CN205375190U - Independently charging system of polar region robot is patrolled and examined in removal - Google Patents
Independently charging system of polar region robot is patrolled and examined in removal Download PDFInfo
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- CN205375190U CN205375190U CN201620110432.2U CN201620110432U CN205375190U CN 205375190 U CN205375190 U CN 205375190U CN 201620110432 U CN201620110432 U CN 201620110432U CN 205375190 U CN205375190 U CN 205375190U
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Abstract
The utility model discloses an independently charging system of robot is patrolled and examined in the removal, belongs to the robot field, including polar region the robot, set up charge the cang cang body and the corresponding ramp of importing and exporting the side of locating of exit, the utility model discloses a based on image recognition's autonomic charging scheme, ystem installation debugs the in -process, is using a plurality of target objects of on -the -spot installation, and the target object has the characteristic that easy discernment just can not be obscured according to site environment and image recognition algorithm, and the robot passes through program set, loops through camera image recognition and seeks the target object, by entry far away and that closely be close to the storehouse of charging. In the storehouse entrance of charging, through calculating the contained angle between target object and the the robot, adjust robot position appearance, make the robot aim at the storehouse entry that charges, the robot gets into when charging the storehouse, adjusts robot position appearance, just keeps the storehouse of charging, and the robot detects when docking successfully with the interface that charges, stops at once.
Description
Technical field
This utility model belongs to polar region robot field.
Background technology
The scheme of Multi-sensor fusion is adopted currently for the robot autonomous charging technique in mobile polar region.Such as, polar region robot of sweeping the floor of family realizes the technical scheme of recharging function and needs laser sensor, infrared sensor, ultrasonic sensor etc.；The robot autonomous charging scheme in outdoor mobile polar region also needs to install GPS additional except needs the sensor, and what have needs to lay on the ground guide line.
Such scheme is for structurized application scenarios, it is necessary to applied environment compares big transformation.Some Imported sensor is expensive, and in adverse circumstances, poor effect.Laser sensor measure apart from limited, it is desirable to working environment has in certain distance structurized object can reflective sensor launch laser, cannot work when open field does not have reverberation.Outdoor high-precision laser sensor price is sufficiently expensive, and its volume and weight is also relatively larger, and its application is to need sensor stationary applications.
Utility model content
The purpose of this utility model is to provide to move patrols and examines the robot autonomous charging system in polar region and method thereof, it is possible to be applied in the power system inspection of South Pole scientific investigation station.Compared with common power station cruising inspection system, utility model works ambient temperature is extremely low, minimum to-40 degrees Celsius；The image of all objects that video camera is captured by this utility model application polygon matching algorithm carries out shape contrast process, find out the image meeting described target object shape, can well be applied in and patrol and examine under the environment that route is spacious, fixing object reflection laser need not be set, signal that ultrasound wave, the sensor such as infrared send.
For achieving the above object, this utility model is by the following technical solutions:
Move and patrol and examine the robot autonomous charging system in polar region, it is characterized in that: include polar region robot, the charging storehouse warehouse of import and export is set and is located at the ramp importing and exporting outside accordingly, polar region robot is provided with charging head, robot main control chip, touch sensor, magnetic nail sensor, motor, video camera and camera pan-tilt, and touch sensor, magnetic nail sensor, motor, video camera and camera pan-tilt all electrically connect with robot main control chip；Described video camera is located on camera pan-tilt；Being provided with battery and the cradle for contacting and to the charging of polar region, polar region robot with charging head in the warehouse of charging storehouse, battery electrically connects with cradle；The transverse sides of the upstream end in ramp is provided with first object object, and import and export is provided with the second target object, and the side of cradle is provided with the 3rd target object.
Described cradle includes being installed in the seat board in the warehouse of charging storehouse, the charging reed of setting on the cross bar being connected and the spaced reed installing plate of seat board and reed installing plate is fixed in one end with seat board, the described cross bar other end is through reed installing plate and is installed with baffle plate, is provided with the spring being set in cross bar outer ring between seat board and reed installing plate.
The robot autonomous charging method in polar region is patrolled and examined in the movement patrolling and examining the robot autonomous charging system in polar region based on described movement, comprises the following steps:
Step 1: polar region robot searches target step is as follows:
Step A1: target object is described, by the main control chip of the shape facility typing polar region robot of target object；
Step B1: robot main control chip controls camera pan-tilt uniform speed slow and rotates video camera, makes cameras capture to the image of polar region robot periphery all objects；
Step C1: robot main control chip carries out shape contrast process by the image of all objects that video camera is captured by polygon matching algorithm, finds out the image meeting described target object shape；
Step D1: do not find out meet as described in the image of target object shape then perform step B1；Image such as target object shape as described in having been found for meeting then performs step E1；
Step E1: robot main control chip controls camera pan-tilt makes video camera just to target object；
Step F1: robot main control chip controls video camera adjustment shooting focal length, makes the imaging of target object be of moderate size, and robot main control chip calculates the approximate distance of polar region robot distance objective object according to the focus information of video camera；
Step G1: robot main control chip stops the motion of camera pan-tilt, makes video camera just to target object；Polar region robot completes the step of search target object；
Step 2: polar region robot auto-steering, makes the front Founder of polar region robot to target object, specifically comprises the following steps that
Step A2: robot main control chip calculates, according to camera pan-tilt deflection angle, direction, corner and the velocity of rotation that polar region robot needs to rotate；
Step B2: the motor that robot main control chip controls in the robot of polar region makes polar region robot turn to；
Step C2: robot main control chip judges whether to make video camera lose target object because turning to excessive according to the image of cameras capture；It is then perform step A2；Otherwise perform step D2；
Step D2: perform step 1 polar region robot and search again for target object；
Step E2: judge that whether robot front in polar region is just to target object；It is then perform step F2；No, then perform step A2；
Step F2: polar region robot completes auto-steering, makes the front Founder of the polar region robot step to target object；
Step 3: polar region robot, to target object forward travel, specifically comprises the following steps that
Step A3: robot main control chip controls motor makes polar region robot forward or rearward movement, adjusts polar region robot location；
Step B3: robot main control chip according to cameras capture to image judge whether lose target object；It is then perform step C3；No, then perform step A3；
Step C3: perform step 1 polar region robot and search again for target；
Step D3: perform step 2 and make the front Founder of polar region robot to target object；
Step E3: robot main control chip judges whether the amplification of focal length of camera has been set to minimum；It is then perform step F3；No, then perform step A3；
Step F3: polar region robot arrives target object, completes the polar region robot step to target object forward travel；
Step 4: polar region robot judges whether to be charged action, and starts to perform charge step；
Step 5: polar region robot controls the first object object on camera pan-tilt search charging warehouse doorway, storehouse: step 1 polar region robot searches first object object is first carried out；Secondly execution step 2 polar region robot is upright to first object object before turning to and making polar region robot；Again perform step 3 polar region robot to advance to first object object；
Step 6: polar region robot arrives first object object, and to change target object be the second target object: step 1 polar region robot searches second target object is first carried out；Secondly execution step 2 polar region robot is upright to the second target object before turning to and making polar region robot；Again perform step 3 polar region robot to advance to the second target object；
Step 7: polar region robot arrives the second target object, and to change target object be the 3rd target object: step 1 polar region robot searches threeth target object is first carried out；Secondly execution step 2 polar region robot is upright to the 3rd target object before turning to and making polar region robot；Again perform step 3 polar region robot to advance to the 3rd target object；
Step 8: when polar region robot not yet reaches three target objects, robot main control chip controls the signal of magnetic nail sensor detection magnetic nail, and as detected, the signal that magnetic is followed closely then performs step 9；Signal as being not detected by magnetic nail then continues executing with step 8；
Step 9: robot main control chip controls motor and reduces the pace of polar region robot；
Step 10: when polar region robot not yet reaches three target objects, robot main control chip controls touch sensor detection contact signal, and as detected, contact signal then performs step 11；Step 10 is then continued executing with as being not detected by contact signal；
Step 11: polar region robot stop motion；
Step 12: power switching is that external power source is powered by robot main control chip；
Step 13: robot main control chip enables charging circuit, starts battery is charged.
The robot autonomous charging system in polar region and method thereof are patrolled and examined in movement described in the utility model, it is possible to be applied in the power system inspection of South Pole scientific investigation station.Compared with common power station cruising inspection system, utility model works ambient temperature is extremely low, minimum to-40 degrees Celsius；For preventing charging storehouse from being flooded by sleet, design is above the ground level, and has a slope, and ramped surfaces has anti-slip material and decorative pattern.Charging storehouse inwall has a cradle.Having four pieces of charging reeds on cradle ledge, charging reed has spring to be connected with charging storehouse inwall, has cushioning effect.Robot outer wall in polar region is equipped with four hard contacts, and charge on corresponding cradle reed respectively.On charging storehouse, some positions are equipped with the mark of image recognition, and each mark is different from.Polar region robot can pass through to identify unlike signal thing, it is determined that the relative position in body and charging storehouse.
This utility model adopts the recharging scheme based on image recognition.In system installation and debugging process, in site of deployment, some target objects are installed.Target object has the feature easily identifying and will not obscuring according to site environment and image recognition algorithm.Polar region robot pass through program setting, pass sequentially through camera image identification find target object, draw near close to charging storehouse entrance.In charging porch, storehouse, by calculating the angle between target object and polar region robot body, regulate polar region robot pose, make polar region robot alignment charging storehouse entrance.When polar region robot enters charging storehouse, regulate polar region robot pose, keep just to charging storehouse.Polar region robot detects when docking successfully with charging inlet, stops at once.
Accompanying drawing explanation
Fig. 1 is structure chart of the present utility model；
Fig. 2 is charged state structure chart of the present utility model；
Fig. 3 is cradle cut-away view of the present utility model；
Fig. 4 is the structural representation controlling module；
Fig. 5 is the structural representation controlling module with crawler travel module connection status；
Fig. 6 is polar region of the present utility model robot searches target flow chart；
Fig. 7 is that polar region robot of the present utility model is just to target object flow chart；
Fig. 8 is polar region robot of the present utility model to advance flow chart to target object；
Fig. 9 is robot charging flow figure in polar region of the present utility model；
In figure: polar region robot 1, charging storehouse warehouse 2, ramp 3, charging head 4, touch sensor 5, magnetic nail sensor 6, camera pan-tilt 7, cradle 8, first object object 9, second target object 10 and the 3rd target object 11, magnetic nail 12, seat board 13, cross bar 14, reed installing plate 15, charging reed 16, baffle plate 17, spring 18, import and export 19, antenna 20, rechargeable battery 21, video camera 22, heating plate module 23, relay 24, temperature controller 25, crawler travel module 26, joint pin 27, inwall 28, shell 29, polyurethane insulation coating 30.
Detailed description of the invention
Embodiment 1:
The robot autonomous charging system in polar region is patrolled and examined in movement as Figure 1-5, including polar region robot 1, arranges and imports and exports the charging storehouse warehouse 2 of 19 and be located at the ramp 3 imported and exported outside 19 accordingly.
Described charging storehouse warehouse 2 includes cube frame, cube frame includes the top frame of rectangle and is fixedly arranged on four root posts on the downside of four angle points of top frame respectively, top frame is that anterior-posterior horizontal extends, wherein two root posts are positioned at front side, two other root post is positioned at rear side, fixed one block of supporting plate for support polar region robot between four root posts, supporting plate is positioned at the top on the lower section of top frame, ground.The import and export 19 of described charging storehouse warehouse 2 are enclosed to set formed by two root posts of rear side, the rear side edges of top frame and the rear edge of supporting plate, import and export 19 and can pass through polar region robot 1.
Described ramp 3 is positioned at outside charging storehouse warehouse 2 and is positioned at the rear side of charging storehouse warehouse, ramp 3 is for being obliquely installed, and ramp 3 is made up of diamond plate, and the both lateral sides limit in ramp 3 is equipped with bending edges upwards, the bottom in ramp 3 is the upstream end in ramp 3, and the top in ramp 3 is the port of export in ramp 3.
The top in ramp is by the hinge of level in the edge, base importing and exporting 19, and the bottom side edge edge of import and export 19 is the rear edge of supporting plate.
Being provided with battery and the cradle 8 for contacting and to polar region robot 1 charging with the charging head of polar region robot 1 in charging storehouse warehouse 2, battery electrically connects with cradle 8.
nullDescribed cradle 8 is located at the front upper of supporting plate，Described cradle 8 includes the seat board 13 being installed in charging storehouse warehouse 2、The cross bar 14 being connected is fixed in one end (front end) with seat board、With the charging reed 16 arranged on the spaced reed installing plate 15 of seat board 13 and reed installing plate 15，Cross bar 14 is arranged for anterior-posterior horizontal，Described cross bar 14 other end (rear end) is through reed installing plate 15 and is installed with baffle plate 17，Seat board 13 is positioned at reed installing plate 15 front，Baffle plate 17 keeps off the rear side at reed installing plate 15，The spring 18 being set in cross bar 14 outer ring it is provided with between seat board 13 and reed installing plate 15，Described reed installing plate 15 is for being vertically arranged，Reed installing plate 15 is folded between baffle plate 17 and spring 18，Edge, reed installing plate 15 top is provided with the bending edges of bending backward，The downside of this bending edges is sequentially provided with four described charging reeds 16 from top to bottom，Insulation connecting plate all it is installed with between bending edges adjacent charging reed 16 and between adjacent two charging reeds 16，The front side of reed installing plate 15 is located at charging reed 16 interval.Charging reed 16 with the battery charged in storehouse warehouse for electrically connecting.
The transverse sides of the upstream end in ramp 3 is provided with first object object 9, and first object object 9 is positioned at the right edge of the upstream end in ramp 3；Import and export 19 places and be provided with the second target object 10, second target object 10 is located at the upside of import and export, and the second target object 10 is fixedly arranged on the upside of the rear side edge of top frame, and the side of cradle 8 is provided with the 3rd target object 11, and the 3rd target object 11 is located at the upside of reed installing plate 15.First object object the 9, second target object 10 is plate body with the 3rd target object 11 but three is different: namely shape is different or size different or pattern is different.
Described polar region robot includes controlling module and laying respectively at the two crawler travel modules 26 controlling module both sides.
Described control module includes housing, described housing includes the shell 29 set gradually from outside to inside, polyurethane insulation coating 30 and inwall 28, described shell 29 is the aluminum alloy casing 29 that 1.5mm is thick, inwall 28 is the rustless steel inwall 28 that 3mm is thick, polyurethane insulation coating 30 thickness filled between shell 29 and inwall 28 is 50mm, hot air apparatus it is provided with in housing, described hot air apparatus includes main control chip, fan, heating plate module 23 and temperature controller 25, fan, heating plate module 23 and temperature controller 25 all electrically connect with main control chip, temperature controller 25 electrically connects a relay, even if temperature controller 25 can drop internal temperature control at about 2 DEG C by relay 24 under the environment that outside is-40 DEG C.
Polar region robot 1 is provided with rechargeable battery 21, described charging head 4, robot main control chip, touch sensor 5, magnetic nail sensor 6, motor, video camera 22, video camera 22 The Cloud Terrace 7 and antenna 20, antenna 20, touch sensor 5, magnetic nail sensor 6, motor, video camera 22 and video camera 22 The Cloud Terrace 7 all electrically connect with robot main control chip
Rechargeable battery 21 electrically connects with charging circuit, charging circuit electrically connects with charging head, described charging head 4 is provided with four charging contacts, four charging contacts are corresponding with four charging reeds 16 respectively, during charging, four charging contacts contact with four charging reeds respectively, and making the battery in the warehouse of charging storehouse is that the rechargeable battery 21 in polar region robot 1 charges by the charging contact of the charging reed 16 of cradle with charging head.
Described hot air apparatus, rechargeable battery 21, robot main control chip, touch sensor 5 and motor are all located in the housing of polar region robot 1 (namely inwall 28 is enclosed in the chamber set), described charging head 4, magnetic nail sensor 6 and antenna 20 are all located on the front end face of shell 29, described video camera 22 is located on video camera 22 The Cloud Terrace 7, and video camera 22 and video camera 22 The Cloud Terrace are all located on the end face of shell 29.
Described rechargeable battery 21 is hot air apparatus, robot main control chip, touch sensor 5, magnetic are followed closely sensor 6, motor, video camera 22, video camera 22 The Cloud Terrace 7 and antenna 20 and powered.
Control to be connected by joint pin 27 is fixing between housing and the support of crawler travel module 26 of module, the drivewheel of crawler travel module 26, bogie wheel, inducer, the flexible chain link of carrier wheel and crawler belt are all located on this support, control to be equipped with several joint pin 27 between housing and the support of each crawler travel module 26 of module, joint pin 27 one end is fixing with the support of crawler travel module 26 to be connected, joint pin 27 other end is through controlling the shell 29 of module and polyurethane insulation coating 30 and fixing with inwall 28 being connected, shell 29 and all corresponding joint pin 27 of polyurethane insulation coating 30 are provided with jack, joint pin 27 end is by jack traverse shell 29 and polyurethane insulation coating 30.
Crawler travel module 26 described in driven by motor, motor is connected with capstan drive.
Polar region robot described in the utility model charging storehouse system, polar region robot can under the ambient temperature of outdoor-40 DEG C of polar region normal operation, and can patrol and examine according to presetting route on ripe snow road surface, polar region, image identification thing first object object the 9, second target object the 10, the 3rd target object 11 can be set on the warehouse of charging storehouse, it is simple to polar region robot climbs up ramp by the return of image recognition mark and enters charging storehouse warehouse by importing and exporting.After entering charging storehouse warehouse, making charging head and charging panel be fully contacted, then power supply is switched to externally fed pattern by polar region robot automatically, and after charging being detected, polar region robot automatically delivers from godown according to predetermined paths and patrols and examines, and so forth.
nullWhen identification marking thing，First polar region robot rotates video camera 22 cloud platform 7，Find first object object 9，Then move to first object object 9 again，When reaching first object object 9，Polar region robot is by target diversion the second target object 10，Again before the second target object 10，Enter charging storehouse warehouse 2 internal，By target diversion the 3rd target object 11 behind polar region robot entrance charging warehouse 2 inside, storehouse，And the signal of magnetic nail 12 is detected by magnetic nail sensor 6，Judge whether already close to cradle 8，And control polar region robot in the translational speed within charging storehouse warehouse 2，As polar region robotic contact to cradle 8，Touch sensor 5 can send signal，Polar region robot receives，The signal that touch sensor 5 sends，And judge to have reached charging place，Polar region robot stops mobile and enables charging circuit and start to charge up.
For preventing charging storehouse warehouse 2 from being flooded by sleet, warehouse 2 design in charging storehouse is above the ground level by this utility model, and has a ramp 3, and surface, ramp 3 has anti-slip material and decorative pattern.
Embodiment 2:
Patrolling and examining, based on the movement described in embodiment 1, the movement that polar region robot autonomous charging system realizes and patrol and examine the robot autonomous charging method in polar region shown in Fig. 6-Fig. 9, comprises the following steps:
As shown in Figure 6, step 1: polar region robot searches target object step (comprising step A1-G1) is as follows:
Step A1: target object is described, by the main control chip of the shape facility typing polar region robot of target object；
Step B1: robot main control chip controls video camera 22 The Cloud Terrace 7 uniform speed slow and rotates video camera 22, makes video camera 22 capture the image of polar region robot periphery all objects；
Step C1: the image of all objects that video camera 22 captures is carried out shape contrast process by polygon matching algorithm by robot main control chip, finds out the image meeting described target object shape；
Step D1: do not find out meet as described in the image of target object shape then perform step B1；Image such as target object shape as described in having been found for meeting then performs step E1；
Step E1: robot main control chip controls video camera 22 The Cloud Terrace 7 makes video camera 22 just to target object；
Step F1: robot main control chip controls video camera 22 and adjusts shooting focal length, makes the imaging of target object be of moderate size, and robot main control chip calculates the approximate distance of polar region robot distance objective object according to the focus information of video camera 22；
Step G1: robot main control chip stops the motion of video camera 22 The Cloud Terrace 7, makes video camera 22 just to target object；Polar region robot completes the step of search target object；
As it is shown in fig. 7, step 2: polar region robot auto-steering, make the front Founder of polar region robot to target object, it is as follows that concrete steps (comprise step A2-F2):
Step A2: robot main control chip calculates, according to video camera 22 The Cloud Terrace 7 deflection angle, direction, corner and the velocity of rotation that polar region robot needs to rotate；
Step B2: the motor that robot main control chip controls in the robot of polar region makes polar region robot turn to；
Step C2: robot main control chip judges whether to make video camera 22 lose target object because turning to excessive according to the image that video camera 22 catches；It is then perform step A2；Otherwise perform step D2；
Step D2: perform step 1 polar region robot and search again for target object；
Step E2: judge that whether robot front in polar region is just to target object；It is then perform step F2；No, then perform step A2；
Step F2: polar region robot completes auto-steering, makes the front Founder of the polar region robot step to target object；
As shown in Figure 8, step 3: polar region robot is to target object forward travel, and it is as follows that concrete steps (comprise step A3-F3):
Step A3: robot main control chip controls motor makes polar region robot forward or rearward movement, adjusts polar region robot location；
Step B3: robot main control chip judges whether to lose target object according to the image that video camera 22 captures；It is then perform step C3；No, then perform step A3；
Step C3: perform step 1 polar region robot and search again for target；
Step D3: perform step 2 and make the front Founder of polar region robot to target object；
Step E3: robot main control chip judges whether the amplification of video camera 22 focal length has been set to minimum；It is then perform step F3；No, then perform step A3；
Step F3: polar region robot arrives target object, completes the polar region robot step to target object forward travel；
As it is shown in figure 9, step 4: polar region robot judges whether to be charged action, and starts to perform charge step；
Step 5: polar region robot controls the first object object 9 on video camera 22 The Cloud Terrace 7 search charging warehouse 2 doorway, storehouse: step 1 polar region robot searches first object object 9 is first carried out；Secondly execution step 2 polar region robot is upright to first object object 9 before turning to and making polar region robot；Again perform step 3 polar region robot to advance to first object object 9；
Step 6: polar region robot arrives first object object 9, and to change target object be the second target object 10: step 1 polar region robot searches second target object 10 is first carried out；Secondly execution step 2 polar region robot is upright to the second target object 10 before turning to and making polar region robot；Again perform step 3 polar region robot to advance to the second target object 10；
Step 7: polar region robot arrives the second target object 10, and to change target object be the 3rd target object 11: step 1 polar region robot searches threeth target object 11 is first carried out；Secondly execution step 2 polar region robot is upright to the 3rd target object 11 before turning to and making polar region robot；Again perform step 3 polar region robot to advance to the 3rd target object 11；
Step 8: when polar region robot not yet reaches three target objects 11, robot main control chip controls magnetic nail sensor 6 and detects the signal of magnetic nail 12, and the signal as magnetic nail 12 detected then performs step 9；Signal as being not detected by magnetic nail 12 then continues executing with step 8；
Step 9: robot main control chip controls motor and reduces the pace of polar region robot；
Step 10: when polar region robot not yet reaches three target objects 11, robot main control chip controls touch sensor 5 and detects contact signal, and as detected, contact signal then performs step 11；Step 10 is then continued executing with as being not detected by contact signal；
Step 11: polar region robot stop motion；
Step 12: power switching is that external power source is powered by robot main control chip；
Step 13: robot main control chip enables charging circuit, starts battery is charged.
When searching for first object object 9, described target object is first object object 9；When searching for the second target object 10, described target object is the second target object 10；When searching for three target objects 11, described target object is the 3rd target object 11.
This utility model adopts the recharging scheme based on image recognition.In system installation and debugging process, in site of deployment, some target objects are installed.Target object has the feature easily identifying and will not obscuring according to site environment and image recognition algorithm.Polar region robot pass through program setting, pass sequentially through camera image identification find target object, draw near close to charging storehouse entrance.In charging porch, storehouse, by calculating the angle between target object and polar region robot body, regulate polar region robot pose, make polar region robot alignment charging storehouse entrance.When polar region robot enters charging storehouse, regulate polar region robot pose, keep just to charging storehouse.Polar region robot detects when docking successfully with charging inlet, stops at once.
Claims (2)
1. move and patrol and examine the robot autonomous charging system in polar region, it is characterized in that: include polar region robot (1), charging storehouse warehouse (2) of import and export is set and is located at the ramp (3) importing and exporting outside accordingly, polar region robot (1) is provided with charging head (4), robot main control chip, touch sensor (5), magnetic nail sensor (6), motor, video camera and camera pan-tilt (7), and touch sensor (5), magnetic nail sensor (6), motor, video camera and camera pan-tilt (7) all electrically connect with robot main control chip；Described video camera is located on camera pan-tilt (7)；Being provided with battery and the cradle (8) for contacting and polar region robot (1) is charged with charging head in charging storehouse warehouse (2), battery electrically connects with cradle (8)；The transverse sides of the upstream end in ramp (3) is provided with first object object (9), and import and export is provided with the second target object (10), and the side of cradle (8) is provided with the 3rd target object (11).
2. as claimed in claim 1 movement patrols and examines the robot autonomous charging system in polar region, it is characterized in that: described cradle includes the seat board (13) being installed in charging storehouse warehouse (2), the cross bar (14) being connected is fixed in one end with seat board, the charging reed (16) that arrange upper with the spaced reed installing plate (15) of seat board (13) and reed installing plate (15), described cross bar (14) other end is through reed installing plate (15) and is installed with baffle plate (17), the spring (18) being set in cross bar (14) outer ring it is provided with between seat board (13) and reed installing plate (15).
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105573326A (en) * | 2016-02-03 | 2016-05-11 | 南京聚立工程技术有限公司 | Autonomous charging system and method for mobile routing inspection polar robot |
| CN106493733A (en) * | 2016-10-21 | 2017-03-15 | 苏州大成电子科技有限公司 | The cruise establishment of coordinate system method of room cruise robot and learning method |
| CN108803598A (en) * | 2018-05-08 | 2018-11-13 | 南方科技大学 | A kind of polar region multiple robots operating system and Synergistic method |
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2016
- 2016-02-03 CN CN201620110432.2U patent/CN205375190U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105573326A (en) * | 2016-02-03 | 2016-05-11 | 南京聚立工程技术有限公司 | Autonomous charging system and method for mobile routing inspection polar robot |
| CN105573326B (en) * | 2016-02-03 | 2018-04-20 | 南京聚立科技股份有限公司 | The robot autonomous charging system in movement inspection polar region and its method |
| CN106493733A (en) * | 2016-10-21 | 2017-03-15 | 苏州大成电子科技有限公司 | The cruise establishment of coordinate system method of room cruise robot and learning method |
| CN106493733B (en) * | 2016-10-21 | 2018-12-14 | 苏州大成电子科技有限公司 | The cruise establishment of coordinate system method and learning method of room cruise robot |
| CN108803598A (en) * | 2018-05-08 | 2018-11-13 | 南方科技大学 | A kind of polar region multiple robots operating system and Synergistic method |
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