CN115632462A - Automatic charging system of robot - Google Patents

Automatic charging system of robot Download PDF

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Publication number
CN115632462A
CN115632462A CN202211362546.2A CN202211362546A CN115632462A CN 115632462 A CN115632462 A CN 115632462A CN 202211362546 A CN202211362546 A CN 202211362546A CN 115632462 A CN115632462 A CN 115632462A
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module
charging
robot
control unit
dimensional code
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刘青松
艾米尔
肖绍章
李国豪
王志强
韩云鹏
管薪
高涵
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Huaiyin Institute of Technology
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Huaiyin Institute of Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
    • H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/66—Structural association with built-in electrical component
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/66—Structural association with built-in electrical component
    • H01R13/665—Structural association with built-in electrical component with built-in electronic circuit
    • H01R13/6683—Structural association with built-in electrical component with built-in electronic circuit with built-in sensor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
    • H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Manipulator (AREA)

Abstract

A robot automatic charging system comprises an automatic charging module and a charging station module; the charging station module is installed in the charging pile, and a two-dimensional code is arranged on the charging pile; the charging station module comprises a charging station control unit module, an infrared pair tube module, a laser ranging sensor group module and a first wireless communication module, wherein the infrared pair tube module, the laser ranging sensor group module and the first wireless communication module are connected with the charging station control unit module; the automatic charging module comprises a robot control unit module, a servo motor module, an AI vision camera module, a voltage sensor module and a wireless communication module, wherein the servo motor module, the AI vision camera module, the voltage sensor module and the wireless communication module are in signal connection with the robot control unit module through a serial port communication module; the AI vision camera module is used for shooting and reading the two-dimensional code, and information interaction is carried out between the charging station control unit module and the robot control unit module through the wireless communication module. According to the invention, the accurate butt joint of the charging plug and the charging pile is completed through three times of angle adjustment, and compared with a similar butt joint device, the precision is greatly improved.

Description

Automatic charging system of robot
Technical Field
The invention relates to the technical field of robots, in particular to an automatic robot charging system.
Background
Robots are the common name for automatically controlled machines, including all machines that simulate human or other biological behavior or thought. With the development of science and technology, robots are widely used in various fields of human life and industries. The intelligent multifunctional intelligent robot can automatically execute tasks, can assist or even replace human beings to work, and enables life and production to become intelligent, efficient and diversified.
When the robot is applied to a power supply and transformation plant, a service hall or other places, the robot needs to operate automatically, and human intervention is reduced. Consequently, often need the robot automatic with fill electric pile butt joint to the realization fills electric pile and carries out the purpose of charging to the robot.
For robots in the market, an extremely high amount of electricity is consumed due to the excessive weight of the robots and a plurality of servo motors carried by the robots, so that the charging research on the robots is an important part, for a robot, due to the irregular shape of the robot and the uncertainty of actions in the moving process, the robot is extremely difficult to perfectly and automatically butt-joint a charging pile to complete automatic charging, the butt-joint principle of the automatic charging robots researched in the prior art is simple, but the butt-joint precision is low, the success rate is not high, for example, the daoyang uses a visual camera to identify a fixed color block near the charging pile so as to determine the approximate position of the charging pile to realize automatic charging, but the system has strict requirements on application scenes and is not enough to meet the requirements well.
Disclosure of Invention
In order to solve the problems that when the robot is in butt joint with a charging pile to complete the charging purpose, the butt joint precision is poor, and automatic charging cannot be well achieved, the robot automatic charging system is provided.
The invention is realized by the following technical scheme:
an automatic robot charging system comprises an automatic charging module arranged on an automatic charging robot and a charging station module in butt joint with the automatic charging module, wherein the charging station module is arranged in a charging pile; the charging pile is provided with a two-dimensional code, and the charging station module comprises a charging station control unit module, an infrared pair tube module, a laser ranging sensor group module and a first wireless communication module which are connected with the charging station control unit module; the automatic charging module comprises a robot control unit module, a servo motor module, an AI vision camera module, a voltage sensor module and a wireless communication module II, wherein the servo motor module, the AI vision camera module, the voltage sensor module and the wireless communication module II are in signal connection with the robot control unit module through a serial port communication module; the AI visual camera module is used for shooting and reading the two-dimensional code, and the charging station control unit module and the robot control unit module perform information interaction through the wireless communication module; the robot control unit module and the charging station control unit module adopt a raspberry server and are used for receiving and processing sensor signals, identifying, positioning and decoding two-dimensional codes, driving a servo motor module, controlling an automatic charging process and receiving and processing information sent by an AI visual camera module; after the automatic charging robot is adjusted twice by using the laser ranging sensor group and the infrared pair tube group, the AI vision camera module is combined with the two-dimensional code to perform angle adjustment for the third time, the charging plug on the automatic charging robot is in butt joint with a charging interface on the charging pile, the alignment of the charging interface is performed by using a mode of detecting the two-dimensional code by using the AI vision camera module, the charging plug is in butt joint with the center of the two-dimensional code, and the PD control method of dynamic proportion parameters is used in the moving process, so that the success probability of butt joint is improved.
Furthermore, the laser ranging sensor group on the charging pile is used for detecting whether a robot appears, when the robot enters a distance threshold range measured by the laser ranging sensor, a timer connected with the laser ranging sensor records the time of an object in the monitoring range, and when the staying time of the robot is greater than a set threshold, the laser ranging sensor transmits a signal of the robot appearing to the charging station control unit module; the method comprises the following specific steps:
the laser ranging sensor module group consists of two laser ranging sensors, when an object appears in a range d =40cm away from the laser ranging sensors, a timer is started at the moment, the staying time t of the object is counted, and when the staying time is more than 3s, the robot is judged to appear at the moment; when the robot is judged to appear, the posture of the robot is detected, the distances S1 and S2 from the head end and the tail end of the robot to the charging pile are detected through the laser ranging sensor, and the inclination angle theta of the robot relative to the charging pile is calculated; the calculation formula is as follows:
Figure BDA0003923198170000031
；
in the above formula, S1 is the distance between the laser ranging sensor E and the robot, S2 is the distance between the laser ranging sensor F and the robot, and d is the distance between the two laser ranging sensors;
the laser ranging sensor module uploads the monitored distance S1 and S2 and the calculated inclination angle theta to the charging station control unit module, the charging station control unit module issues a signal command according to the values of the distance S1 and the inclination angle theta, the command is transmitted to the robot control unit module through the wireless communication module, the robot control unit module transmits the command to the servo motor module through the serial port communication module, the servo motor module drives the corresponding component to adjust the charging plug to move by a corresponding angle, and the first angle adjustment of the charging plug is completed.
Further, the robot is provided with an infrared geminate transistor module for butting with the infrared geminate transistor module on the charging pile, the butting process is a process of butting a charging plug with a charging interface, and the process is a second-time angle adjustment of the charging plug; the specific operation mode is as follows:
after the first angle adjustment of the charging plug is completed, assuming that the charging plug is positioned on the left side of the charging pile at the moment, the infrared pair transistor on the right side is lighted at the moment; the robot control unit module sends a control instruction, the control instruction is sent to the servo motor module through the serial port communication module, the servo motor module operates to drive corresponding parts to move and drive the charging plug to move rightwards until the infrared geminate transistors on the two sides are lightened;
if the charging plug is positioned on the right side of the charging pile at the moment, the infrared pair tube on the left side is lighted up at the moment; the robot control unit module sends a control instruction, the control instruction is sent to the servo motor module through the serial port communication module, the servo motor module operates to drive corresponding parts to move and drive the charging plug to move leftwards until the infrared geminate transistors on the two sides are lightened;
and after the infrared geminate transistors on the two sides are all lightened, the robot is in a stop state, and the secondary angle adjustment of the charging plug is completed.
Furthermore, the charging interface is arranged at the center of the two-dimensional code, and the AI visual camera module is used for scanning the two-dimensional code and positioning the two-dimensional code; the position of the charging interface is positioned, the third angle adjustment of the charging plug is completed, and the specific operation mode is as follows:
(1) Preparing checkerboard pictures, extracting angular point information of each picture by using a Zhang correction method, calibrating a camera by using the acquired angular points, acquiring an internal reference matrix, an external reference matrix and a distortion coefficient of the camera, and removing distortion of the picture shot by the AI visual camera by using the acquired internal reference matrix and the distortion coefficient of the camera;
(2) Using bilateral filtering to the image subjected to distortion removal, performing noise reduction processing to obtain an image subjected to noise reduction processing, performing edge extraction on the obtained image by using a Scharr algorithm to obtain an edge extraction result, performing binarization on the edge extraction result, setting pixel points of the extracted edge position to be 1, setting other positions to be 0, performing area and proportion filtering on a contour according to the characteristics of three regions of a two-dimensional code, and when the characteristics of the three regions are from left to right, performing black-white proportion from top to bottom to be 1:1:3:1:1, judging that the two-dimensional code detected by the AI visual camera module is the two-dimensional code, decoding the obtained two-dimensional code by using zbar, and determining that the two-dimensional code is the two-dimensional code to be searched and containing charging pile information;
assuming that the detected two-dimensional code is corresponding, positioning a spatial coordinate of a specific position at the center of the two-dimensional code, subtracting the current position from the center of the two-dimensional code, weighting the obtained value, obtaining an output signal through a PID algorithm, driving a servo motor to drive a charging plug to move to the center of the two-dimensional code, sending a robot control unit module to a mechanical arm to move to the specific position of the two-dimensional code, wherein the charging plug is right opposite to a charging interface, the robot control unit module sends a docking instruction, and the robot control mechanical arm moves forward until docking is completed.
Further, the PID algorithm formula is:
Figure BDA0003923198170000051
in the above formula, u is the rotational speed of the servo motor, K p 、K I 、K d All the parameters are proportional coefficients, and delta x is a difference value between a current value and a target value, namely a difference value between the position of the current mechanical arm and the position of the charging pile;
p is the difference between the target value and the current value, for K p In other words, the larger the value of P, the faster the motor moves, and the worse the motor stability is; i is carried out by carrying out deviation valueObtained by addition of, K I The larger the value is, the larger the integral coefficient multiplied during the integration is, the more obvious the integration effect is, the function is to reduce the error under the static condition, and the controlled physical quantity is made to be as close to the target value as possible; d is the rate of change of the deviation by which the system approaches steady state faster, K d The greater the value of (A), the faster the speed of entering the steady state, K d The smaller the value of (A) is, the slower the speed of entering the steady state is;
according to the practical situation of the robot docking process, the robot docking process is rarely kept in a stable state, the static error is extremely small and difficult to count, therefore, I is set to be 0, and a dynamic proportion parameter K is used for reducing the error p Initially, if the position of the charging plug is far from the charging connector, the deviation is large, and a large proportion parameter K is used p The charging plug is enabled to be close to the position of the charging pile quickly and reach a stable state as soon as possible, when the charging plug approaches the charging pile, the deviation is small, and a small proportion parameter K is used p Slowing down the speed of movement, reducing vibrations, K p The calculation formula of (c) is:
Figure BDA0003923198170000061
where Δ x is a difference between the detected position of the center of the two-dimensional code and the current center position, Δ x max Is the maximum difference between the detected position of the center of the two-dimensional code and the current center position; the PD control of the dynamic proportion parameters is utilized, so that the butt joint can be completed quickly and accurately; the specific process is as follows:
a charging target identification and positioning function runs on the robot control unit, and the function is input into a three-channel image matrix transmitted back by the AI visual camera; when a program runs to a charging target recognition and docking function, a robot control unit collects an image captured by an AI visual camera, the image is used as input to carry out image recognition and positioning processing, the current position of a two-dimensional code center is obtained, the current position of the two-dimensional code center is differed from the position of the AI camera center, the obtained difference value is used as a docking information generation basis, the robot control unit obtains a driving output signal by using a PID algorithm through the difference value information, and drives a stepping motor to drive a charging plug to move towards a target direction for docking; after the charging plug moves to the assigned position, the stepping motor stops moving, the telescopic motor stretches out, the charging plug is sent to the charging pile, and the butt joint is achieved.
Furthermore, after the charging interface is in butt joint with the charging plug, the voltage sensor module can acquire the current of the charged battery, the robot control unit module receives the voltage detected by the voltage sensor module, and the voltage is compared with the current battery voltage to judge whether the charging interface is successfully connected with the charging plug; the specific operation mode for judging whether the charging interface is successfully connected with the charging plug is as follows:
(1) Charging current flows into the current sensing chip from the first pin of the P5, then the charging current is input to the positive electrode of the battery, and the negative electrode of the battery is connected to the negative electrode of the charging current to form a complete charging loop;
(2) The current is input into the wafer, and the work circuit in the wafer can convert the electric current that passes through into corresponding voltage, later by 7 foot to MCU output, this process is for gathering and detecting the charging current.
Advantageous effects
Compared with the prior art, the automatic robot charging system provided by the invention has the following beneficial effects:
(1) According to the technical scheme, the laser ranging sensor group module, the infrared geminate transistor module and the AI vision camera module are matched with each other, and the charging plug on the automatic charging robot is in butt joint with a charging interface on the charging pile through three times of angle adjustment of the charging plug. After 2 times of mechanical arm adjustment is carried out under the information interaction butt joint between the detection of the laser ranging sensor group module and the infrared geminate transistor module and the controller, the charging plug approximately corresponds to the charging interface; the alignment of the charging interface is carried out by utilizing the mode that the AI visual camera module detects the two-dimensional code, the charging plug is in butt joint with the center of the two-dimensional code, and a PD control method of dynamic proportion parameters is used in the moving process, so that the success probability of butt joint is improved, and automatic charging is completed; need not manual operation, improve work efficiency, safe and reliable. Compared with the similar butt joint method, the precision is greatly improved.
Drawings
FIG. 1 is a block diagram of the overall architecture of the present invention.
Fig. 2 is a schematic flow chart of the image reading process of the AI visual camera module according to the present invention.
Fig. 3 is a circuit schematic of the voltage sensor module of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
As shown in fig. 1, an automatic robot charging system includes an automatic charging module disposed on an automatic charging robot, and a charging station module connected to the automatic charging module, wherein the charging station module is installed in a charging pile.
The charging pile is provided with a two-dimensional code, and the charging station module comprises a charging station control unit module, an infrared pair tube module, a laser ranging sensor group module and a first wireless communication module, wherein the infrared pair tube module, the laser ranging sensor group module and the first wireless communication module are connected with the charging station control unit module.
The automatic charging module comprises a robot control unit module, a servo motor module, an AI vision camera module, a voltage sensor module and a wireless communication module, wherein the servo motor module, the AI vision camera module, the voltage sensor module and the wireless communication module are in signal connection with the robot control unit module through a serial port communication module, and the voltage sensor module is connected with a battery to monitor the electric quantity of the battery in real time.
The AI vision camera module is used for shooting and reading the two-dimensional code, and the charging station control unit module and the robot control unit module are in information interaction through the wireless communication module.
The robot control unit module and the charging station control unit module adopt a raspberry server and are used for receiving and processing sensor signals, recognizing, positioning and decoding two-dimensional codes, driving the servo motor module, controlling an automatic charging process and receiving and processing information sent by the AI visual camera module.
After the automatic charging robot is adjusted twice by using the laser ranging sensor group and the infrared pair tube group, the AI vision camera module is combined with the two-dimensional code to be matched with each other to adjust the angle for the third time, the charging plug on the automatic charging robot is butted with a charging interface on a charging pile, the alignment of the charging interface is carried out by using the mode of detecting the two-dimensional code by the AI vision camera module, the charging plug is butted with the center of the two-dimensional code, and the PD control method of dynamic proportion parameters is used in the moving process, so that the successful probability of the butting is improved.
The laser ranging sensor group on the charging pile is used for detecting whether a robot appears, when the robot enters a distance threshold range measured by the laser ranging sensor, a timer connected with the laser ranging sensor records the time of an object in a monitoring range, and when the staying time of the robot is greater than a set threshold, the laser ranging sensor transmits a signal appearing in the robot to the charging station control unit module; the method comprises the following specific steps:
the laser ranging sensor module group consists of two laser ranging sensors, when an object appears in a range of d =40cm away from the laser ranging sensors, a timer is started at the moment, the staying time t of the object is counted, and when the staying time is more than 3s, the robot is judged to appear at the moment; when the robot is judged to appear, the posture of the robot is detected, the distances S1 and S2 from the head end and the tail end of the robot to the charging pile are detected through the laser ranging sensor, and the inclination angle theta of the robot relative to the charging pile is calculated; the calculation formula is as follows:
Figure BDA0003923198170000091
；
in the above formula, S1 is the distance between the laser ranging sensor E and the robot, S2 is the distance between the laser ranging sensor F and the robot, and d is the distance between the two laser ranging sensors;
the laser ranging sensor module uploads the monitored distance S1 and S2 and the calculated inclination angle theta to the charging station control unit module, the charging station control unit module issues a signal command according to the values of the distance S1 and the S2 and the inclination angle theta, the command is transmitted to the robot control unit module through the wireless communication module, the robot control unit module transmits the command to the servo motor module through the serial port communication module, the servo motor module drives the corresponding part to adjust the charging plug to move by a corresponding angle, and the first angle adjustment of the charging plug is completed.
The robot is provided with an infrared geminate transistor module for butting with the infrared geminate transistor module on the charging pile, the butting process is a process of butting a charging plug with a charging interface, and the process is a second angle adjustment of the charging plug; the specific operation mode is as follows:
after the first angle adjustment of the charging plug is completed, assuming that the charging plug is positioned on the left side of the charging pile at the moment, the infrared geminate transistors on the right side are lighted at the moment; the robot control unit module sends a control instruction, the control instruction is sent to the servo motor module through the serial port communication module, the servo motor module operates to drive corresponding parts to move and drive the charging plug to move rightwards until the infrared geminate transistors on the two sides are lightened;
if the charging plug is positioned on the right side of the charging pile at the moment, the infrared pair tubes on the left side are lighted up at the moment; the robot control unit module sends a control instruction to the servo motor module through the serial port communication module, and the servo motor module operates to drive corresponding parts to move and drive the charging plug to move leftwards until the infrared pair transistors on the two sides are lightened;
when the infrared pair transistors on the two sides are all lightened, the robot is in a stop state, and the angle adjustment of the charging plug for the second time is completed.
As shown in fig. 2, the charging interface is arranged at the center of the two-dimensional code, and the AI visual camera module is used for scanning the two-dimensional code and positioning the two-dimensional code; the position of the charging interface is positioned, the third angle adjustment of the charging plug is completed, and the specific operation mode is as follows:
(1) Preparing checkerboard pictures, extracting angular point information of each picture by using a Zhang correction method, calibrating a camera by using the acquired angular points, acquiring an internal reference matrix, an external reference matrix and a distortion coefficient of the camera, and performing distortion removal on the picture shot by the AI visual camera by using the acquired internal reference matrix and the distortion coefficient of the camera;
(2) Using bilateral filtering to the image subjected to distortion removal, performing noise reduction processing to obtain an image subjected to noise reduction processing, performing edge extraction on the obtained image by using a Scharr algorithm to obtain an edge extraction result, performing binarization on the edge extraction result, setting pixel points of the extracted edge position to be 1, setting other positions to be 0, performing area and proportion filtering on a contour according to the characteristics of three regions of a two-dimensional code, and when the characteristics of the three regions are from left to right, performing black-white proportion from top to bottom to be 1:1:3:1:1, judging that the two-dimensional code detected by the AI visual camera module is the two-dimensional code, decoding the obtained two-dimensional code by using zbar, and determining that the two-dimensional code is the two-dimensional code to be searched and containing charging pile information;
assuming that the detected two-dimensional code is corresponding, positioning a spatial coordinate of a specific position at the center of the two-dimensional code, subtracting the current position from the center of the two-dimensional code, weighting the obtained value, obtaining an output signal through a PID algorithm, driving a servo motor to drive a charging plug to move to the center of the two-dimensional code, sending a robot control unit module to a mechanical arm to move to the specific position of the two-dimensional code, wherein the charging plug is right opposite to a charging interface, the robot control unit module sends a docking instruction, and the robot control mechanical arm moves forward until docking is completed.
The PID algorithm formula is as follows:
Figure BDA0003923198170000111
in the above formula, u is the rotational speed of the servo motor, K p 、K I 、K d Are all proportionality coefficients, and Δ x is the difference between the current value and the target value, i.e. the current machineThe difference value between the position of the mechanical arm and the position of the charging pile;
p is the difference between the target value and the current value, for K p In other words, the larger the value of P, the faster the motor moves, and the result of the motor stability is also degraded; i is obtained by adding up the deviation values, K I The larger the value is, the larger the integral coefficient multiplied during the integration is, the more obvious the integration effect is, the function is to reduce the error under the static condition, and the controlled physical quantity is made to be as close to the target value as possible; d is the rate of change of the deviation by which the system approaches steady state faster, K d The greater the value of (A), the faster the speed of entering the steady state, K d The smaller the value of (c) the slower the speed of entering the steady state;
according to the actual situation of the robot docking process, the robot is rarely kept in a stable state in the docking process, the static error is extremely small and difficult to count, therefore, I is set to be 0, and a dynamic proportional parameter K is used for reducing the error p When the charging plug is far away from the charging connector initially, the deviation is large, and a large proportion parameter K is used p The charging plug is enabled to be close to the position of the charging pile quickly and reach a stable state as soon as possible, when the charging plug approaches the position of the charging pile, the deviation is small, and a small proportional parameter K is used p Slowing down the moving speed and reducing the vibration, K p The calculation formula of (c) is:
Figure BDA0003923198170000121
where Δ x is a difference between the detected position of the center of the two-dimensional code and the current center position, Δ x max Is the maximum difference between the detected position of the center of the two-dimensional code and the current center position; the PD control of the dynamic proportion parameters is utilized, so that the butt joint can be completed quickly and accurately; the specific process is as follows:
a charging target identification and positioning function runs on the robot control unit, and the function is input into a three-channel image matrix transmitted back by the AI visual camera; when a program runs to a charging target recognition and docking function, a robot control unit collects an image captured by an AI visual camera, the image is used as input to carry out image recognition and positioning processing, the current position of a two-dimensional code center is obtained, the current position of the two-dimensional code center is differed from the position of the AI camera center, the obtained difference value is used as a docking information generation basis, the robot control unit obtains a driving output signal by using a PID algorithm through the difference value information, and drives a stepping motor to drive a charging plug to move towards a target direction for docking; after the charging plug moves to the assigned position, the stepping motor stops moving, the telescopic motor stretches out, the charging plug is sent to the charging pile, and the butt joint is achieved.
After the charging interface is in butt joint with the charging plug, the voltage sensor module can acquire the current of the charged battery, the robot control unit module receives the voltage detected by the voltage sensor module, and the voltage is compared with the current battery voltage to judge whether the charging interface is successfully connected with the charging plug; fig. 3 is a circuit diagram of a voltage sensor module, and as shown in fig. 3, the specific operation manner for determining whether the charging interface and the charging plug are successfully connected is as follows:
(1) Charging current flows into the current sensing chip from the first pin of the P5, then the charging current is input to the positive electrode of the battery, and the negative electrode of the battery is connected to the negative electrode of the charging current to form a complete charging loop;
(2) The current is input into the wafer, and the work circuit in the wafer can convert the current that passes through into corresponding voltage, later by 7 foot to MCU output, this process is for gathering and detecting charging current.

Claims (6)

1. An automatic robot charging system comprises an automatic charging module arranged on an automatic charging robot and a charging station module in butt joint with the automatic charging module, wherein the charging station module is arranged in a charging pile; the method is characterized in that: the charging pile is provided with a two-dimensional code, and the charging station module comprises a charging station control unit module, an infrared pair tube module, a laser ranging sensor group module and a first wireless communication module which are connected with the charging station control unit module; the automatic charging module comprises a robot control unit module, a servo motor module, an AI vision camera module, a voltage sensor module and a wireless communication module II, wherein the servo motor module, the AI vision camera module, the voltage sensor module and the wireless communication module II are in signal connection with the robot control unit module through a serial port communication module; the AI visual camera module is used for shooting and reading the two-dimensional code, and the charging station control unit module and the robot control unit module perform information interaction through the wireless communication module; the robot control unit module and the charging station control unit module adopt a raspberry server and are used for receiving and processing sensor signals, identifying, positioning and decoding two-dimensional codes, driving a servo motor module, controlling an automatic charging process and receiving and processing information sent by an AI visual camera module; after the automatic charging robot is adjusted twice by using the laser ranging sensor group and the infrared pair tube group, the AI vision camera module is combined with the two-dimensional code to perform angle adjustment for the third time, the charging plug on the automatic charging robot is in butt joint with a charging interface on the charging pile, the alignment of the charging interface is performed by using a mode of detecting the two-dimensional code by using the AI vision camera module, the charging plug is in butt joint with the center of the two-dimensional code, and the PD control method of dynamic proportion parameters is used in the moving process, so that the success probability of butt joint is improved.
2. The automatic robot charging system according to claim 1, wherein: the laser ranging sensor group on the charging pile is used for detecting whether a robot appears, when the robot enters a distance threshold range measured by the laser ranging sensor, a timer connected with the laser ranging sensor records the time of an object in a monitoring range, and when the staying time of the robot is greater than a set threshold, the laser ranging sensor transmits a signal appearing in the robot to the charging station control unit module; the method comprises the following specific steps:
the laser ranging sensor module group consists of two laser ranging sensors, when an object appears in a range of d =40cm away from the laser ranging sensors, a timer is started at the moment, the staying time t of the object is counted, and when the staying time is more than 3s, the robot is judged to appear at the moment; when the robot is judged to appear, the posture of the robot is detected, the distances S1 and S2 from the head end and the tail end of the robot to the charging pile are detected through the laser ranging sensor, and the inclination angle theta of the robot relative to the charging pile is calculated; the calculation formula is as follows:
Figure FDA0003923198160000021
；
in the above formula, S1 is the distance between the laser ranging sensor E and the robot, S2 is the distance between the laser ranging sensor F and the robot, and d is the distance between the two laser ranging sensors;
the laser ranging sensor module uploads the monitored distance S1 and S2 and the calculated inclination angle theta to the charging station control unit module, the charging station control unit module issues a signal command according to the values of the distance S1 and the S2 and the inclination angle theta, the command is transmitted to the robot control unit module through the wireless communication module, the robot control unit module transmits the command to the servo motor module through the serial port communication module, the servo motor module drives the corresponding part to adjust the charging plug to move by a corresponding angle, and the first angle adjustment of the charging plug is completed.
3. A robotic automatic charging system as claimed in claim 1 or 2, wherein: the robot is provided with an infrared geminate transistor module for butting with the infrared geminate transistor module on the charging pile, the butting process is a process of butting a charging plug with a charging interface, and the process is a second angle adjustment of the charging plug; the specific operation mode is as follows:
after the first angle adjustment of the charging plug is completed, assuming that the charging plug is positioned on the left side of the charging pile at the moment, the infrared pair transistor on the right side is lighted at the moment; the robot control unit module sends a control instruction to the servo motor module through the serial port communication module, the servo motor module operates to drive corresponding parts to move and drive the charging plug to move rightwards until the infrared pair transistors on the two sides are lightened;
if the charging plug is positioned on the right side of the charging pile at the moment, the infrared pair tubes on the left side are lighted up at the moment; the robot control unit module sends a control instruction, the control instruction is sent to the servo motor module through the serial port communication module, the servo motor module operates to drive corresponding parts to move and drive the charging plug to move leftwards until the infrared geminate transistors on the two sides are lightened;
when the infrared pair transistors on the two sides are all lightened, the robot is in a stop state, and the angle adjustment of the charging plug for the second time is completed.
4. A robotic automatic charging system as claimed in claim 3, wherein: the AI visual camera module is used for scanning the two-dimensional code and positioning the two-dimensional code; the position of the charging interface is positioned, the third angle adjustment of the charging plug is completed, and the specific operation mode is as follows:
(1) Preparing checkerboard pictures, extracting angular point information of each picture by using a Zhang correction method, calibrating a camera by using the acquired angular points, acquiring an internal reference matrix, an external reference matrix and a distortion coefficient of the camera, and removing distortion of the picture shot by the AI visual camera by using the acquired internal reference matrix and the distortion coefficient of the camera;
(2) Using bilateral filtering to the image subjected to distortion removal, performing noise reduction processing to obtain an image subjected to noise reduction processing, performing edge extraction on the obtained image by using a Scharr algorithm to obtain an edge extraction result, performing binarization on the edge extraction result, setting pixel points of the extracted edge position to be 1, setting other positions to be 0, performing area and proportion filtering on a contour according to the characteristics of three regions of a two-dimensional code, and when the characteristics of the three regions are from left to right, performing black-white proportion from top to bottom to be 1:1:3:1:1, judging that the two-dimensional code detected by the AI visual camera module is the two-dimensional code, decoding the obtained two-dimensional code by using zbar, and determining that the two-dimensional code is the two-dimensional code to be searched and containing charging pile information;
assuming that the detected two-dimensional code is corresponding, positioning a spatial coordinate of a specific position at the center of the two-dimensional code, subtracting the current position from the center of the two-dimensional code, weighting the obtained value, obtaining an output signal through a PID algorithm, driving a servo motor to drive a charging plug to move to the center of the two-dimensional code, sending a robot control unit module to a mechanical arm to move to the specific position of the two-dimensional code, wherein the charging plug is right opposite to a charging interface, the robot control unit module sends a docking instruction, and the robot control mechanical arm moves forward until docking is completed.
5. The automatic robot charging system according to claim 4, wherein: the PID algorithm formula is as follows:
Figure FDA0003923198160000041
in the above formula, u is the rotational speed of the servo motor, K p 、K I 、K d All the parameters are proportional coefficients, and delta x is a difference value between a current value and a target value, namely a difference value between the position of the current mechanical arm and the position of the charging pile;
p is the difference between the target value and the current value, for K p In other words, the larger the value of P, the faster the motor moves, and the result of the motor stability is also degraded; i is obtained by adding up the deviation values, K I The larger the value is, the larger the integral coefficient multiplied during the integration is, the more obvious the integration effect is, the function is to reduce the error under the static condition, and the controlled physical quantity is made to be as close to the target value as possible; d is the rate of change of the deviation by which the system approaches steady state faster, K d The greater the value of (A), the faster the speed of entering the steady state, K d The smaller the value of (A) is, the slower the speed of entering the steady state is;
according to the practical situation of the robot docking process, the robot docking process is rarely kept in a stable state, the static error is extremely small and difficult to count, therefore, I is set to be 0, and a dynamic state is used for reducing the errorProportional parameter K of p When the charging plug is far away from the charging connector initially, the deviation is large, and a large proportion parameter K is used p The charging plug is enabled to be close to the position of the charging pile quickly and reach a stable state as soon as possible, when the charging plug approaches the position of the charging pile, the deviation is small, and a small proportional parameter K is used p Slowing down the speed of movement, reducing vibrations, K p The calculation formula of (2) is as follows:
Figure FDA0003923198160000051
where Δ x is a difference between the detected position of the center of the two-dimensional code and the current center position, Δ x max Is the maximum difference between the detected position of the center of the two-dimensional code and the current center position; the PD control of the dynamic proportion parameters is utilized, so that the butt joint can be completed quickly and accurately; the specific process is as follows:
a charging target identification and positioning function runs on the robot control unit, and the function is input into a three-channel image matrix transmitted back by the AI visual camera; when a program runs to a charging target recognition and docking function, a robot control unit collects an image captured by an AI visual camera, the image is used as input to carry out image recognition and positioning processing, the current position of a two-dimensional code center is obtained, the current position of the two-dimensional code center is differed from the position of the AI camera center, the obtained difference value is used as a docking information generation basis, the robot control unit obtains a driving output signal by using a PID algorithm through the difference value information, and drives a stepping motor to drive a charging plug to move towards a target direction for docking; after the charging plug moves to the designated position, the stepping motor stops moving, the telescopic motor stretches out, the charging plug is sent to the charging pile, and the butt joint is achieved.
6. The automatic robot charging system according to claim 1, wherein: after the charging interface is in butt joint with the charging plug, the voltage sensor module can acquire the current of the charged battery, the robot control unit module receives the voltage detected by the voltage sensor module, and the voltage is compared with the current battery voltage to judge whether the charging interface is successfully connected with the charging plug; the specific operation mode for judging whether the charging interface is successfully connected with the charging plug is as follows:
(1) Charging current flows into the current sensing chip from the first pin of the P5, then the charging current is input to the positive electrode of the battery, and the negative electrode of the battery is connected to the negative electrode of the charging current to form a complete charging loop;
(2) The current is input into the wafer, and the work circuit in the wafer can convert the electric current that passes through into corresponding voltage, later by 7 foot to MCU output, this process is for gathering and detecting the charging current.
CN202211362546.2A 2022-11-02 2022-11-02 Automatic charging system of robot Pending CN115632462A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116979345A (en) * 2023-09-22 2023-10-31 中科开创（广州）智能科技发展有限公司 Guide rail movable type shared charging robot accurate positioning method, device, equipment and medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116979345A (en) * 2023-09-22 2023-10-31 中科开创（广州）智能科技发展有限公司 Guide rail movable type shared charging robot accurate positioning method, device, equipment and medium
CN116979345B (en) * 2023-09-22 2024-01-30 中科开创（广州）智能科技发展有限公司 Guide rail movable type shared charging robot accurate positioning method, device, equipment and medium

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