CN112692843A - Artificial intelligence disinfection robot - Google Patents
Artificial intelligence disinfection robot Download PDFInfo
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- CN112692843A CN112692843A CN202011477486.XA CN202011477486A CN112692843A CN 112692843 A CN112692843 A CN 112692843A CN 202011477486 A CN202011477486 A CN 202011477486A CN 112692843 A CN112692843 A CN 112692843A
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Abstract
An artificial intelligent disinfection robot comprises a support, wherein a plurality of ultraviolet lamps, a camera and a control device are arranged on the support, and the camera is used for acquiring image information of an environment; the control device comprises a control system, at least controls the working state of the ultraviolet lamp, and is characterized in that a rotor wing is further arranged on the support, the control system comprises an artificial intelligence module and a rotor wing driver, the artificial intelligence module is used for processing image information acquired by the camera to determine the flight path of the robot, and provides a control signal for the rotor wing driver to control the operation of the rotor wing. The artificial intelligent disinfection robot provided by the invention can be used for navigating through videos and disinfecting the environment in an all-around way.
Description
Technical Field
The invention relates to an artificial intelligence disinfection robot, and belongs to the technical field of artificial intelligence.
Background
The robot for disinfecting the environment disclosed in the prior art, for example, chinese patent application publication No. CN111228527A discloses an ultraviolet disinfection robot, which comprises a walking part and an acting part, wherein the acting part comprises a support body and an ultraviolet lamp group arranged around the support body, the walking part comprises a walking chassis, a sensing component for collecting surrounding environment information and a controller for controlling the walking chassis to move, the bottom of the support body is fixed on the walking chassis, the sensing component is in communication connection with the controller, and a starter of the ultraviolet lamp group is in control connection with the controller. However, such robots can only operate on a relatively wide working plane (such as the ground), and cannot perform all-around disinfection on indoor environments.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide an artificial intelligent disinfection robot method which can navigate through videos and carry out omnibearing disinfection on indoor environment.
In order to realize the aim, the invention provides an artificial intelligent disinfection robot, which comprises a bracket, wherein a plurality of ultraviolet lamps, a camera and a control device are arranged on the bracket, and the camera is used for acquiring image information of an environment; the control device comprises a control system, at least controls the working state of the ultraviolet lamp, and is characterized in that a rotor wing is further arranged on the support, the control system comprises an artificial intelligence module and a rotor wing driver, the artificial intelligence module is used for processing image information acquired by the camera to determine the flight path of the robot, and provides a control signal for the rotor wing driver to control the operation of the rotor wing.
Preferably, the artificial intelligence module comprises: the flight control system comprises a flight instruction input module, an image input module, a neural network, a path planning module and a training module, wherein the data input module is configured to receive flight instruction information sent by a user handheld controller; the image input module is configured to receive image information shot by the camera; the path planning module is configured to generate control information for controlling the rotor driver according to the flight instruction information generated by the flight instruction input module or receive robot path information generated by a neural network to generate control information for controlling the rotor driver; the training module is configured to obtain learning data from the path planning module and provide the learning data to the neural network for the neural network to learn.
Preferably, the neural network comprises at least an input layer, a function layer and an output layer, the input layer inputting image coordinates (x) of an imagen,ym) And rotation angle of camera shooting axis around y axis of space coordinate system
A rotation angle ω about an x-axis of a spatial coordinate system, a rotation angle κ about a z-axis of the spatial coordinate system, and image coordinates of the image may be represented by the following matrix:
wherein N is the number of rows of the image, M is the number of columns of the image, (x)1,y1)、(x1,yM)、(xN,y1) And (x)N,yM) Image coordinates of four corners of the input image, respectively; (x)n,ym) The image coordinate of any point in the image;
the function of the function layer satisfies at least the following equation:
wherein, (X Y Z) is the geodetic coordinates of the robot path; (X)n Ym Znm) Is a coordinate of (x)n,ym) Geodetic coordinates of the image counterpart of (a); f is the focal length of the camera; lambda and delta are normal numbers and are determined by a training module through learning; min { } is the minimum value;
a1＝cosφ·cosκ
a2＝cosω·sinκ+sinω·sinφ·cosκ
a3＝sinω·sinκ-cosω·sinφ·sinκ；
b1＝-cosφ·sinκ；
b2＝cosω·cosκ-sinω·sinφ·sinκ
b3＝sinω·sinκ+cosω·sinφ·sinκ
c1＝sinφ；
c2＝-sinω·cosφ；
c3＝cosω·cosφ；
the output layer (X-X)N),(Y-Ym),(Z-ZK)。
Preferably, the artificial intelligent disinfection robot further comprises a power supply, the power supply comprises a receiving coil which is a non-magnetic core coil and is wound by a metal wire to form a cylindrical structure with a hollow part, and when the artificial intelligent disinfection robot is charged, the receiving coil is used for receiving electric energy sent by the wireless charger, the wireless charger comprises a sending coil which is a magnetic core coil and is formed by winding the metal wire on a part of a magnetic core, and when the wireless charging is carried out, the magnetic core penetrates into the hollow part of the receiving coil.
Preferably, the wireless charger further comprises an oscillator, a frequency divider, a first switch circuit, a second switch circuit, an inverter, a phase detection unit, an amplitude detection unit and a processor, wherein the oscillator is used for generating a signal with a fixed frequency; the frequency divider is used for dividing the frequency of the signal provided by the oscillator and respectively outputting the signal to the input end of the first switch circuit and the inverter; the inverter is used for inverting the signal provided by the frequency divider and providing the inverted signal to the input end of the second switching circuit; the output end of the first switch circuit is connected to the first end of the sending coil through a second capacitor, and the output end of the second switch circuit is connected to the second end of the sending coil; the phase detection unit is used for detecting the phase of the voltage of the transmitting coil; the amplitude detection unit is used for detecting the amplitude of the voltage of the transmitting coil; the processor determines whether the receiving coil moves to a predetermined position on the magnetic core according to the phase signal provided by the phase detection unit and the amplitude signal provided by the amplitude detection unit.
Preferably, the wireless charger further comprises an oscillator, a frequency divider, a first switch circuit, a second switch circuit, an inverter, a phase detection unit, an amplitude detection unit and a processor, wherein the oscillator is used for generating a signal with a fixed frequency; the frequency divider is used for dividing the frequency of the signal provided by the oscillator and respectively outputting the signal to the input end of the first switch circuit and the inverter; the inverter is used for inverting the signal provided by the frequency divider and providing the inverted signal to the input end of the second switching circuit; the output end of the first switch circuit is connected to the first end of the sending coil through a first capacitor, and the output end of the second switch circuit is connected to the second end of the sending coil through a second capacitor; the phase detection unit is used for detecting the phase of the voltage of the transmitting coil; the processor determines whether the receiving coil moves to a predetermined position on the magnetic core according to the phase signal provided by the phase detection unit and the amplitude signal provided by the amplitude detection unit.
Preferably, the switching circuit comprises a P-channel field effect transistor and an N-channel field effect transistor, the gates of the P-channel field effect transistor and the N-channel field effect transistor are connected together to serve as an input end, the drain of the P-channel field effect transistor is connected to the power supply, and the source is connected to the drain of the N-channel field effect transistor and serves as an output end; the source electrode of the N-channel field effect transistor is grounded.
Preferably, the motor driver includes a d-axis current instruction arithmetic unit, a d-axis voltage calculation unit, a compensation unit, a conversion unit, a first coordinate conversion unit, a second coordinate conversion unit, a converter, and first and second current detectors, wherein the first and second current detectors detect U-phase and V-phase currents i input to the motor, respectivelyuaAnd ivaAnd input to the first coordinate transformation unit to generate q-axis current iqaAnd d-axis current ida(ii) a The d-axis current calculation unit calculates the q-axis current i according to the q-axis currentqaGenerating a d-axis adjustment current
d-axis voltage calculation unit adjusts according to d-axis
And an input d-axis current command
Generating d-axis voltage
A q-axis voltage calculation unit (4) based on the angular velocity command
Generating a q-axis voltage
The adjusting unit is based on the q-axis current iqaD axis current idaAnd angular velocity command
Generating voltage for adjusting q-axis
And d-axis voltage
Q-axis adjustment voltage of
And d-axis regulated voltage
And
additive generation
And
additive generation
The second coordinate conversion unit is based on the current
And
generating
And
and supplied to the converter.
Compared with the prior art, the control method of the artificial intelligent disinfection robot provided by the invention has the following advantages: (1) the indoor environment can be disinfected in all directions; (2) the obstacle can be avoided by only one camera.
Drawings
FIG. 1 is a block diagram of the control system of an artificial intelligence disinfection robot provided by the present invention;
FIG. 2 is a block diagram of the components of the artificial intelligence module provided by the present invention;
FIG. 3 is a relational diagram of various coordinate systems provided by the present invention;
FIG. 4 is a flow chart of a method of controlling an artificial intelligence machine provided by the present invention;
FIG. 5 is a power supply system for supplying power to the sterilizing robot according to the present invention;
FIG. 6 is a schematic diagram of the components of the receive coil and transmit coil provided by the present invention;
FIG. 7 is a block diagram of the servo motor provided by the present invention;
FIG. 8 shows a d-axis and a q-axis as motor axes and a d-axis as a control axis in a servo motor＊Axis q＊A schematic view of a shaft;
fig. 9 is a block diagram showing the configuration of the d-axis current command operation unit shown in fig. 7.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of illustrating the present invention and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
It should be appreciated by those skilled in the art that the terms "application," "application," and similar terms as used herein are intended to refer to the same concepts as known by those skilled in the art, including computer software organically constructed from a series of computer instructions and associated data resources adapted for electronic operation. Unless otherwise specified, such nomenclature is not itself limited by the programming language class, level, or operating system or platform upon which it depends. Of course, such concepts are not limited to any type of terminal.
The artificial intelligent disinfection robot comprises a support, wherein a plurality of ultraviolet lamps, a camera 4 and a control device are arranged on the support, and the camera 4 is used for acquiring image information of an environment; the control device comprises a control system, the control system at least controls the working state of the ultraviolet lamp, a rotor wing is further arranged on the support, the control system comprises an artificial intelligence module and a rotor wing driver, the artificial intelligence module is used for processing image information acquired by the camera to determine the flight path of the robot, and a control signal is provided for the rotor wing driver to control the operation of the rotor wing.
Fig. 1 is a block diagram of a control system of an artificial intelligence disinfection robot provided by the present invention, and as shown in fig. 1, the control system comprises a processor 5, a MEMS2, a memory 2 and a rotor servo. The robot rotor servo mechanism comprises a flight controller, the flight controller is configured to provide control signals for a motor driver of the robot, the motor driver of the unmanned aerial vehicle exemplarily comprises four motor drivers, the four motor drivers respectively control the running states of four motor motors M1, a motor M2, a motor M3 and a motor M4, and the four motors respectively drive four rotors to rotate. The memory 1 is used for storing system programs, application programs, and data. The MEMS2 is used to acquire and provide to the processor 5 heading information of the robot, including pitch angle, roll angle, etc.
In the present invention, the robot control system further includes a virus concentration detector 10 configured to detect a virus concentration of an environment in which the robot is located, and the processor 5 controls an operating state of the robot according to the virus concentration. The robot control system further comprises a communication module 8 configured to wirelessly communicate with a handheld controller of a user through a control to obtain instructions of the handheld controller. The robot control system may optionally include a positioning and timing module 3 for acquiring position information and standard time information of the robot. The robot control system further comprises a uv lamp controller 7 configured to control the operating state of the uv lamps in accordance with instructions of the processor 5. The robot control system further comprises a camera 4 for acquiring image information of the environment in which the robot is located. The robot also includes a power module, which is a magnetically coupled power supply 6 for providing power to various parts of the robot, which will be described in detail later.
In the present invention, the control system further comprises an artificial intelligence module configured to determine the flight path of the robot according to the image information acquired by the camera 4 and provide a control signal to the flight controller to control the rotation or stop of the rotor.
Fig. 2 is a block diagram of an artificial intelligence module provided in the present invention, and as shown in fig. 2, the artificial intelligence module includes: the flight control system comprises a flight instruction input module, an image input module, a neural network, a path planning module and a training module, wherein the data input module is configured to receive flight instruction information sent by a user handheld controller; the image input module is configured to receive image information captured by the camera 4; the path planning module is configured to generate control information for controlling the rotor driver according to the flight instruction information generated by the flight instruction input module or receive robot path information generated by a neural network to generate control information for controlling the rotor driver; the training module is configured to obtain learning data from the path planning module and provide the learning data to the neural network for the neural network to learn.
In the present invention, the neural network includes at least an input layer, a function layer and an output layer, the input layer inputs image coordinates (x) of an imagen,ym) And rotation angle of camera shooting axis around y axis of space coordinate system
A rotation angle ω about an x-axis of a spatial coordinate system, a rotation angle κ about a z-axis of the spatial coordinate system, and image coordinates of the image may be represented by the following matrix:
wherein N is the number of rows of the image, M is the number of columns of the image, (x)1,y1)、(x1,yM)、(xN,y1) And (x)N,yM) Image coordinates of four corners of one image in the input video stream respectively; (x)n,ym) The image coordinate of any point in the image;
the function of the function layer satisfies at least the following equation:
wherein, (X Y Z) is the geodetic coordinates of the robot path; (X)n Ym Znm) Is a coordinate of (x)n,ym) Geodetic coordinates of the image counterpart of (a); f is the focal length of the camera; lambda and delta are normal numbers, delta is the safe distance between the robot and the obstacle, and are determined by the training module through learning; min { } is the minimum value; in the present invention, the geodetic coordinates XYZ of the robot and the spatial coordinates XYZ of the robot and the relationship therebetween are shown in fig. 3.
a1＝cosφ·cosκ
a2＝cosω·sinκ+sinω·sinφ·cosκ
a3＝sinω·sinκ-cosω·sinφ·sinκ；
b1＝-cosφ·sinκ；
b2＝cosω·cosκ-sinω·sinφ·sinκ
b3＝sinω·sinκ+cosω·sinφ·sinκ
c1＝sinφ；
c2＝-sinω·cosφ；
c3＝cosω·cosφ；
The output layer (X-X)N),(Y-Ym),(Z-ZK)。
There is also provided, in accordance with an embodiment of the present invention, a method of controlling an artificial intelligence sterilization machine, as shown in fig. 4. As shown in fig. 4, the control method of the artificial intelligence disinfection robot provided by the invention comprises a training phase and an active disinfection phase, and is characterized in that the training phase comprises: the robot flies indoors according to the instruction of a user and irradiates and disinfects indoors through an ultraviolet lamp; acquiring indoor area images needing irradiation and disinfection indoors through a camera when the machine flies; enabling the artificial intelligence module to carry out learning training by utilizing images acquired by the camera in the training stage; judging whether the set training times are reached, if so, carrying out an active disinfection stage, and otherwise, repeatedly training in the training stage; the active disinfection phase comprises: enabling a virus detector of the robot to measure the virus concentration of the environment where the robot is located, judging whether the virus concentration exceeds a set value or not, if so, enabling the robot to take off and fly along a previous learning path, and simultaneously sending a control signal to an ultraviolet lamp controller to enable an ultraviolet lamp to irradiate and disinfect the indoor environment until the virus concentration of the environment is smaller than the set value; otherwise, the virus detector is enabled to continuously monitor the virus concentration of the environment. In the invention, when the concentration detected by the virus concentration detector 10 is less than a set value, the robot is charged by the wireless charger.
Fig. 5 is a power supply system for supplying power to a disinfecting robot according to the present invention, fig. 6 is a schematic diagram illustrating the components of the receiving coil and the transmitting coil according to the present invention, and as shown in fig. 5-6, the intelligent disinfecting robot further includes a power supply module, which is a magnetic coupling power supply 6, and includes a receiving coil L2, which is a non-magnetic core coil and has a cylindrical structure with a hollow portion formed by winding a metal wire, and is used for receiving power transmitted from a wireless charger during charging, the wireless charger includes a transmitting coil L1, which is a coil with a magnetic core 68, formed by winding a metal wire around a portion of the magnetic core 68, and during wireless charging, the diameter of the magnetic core 68, which penetrates into the hollow portion of the receiving coil L2, is smaller than the diameter of the receiving coil L2. In the present invention, the wireless charger is installed on a support plane (e.g., the ground), the magnetic core 68 is protruded upward, the receiving coil L2 of the robot is made in the shape of a base of the robot, and when the wireless charger is performed, the magnetic core 68 is inserted into the base of the robot, which is equivalent to the magnetic core 68 inserted into the receiving coil L2.
In the invention, the wireless charger further comprises an oscillator 61, a frequency divider 62, a first switch circuit, a second switch circuit, an inverter 63, a phase detection unit 64, an amplitude detection unit 66, a processor 65 and a communication unit 67, wherein the oscillator 61 is used for generating a signal with fixed frequency; the frequency divider 62 is configured to divide the frequency of the signal provided by the oscillator 61 and output the input terminal of the first switching circuit and the inverter 63, respectively; the inverter 63 is configured to invert the signal provided by the frequency divider 62 and provide the inverted signal to the input terminal of the second switching circuit; the output end of the first switch circuit is connected to the first end of the transmitting coil L1 through a capacitor C2, and the output end of the second switch circuit is connected to the second end of the transmitting coil L1 through a capacitor C1; the phase detection unit 64 is for detecting the phase of the voltage of the transmitting coil L1; the amplitude detection unit 66 is for detecting the amplitude of the voltage of the transmitting coil L1; the processor 65 determines whether the receiving coil L2 moves to a predetermined position on the magnetic core according to the phase signal provided by the phase detecting unit 64 and the amplitude signal provided by the amplitude detecting unit 66, that is, the processor 65 sends an instruction signal to the robot through the communication unit 67, and the robot receives the instruction and operates to make the receiving coil L2 sleeve the magnetic core 68 and move along the magnetic core until the series resonant unit reaches the series resonant state.
In the invention, the first switch circuit comprises a P-channel field effect transistor Q1 and an N-channel field effect transistor Q2, the grids of the N-channel field effect transistor Q2 and the P-channel field effect transistor Q1 are connected together to be used as an input end, the drain electrode of the P-channel field effect transistor Q1 is connected with a power supply V, and the source electrode is connected with the drain electrode of the N-channel field effect transistor Q2 and is used as an output end; the source of the N-channel fet Q2 is grounded. The second switch circuit comprises a P-channel field effect transistor Q3 and an N-channel field effect transistor Q4, the grids of the N-channel field effect transistor Q4 and the P-channel field effect transistor Q3 are connected together to serve as an input end, the drain electrode of the P-channel field effect transistor Q3 is connected to a power supply V, and the source electrode of the P-channel field effect transistor Q3 is connected to the drain electrode of the N-channel field effect transistor Q4 to serve as an output end; the source of the N-channel fet Q4 is grounded.
In the present invention, the magnetic coupling power supply of the robot further includes a diode bridge DB for full-wave rectification, an electrolytic capacitor C3, a charger 69, and a storage battery 70, and the storage battery 70 is a rechargeable battery. The receiving coil L2 is magnetically coupled to the transmitting coil L1, and has a coupling coefficient M that varies with the relative positions of the transmitting coil L1 and the receiving coil L2. The input terminal of the diode bridge DB is connected to both ends of the receiving coil L2 for detecting the ac power induced by the receiving coil L2 to generate pulsating dc power, and the electrolytic capacitor C3 is used for filtering the pulsating dc power generated by the diode bridge DB and supplying the filtered pulsating dc power to the charger 69. The charger 69 charges the dc power to the secondary battery. In the present invention, the charger 69 may include a voltage boosting circuit.
The working process of the magnetic coupling power supply provided by the invention is as follows: after the wireless charger is turned on, the signal of the set frequency output from the oscillator 61 is divided by the frequency divider 62 into 1/n, where n is an integer greater than or equal to 2. The frequency-divided signal of a set frequency output from the frequency divider 62 is applied to the input terminal of the first switching circuit and the inverter 63, respectively, the inverter 63 inverts the signal supplied from the frequency divider to supply the input terminal of the second switching circuit, and the first switching circuit and the second switching circuit perform the opposite operation. That is, since the first switch and the second switch have P-channel fets Q1 and Q3 and N-channel fets Q2 and Q4, respectively, and the P-channel fet Q1 and the N-channel fet Q4 are turned on and the N-channel fet Q2 and the P-channel fet Q3 are turned off in the case of high level, the output of the first switch circuit is connected to the dc power supply V through the P-channel fet Q1 to be high level and the output of the second switch circuit is connected to ground through the N-channel fet Q4 to be low level. Thereby, a current flows in the forward direction through the transmission coil L1. When the inputs of the first switch circuit and the second switch circuit are reversed, the P-channel fet Q1 and the N-channel fet Q4 are turned off, and the N-channel fet Q2 and the P-channel fet Q3 are turned on, so that the output of the first switch circuit is grounded through the N-channel fet Q2 and becomes low, and the output of the second switch circuit 5B is connected to the dc power supply V through the P-channel fet Q3 and becomes high. This causes the current to flow in the opposite direction through the transmitting coil L1. In this way, when the alternating-current power (high-frequency power) is supplied to the transmission coil L1 by repeating the switching operation of alternately turning on and off the first switching circuit and the second switching circuit based on the signal of the set frequency output from the oscillator 3, a counter electromotive force is generated in the reception coil L2 by electromagnetic coupling conduction. The ac power transmitted to the receiving coil L2 is full-wave rectified by the diode bridge DB, filtered by the electrolytic capacitor C2, and converted into dc power, and the dc power is supplied to the charger 69, and the charger 69 charges the battery 70 with the power for the drone.
In the first and second switch circuits, the P-channel fets Q1 and Q3 and the N-channel fets Q2 and Q4 do not simultaneously turn on, and no through current is generated. In addition, since the drive control can be performed only by the voltage, electric power is not consumed in the control.
As described above, the transmitting coil L1 of the wireless charger and the receiving coil L2 of the receiving system are magnetically coupled to transmit electric power in a contactless and noncontact manner. In the wireless charger, capacitors C1 and C2 are connected in series with the transmitting coil L1 to convert a direct-current voltage supplied to the transmitting coil L1 into an alternating-current voltage and boost the voltage, and capacitors C1 and C2 and a series resonant circuit integrated with the transmitting coil L1, the integrated series resonant circuit including a primary side series resonant circuit (a primary side series resonant circuit excluding a mutual inductance M caused by the receiving coil L2) and a mutual inductance M caused by the receiving coil L2, and alternating-current power is supplied to the transmitting coil L1 via the capacitors C1 and C2. In the present invention, capacitors C1, C2 and may also be provided between the first switching circuit and the connection terminal of the transmitting coil L1. In the invention, the capacitors are respectively arranged in the branches of the output ends of the first switch circuit and the second switch circuit, which are connected with the sending coil, so that the voltage resistance of the capacitors can be increased, and the weight of the magnetic coupling electric energy transmitter can be reduced. In the present invention, the resonance point of the series resonant circuit including the mutual inductance M of the receiver coil L2 is set as: a frequency higher than the resonance point of the primary series resonant circuit constituted by the primary coil L1 and the capacitors C1, C2.
In the present invention, the oscillation frequency of the oscillator 61 is set so that the oscillation frequency of the frequency-divided signal output from the frequency divider 62 becomes the resonance frequency of the series resonant circuit including the mutual inductance M of the receiving coil L2, and the primary series resonant circuit and the series resonant circuit are driven by the first switch circuit and the second switch circuit, and therefore, when there is no robot charging, since there is a large deviation from the resonance point of the primary resonant circuit, only a minute current flows through the transmitting coil L1. On the other hand, when there is drone charging, the drone moves up on the magnetic core with its receiving coil L2, and when the series resonant circuit resonates, a large current flows in the transmitting coil L1. Therefore, the cordless charger can generate a large voltage at the transmission coil L1 independently of the voltage of the power source or the signal source by the boosting function of the capacitors C1 and C2 connected in series to the transmission coil L1. Further, due to the resonance characteristics of the series resonant circuit including the mutual inductance M of the receiving coil L2, only a small current flows through the transmitting coil L1 when the drone is not being charged, and a large current flows through the transmitting coil L1 only when the drone is being charged. Therefore, high power transmission efficiency at a practical level can be achieved, and further, downsizing, weight saving, and power saving can be easily achieved.
In the invention, the receiving coil L2 is a non-magnetic core coil and is rolled by metal wire to form a cylindrical structure with a hollow part; the transmitting coil L1 is a coil with a magnetic core and is formed by metal wire wound on a part of the magnetic core 68, and when wireless charging is carried out, the machine carries the receiving coil L2 to move, so that the magnetic core 68 penetrates into the hollow part of the receiving coil L2. The metal wire is preferably a stranded plurality of copper wires or enameled wires.
In the invention, the robot is charged by the wireless charger, and the receiving coil is a coil without a magnetic core, so the weight is light, and the load of the robot can be reduced.
Fig. 7 is a block diagram of a servo motor according to the present invention. In fig. 1, the motors M1, M2, M3, and M4 are permanent magnet synchronous motors. The four motor phases are exemplified by motor M1 and its drive controller. In the present invention, a surface magnet synchronous motor having no salient poles is used as the motor M1. The motor driver includes: a speed command generating unit 101, a speed arithmetic unit 102, and a phase arithmetic unit 103, wherein the speed command generating unit 101 is based on a speed command ω from the running mechanism controllerrGenerates a speed command specifying the rotational speed of the motor M1
Speed calculation unit 102 gives the speed command generated by speed command generation unit 101
Multiplying by half pole number P/2(P is full pole number) to generate angular velocity command expressed by electric angle
The angular velocity command
The phase calculation unit (integrator) 103, the q-axis voltage calculation unit 104, and the correction value calculation unit 106 are input. Phase arithmetic unit 103 diagonal velocity instruction
Integral operation is performed to generate phase on electric axis (dq axis)
The phase position
The three-phase two-phase coordinate transformation unit 105 and the two-phase three-phase coordinate transformation unit 107 are input as position instructions.
The motor driver further includes: a d-axis current instruction arithmetic unit 109, a d-axis voltage calculation unit 110, a compensation unit 104, a conversion unit 1066, a first coordinate conversion unit 107, a second coordinate conversion unit 105, a converter 108, a current detector 113, and a current detector 114, wherein the current detectors 113 and 114 detect drive currents i of U-phase and V-phase of the motorua、ivaAnd input to a three-phase two-phase coordinate transformation unit 107. Three-phase two-phase coordinate conversion unit 107 based on two-phase drive currents i input from current detectors 113 and 114uaAnd ivaCalculating the drive current i of the W phasewaAnd generates three-phase drive currents based on the phases as position commands
Converts it into d-axis and q-axis control currents (d-axis current i)daQ-axis current iqa). d-axis current idaQ-axis current iqaIs inputted to a correction value calculating means 106, and d-axis current idaIs input to the d-axis voltage calculation unit 110.
q-axis current iqaIs inputted to the d-axis current instruction operation unit 109 to generate a d-axis adjustment current
The adder 112 adjusts the d-axis current
And d-axis current command input from the running mechanism controller shown in fig. 1
Adding the obtained signals to obtain a d-axis current command
And input to the d-axis voltage calculation unit 110. In the present invention, the d-axis current command from the operating mechanism controller
Is a value lower than the rated current of the motor. In the present invention, the d-axis current command calculation means 109 can determine the d-axis current command required for the current control by the d-axis voltage calculation means 104, and therefore the d-axis current command from the operating mechanism controller
May be zero. d-axis voltage calculation unit 110 d-axis current command
Generating a d-axis voltage applied to the d-axis of the motor M1
The d-axis voltage
D-axis interference voltage outputted from adder 15 and correction value calculation unit 106
AddingTo become d-axis voltage
Is input to the two-phase three-phase coordinate transformation unit 105.
In the present invention, q-axis voltage calculation section 104 calculates a speed command for synchronous motor M1
Induced electromotive force generated during rotation
The induced electromotive force
Is a compensation and speed command
The voltage of the corresponding q-axis voltage is added to the q-axis interference voltage outputted from the correction value calculation means 6 in the adder 116
Added to become q-axis voltage
And input to the two-phase three-phase coordinate transformation unit 105. Here, when the motor M1 is a surface magnet motor with no salient poles, an electromotive force is induced
Represented by the formula:
in the formula phiaIs the magnetic flux density.
Two-phase three-phase coordinate transformation section 105 based on the phase as a position command
A voltage (d-axis voltage) obtained by controlling the d-axis and the q-axis orthogonal thereto into two phases
Voltage of q axis
) Converted into a three-phase (UVW) voltage command to be applied to the synchronous motor M1
The converter 108 is a so-called inverter that is commanded based on 3-phase voltages from the two-phase three-phase coordinate conversion unit 105
The generated pulse width modulated drive pulse signal turns on/off the switching element to generate a speed command
A 3-phase alternating voltage of a corresponding frequency, and supplied to the synchronous motor M1.
Modified value calculation unit 106 uses a speed instruction
And detected d-axis current idaAnd q-axis current iqaCalculating to generate a d-axis correction voltage for compensating the d-axis voltage and the q-axis voltage
q-axis correction voltage
As previously described, the generated d-axis interference voltage
Input to the adder 115, q-axis interference voltage
To the adder 116. Here, when the motor M1 is a surface magnet motor with no salient poles, the d-axis interference voltage
q-axis interference voltage
Represented by the following two formulae:
in the formula, La is an inductance component of d-axis and q-axis.
In the present invention, the d-axis current command from the running mechanism controller is used
Performing synchronous control to apply only a speed command omega according to the controller of the running mechanism to the q axisrGenerated speed command
And from the speed command
Derived position command, i.e. phase
Corresponding voltage command
No current control is performed.
As shown in fig. 7, the control axis is passed through d*Shaft according to speed command
Rotate to command the speed of the rotor magnet 117
D on the control shaft due to a disturbance torque such as friction*When the shaft and the d-axis of the motor shaft are deviated, the speed command is given
With rotor speed omegareGenerating a phase error thetaerr. In will
And the modified value calculating unit 106 uses the detected q-axis current iqaCalculated q-axis interference voltage
The q-axis voltage added by the adder 116
When supplied to the two-phase three-phase coordinate conversion unit 105 and applied to the motor M1, the actual applied voltage is applied to the motor shaft q-axis
And an applied voltage v determined as a theoretical valueqaTo generate the phase error thetaerrCorresponding to the voltage error, in the q-axis current i outputted from the three-phase two-phase coordinate conversion unit 107qaA variation component of a magnitude corresponding to the voltage error appears.
Next, a case of a surface magnet motor with no salient pole will be specifically described as an example. In the case of a non-salient pole surface magnet motor, the d-axis voltage vdaAnd q-axis voltage vqaIs expressed by a voltage equation expressed by the following equation:
in the formula, Ra is the winding resistance, and p is a differential symbol.
According to the above formula, the applied q-axis voltage
And an applied voltage v determined as a theoretical valueqaExpressed as the following two formulae:
therefore, a voltage error v occurs in the q-axisqeRepresented by the formula:
herein, when
No voltage error v is generatedqeWithout detecting the q-axis current iqa(ii) a But when
Time, voltage error vqeQ-axis current i needs to be detected ≠ 0qa. When the motor is stopped, a voltage error v is generated by the rotation of the rotor magnet 17 due to the disturbance torqueqeWhen q-axis current i is detected, q-axis current i is detected similarlyqa。
Therefore, in the present invention, as shown in fig. 7, the motor driver is provided with a d-axis current instruction arithmetic unit 109 including an adder 112. d-axis current command operation section 109 takes detected q-axis current i converted and outputted only by conventionally used three-phase two-phase coordinate conversion section 107qaMonitoring the q-axisCurrent iqaThe d-axis current command from the running mechanism controller is calculated
D-axis adjustment current command for performing increase/decrease adjustment
A d-axis current command is output from adder 112 to d-axis voltage calculation section 110
D-axis current command for automatically performing increase and decrease adjustment
Thus, the d-axis voltage calculation unit 110 can generate the d-axis voltage with improved robustness against disturbance torque
The d-axis current command operation means 109 may be configured as shown in fig. 9, for example. As shown in fig. 9, the d-axis current instruction arithmetic unit 109 shown in fig. 6 may be constituted by: is inputted with the detected q-axis current iqaThe band pass filter 91 of (1), an absolute value circuit (ABS)92 having an output of the band pass filter 91 as an input, a time constant variable filter having an output of the absolute value circuit 92 as an input, and an output gain multiplier 94 having an output of the time constant variable filter as an input. The output of the output gain multiplier 94 is input to one input of an adder 112. The other input terminal of the adder 112 is inputted with a d-axis current command from the actuator controller
The band-pass filter 91 is used for filtering the q-axis current iqaThe middle noise component and the steady deviation component become only a change component current including positive and negative changes. The absolute value circuit 92 measures the q-axis current i that changes in positive and negative values and is input from the band-pass filter 91qaIs subjected to the change component ofMaking a pair value to generate an absolute q-axis current iqbAnd outputs it to the time constant variable filter. The time constant variable filter includes: addition and subtraction operator 97, variable gain section 95, multiplier 96, and integrator 93. The addition-subtraction arithmetic unit 97 converts the q-axis current i from the absolute value of the absolute value circuit 92qbState quantity i of time constant variable filter is subtractedqf(which is the current integration value of the integrator 93) to obtain the deviation iqeAnd outputs it to variable gain unit 95 and one input of multiplier 96. The variable gain unit 95 output Gout is input to the other input of the multiplier 96. The output of the multiplier 96 is input to the integrator 93.
In the present invention, the variable gain unit 95 is based on the input deviation iqeA circuit for varying the gain of the output Gout when the deviation iqeWhen larger, the variable gain unit 95 outputs Gout with a larger gain value, and when the deviation i is largerqeWhen smaller, the variable gain unit 95 outputs Gout with a smaller value of gain.
Deviation i output from addition and subtraction operator 97qeMultiplied by the output Gout of the variable gain unit 97 in the multiplier 96, and input to the integrator 93 to be integrated to obtain the state quantity iqfTherefore, by the above-described operation of the variable gain unit 95, the state quantity iqfIs variable and in the state quantity iqfIncreased and state quantity iqfThe time constant is different in the case of the decrease. The output gain multiplier 94 will be based on the offset iqeThe state quantity i increasing or decreasing with different time constantsqfAnd an output gain kaMultiplying to generate a d-axis adjustment current command
The adder 12 outputs the d-axis adjustment current command generated by the gain multiplier 94
With d-axis current command from the operating mechanism controller
Added as a d-axis current command to the d-axis voltage calculating unit 10
In the present invention, when disturbance torque is applied, as shown in fig. 8, the rotor magnet 117 is moved away by d*The axis rotates in the direction of the axis, a voltage error is generated by the change of the induced electromotive force, and a q-axis current i that changes greatly is input from three-phase two-phase conversion section 107 to d-axis current command calculation section 109qa. In the d-axis current command operation means 109, the q-axis current i is extracted by the band-pass filter 91qaA large variation component. If the initially detected q-axis current iqaPositive polarity, the absolute value circuit 92 directly takes it as the absolute value q-axis current iqbAnd outputting the signal to a time constant variable filter. Time constant variable filter responding to inputted absolute q-axis current iqbIs commanded to d-axis current with a small time constant
And rises sharply. D-axis adjustment current command changed in such a manner
In the adder 112, the d-axis current command from the operating mechanism controller
Added and inputted to the d-axis voltage calculation unit 110 to generate a corresponding d-axis voltage
Through the d-axis current command
To cause the rotor magnet 117 to face d*Torque returned in the axial direction when d-axis current is commanded
When the magnetic flux rises to a certain value, the rotor magnet 117 is directed to d*The torque returning in the axial direction overcomes the disturbance torque, and the rotor speed is d*The axial direction changes. With rotor speed relative to d*The change of the axis is reduced, the voltage error is eliminated, and the q-axis current iqaAbsolute value of q-axis current iqbTherefore, in the time constant variable filter, the q-axis current i is absolute-valued in responseqbIs changed to make d-axis current command
With a large time constant. D-axis adjustment current command of such a decreasing variation
With q-axis current command from the operating mechanism controller
And (4) adding. During the process, when the disturbance torque disappears, the current command is adjusted by the d axis
Direction d of generation*Torque returning in the axial direction, rotor speed in the direction d*The axis direction changes, thereby inducing the change of the induced electromotive force again to generate a second q-axis current iqa. The induced electromotive force in this case has a polarity opposite to that when the disturbance torque is applied, and thus the 2 nd q-axis current i is generatedqaIn the present example, negative. The q-axis current i of negative polarityqaThe absolute value q-axis current i having positive polarity is converted by the absolute value circuit 92qbAnd is input to the time constant variable filter. In the time constant variable filter, the d-axis current command
Rises sharply with a small time constant. Then, the rotor speed is related to d＊The change of axis disappears and the second q-axis current iqaThe number of the grooves is reduced, and the,absolute q-axis current iqbWhen the current command is decreased, the d-axis is adjusted again in the time constant variable filter
Slowly decreases with a large time constant and finally becomes 0.
In this way, the d-axis current command calculation means 109 shown in fig. 9 can automatically determine and execute the d-axis current command from the actuator controller according to the disturbance torque
D-axis adjustment current command for performing increase/decrease adjustment
Therefore, the shaft offset caused by the disturbance torque can be eliminated, the robustness against the disturbance can be improved, and the consumed electric power can be reduced.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (8)
1. An artificial intelligent disinfection robot comprises a support, wherein a plurality of ultraviolet lamps, a camera and a control device are arranged on the support, and the camera is used for acquiring image information of an environment; the control device comprises a control system, at least controls the working state of the ultraviolet lamp, and is characterized in that a rotor wing is further arranged on the support, the control system comprises an artificial intelligence module and a rotor wing driver, the artificial intelligence module is used for processing image information acquired by the camera to determine the flight path of the robot, and provides a control signal for the rotor wing driver to control the operation of the rotor wing.
2. The artificial intelligence sterilization robot of claim 1, wherein the artificial intelligence module comprises: the flight control system comprises a flight instruction input module, an image input module, a neural network, a path planning module and a training module, wherein the data input module is configured to receive flight instruction information sent by a user handheld controller; the image input module is configured to receive image information shot by the camera; the path planning module is configured to generate control information for controlling the rotor driver according to the flight instruction information generated by the flight instruction input module or receive robot path information generated by a neural network to generate control information for controlling the rotor driver; the training module is configured to obtain learning data from the path planning module and provide the learning data to the neural network for the neural network to learn.
3. The artificial intelligence sterilization robot of claim 2, wherein the neural network comprises at least an input layer, a function layer, and an output layer, the input layer inputting image coordinates (x) of an imagen,ym) And rotation angle of camera shooting axis around y axis of space coordinate system
A rotation angle ω about an x-axis of a spatial coordinate system, a rotation angle κ about a z-axis of the spatial coordinate system, and image coordinates of the image may be represented by the following matrix:
wherein N is the number of rows of the image, M is the number of columns of the image, (x)1,y1)、(x1,yM)、(xN,y1) And (x)N,yM) Image coordinates of four corners of the input image, respectively; (x)n,ym) The image coordinate of any point in the image;
the function of the function layer satisfies at least the following equation:
wherein, (X Y Z) is the geodetic coordinates of the robot path; (X)n Ym Znm) Is a coordinate of (x)n,ym) Geodetic coordinates of the image counterpart of (a); f is the focal length of the camera; lambda and delta are normal numbers and are determined by a training module through learning; min { } is the minimum value;
a1＝cosφ·cosκ
a2＝cosω·sinκ+sinω·sinφ·cosκ
a3＝sinω·sinκ-cosω·sinφ·sinκ；
b1＝-cosφ·sinκ；
b2＝cosω·cosκ-sinω·sinφ·sinκ
b3＝sinω·sinκ+cosω·sinφ·sinκ
c1＝sinφ；
c2＝-sinω·cosφ；
c3＝cosω·cosφ；
the output layer (X-X)N),(Y-Ym),(Z-ZK)。
4. The artificial intelligent disinfection robot as claimed in any one of claims 1-3, further comprising a power source, wherein said power source comprises a receiving coil, which is a non-magnetic core coil, wound with a metal wire to form a cylindrical structure having a hollow portion, for receiving electric power transmitted from a wireless charger when charging, said wireless charger comprises a transmitting coil, which is a magnetic core coil wound with a metal wire on a portion of the magnetic core, wherein the magnetic core penetrates into the hollow portion of the receiving coil when wireless charging is performed.
5. The artificial intelligence sterilization robot of any one of claims 1-4, wherein the wireless charger further comprises an oscillator, a frequency divider, a first switching circuit, a second switching circuit, an inverter, a phase detection unit, an amplitude detection unit, and a processor, wherein the oscillator is configured to generate a signal of a fixed frequency; the frequency divider is used for dividing the frequency of the signal provided by the oscillator and respectively outputting the signal to the input end of the first switch circuit and the inverter; the inverter is used for inverting the signal provided by the frequency divider and providing the inverted signal to the input end of the second switching circuit; the output end of the first switch circuit is connected to the first end of the sending coil through a second capacitor, and the output end of the second switch circuit is connected to the second end of the sending coil; the phase detection unit is used for detecting the phase of the voltage of the transmitting coil; the amplitude detection unit is used for detecting the amplitude of the voltage of the transmitting coil; the processor determines whether the receiving coil moves to a predetermined position on the magnetic core according to the phase signal provided by the phase detection unit and the amplitude signal provided by the amplitude detection unit.
6. The unmanned aerial vehicle magnetic coupling wireless charging lightweight receiving system of claims 1-5, wherein the wireless charger further comprises an oscillator, a frequency divider, a first switch circuit, a second switch circuit, an inverter, a phase detection unit, an amplitude detection unit and a processor, wherein the oscillator is used for generating a signal with a fixed frequency; the frequency divider is used for dividing the frequency of the signal provided by the oscillator and respectively outputting the signal to the input end of the first switch circuit and the inverter; the inverter is used for inverting the signal provided by the frequency divider and providing the inverted signal to the input end of the second switching circuit; the output end of the first switch circuit is connected to the first end of the sending coil through a first capacitor, and the output end of the second switch circuit is connected to the second end of the sending coil through a second capacitor; the phase detection unit is used for detecting the phase of the voltage of the transmitting coil; the processor determines whether the receiving coil moves to a predetermined position on the magnetic core according to the phase signal provided by the phase detection unit and the amplitude signal provided by the amplitude detection unit.
7. The artificial intelligence sterilization robot of claim 5 or 6, wherein the switching circuit comprises a P-channel field effect transistor and an N-channel field effect transistor, gates of the P-channel field effect transistor and the N-channel field effect transistor are connected together as an input terminal, a drain of the P-channel field effect transistor is connected to a power supply, and a source is connected to a drain of the N-channel field effect transistor and serves as an output terminal; the source electrode of the N-channel field effect transistor is grounded.
8. The artificial intelligence sterilization robot of any one of claims 1 to 7, wherein the motor driver includes a d-axis current instruction arithmetic unit, a d-axis voltage calculation unit, a compensation unit, a conversion unit, a first coordinate conversion unit, a second coordinate conversion unit, a converter, a first current detector and a second current detector, wherein the first current detector and the second current detector detect the U-phase and V-phase currents i input to the motor, respectivelyuaAnd ivaAnd input to the first coordinate transformation unit to generate q-axis current iqaAnd d-axis current ida(ii) a The d-axis current calculation unit calculates the q-axis current i according to the q-axis currentqaGenerating a d-axis adjustment current
d-axis voltage calculation unit adjusts according to d-axis
And an input d-axis current command
Generating d-axis voltage
A q-axis voltage calculation unit (4) based on the angular velocity command
Generating a q-axis voltage
The adjusting unit is based on the q-axis current iqaD axis current idaAnd angular velocity command
Generating voltage for adjusting q-axis
And d-axis voltage
Q-axis adjustment voltage of
And d-axis regulated voltage
And
additive generation
And
additive generation
The second coordinate conversion unit is based on the current
And
generating
And
and supplied to the converter.
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