CN113741475A - Anti-moving system and method for mobile robot charging pile - Google Patents
Anti-moving system and method for mobile robot charging pile Download PDFInfo
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Abstract
The invention discloses a system and a method for preventing a mobile robot from moving a charging pile, which mainly comprise the following steps: the positioning tag is fixed at a position which can be sensed in the maximum range of the allowed movement of the charging pile; the sensing device is arranged on the charging pile and used for sensing the positioning tag and sending an alarm signal when the positioning tag cannot be sensed; and the alarm device is in communication connection with the sensing device and is used for receiving the alarm signal and giving an alarm. The invention realizes that the warning can be sent out in time when the charging pile is moved wrongly, thereby preventing the charging pile from being moved wrongly by people and ensuring the normal cruising work of the mobile robot. Meanwhile, the anti-moving system of the mobile robot charging pile is simple in structure, can be realized by directly adding corresponding modules on the basis of the existing mobile robot and charging pile, and saves the modification cost of the existing mobile robot and charging pile on the structure and functional circuit.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to an anti-moving system and an anti-moving method for a mobile robot charging pile.
Background
The mobile robot is a comprehensive system integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution and the like. The method integrates the research results of multiple subjects such as sensor technology, information processing, electronic engineering, computer engineering, automatic control engineering, artificial intelligence and the like, represents the highest achievement of mechanical-electrical integration, and is one of the most active fields of scientific and technical development at present. With the continuous improvement of the performance of the robot, the application range of the mobile robot is greatly expanded, and the mobile robot is widely applied to industries such as industry, agriculture, medical treatment, service and the like, and is well applied to harmful and dangerous occasions such as the fields of urban safety, national defense, space detection and the like.
When the mobile robot returns to the charging pile for charging, generally, the mobile robot returns to an area where a coordinate origin in a map is located, and then gradually approaches the charging pile and is connected with a charging pole piece between the charging piles based on methods such as graphic guide positioning and the like, so that charging connection between the mobile robot and the charging pile is realized. For the mobile robot, the change of the position of the charging pile near the origin of coordinates generally does not affect the charging of the mobile robot, which is guided to the charging pile by the mobile robot, and the change of the position of the charging pile in a small range near the origin of coordinates affects the change of the cruising route and the key point position of the mobile robot during repositioning, but within the error range, the change does not destroy the normal work of the mobile robot. However, when the position of the charging pile is changed greatly, the cruising route and the key point position of the mobile robot are changed greatly correspondingly when the mobile robot is repositioned, and the situation that the normal work of the mobile robot is damaged due to the fact that the cruising route and the key point position exceed the error allowable range occurs, for example, the navigation route hits the wall, and the key point position cannot reach the mobile robot, and the like. Therefore, the charging post should not be changed in position once it is determined. In order to ensure that the position of the charging pile is not changed at will, a prompting slogan is added (pasted) on the charging pile or a prompt is given in a product specification, and after the mobile robot completes the drawing construction work, the movement of the position of the charging pile is forbidden.
However, in many cases, for example, in the case of maintenance, repair, environmental cleaning, environmental decoration, etc., the charging pile has to be moved in position, and in addition, there may be a case where the charging pile is moved meaninglessly when a person does not find a prompt, so that it is not possible to ensure that the charging pile is not moved by human error even if a slogan-related prompt is performed, and in particular, in a large-scale system in which a large number of mobile robots and corresponding charging piles cooperate, it is more difficult to ensure that all the charging piles can be moved by human error.
Therefore, how to prevent the charging pile from being moved by human error becomes an urgent problem to be solved.
Disclosure of Invention
In view of the above, the invention provides a system and a method for preventing a mobile robot from moving a charging pile, so as to send out a warning in time when the charging pile is moved by mistake, prevent the charging pile from being moved by mistake and ensure the normal cruising work of the mobile robot.
The technical scheme of the invention is realized as follows:
an anti-moving system of a mobile robot charging pile comprises:
the charging pile comprises at least one positioning tag, a charging pile and a control device, wherein the positioning tag is at least one and is fixed at a position which can be sensed in the maximum range of the allowed movement of the charging pile;
the sensing device is arranged on the charging pile and used for sensing the positioning tag and sending an alarm signal when the positioning tag cannot be sensed;
and the alarm device is in communication connection with the sensing device and is used for receiving the alarm signal and giving an alarm.
Further, the positioning tag comprises an RFID tag and an NFC tag;
the positioning tag is fixed on the ground where the charging pile is located.
Further, when the number of the positioning labels is at least two, the label sensing ranges of all the positioning labels are connected into a whole;
wherein, the label perception range is as follows: for a certain positioning tag, the sensing means are able to sense the range of the tag.
Further, the sensing device includes:
an antenna for establishing a wireless communication connection with the positioning tag;
and the reading module is electrically connected with the antenna and is used for acquiring the information carried by the positioning label through the antenna and sending the alarm signal when the information carried by the positioning label is not acquired.
Further, mobile robot fills electric pile anti-moving system still includes:
the first wireless communication module is arranged on the charging pile, is electrically connected to the sensing device, and is used for receiving the alarm signal from the sensing device and wirelessly sending the alarm signal;
the second wireless communication module is arranged on the mobile robot and used for establishing wireless communication connection with the first wireless communication module and receiving the alarm signal from the first wireless communication module;
the alarm device is mounted on the mobile robot, electrically connected to the second wireless communication module, and used for receiving the alarm signal from the second wireless communication module and giving an alarm.
Further, the first wireless communication module and the second wireless communication module are bluetooth modules.
Further, the alarm device is installed in the charging pile and electrically connected to the sensing device.
Further, the alarm device is a sound alarm device and/or a light alarm device.
An anti-moving method of a mobile robot charging pile comprises the following steps:
the charging pile senses the positioning tag and sends out an alarm signal when the positioning tag cannot be sensed;
the alarm device receives the alarm signal and gives an alarm;
the positioning tags are at least one and are fixed at the position where the charging pile can sense within the maximum range of allowed movement.
Further, before the charging pile senses the positioning tag, the method further includes:
and the mobile robot instructs the charging pile to inquire whether the position of the charging pile is within the maximum range of the allowed movement of the charging pile.
A non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps in the mobile robot charging post anti-movement method as described above.
According to the scheme, the sensing distance between the sensing device and the positioning tag arranged on the charging pile is utilized, and the positioning tag is fixed, so that the maximum allowable moving range of the charging pile is limited, and the sensing device cannot sense the positioning tag and further send an alarm signal when the charging pile exceeds the maximum allowable moving range. Meanwhile, the anti-moving system of the mobile robot charging pile is simple in structure, can be realized by directly adding corresponding modules on the basis of the existing mobile robot and charging pile, and saves the modification cost of the existing mobile robot and charging pile on the structure and functional circuit.
Drawings
Fig. 1 is a schematic view of a mobile robot charging pile anti-movement system according to an embodiment of the invention;
FIG. 2A illustrates a first positioning tag arrangement in an embodiment of the present invention;
FIG. 2B is a second positioning tag arrangement in an embodiment of the present invention;
FIG. 2C illustrates a third exemplary positioning tag arrangement according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a sensing device according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an alarm device installed on one side of a charging pile according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an alarm device mounted on one side of a mobile robot according to an embodiment of the present invention;
fig. 6 is a flowchart of an anti-moving method of a mobile robot charging pile according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of a method for preventing a mobile robot from moving in a charging pile according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and examples.
In an indoor application environment, due to the blockage of a building, a mobile robot cannot be positioned and navigated through a satellite navigation positioning system, so that a positioning navigation mode different from satellite navigation positioning is required to be adopted. The robot using the laser radar SLAM (synchronous positioning And Mapping) navigation is a solution that can realize autonomous positioning And navigation in an indoor environment. According to the scheme, the robot can move from an unknown position in an unknown environment, self-positioning is carried out according to the position and a map in the moving process, and meanwhile an incremental map is built on the basis of self-positioning, so that autonomous positioning and navigation of the robot are achieved. In positioning and navigation, a coordinate origin is generally required to be set in a recorded map of the robot by using a laser radar SLAM navigation, and because the mobile robot is powered by a rechargeable battery (battery jar) and returns to a charging pile for charging when the power is low, the mobile robot usually takes the position of the charging pile marked in the map as the coordinate origin and uses the coordinate origin as a reference to plan a cruising route and key points on the map.
Due to the characteristics of the mobile robot, the indoor space unmanned environment can be inspected and transported, errors caused by manual work can be eliminated, the efficiency is improved, and the use requirements in various dustless and dusty environments can be met. Therefore, the method can be widely applied to the field of industrial internet, such as goods sorting, equipment inspection and the like. In these applications, the path planning and the accurate setting of the point locations (e.g., sorting stations and inspection points) of the mobile robot can directly affect the normal operation of the mobile robot, and therefore, the path planning and the accurate setting of the point locations of the mobile robot are very important.
Generally, when the mobile robot is deployed in a new environment, a working environment map is established from a charging pile, the position of the charging pile in the map is set as a coordinate origin, when the electric quantity of the mobile robot is low, the mobile robot returns to the charging pile according to the coordinate origin of the map for charging, and the mobile robot returns to the charging pile and then is repositioned, namely the position of the mobile robot is recalibrated in the map. Because the mobile robot plans the cruising route and the key point position on the map by taking the origin of coordinates as a reference, when the mobile robot is repositioned after returning to the charging pile, the cruising route and the key point position are usually changed correspondingly along with the change of the origin of coordinates.
Due to the fact that the position of the charging pile is changed greatly, the cruising route and key point positions of the mobile robot after relocation can be changed correspondingly greatly. In order to avoid this situation, the following technical solutions are proposed in the embodiments of the present invention to prevent an excessive change in the position of the charging pile.
As shown in fig. 1, the anti-moving system for a charging pile of a mobile robot provided by the embodiment of the invention mainly comprises a positioning tag 1, a sensing device 2 and an alarm device 3. The number of the positioning tags 1 is at least one, the positioning tags are fixed at positions which can be sensed by the charging pile 10 within the maximum range of the allowed movement of the charging pile, and the positioning tags 1 cannot be sensed by the charging pile 10 outside the maximum range of the allowed movement of the charging pile. Sensing device 2 is installed in filling electric pile 10, and sensing device 2 is used for perception location label 1 to send alarm signal when the perception can not reach location label 1. The alarm device 3 is in communication connection with the sensing device 1, and the alarm device 3 is used for receiving an alarm signal and giving an alarm. The alarm content is content that the charging pile 10 is moved beyond the maximum range of movement allowed by the charging pile.
In an alternative embodiment, the positioning tag 1 is fixed to the ground on which the charging pile 10 is located.
Fig. 2A shows a first positioning tag arrangement in an embodiment of the invention. In fig. 2A, the charging pile 10 with the sensing device 2 is placed on the ground 30, the number of the positioning tags 1 is 1, and the positioning tags 1 are fixed (e.g., adhered) to the ground 30. Circular area A is the scope that perception device 2 can perceive to location label 1, and as long as have the electric pile 10 that fills of perception device 2 and be located circular area A, just can perceive location label 1, as long as have the electric pile 10 that fills of perception device 2 and be located outside circular area A, just can not perceive location label 1. Therefore, in the embodiment shown in fig. 2A, the position of the positioning tag 1 determines the maximum movable range of the charging pile 10 equipped with the sensing device 2, and in the embodiment of the present invention, once the charging pile 10 with the sensing device 2 is moved beyond the circular area a, the sensing device 2 will send out an alarm signal because it cannot sense the positioning tag 1, and the alarm device 3 will give an alarm when receiving the alarm signal to remind that the charging pile 10 is moved beyond the maximum range of the allowed movement.
Fig. 2B shows a second positioning tag arrangement in an embodiment of the invention. In fig. 2B, the charging pile 10 with the sensing device 2 is placed on the ground 30, the number of the positioning tags is 3, the positioning tags are respectively a first positioning tag 11, a second positioning tag 12 and a third positioning tag 13, and the first positioning tag 11, the second positioning tag 12 and the third positioning tag 13 are fixed (e.g., adhered) to the ground 30. The first circular area a1 is a range that can be sensed by the sensing device 2 for the first positioning tag 11, that is, as long as the charging post 10 with the sensing device 2 is located in the first circular area a1, the first positioning tag 11 can be sensed, and as long as the charging post 10 with the sensing device 2 is located outside the first circular area a1, the first positioning tag 11 cannot be sensed; the second circular area a2 is a range that can be sensed by the sensing device 2 for the second positioning tag 12, that is, the second positioning tag 12 can be sensed as long as the charging post 10 with the sensing device 2 is located in the second circular area a2, and the second positioning tag 12 cannot be sensed as long as the charging post 10 with the sensing device 2 is located outside the second circular area a 2; the third circular area A3 is a range that can be sensed by the sensing device 2 for the third positioning tag 13, that is, as long as the charging pile 10 with the sensing device 2 is located in the third circular area A3, the third positioning tag 13 can be sensed, and as long as the charging pile 10 with the sensing device 2 is located outside the third circular area A3, the third positioning tag 13 cannot be sensed.
In the embodiment shown in fig. 2B, first positioning tab 11, second positioning tab 12 and third positioning tab 13 are triangularly positioned, this determines the maximum movable range of the charging post 10 fitted with the sensing device 2 as a substantially triangular area, i.e. the coverage of the first circular area a1, the second circular area a2 and the third circular area A3 as shown in figure 2B, in the embodiment of the present invention, once the charging pile 10 with the sensing device 2 is moved out of the three circular areas, the sensing device 2 will send out an alarm signal because it cannot sense any one of the first positioning tag 11, the second positioning tag 12 and the third positioning tag 13, and the alarm device 3 gives an alarm when receiving the alarm signal so as to remind that the charging pile 10 is moved beyond the maximum range of the movement allowed by the charging pile.
In fig. 2B, there is a partial overlap area between the first circular area a1, the second circular area a2, and the third circular area A3, in order to avoid the problem of no coverage occurring in the middle of the three circular areas, if there is no partial overlap between the three circular areas, there must be a position at least in the middle of the three circular areas that is not covered by the respective circular area, and when the charging post 10 is in this position, even though the charging post 10 may not exceed the maximum range of movement allowed by the charging post, the sensing device 2 installed on the charging post 10 cannot sense any one of the positioning tags, therefore, the presence of the partial overlapping area among the first circular area a1, the second circular area a2 and the third circular area A3 ensures that the sensing device 2 senses at least one positioning tag at any position of the charging post 10 within the maximum range of movement allowed by the charging post.
Fig. 2C shows a third positioning tag arrangement in an embodiment of the invention. In fig. 2C, the charging pile 10 with the sensing device 2 is placed on the ground 30, the number of the positioning tags is 5, and the first positioning tag 11, the second positioning tag 12, the third positioning tag 13, the fourth positioning tag 14 and the fifth positioning tag 15 are respectively fixed (e.g., adhered) to the ground 30. The first circular area a1 is a range that can be sensed by the sensing device 2 for the first positioning tag 11, that is, as long as the charging post 10 with the sensing device 2 is located in the first circular area a1, the first positioning tag 11 can be sensed, and as long as the charging post 10 with the sensing device 2 is located outside the first circular area a1, the first positioning tag 11 cannot be sensed; the second circular area a2 is a range that can be sensed by the sensing device 2 for the second positioning tag 12, that is, the second positioning tag 12 can be sensed as long as the charging post 10 with the sensing device 2 is located in the second circular area a2, and the second positioning tag 12 cannot be sensed as long as the charging post 10 with the sensing device 2 is located outside the second circular area a 2; the third circular area A3 is a range that can be sensed by the sensing device 2 for the third positioning tag 13, that is, as long as the charging pile 10 with the sensing device 2 is located in the third circular area A3, the third positioning tag 13 can be sensed, and as long as the charging pile 10 with the sensing device 2 is located outside the third circular area A3, the third positioning tag 13 cannot be sensed; the fourth circular area a4 is a range that can be sensed by the sensing device 2 for the fourth positioning tag 14, that is, the fourth positioning tag 14 can be sensed as long as the charging post 10 with the sensing device 2 is located in the fourth circular area a4, and the fourth positioning tag 14 cannot be sensed as long as the charging post 10 with the sensing device 2 is located outside the fourth circular area a 4; the fifth circular area a5 is a range that can be sensed by the sensing device 2 for the fifth positioning tag 15, that is, the fifth positioning tag 15 can be sensed as long as the charging post 10 with the sensing device 2 is located in the fifth circular area a5, and the fifth positioning tag 15 cannot be sensed as long as the charging post 10 with the sensing device 2 is located outside the fifth circular area a 5.
In the embodiment of fig. 2B, first positioning tag 11, second positioning tag 12, third positioning tag 13 and fourth positioning tag 14 are distributed in a quadrilateral shape, and fifth positioning tag 15 is located in the central portion of the quadrilateral shape, so that fifth circular area a5 determined by fifth positioning tag 15 can fill the area which cannot be covered between first circular area a1, second circular area a2, third circular area A3 and fourth circular area a4, which determines that the maximum movable range of charging post 10 mounted with sensing device 2 is a substantially quadrilateral area, i.e. the range of first circular area a1, second circular area a2, third circular area A3 and fourth circular area a4 and including fifth circular area a5 as shown in fig. 2C, once charging post 10 with sensing device 2 is moved outside the five circular areas, the sensing device 2 will send out an alarm signal because it cannot sense any one of the first positioning tag 11, the second positioning tag 12, the third positioning tag 13, the fourth positioning tag 14 and the fifth positioning tag 15, and the alarm device 3 will give an alarm when receiving the alarm signal, so as to remind the charging pile 10 to be moved beyond the maximum range of the allowed movement.
In the present disclosure, only the three positioning tag arrangements shown in fig. 2A, fig. 2B and fig. 2C are illustrated, in an actual scenario, the positioning tags are not limited to these three arrangements, and the number of the positioning tags may be increased or decreased as needed, and meanwhile, the positioning tags are not limited to be fixed on the ground, but also fixed on the wall, ceiling, pillar, and the like.
In the anti-moving system for the charging pile of the mobile robot in the embodiment of the present invention, no matter the arrangement manner of the positioning tags shown in fig. 2A, 2B, and 2C or other arrangement manners, the arrangement of the positioning tags needs to satisfy the following conditions:
when the number of the positioning labels is at least two, the label sensing ranges of all the positioning labels are connected into a whole.
Wherein, the label perception range is as follows: for a certain positioning tag, the sensing means are able to sense the range of the tag.
For example, in fig. 2B, for first positioning tag 11, sensing device 2 can sense that first positioning tag 11 has a first circular area a1, i.e. first circular area a1 is the tag sensing area of first positioning tag 11, and similarly, second circular area a2 is the tag sensing area of second positioning tag 12, and third circular area A3 is the tag sensing area of third positioning tag 13. In the embodiment of FIG. 2B, first circular area A1 (the label sensing range of first positioning tag 11), second circular area A2 (the label sensing range of second positioning tag 12), and third circular area A3 (the label sensing range of third positioning tag 13) are shown as integral. In fig. 2C, first circular area a1 (the label sensing range of first positioning label 11), second circular area a2 (the label sensing range of second positioning label 12), third circular area A3 (the label sensing range of third positioning label 13), fourth circular area a4 (the label sensing range of fourth positioning label 14), and fifth circular area a5 (the label sensing range of fifth positioning label 15) are integrated.
In alternative embodiments, the positioning tag 1 includes an RFID (Radio Frequency Identification) tag, an NFC (Near Field Communication) tag, or the like. In a complex application scene, for example, in a scene where a plurality of charging piles 10 exist at the same time, each charging pile 10 needs to be placed in the range of the position to which the charging pile 10 belongs, in this case, the positioning tag 1 is matched with the sensing device 2 installed in the charging pile 10, it is ensured that each charging pile 10 corresponds to the positioning tag 1 matched with the charging pile 10, and further, the maximum allowable movement range of each charging pile 10 can be ensured by using the matching relationship between the positioning tag 1 and the charging pile 10.
In an alternative embodiment, as shown in figure 3, the perceiving device 2 comprises an antenna 21 and a reading module 22. Wherein the antenna 21 is used for establishing a wireless communication connection with the positioning tag 1. The reading module 22 is electrically connected to the antenna 21, and is configured to acquire information carried by the positioning tag 1 through the antenna 21, and send an alarm signal when the information carried by the positioning tag 1 is not acquired. As for the hardware implementation of the antenna 21 and the reading module 22, an existing tag information reading device, such as a device for reading information from an RFID tag or a device for reading information from an NFC tag, may be used.
In an alternative embodiment, the alarm device 3 is an acoustic alarm device and/or a light alarm device. In an alternative embodiment, the information emitted by the audible alarm device is for example similar to a voice message "the position of the charging post has exceeded its prescribed range", and the information emitted by the light alarm device is for example a flashing light signal.
In an alternative embodiment, the alarm content may be sent out on the charging pile side. As shown in fig. 4, in this embodiment, the alarm device 3 is mounted to the charging pile 10 and is electrically connected to the sensing device 2 to directly receive the alarm signal from the sensing device 2. With this alternative embodiment, once the charging post 10 is moved outside the maximum range of movement allowed, an alarm is issued on the charging post 10 side for the first time. When adopting this optional embodiment, after personnel remove charging pile 10 for some purpose, can obtain charging pile 10's warning fast to avoid forgetting to remove the home position with charging pile 10.
In an alternative embodiment, the alarm content may be issued on the mobile robot side. As shown in fig. 5, in this alternative embodiment, the anti-moving system for a charging pile of a mobile robot further includes a first wireless communication module 4 and a second wireless communication module 5. Wherein, first wireless communication module 4 is installed in filling electric pile 10 and electricity and connects in perception device 2, and first wireless communication module 4 is used for receiving alarm signal and carries out wireless transmission with alarm signal from perception device 2. The second wireless communication module 5 is installed on the mobile robot 20, and the second wireless communication module 5 is used for establishing wireless communication connection with the first wireless communication module 4 and receiving an alarm signal from the first wireless communication module 4. In this alternative embodiment, the alarm device 3 is mounted on the mobile robot 20 and electrically connected to the second wireless communication module 5, and the alarm device 3 is configured to receive an alarm signal from the second wireless communication module 5 and alarm. With this alternative embodiment, the alarm timing of the alarm device 3 depends on the communicable distance between the first wireless communication module 4 and the second wireless communication module 5, i.e., the distance between the charging piles 10 of the mobile robot 20. In this way, an alarm may be triggered when mobile robot 20 returns to the origin of coordinates area (i.e., the area of origin of coordinates location of charging pile 10 in the map built by mobile robot 20) ready for charging. In this alternative embodiment, whether the charging pile 10 is moved out of the maximum range of the movement allowed by the charging pile may be actively initiated to the charging pile 10 through the wireless communication links of the first wireless communication module 4 and the second wireless communication module 5 when the mobile robot 20 returns to the origin of coordinates to perform charging, and corresponding information may be fed back to the mobile robot 20 by the charging pile 10.
In an alternative embodiment, the first wireless communication module 4 and the second wireless communication module 5 are bluetooth modules.
Besides the alarm modes in the above embodiments, remote alarm can be performed. For example, the first wireless communication module 4 includes a wireless network card, a 4G communication module, or a 5G communication module installed in the charging pile 10, and the first wireless communication module 5 includes a wireless gateway, a 4G hotspot, a 5G hotspot, a 4G base station, or a 5G base station. The alarm device 3 is arranged at the network side and receives alarm signals through the network. The remote management platform for remote management and control of the mobile robot can be used as a hardware carrier of the alarm device 3 to realize an alarm function.
The embodiment of the invention also provides an anti-moving method for a mobile robot charging pile, which mainly comprises the following steps as shown in fig. 6:
and 2, receiving the alarm signal by the alarm device and giving an alarm.
Wherein, the location label is at least one, is fixed in the position that fills electric pile and can perceive in its maximum scope that allows to move.
In an optional embodiment, before the step 1 of sensing and locating the charging pile is executed, the method for preventing the mobile robot from moving in the charging pile according to the embodiment of the present invention may further include:
the mobile robot instructs the charging pile to inquire whether the position of the charging pile is within the maximum range of the allowed movement of the charging pile.
Wherein, mobile robot can initiate the instruction to filling electric pile through the bluetooth.
The following describes, with reference to the solutions mentioned in the above embodiments and a specific process shown in fig. 7, a mobile robot charging pile anti-moving system and method according to an embodiment of the present invention, where the process includes:
and a, when the mobile robot is low in electric quantity, guiding the mobile robot back to an area where the charging pile is located corresponding to the origin of coordinates in the map through a navigation system, and then executing a step b.
And step b, the mobile robot queries whether the position of the charging pile is within the maximum range of the allowed movement of the mobile robot through a Bluetooth instruction, and then step c is executed.
C, reading the positioning tag by the charging pile through a sensing device, and then executing the step d;
and d, judging whether the positioning tag is read or not by the charging pile, executing the step e if the positioning tag is read, and executing the step g if the positioning tag is not read.
And e, feeding back normal position information of the charging pile to the mobile robot through the Bluetooth by the charging pile, and then executing the step f.
And f, the mobile robot executes a charging process of docking with the charging pile.
And g, sending an alarm signal of abnormal position of the charging pile to the mobile robot through the Bluetooth of the charging pile, and then executing the step h.
And h, the mobile robot gives an alarm to request manual intervention to recover the position of the charging pile.
Embodiments of the present invention also provide a non-volatile computer-readable storage medium, where the non-volatile computer-readable storage medium stores instructions, and the instructions, when executed by a processor, cause the processor to perform the steps in the above-described method for preventing the mobile robot charging pile from moving.
According to the anti-moving system and method for the mobile robot charging pile, the sensing distance between the sensing device and the positioning tag which are installed on the charging pile is utilized, and the positioning tag is fixed, so that the maximum allowable moving range of the charging pile is limited, and therefore when the charging pile exceeds the maximum allowable moving range of the charging pile, the sensing device cannot sense the positioning tag and further sends out an alarm signal. Meanwhile, the anti-moving system of the mobile robot charging pile is simple in structure, can be realized by directly adding corresponding modules on the basis of the existing mobile robot and charging pile, and saves the modification cost of the existing mobile robot and charging pile on the structure and functional circuit.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides a mobile robot fills electric pile anti-moving system which characterized in that includes:
the charging pile comprises at least one positioning tag, a charging pile and a control device, wherein the positioning tag is at least one and is fixed at a position which can be sensed in the maximum range of the allowed movement of the charging pile;
the sensing device is arranged on the charging pile and used for sensing the positioning tag and sending an alarm signal when the positioning tag cannot be sensed;
and the alarm device is in communication connection with the sensing device and is used for receiving the alarm signal and giving an alarm.
2. The mobile robot charging pile movement prevention system according to claim 1, characterized in that:
the positioning tag comprises an RFID tag and an NFC tag;
the positioning tag is fixed on the ground where the charging pile is located.
3. The mobile robot charging pile movement prevention system according to claim 2, characterized in that:
when the number of the positioning labels is at least two, the label sensing ranges of all the positioning labels are connected into a whole;
wherein, the label perception range is as follows: for a certain positioning tag, the sensing means are able to sense the range of the tag.
4. The system of claim 1, wherein the sensing device comprises:
an antenna for establishing a wireless communication connection with the positioning tag;
and the reading module is electrically connected with the antenna and is used for acquiring the information carried by the positioning label through the antenna and sending the alarm signal when the information carried by the positioning label is not acquired.
5. The mobile robot charging post anti-migration system according to claim 1, further comprising:
the first wireless communication module is arranged on the charging pile, is electrically connected to the sensing device, and is used for receiving the alarm signal from the sensing device and wirelessly sending the alarm signal;
the second wireless communication module is arranged on the mobile robot and used for establishing wireless communication connection with the first wireless communication module and receiving the alarm signal from the first wireless communication module;
the alarm device is mounted on the mobile robot, electrically connected to the second wireless communication module, and used for receiving the alarm signal from the second wireless communication module and giving an alarm.
6. The mobile robot charging pile movement prevention system according to claim 4, characterized in that:
the first wireless communication module and the second wireless communication module are Bluetooth modules.
7. The mobile robot charging pile movement prevention system according to claim 1, characterized in that:
the alarm device is arranged on the charging pile and is electrically connected to the sensing device;
the alarm device is a sound alarm device and/or a light alarm device.
8. An anti-moving method of a mobile robot charging pile comprises the following steps:
the charging pile senses the positioning tag and sends out an alarm signal when the positioning tag cannot be sensed;
the alarm device receives the alarm signal and gives an alarm;
the positioning tags are at least one and are fixed at the position where the charging pile can sense within the maximum range of allowed movement.
9. The mobile robot charging post anti-movement method of claim 8, wherein before the charging post senses the location tag, the method further comprises:
and the mobile robot instructs the charging pile to inquire whether the position of the charging pile is within the maximum range of the allowed movement of the charging pile.
10. A non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps in the mobile robot charging post anti-movement method of claim 8 or 9.
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