position of the tracking guide element is surrounded, the position of the tracking guide element returns to the position of the tracking guide element from two sides of the tracking guide element, and the robot is controlled to move to the preset charging position gradually by dynamically adjusting the moving direction of the robot so as to receive the electric quantity transmitted by the charging seat.
Further, the tracking guiding element is a unipolar magnetic strip and is used for limiting the robot to advance within a signal sensing range generated by the magnetic strip, so that the recharging direction of the robot is guided to be close to the central line of the tracking guiding element until the robot moves to the preset charging position; wherein the centerline of the tracking guide element is the centerline of a unipolar magnetic strip. The sensitivity of robot recharging is increased.
Further, the tracking guide element is two parallel magnetic strips with opposite magnetic poles, and is used for limiting the robot to advance in a sensible channel formed by the two parallel magnetic strips, so that the recharging direction of the robot is guided to be close to the central line of the tracking guide element until the robot moves to the preset charging position; wherein the central line of the tracking guiding element is the central line of the sensible channel formed by the two juxtaposed magnetic strips. According to the technical scheme, the recharging path is limited in the specific activity area to enhance the stability of recharging butt joint, and the control precision is improved.
A charging seat comprises a base, wherein a magnet used for guiding a robot to charge the upper seat is arranged in the base. The charging seat provided by the invention has a simple structure, so that a transparent window and a structure are not required to be designed in front of the shell of the robot, the shape is better, the working efficiency is high, and the success rate of charging and butting or wireless charging between the robot and the charging seat is improved.
Drawings
Fig. 1 is a schematic diagram of a basic structure of a charging cradle according to an embodiment of the present invention.
Fig. 2 is a flowchart of a recharging method based on the robot recharging system according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of the path of the robot docking back on a single magnetic stripe charging dock.
Fig. 4 is a schematic diagram of the robot docking and recharging paths on the charging seats of two juxtaposed magnetic strips with opposite magnetic polarities.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention.
The invention discloses a charging seat, which comprises a base, wherein the bottom of the base is provided with a preset charging position and a tracking guide element for recharging and butting of a robot, and the preset charging position and the tracking guide element limit the recharging robot to advance in a signal sensing range generated by the tracking guide element from the whole structure, so that the recharging direction of the robot is guided to be close to the central line of the tracking guide element until the robot moves to the preset charging position; wherein the signal sensible range is a swept range of the signal generated by the tracking guide element; the bottom of the base is arranged at the lower end of the base, which is contacted with the ground. The preset charging position may be a detent provided at the bottom of the base to accommodate the drive wheels of the robot.
When the bottom of the base is preferably provided with the charging electrodes, the charging electrodes are arranged on two sides of the tracking guide element, and the tracking guide element is arranged on the central line of the charging seat, so that the robot just abuts against the charging electrodes when moving to the preset charging position. The robot that recharges is restricted to advancing within the sensible range of the signal generated by the tracking guide until the charging electrode is docked. In the base, the bottom is provided at a lower end contacting the ground. Specifically, the bottom of the base is a bottom which is arranged at the lower end of the base and used for supporting the charging stand to be stably placed on the ground, and the charging electrode is arranged at a position corresponding to the surface of the bottom of the base, which is in contact with the docking electrode at the bottom of the robot; the tracking guide element spans the bottom of the base, so that the signal generated by the tracking guide element can be detected by a robot which is being prepared or is in butt joint charging and is only limited in a signal sensing range, therefore, the signal generated by the tracking guide element can be used for guiding the robot to move forward in the signal sensing range, so that the recharging direction of the robot is guided to be close to the central line position of the tracking guide element until the butt joint electrode of the robot is in butt joint contact with the charging electrode of the charging seat, and charging is achieved. When the robot enters the signal wave range generated by the tracking guide element, the distance between the robot and the charging seat is short, then the robot linearly plans a circuitous forward recharging path by taking the straight line where the tracking guide element is located as a reference, and is convenient to be accurately butted with the base by gradually adjusting the walking direction, so that the robot is simple in structure and high in working efficiency. Thereby improve the guide efficiency and the degree of accuracy of charging seat, and for prior art, the simple structure of charging seat, the interference degree that receives of the guide signal that recharges that the bottom of charging seat produced is little.
As shown in fig. 1, the charging electrode 104 is disposed on the upper surface of the bottom portion 102 of the base, and the robot moves to the upper surface of the bottom portion 102 for the purpose of docking and charging. The charging electrodes 104 are respectively provided with a positive electrode and a negative electrode, which are respectively arranged at two sides of the tracking guiding element 103, the tracking guiding element 103 is arranged on the central line of the charging seat, and the charging electrodes 104 are symmetrical left and right relative to the straight line where the tracking guiding element 103 is located. The front part of the bottom part 102 is used to define the moving area of the robot and to fix the tracking guide element 103. In the embodiment, the bottom 102 of the base is matched with the vertical part to provide a guiding trend and a docking charging position for the robot, and after the robot is correctly docked with the charging dock, the docking electrode at the bottom of the robot is effectively connected with the charging electrode 104 of the charging dock, so that the robot is guided to recharge through the signal generated by the tracking guiding element 103. At the same time, the bottom part 102 cooperates with the vertical part to limit the refilling position of the robot.
As shown in fig. 1, the base is used as a body of the charging seat, the base is provided with a vertical part connected with the bottom part 102, that is, the vertical part of the charging seat, and the vertical part of the charging seat is provided with a baffle 101 for abutting against an external wall, so that the charging seat is arranged along the wall; meanwhile, the baffle plate 101 limits the moving position of the butt-joint charging robot, and prevents the robot from continuously moving forward due to inertia, so that normal return charging is prevented from being influenced. Wherein, baffle 101 does not set up reflective infrared emission/receiving element in pairs, compares with prior art, and this baffle can not assemble infrared emission device, reduces the robot is returned and is filled the disturbed degree of guide, can also let the vertical portion of charging seat is thinner, saves the mould cost of charging seat.
The baffle surface is preferably provided with a charging electrode such that the robot moves to the preset charging position just abutting the charging electrode (not shown). The front end of the robot is provided with a butt electrode, and when the robot moves to the preset charging position, the butt electrode just butt joints the charging electrode. The surface of the baffle is provided with a positive charging electrode and a negative charging electrode which are respectively arranged on two sides of the tracking guide element, the tracking guide element is arranged on the central line of the charging seat, and the charging electrodes are symmetrical left and right relative to the straight line where the tracking guide element is located. The tracking guide element spans the bottom of the base, so that a signal generated by the tracking guide element can be detected by a robot which is being prepared or is in butt joint charging and is only limited in a signal sensing range, therefore, the signal generated by the tracking guide element can be used for guiding the robot to advance in the signal sensing range, the recharging direction of the robot is guided to be close to the central line position of the tracking guide element until the butt joint electrode of the robot is in butt joint contact with the charging electrode of the vertical part of the base, and charging is achieved. This preferred embodiment enables the robot to be docked for charging while contacting the barrier, so that the bottom of the base reserves more suitable three-dimensional detents for fixing the robot, i.e. detents for accommodating the drive wheels of the robot are provided at the predetermined charging position.
Preferably, the base is provided with wireless power transmission coil, makes open the receipt electric quantity when the robot removes to predetermineeing the charging position, wherein, the casing front end of robot is provided with receiving coil for receive the electric energy of wireless power transmission coil transmission through the electromagnetic induction principle, do not need accurate butt joint contact between the electrode this moment, only need carry out the electric energy transmission through the electromagnetic induction between the coil, moreover the magnetic signal that the receiving coil of robot received with the magnetic signal that the component can be detected is not in same frequency range is surveyed in the response. When the tracking guiding element is used as a magnetic strip, when the robot enters a signal coverage range generated by the tracking guiding element, the distance between the robot and the charging seat is short, then the robot linearly plans a circuitous forward recharging path by taking a straight line where the tracking guiding element is located as a reference, and gradually adjusts the walking direction until the robot moves to the preset charging position, namely the robot utilizes a magnetic signal detected by the induction detecting element to limit the robot to move in a range where the magnetic signal can be sensed, so that the recharging direction of the robot is close to the direction (namely the central line of the tracking guiding element) pointed by the straight line where the magnetic strip is located, when the robot moves to the preset charging position, the induction detecting element is firstly closed, then a power receiving coil of the robot is opened to receive a magnetic field signal generated by a wireless transmitting coil arranged on the base, the current is generated by the electromagnetic induction principle and is used as the charging electric energy of the robot, so that the electric energy transmitted by the wireless power transmission coil can be just received by the power receiving coil, the robot can realize charging without butt-joint contact between electrodes with the charging seat, and the charging of the upper seat of the robot is facilitated; and can not receive the influence of transmission distance factor, improve the validity of wireless charging, overcome transmission distance's obstacle for current wireless charging technique, simultaneously, the surface of charging seat need not install the electrode that charges, lets the molding of charging seat more succinct pleasing to the eye.
As an example, as shown in fig. 3, when the bottom of the base is provided with the charging electrode, the tracking guiding member is a single-polarity magnetic strip 1031, and the magnetic strip 1031 is disposed on the ground contact surface of the bottom of the base, i.e., placed on the back surface of the bottom of the base, facing the ground surface supporting the charging stand, for the sake of magnetic strip durability; the magnetic strip 1031 is the tracking guide element arranged along the central line of the charging seat, positive charging electrodes and negative charging electrodes are symmetrically arranged on the left side and the right side of the tracking guide element, the reaching range of a magnetic field generated by the magnetic strip 1031, namely the sensing range of a magnetic signal, specifically comprises the position of the positive charging electrode and the position of the negative charging electrode in front of the bottom of the base, and limits the robot to move forward in the sensing range of the magnetic signal, so that the recharging direction of the robot is close to the direction indicated by the straight line of the magnetic strip 1031 (namely the central line of the tracking guide element), and when the robot moves to the preset charging position, the docking electrode arranged at the bottom of the robot just docks the charging electrode 104; the ground contact surface is the contact surface between the charging seat and the ground; the centerline of the tracking guide element is the centerline of the unipolar magnetic strip. This embodiment has simplified the guide structure that recharges of charging seat effectively improves the efficiency of recharging, has improved the rate of accuracy that robot and charging seat charge the butt joint.
As an example, the tracking guiding element is two juxtaposed magnetic strips with opposite magnetic poles, as shown in fig. 4, when the bottom of the base is provided with the charging electrode, the magnetic strip on the left side is the N pole magnetic strip 1032, the magnetic strip on the right side is the S pole magnetic strip 1033, for the sake of magnetic strip durability, the N pole magnetic strip 1032 and the S pole magnetic strip 1033 are disposed on the ground contact surface of the bottom of the base, that is, on the back surface of the bottom of the base facing the ground surface supporting the charging base, and the N pole magnetic strip 1032 and the S pole magnetic strip 1033 form a tracking guiding track arranged along the center line of the charging base as a magnetic signal sensible channel formed in the tracking guiding element. The left side and the right side of the tracking guide track are symmetrically provided with a positive charging electrode and a negative charging electrode, and a closed magnetic field area is generated between the N-pole magnetic strip 1032 and the S-pole magnetic strip 1033 and is used as a part of the sensing range of the magnetic signals, so that the anti-interference capability of the magnetic field is improved. The magnetic signal sensing range comprises the position of a positive charging electrode and the position of a negative charging electrode inside the tracking guide track, the robot for limiting recharging advances in a magnetic signal sensing channel formed by the two parallel magnetic strips, so that the recharging direction of the robot is close to the central line of the magnetic signal sensing channel, and when the robot moves to the preset charging position, a butt electrode arranged at the bottom of the robot just butt against the charging electrode 104; wherein the central line of the tracking guiding element is the central line of a sensible channel formed by the two parallel magnetic strips; the ground contact surface is the contact surface between the charging seat and the ground. In the embodiment, the heteropolar magnetic strip is used as the tracking guide element, a more specific activity limiting area is arranged, and the anti-interference capability is improved.
The embodiment of the invention also provides a charging seat, which comprises a base, wherein a magnet for guiding the robot to charge the upper seat is arranged in the base. In this embodiment, a magnet is disposed in the base for guiding the robot to move to the preset charging position, so that the robot receives the charging power at the preset charging position. Specifically, a magnet for guiding the robot upper seat and butting with the charging electrode is arranged in the base, or a magnet for guiding the robot upper seat to the preset charging position to perform wireless charging is arranged in the base. The charging electrodes can be arranged on two sides of the magnet, the structure and the distribution characteristics of the magnet can be the same as those of the tracking guiding element in the embodiment, and the charging seat plays the same role of guiding and recharging as the embodiment; the magnet can also be a non-strip magnetic block, the magnet and the preset charging position are distributed on the base, so that the magnet and the preset charging position are beneficial to guiding the robot to sit on the base through a magnetic field signal and be in butt joint with a charging electrode, wherein the charging electrode can be arranged at the bottom of the base or on the vertical part of the base, and when the robot moves to the preset charging position, the position of the charging electrode on the base is just in butt joint with the butt joint electrode 104 of the robot. Or guiding the robot to sit on the seat to the preset charging position for wireless charging. The charging seat provided by the embodiment of the invention has a simple structure, so that a transparent window and a structure are not required to be designed in front of the shell of the robot, the shape is better, the working efficiency is high, and the success rate of charging and butt joint of the robot and the charging seat is improved.
Based on the charging seat, the embodiment of the invention also provides a robot recharging system based on the magnetic sensor, which comprises a robot and the charging seat, wherein the robot is used for cleaning the ground and can be positioned immediately, and the charging seat is used for charging the robot. The lower part of the shell of the robot is provided with an induction detection element for identifying the tracking guide element of the charging seat, so that the robot detects the tracking guide element of the charging seat in real time in the recharging direction, and the robot moves to the preset charging position.
In one embodiment, the front end of the robot is provided with docking electrodes, each of which has a positive electrode and a negative electrode, and corresponds to a charging electrode 104 (shown in fig. 1) provided on the charging stand, and the docking electrodes are arranged symmetrically with respect to the center line of the housing of the robot. When the electric quantity of the built-in rechargeable battery of the robot is lower than a preset value, the robot automatically shifts from the cleaning working mode to a charging mode of a returning charging base. When the robot detects a sensible signal generated by the tracking guiding element and enters a sensible range of the signal, the robot is guided to approach the central line position of the tracking guiding element, so that the robot bypasses a path corresponding to the tracking guiding element to move forward until a docking electrode of the robot and a charging electrode of the charging base complete docking contact, and the charging of the robot by the charging base is realized through accurate docking of the docking electrode and the charging electrode. The charging electrode may be disposed at the bottom of the base, or may be disposed on a vertical portion of the base, and when the robot moves to the preset charging position, the charging electrode just abuts against the docking electrode 104 of the robot at the base. Compared with the prior art, the robot does not comprise an infrared signal receiving device, so that the robot does not need to receive the infrared signal transmitted by the charging seat in a modulation way, and the problem that the infrared baffle blocks the recharging guide signal is avoided. In conclusion, the charging seat provided by the invention has a simple structure, so that a transparent window and a structure are not required to be designed in front of the shell of the robot, the shape is better, the working efficiency is high, and the success rate of charging and butting the robot and the charging seat is improved.
The induction detection element is arranged on the front lower part of the shell corresponding to the advancing direction of the robot and comprises one or more Hall magnetic sensors which are distributed in front of the bottom of the robot, so that the Hall magnetic sensors detect the tracking guide element on the charging seat in real time. And the stability and the sensitivity of the robot recharging butt joint charging electrode are enhanced. The hall magnetic sensor can be a magnetic signal induction switch device, and is used for inducing a magnetic field signal generated by a magnetic strip arranged on the ground contact surface of the charging seat, and the robot can acquire the corresponding magnetic field signal through the hall magnetic sensor arranged in one or more directions when the robot moves forward to a position within a sensing range of the magnetic signal generated by the tracking guide element.
Preferably, in the robot system of charging back, the base is provided with wireless power transmission coil, makes the robot opens the receipt electric quantity when removing to predetermineeing the position of charging, wherein, the casing front end of robot is provided with receiving coil for receive the electric energy of wireless power transmission coil transmission through the electromagnetic induction principle, do not need accurate butt joint contact between the electrode this moment, only need carry out electric energy transmission through the electromagnetic induction between the coil, moreover the magnetic signal that the receiving coil of robot received with the magnetic signal that the sensing detecting element can detect is not in same frequency range. When the tracking guiding element is used as a magnetic strip, when the robot enters a signal coverage range generated by the tracking guiding element, the distance between the robot and the charging seat is short, then the robot linearly plans a circuitous forward recharging path by taking a straight line where the tracking guiding element is located as a reference, and gradually adjusts the walking direction until the robot moves to the preset charging position, namely the robot utilizes a magnetic signal detected by the induction detecting element to limit the robot to move in a range where the magnetic signal can be sensed, so that the recharging direction of the robot is close to the direction (namely the central line of the tracking guiding element) pointed by the straight line where the magnetic strip is located, when the robot moves to the preset charging position, the induction detecting element is firstly closed, then a power receiving coil of the robot is opened to receive a magnetic field signal generated by a wireless transmitting coil arranged on the base, the current is generated by the electromagnetic induction principle and is used as the charging electric energy of the robot, so that the electric energy transmitted by the wireless power transmission coil can be just received by the power receiving coil, the robot can realize charging without butt-joint contact between electrodes with the charging seat, and the charging of the upper seat of the robot is facilitated; and can not receive the influence of transmission distance factor, improve the validity of wireless charging, overcome transmission distance's obstacle for current wireless charging technique, simultaneously, the surface of charging seat need not install the electrode that charges, lets the molding of charging seat more succinct pleasing to the eye.
Preferably, the robot recharging system further comprises a magnetic virtual wall, and when the tracking guide element is a single-polarity magnetic strip, the magnetic polarity of the magnetic strip built in the magnetic virtual wall is correspondingly set to be opposite to the magnetic polarity of the tracking guide element. The embodiment limits the robot to move in the area around the charging seat by arranging the magnetic virtual wall. The magnetic virtual wall is actually a long and thin magnetic strip, the robot can be blocked like a wall by fixing the magnetic strip on the edge of a certain area, the robot is blocked outside a non-charging-seat area, and a recharging path is searched. It should be noted that the magnetic virtual wall and the unipolar upper seat magnetic stripe currently used by the charging seat are set to have different polarities, which is beneficial for the robot to distinguish the two.
Based on the robot recharging system, an embodiment of the present invention further provides a recharging method based on a magnetic sensor, including: after the robot is switched into the recharging mode (including the condition that the robot identifies the charging seat), the moving direction of the robot relative to the tracking guiding element is adjusted according to a sensible signal generated by the tracking guiding element detected by the robot, the robot is limited to move forwards within a sensible range of the signal generated by the tracking guiding element, the recharging direction of the robot is guided to be close to the central line of the tracking guiding element until the robot moves to the preset charging position, and the sensible range of the signal is the range of the signal generated by the tracking guiding element. The embodiment of the invention can timely adjust the posture of the robot according to the existence of signals detected by the induction detection element of the robot, is beneficial to the accurate butt joint of the butt joint electrode of the robot and the charging electrode of the charging seat, or is beneficial to the effective wireless charging of the robot within a limited distance. The embodiment overcomes the defect that the transmission and the reception of the infrared modulation signal in the prior art are easily interfered, and only the robot which is recharged is limited to advance in the signal sensing range generated by the tracking guide element according to the signal generated by the tracking guide element, so that the recharging direction of the robot is guided to be close to the central line of the tracking guide element, the butt charging is realized, and the recharging accuracy of the robot is improved.
It should be noted that before the robot detects the sensible signal generated by the tracking guiding element, the method further includes: and judging whether the robot identifies the charging seat, if so, moving the robot to the charging seat in a map navigation or visual navigation mode, and otherwise, controlling the robot to walk along the edge until the charging seat is searched. The efficiency that the robot approaches the charging seat is improved. The map navigation, visual navigation and walking along the edge mentioned above are all prior art means, and do not rely on infrared guiding recharging, and are not described too much here.
As shown in fig. 2, a recharging method based on the robot recharging system provided in the embodiment of the present invention specifically includes:
and S101, when the electric quantity of a rechargeable battery arranged in the robot is lower than a preset value, switching the automatic working mode into a recharging mode. Then, the process proceeds to step S102.
And S102, judging whether the robot identifies the charging seat, if so, entering S103, and otherwise, entering S104. The robot needs to determine whether a charging seat exists near the current position according to charging seat information pre-stored in an internal memory unit.
Step S103, controlling the robot to start moving from the current position to the charging seat by map navigation or visual navigation until a sensible signal generated by the tracking guiding element is detected, and then proceeding to step S105.
Step S104, controlling the robot to search the charging seat in a way of walking along the edge until a sensible signal generated by the tracking guiding element is detected, and then entering step S105. Since the baffle 101 of the charging seat is arranged close to the wall, the charging seat is also arranged beside the wall, so that the device needs to search in a way of walking along the edge on the basis of not determining the position of the charging seat in advance.
Step S105, the robot is controlled to deflect a first preset angle from the current moving direction to one side of a first preset recharging direction, so that the deflected moving direction of the robot forms a second preset angle relative to the first preset recharging direction, and then the step S106 is carried out. Wherein the first predetermined recharging direction is a direction pointing to the baffle 101 along a center line of the tracking guiding element, and preferably the first predetermined recharging direction is a direction pointing to the baffle 101 along a center line of the charging seat; one of the sides described in this step is the left or right side of the first preset recharge direction.
And S106, controlling the robot to move in the deflected direction, and judging whether a power supply system in the robot receives externally supplemented electric energy in real time, namely judging whether the robot is charged on the charging seat, wherein the charging is carried out by electrode contact charging and wireless charging, if so, the step S107 is carried out, and if not, the step S108 is carried out. And judging whether the robot moves to the preset charging position or not from the map which is constructed immediately.
And S107, controlling the robot to stop moving. Specifically, when the robot moves to the preset charging position, if the robot is charged wirelessly, the induction detection element is turned off first, then a power receiving coil of the robot is turned on to receive a magnetic field signal generated by a wireless power transmission coil arranged on the base, and a current is generated through an electromagnetic induction principle; if the electrode contact charging is carried out, the docking electrode arranged on the robot just docks the charging electrode to carry out contact charging, so that charging electric energy is provided for the robot.
Step S108, determining whether the robot further detects a sensible signal generated by the tracking guiding element in the current moving direction, if yes, returning to step S105, otherwise, entering step S109.
Step S109, the robot is controlled to deflect a third preset angle from the current moving direction to the other side of the first preset recharging direction, so that the deflected moving direction of the robot forms a second preset angle relative to the first preset recharging direction, and then the step S106 is carried out. When the step S105 deflects by the second preset angle to the left side of the first preset recharging direction, the step S109 deflects by the second preset angle to the right side of the first preset recharging direction; when the step S105 deflects by the second preset angle to the right side of the first preset recharging direction, the step S109 deflects by the second preset angle to the right side of the first preset recharging direction. The second preset angle is set for limiting the robot with the changed moving direction within a sensing range of a signal generated by the tracking guide element, so that the recharging direction of the robot is guided to be close to the central line of the tracking guide element.
It should be noted that the second preset distance is greater than the first preset distance; preferably, before entering step S109, twice the number of times of executing step S105 is smaller than or equal to the second preset distance, which is equivalent to the first preset distance, so as to control the amplitude of the robot deviating from the first preset recharging direction within a certain range, thereby guiding the recharging direction of the robot to be guided to close to the center line of the tracking guide element.
The robot is controlled to move to the preset charging position gradually by dynamically adjusting the moving direction of the robot so as to receive the electric quantity transmitted by the charging seat.
As an embodiment, as shown in fig. 3, when the charging electrode is disposed at the bottom of the base, the tracking guiding member is a unipolar magnetic strip 1031, which is used to limit the robot to advance within a sensing range of a signal generated by the magnetic strip 1031, so that the recharging direction of the robot is guided to approach the center line of the tracking guiding member until the charging electrode 104 is abutted, wherein the center line of the tracking guiding member is the center line of the unipolar magnetic strip 1031, and the direction of the magnetic strip 1031 extending toward the baffle 101 is used as the first preset recharging direction of the embodiment. After the foregoing steps S101 to S104 are performed, when the hall magnetic sensor mounted on the front lower portion of the housing in the forward direction of the robot enters a signal sensible range (not shown in the figure) generated by the magnetic stripe 1031, controlling the robot to deflect to the right side of a first preset recharging direction by a first preset angle from the current moving direction, so that the deflected moving direction of the robot forms a second preset angle a1 with respect to the first preset recharging direction, and then controlling the robot to move to a position a according to a deflected arrow direction by the first preset distance value, wherein during the moving process, it is detected that the docking electrode of the robot does not dock with the charging electrode 104 of the charging stand, and the robot detects at the position a that the sensible signal generated by the magnetic stripe 1031 just disappears; then, controlling the robot to deflect a third preset angle from the position a to the left side of the first preset recharging direction, so that the deflected moving direction of the robot forms a second preset angle a1 relative to the first preset recharging direction, then moving the robot to the position B by a second preset distance according to the deflected direction, and in the moving process, detecting that the docking electrode of the robot is not docked with the charging electrode 104 of the charging seat, and detecting that a sensible signal generated by a magnetic stripe 1031 at the position B of the robot just disappears; then, the robot is controlled to deflect a first preset angle from the current moving direction to the right side of a first preset recharging direction, so that the deflected moving direction of the robot forms a second preset angle a1 relative to the first preset recharging direction, then the robot is controlled to move from a position B according to the deflected arrow direction, in the moving process, a docking electrode of the robot just docks with the charging electrode 104 of the charging seat at a position C, and the robot also detects a sensible signal generated by a magnetic strip 1031 at the position C, and at the moment, the position C is taken as the preset charging position. And then controlling the robot to stop moving to carry out butt joint charging. The sensitivity of robot recharging is increased.
As another embodiment, as shown in fig. 4, when the charging electrode is disposed at the bottom of the base, the tracking guiding element is two juxtaposed magnetic stripes with opposite magnetic poles for limiting the robot to advance in the sensing channel formed by the two juxtaposed magnetic stripes, so that the recharging direction of the robot is guided to be close to the central line of the tracking guiding element until the charging electrode 104 is abutted. The two parallel magnetic strips are respectively a left N-pole magnetic strip 1032 and a right S-pole magnetic strip 1033, and a center line of a sensible channel formed by the two parallel magnetic strips extends towards the baffle 101, which is used as the first preset recharging direction, and is respectively parallel to the N-pole magnetic strip 1032 and the right S-pole magnetic strip 1033. After the foregoing steps S101 to S104 are performed, when the hall magnetic sensors mounted at the front lower portion of the housing in the forward direction of the robot enter a sensible range (not shown in the figure) of signals generated by the N pole magnetic strip 1032 and the S pole magnetic strip 1033 at the right side, controlling the robot to deflect a first preset angle from the current moving direction to the right side of a first preset recharging direction, so that the deflected moving direction of the robot forms a second preset angle a1 with respect to the first preset recharge direction, the robot is then controlled to move the first preset distance value in the direction of the deflected arrow to position a1, during the movement to the right side of the S-pole magnetic strip 1033, it is detected that the docking electrode of the robot is not docked with the charging electrode 104 of the charging dock, and the robot detects that the magnetic field signal generated by the N pole magnetic strip 1032 and the S pole magnetic strip 1033 at the right side just disappears at the position A; then, the robot is controlled to deflect a third preset angle from the position a1 to the left side of the first preset recharging direction, so that the deflected moving direction of the robot forms a second preset angle a1 relative to the first preset recharging direction, then the robot moves a second preset distance to the position B1 according to the deflected direction, during the movement to the left side of the N-pole magnetic strip 1032, it is detected that the docking electrode of the robot does not dock with the charging electrode 104 of the charging seat, and the robot detects at the position B1 that the magnetic field signal generated by the N-pole magnetic strip 1032 and the S-pole magnetic strip 1033 on the right side just disappears; then, the robot is controlled to deflect to the right of the first preset recharging direction by a first preset angle from the current moving direction, so that the deflected moving direction of the robot forms a second preset angle a1 relative to the first preset recharging direction, then the robot is controlled to start to move from a position B1 in the direction of the deflected arrow, during the movement to the right of the S-pole magnetic strip 1033, the docking electrode of the robot just docks with the charging electrode 104 of the charging dock at a position C1, and the robot also detects a magnetic field signal at a position C1, and then the robot is controlled to stop moving to perform docking charging. Position C1 at this time serves as the preset charging position. In the embodiment, the recharging robot is limited in the magnetic signal sensing channel formed by the two parallel magnetic stripes to advance, and the recharging direction of the robot is closed to the central line of the magnetic signal sensing channel until the charging electrode 104 is butted, that is, the recharging path is limited in a specific activity area to enhance the stability of recharging and butting, so that the anti-interference capability of the recharging guide signal and the precision of electrode butting are improved.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (16)
1. A charging seat comprises a base and is characterized in that the bottom of the base is provided with a preset charging position and a tracking guide element for recharging and butting of a robot, the robot which is recharged is limited to move forward within a sensing range of a signal generated by the tracking guide element, so that the recharging direction of the robot is guided to be close to the central line of the tracking guide element until the robot moves to the preset charging position;
wherein the signal sensible range is a swept range of the signal generated by the tracking guide element; the bottom of the base is arranged at the lower end of the base, which is contacted with the ground.
2. The charging stand according to claim 1, wherein when the charging electrodes are disposed on the bottom of the base, the charging electrodes are disposed on both sides of the tracking guiding member, and the tracking guiding member is disposed on the center line of the charging stand, so that the robot just abuts against the charging electrodes when moving to the predetermined charging position.
3. The charging stand of claim 1, wherein the upright portion of the base is provided with a baffle for abutting against an external wall, such that the charging stand is disposed along the wall and defines a moving position of the docking-charging robot, wherein the base is provided with an upright portion connected with the bottom portion.
4. A charging stand as claimed in claim 3, wherein the baffle surface is provided with a charging electrode so that the robot moves to a preset charging position to just abut against the charging electrode.
5. The charging dock of claim 1, wherein the base is configured with a wireless power transmission coil, such that the robot is enabled to receive power when moving to a predetermined charging position.
6. The charging stand according to claim 2, 4 or 5, wherein the tracking guiding element is a single-polarity magnetic strip, and is disposed on the ground contact surface of the bottom, and the robot for restricting recharging is restricted from advancing within a sensing range of a magnetic signal generated by the magnetic strip, so that the recharging direction of the robot is guided to approach the center line of the tracking guiding element until the robot moves to the preset charging position;
wherein the centerline of the tracking guide element is the centerline of a unipolar magnetic strip; the ground contact surface is the contact surface of the bottom part and the ground.
7. The charging stand according to claim 2, 4 or 5, wherein the tracking guiding element is two parallel magnetic strips with opposite magnetic poles, and is disposed on the ground contact surface of the bottom, so as to limit the recharging robot to advance in a magnetic signal sensing channel formed by the two parallel magnetic strips, and the recharging direction of the robot is guided to approach the central line of the tracking guiding element until the robot moves to the preset charging position;
wherein the central line of the tracking guiding element is the central line of a sensible channel formed by the two parallel magnetic strips; the ground contact surface is the contact surface of the bottom part and the ground.
8. A robot recharging system based on a magnetic sensor comprises a robot and is characterized by further comprising a charging seat according to any one of claims 1 to 7, wherein an induction detection element for identifying the tracking guide element of the charging seat is arranged on the robot, so that the robot detects the tracking guide element of the charging seat in real time in a recharging direction to realize that the robot moves to the preset charging position.
9. The robot recharging system of claim 8, wherein the inductive detecting element is disposed at a lower front portion of the housing of the robot, wherein the inductive detecting element comprises one or more hall magnetic sensors disposed at a front portion of the bottom of the robot, such that the hall magnetic sensors detect the tracking guiding element on the charging base in real time.
10. The robotic recharging system of claim 8, further comprising a magnetic virtual wall, wherein when said tracking guide element is a magnetic strip of a single polarity, a magnetic strip embedded in said magnetic virtual wall is correspondingly disposed with a magnetic polarity opposite to a magnetic polarity of said tracking guide element.
11. A recharging method based on the robot recharging system of any one of claims 8 to 10, characterized by comprising:
after the robot is switched into the recharging mode, the motion direction of the robot relative to the tracking guide element is adjusted according to a sensible signal generated by the tracking guide element detected by the robot, the recharging of the robot is limited to be carried out within a sensible range of the signal generated by the tracking guide element, so that the recharging direction of the robot is guided to be close to the central line of the tracking guide element until the robot moves to the preset charging position, wherein the sensible range of the signal is the range of the signal generated by the tracking guide element.
12. The recharging method of claim 11, wherein prior to the robot detecting the sensible signal generated by the tracking guide, further comprising:
and judging whether the robot identifies the charging seat, if so, moving the robot to the charging seat in a map navigation or visual navigation mode, and otherwise, controlling the robot to search the charging seat in a edgewise walking mode.
13. The recharging method of claim 12, wherein when the inductive detecting element detects the sensible signal generated by the tracking guiding element, the method for adjusting the moving direction of the robot relative to the tracking guiding element according to the sensible signal generated by the robot detecting the tracking guiding element to limit the robot to move forward within the sensible range of the signal generated by the tracking guiding element comprises the steps of:
step 1, controlling the robot to deflect a first preset angle from the current moving direction to one side of a first preset recharging direction, so that the deflected moving direction of the robot forms a second preset angle relative to the first preset recharging direction; then entering step 2;
step 2, controlling the robot to move according to the deflected direction, and judging whether the robot receives external supplementary electric energy in real time, if so, entering step 3, otherwise, entering step 4; the robot receives externally supplemented electric energy in a mode comprising electrode contact charging and wireless charging;
step 3, controlling the robot to stop moving;
step 4, judging whether the robot detects a sensible signal generated by the tracking guide element in the current moving direction, if so, returning to the step 1, otherwise, entering the step 5;
step 5, controlling the robot to deflect a third preset angle from the current moving direction to the other side of the first preset recharging direction, enabling the deflected moving direction of the robot to form a second preset angle relative to the first preset recharging direction, and then returning to the step 2;
the second preset angle is set for limiting the robot with the changed moving direction within a sensing range of a signal generated by the tracking guide element, so that the recharging direction of the robot is guided to be close to the central line of the tracking guide element.
14. A recharging method according to any one of claims 11 to 13, wherein said tracking guiding member is a single-polarity magnetic strip for limiting the advance of said robot within a sensing range of a signal generated by the magnetic strip, so that the recharging direction of the robot is guided to approach the center line of said tracking guiding member until said robot moves to said predetermined charging position;
wherein the centerline of the tracking guide element is the centerline of a unipolar magnetic strip.
15. The recharging method according to any one of claims 11 to 13, wherein the tracking guiding member is two juxtaposed magnetic strips with opposite magnetic poles for restricting the robot from advancing in a sensible channel formed by the two juxtaposed magnetic strips, such that the recharging direction of the robot is guided toward the centerline of the tracking guiding member until the robot moves to the predetermined charging position;
wherein the central line of the tracking guiding element is the central line of the sensible channel formed by the two juxtaposed magnetic strips.
16. A charging seat comprises a base, and is characterized in that a magnet for guiding the robot to charge the upper seat is arranged in the base.
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| CN114281085A (en) * | 2021-12-29 | 2022-04-05 | 福建汉特云智能科技有限公司 | Robot tracking method and storage medium |
| CN114281085B (en) * | 2021-12-29 | 2023-06-06 | 福建汉特云智能科技有限公司 | Robot tracking method and storage medium |
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