CN205608520U - Automatic system of navigating back of electric quantity detection of robot - Google Patents
Automatic system of navigating back of electric quantity detection of robot Download PDFInfo
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- CN205608520U CN205608520U CN201620368204.5U CN201620368204U CN205608520U CN 205608520 U CN205608520 U CN 205608520U CN 201620368204 U CN201620368204 U CN 201620368204U CN 205608520 U CN205608520 U CN 205608520U
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- electric quantity
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Abstract
The utility model discloses an automatic system of navigating back of ware people electric quantity detection, the battery provides power resources and walks actuating mechanism according to the set walking route of map and the robot drive in the two -dimentional route of storage among the storage module among the master control set and make the robot walk to the robot, the residual capacity of electric quantity detection device real -time detection battery when walking in the robot, the range finding device that navigates back to charging position's distance according to the current position prediction of robot in real time, make a return voyage route prediction model and data processing module among the master control set in time control the machine people according to the residual capacity who obtains and the distance information that makes a return voyage and make a return voyage in suitable position, can continuously walk at the operation in -process in order to ensure the robot, can not the interrupt work because the electric quantity exhausts.
Description
Technical field
This utility model belongs to robot field, is specifically related to a kind of robot electric quantity and detects system of automatically making a return voyage.
Background technology
The many accumulators store by carrying of electricity storage of robot, after walking certain time, robot is due to electric quantity consumption, it is necessary to prevent, electric quantity consumption is complete cannot make a return voyage or can not make a return voyage to charging place in charging of making a return voyage.But current most of robot cannot realize automatically detecting the function of charging of automatically making a return voyage, and this problem is this area problem demanding prompt solution.
Utility model content
The purpose of this utility model is to provide a kind of device people's electric power detection automatically to make a return voyage system, quickly it is accurately positioned by laser, calculate robot shortest path distance from current location to accumulator plant or make a return voyage the required at most time, and then ensureing that robot can make a return voyage to accumulator plant from current location.
In order to achieve the above object, concrete technical scheme of the present utility model is as follows:
A kind of robot electric quantity detects system of automatically making a return voyage, including: accumulator, the electric quantity detection apparatus being arranged in robot, the Distnace determination device that makes a return voyage, walking actuator, also include:
Master control set, described master control set is located in robot, and described master control set is connected with described electric quantity detection apparatus, the Distnace determination device that makes a return voyage, walking actuator, and described master control set includes:
Memory module, the set track route of map and robot of the two dimensional path that storage sets；Information gathering and transfer module, receive described electric quantity detection apparatus detection accumulator dump energy and described in make a return voyage Distnace determination device detection from current location to the distance of charge position；
Make a return voyage path prediction module, it is thus achieved that storage battery value, when accumulator electric-quantity is Full Charge Capacity, runs average power consumption according to set path overall length and robot and obtain the longest distance or maximum duration traveled at the uniform speed when robot makes a return voyage；Receive described dump energy and the distance to charge position, it is thus achieved that robot at the uniform velocity make a return voyage from current location to charge position shortest path distance or maximum duration；
Data processing module, receive shortest path distance or the maximum duration of described acquisition, the actual time that robot makes a return voyage needed for charge position is obtained from current location in conjunction with the speed of making a return voyage preset, or making a return voyage apart from during close to described shortest path distance close to described maximum duration when obtaining the dump energy Departure times on reverse in current location, sending leaves to make a return voyage to touch sends signals to robot ambulation actuator.
A kind of robot electric quantity that this utility model provides detects system of automatically making a return voyage, accumulator provides power resources to robot and drives walking actuator to promote robot ambulation according to the set track route of 3 D stereo map and robot of the two dimensional path of storage in the memory module in master control set, when robot ambulation, electric quantity detection apparatus detects the dump energy of accumulator in real time, the Distnace determination device that makes a return voyage is predicted according to the current location of robot in real time and is maked a return voyage to the distance of accumulator plant, make a return voyage path prediction module and data processing module in master control set control robot in time make a return voyage at correct position according to the dump energy obtained and the range informations that makes a return voyage, to guarantee that robot can persistently walk in running, will not because electricity is finished interruption of work.
Further, described electric quantity detection apparatus is the battery-detecting instrument obtaining described accumulator current voltage value.
Further, described walking actuator includes head and for driving robot ambulation road wheel, and described road wheel is located at the bottom of robot, and described head is located at the top of robot, and described head and road wheel are all connected with robot body by rotating shaft.
Further, described in the Distnace determination device that makes a return voyage be located at the head of described robot, described in the Distnace determination device that makes a return voyage be laser range finder or ultrasonic range finder.
Further, described robot being additionally provided with laser scanning device, described laser scanning device is located at the front of robot head, is connected with described master control set.
Further, being additionally provided with data reception module in described master control set, described data reception module receives the environmental data that the robot of described laser scanning device scanning currently walks, and is transferred to described memory module；
Described memory module receives described environmental data, and the map contrast of the described two dimensional path with storage, it is thus achieved that the accurate location that robot is current, and path prediction module of making a return voyage described in being sent to by the accurate location information of acquisition.
Further, described laser scanning device is ZLDS200 laser scanner.
Further, the scanning angle of described laser scanning device is 190 to the maximum, and scanning accuracy is ± 15mm, and the ultimate range of scanning is 80 meters.
Accompanying drawing explanation
A kind of robot electric quantity that Fig. 1 provides for this utility model detects the system construction drawing that automatically makes a return voyage；
1. robot, 2. accumulator, 3. electric quantity detection apparatus, 4. make a return voyage Distnace determination device, 5. head, 6. master control set, 7. road wheel, 8. laser scanning device.
Detailed description of the invention
Below in conjunction with the accompanying drawings embodiment of the present utility model is illustrated.
The system as it is shown in figure 1, a kind of robot 1 electric power detection makes a return voyage automatically, including: accumulator 2, the electric quantity detection apparatus 3 being arranged in robot 1, the Distnace determination device 4 that makes a return voyage, walking actuator and master control set 6.
Accumulator 2 therein provides power resources for robot 1, electric quantity detection apparatus 3 is accumulator 2 detector obtaining described accumulator 2 current voltage value, the dump energy of accumulator 2 can be monitored in real time, prevent accumulator 2 electric quantity consumption excessive, it is impossible to be back to accumulator plant.
Walking actuator therein include robot 1 head 5 and for band mobile robot 1 walking road wheel 7, this action wheel 7 is located at the bottom of robot 1, head 5 is located at the top of robot 1, described head 5 and road wheel 7 are all connected with robot 1 main body by rotating shaft, in running, can rotate arbitrarily angled in can performing model and be solid.
The Distnace determination device 4 that makes a return voyage therein can be laser range finder or ultrasonic range finder, is located at the head 5 of robot 1, is equivalent to the eyes of robot 1, the distance of the distance accumulator plant, current location of real-time monitoring robot 1.
Laser range finder therein is to utilize laser that the distance of target is carried out the instrument of Accurate Determining.Laser range finder operationally penetrates the thinnest a branch of laser to target, photoelectric cell receive the laser beam of target reflection, and timer measures laser beam from being transmitted into time of reception, calculates from observer's range-to-go.Laser range finder is lightweight, volume is little, speed simple to operate is fast and accurate, and its error is only the one of 1/5th to hundreds of points of other optical rangefinder.
Ultrasonic range finder, device is provided with and takes aim at a device, as long as target to be measured for instrument alignment, arises that a little on the display screen of diastimeter, is mainly measured by the velocity of sound, the line of invisible injection.
Ultrasonic transmitter launches ultrasound wave to a direction, starts timing while x time, and ultrasound wave is propagated in atmosphere, encounters barrier and return the most immediately in way, and ultrasonic receiver receives echo and stops timing the most immediately.The aerial spread speed of ultrasound wave is 340m/5, according to the time t of timer record, it is possible to calculate the launch point distance (s) away from barrier, it may be assumed that s=340t/2.Here it is so-called time difference telemetry.
Described master control set 6 is located in robot 1, and this master control set 6 is connected with electric quantity detection apparatus 3, the Distnace determination device 4 that makes a return voyage, walking actuator, and this master control set 6 includes:
Memory module, the set track route of 3 D stereo map and robot 1 of the two dimensional path that storage sets；
Information gathering and transfer module, receive described electric quantity detection apparatus 3 detection accumulator 2 dump energy and described in make a return voyage Distnace determination device 4 detection from current location to the distance of charge position；
Make a return voyage path prediction module, it is thus achieved that accumulator 2 charge value, when accumulator 2 electricity is Full Charge Capacity, runs average power consumption according to set path overall length and robot 1 and obtain the longest distance or maximum duration traveled at the uniform speed when robot 1 makes a return voyage；Receive described dump energy and the distance to charge position, it is thus achieved that robot 1 at the uniform velocity make a return voyage from current location to charge position shortest path distance or maximum duration；
Data processing module, receive shortest path distance or the maximum duration of described acquisition, the actual time that robot 1 makes a return voyage needed for charge position is obtained from current location in conjunction with the speed of making a return voyage preset, when obtain dump energy the Departure times on reverse of current location close to described maximum duration or distance of making a return voyage close to described shortest path distance time, send the tactile robot 1 that sends signals to that leaves to make a return voyage and walk actuator.
It is, in robot 1 walking process, it may be judged whether needing to make a return voyage, electrical parameter or the distance parameter that can be recorded by electric quantity detection apparatus 3 and the Distnace determination device 4 that makes a return voyage decide whether to make a return voyage.
Specifically include: when accumulator 2 Full Charge Capacity robot 1 does not also walk, path prediction module 6-2 of making a return voyage needs, according to the robot 1 set, the average power consumption that the path overall length of walking and robot 1 run, it is thus achieved that robot 1 at the uniform velocity makes a return voyage the longest distance and maximum duration can walked to accumulator plant.
nullIn robot 1 walking process，Persistently walk，Accumulator 2 constantly consumes electricity，The Distnace determination device 4 that makes a return voyage records the current location of robot 1 actual range of distance accumulator plant when backtracking in real time，Electric quantity detection apparatus 3 records the dump energy of accumulator 2 in real time simultaneously，And feed back to, by information gathering and transfer module, path prediction module of making a return voyage，Path prediction module of making a return voyage obtains the actual position of robot 1 according to this actual range，The shortest path distance obtained obtains the shortest path distance can walked when robot 1 makes a return voyage，Data processing module receives the shortest path distance obtained，The actual time that robot 1 makes a return voyage needed for charge position is obtained from current location in conjunction with the speed of making a return voyage preset，When the beeline that this shortest path distance is at the uniform velocity maked a return voyage close to robot 1 according to average power consumption，Transmission is left to make a return voyage to touch and is sent signals to robot 1 and walk actuator，Robot 1 makes a return voyage.
Or, when robot 1 is during patrolling and examining, need when certain place stops for a long time, although not walking, but, the electricity of accumulator 2 is still in constantly consuming, now, electric quantity detection apparatus 3 records the dump energy of accumulator 2 the most in real time, the Distnace determination device 4 that makes a return voyage records the current location of robot 1 actual range of distance accumulator plant when backtracking in real time, and feed back to, by information gathering and transfer module, path prediction module of making a return voyage, path prediction module of making a return voyage is according to dump energy and to the distance of accumulator plant, obtain robot 1 at the uniform velocity to make a return voyage to the maximum duration of charge position from current location.Data processing module, receive the maximum duration obtained, the actual time that robot 1 makes a return voyage needed for charge position is obtained from current location in conjunction with the speed of making a return voyage preset, when obtain dump energy the Departure times on reverse of current location close to described maximum duration time, sending leaves to make a return voyage touches and sends signals to robot 1 and walk actuator.
Master control set therein can be realized by the industrial control equipment used in PLC control panel or other industry.
In order to be accurately positioned the position of robot 1, it is also possible to arrange laser scanning device 8 in robot 1, two dimensional path information in real time scan robot 1 walking also sends this two dimensional path information to memory module in master control set 6.This laser scanning device 8 and the Distnace determination device 4 that makes a return voyage are likewise provided at the front of robot 1 head 5, are connected with master control set 6.
Being additionally provided with data reception module in master control set 6, this data reception module receives the environmental data that the robot 1 of laser scanning device 8 scanning currently walks, and is transferred to memory module simultaneously；Memory module receives environmental data, and the map contrast of the two dimensional path with storage, obtain the accurate location that robot 1 is current, and the accurate location information of acquisition is sent to path prediction module of making a return voyage, path prediction module of making a return voyage is according to the actual position of robot 1, accurately obtain robot 1 to make a return voyage from current location to the shortest path distance of charge position, and according to making a return voyage speed and dump energy judges that robot 1 at the uniform velocity makes a return voyage to whether this dump energy of charge position meets, and then judge whether robot 1 should now make a return voyage.
The scanning angle of laser scanning device 8 therein is 190 ° to the maximum, and scanning accuracy is ± 15mm, and the ultimate range of scanning is 80 meters.Being preferably ZLDS200 laser scanner, this laser scanner has the advantages such as degree of accuracy height, good stability, the scanning of elimination dead angle, fast, the comprehensive scanning of measuring speed.
Above, although illustrate several embodiment of the present utility model, but these embodiments are intended only as what example proposed, are not intended to limit scope of the present utility model.For the embodiment that these are new, it is possible to implement in other various modes, in the range of without departing from main idea of the present utility model, it is possible to carry out various omission, displacement and change.These embodiments and its deformation, while being contained in scope or spirit of the present utility model, be also contained in the utility model described in claims and impartial model be solid interior.
Claims (8)
1. a robot electric quantity detects system of automatically making a return voyage, it is characterised in that including:
Accumulator, the electric quantity detection apparatus being arranged in robot, the Distnace determination device that makes a return voyage, driving
Device, walking actuator, also include:
Master control set, described master control set is located in robot, and described master control set is examined with described electricity
Survey device, the Distnace determination device that makes a return voyage, actuator of walking is connected, and described master control set includes:
Memory module, the 3 D stereo map of the two dimensional path that storage sets and robot given line are walked
Line；
Information gathering and transfer module, obtain the residue electricity of the accumulator of described electric quantity detection apparatus detection
Amount and described in make a return voyage Distnace determination device detection from current location to the distance of charge position；
Make a return voyage path prediction module, it is thus achieved that storage battery value, when accumulator electric-quantity is Full Charge Capacity,
Run average power consumption according to set path overall length and robot to obtain and travel at the uniform speed when robot makes a return voyage
Longest distance or maximum duration；Receive described dump energy and the distance to charge position, it is thus achieved that machine
Device people at the uniform velocity make a return voyage from current location to charge position shortest path distance or maximum duration；
Data processing module, receives shortest path distance or the maximum duration of described acquisition, in conjunction with presetting
Speed of making a return voyage obtain robot actual time of making a return voyage needed for charge position from current location, when
Close to described maximum duration or make a return voyage apart from close to dump energy in the Departure times on reverse of current location
During described shortest path distance, sending leaves to make a return voyage to touch sends signals to robot ambulation actuator.
Robot electric quantity the most according to claim 1 detects system of automatically making a return voyage, it is characterised in that
Described electric quantity detection apparatus is the battery-detecting instrument obtaining described accumulator current voltage value.
Robot electric quantity the most according to claim 1 detects system of automatically making a return voyage, it is characterised in that
Described walking actuator includes head and for driving the road wheel of robot ambulation, described road wheel
Being located at the bottom of robot, described head is located at the top of robot, and described head and road wheel are the most logical
Cross rotating shaft to be connected with robot body.
Robot electric quantity the most according to claim 3 detects system of automatically making a return voyage, it is characterised in that
The described Distnace determination device that makes a return voyage is located at the head of described robot, described in the Distnace determination device that makes a return voyage be
Laser range finder or ultrasonic range finder.
Robot electric quantity the most according to claim 1 detects system of automatically making a return voyage, it is characterised in that
Being additionally provided with laser scanning device in described robot, described laser scanning device is located at robot head
Front, is connected with described master control set.
Robot electric quantity the most according to claim 5 detects system of automatically making a return voyage, it is characterised in that
Being additionally provided with data reception module in described master control set, described data reception module receives described laser and sweeps
The environmental data that the robot of imaging apparatus scanning currently walks, and it is transferred to described memory module；
Described memory module receives described environmental data, and the map pair of the described two dimensional path with storage
Ratio, it is thus achieved that the accurate location that robot is current, and return described in the accurate location information of acquisition is sent to
Bit path prediction module.
Robot electric quantity the most according to claim 5 detects system of automatically making a return voyage, it is characterised in that
Described laser scanning device is ZLDS200 laser scanner.
Robot electric quantity the most according to claim 5 detects system of automatically making a return voyage, it is characterised in that
The scanning angle of described laser scanning device is 190 ° to the maximum, and scanning accuracy is ± 15mm, and scanning is
Big distance is 80 meters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620368204.5U CN205608520U (en) | 2016-04-27 | 2016-04-27 | Automatic system of navigating back of electric quantity detection of robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620368204.5U CN205608520U (en) | 2016-04-27 | 2016-04-27 | Automatic system of navigating back of electric quantity detection of robot |
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| CN106412429A (en) * | 2016-09-30 | 2017-02-15 | 深圳前海弘稼科技有限公司 | Image processing method and device based on greenhouse |
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| CN107807651A (en) * | 2017-11-29 | 2018-03-16 | 北京康力优蓝机器人科技有限公司 | The self-charging control system and method for a kind of mobile robot |
| CN108710365A (en) * | 2018-04-19 | 2018-10-26 | 五邑大学 | A kind of robot automatic recharging method and device waterborne based on optimal path cruise |
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| CN109242231A (en) * | 2017-07-10 | 2019-01-18 | 菜鸟智能物流控股有限公司 | Scheduling method of energy consumption equipment and related equipment |
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| WO2020125636A1 (en) * | 2018-12-17 | 2020-06-25 | 深圳市道通智能航空技术有限公司 | Automatic return method and device and unmanned aerial vehicle |
| CN113867353A (en) * | 2021-10-08 | 2021-12-31 | 徐州徐工环境技术有限公司 | Automatic return path planning method of cleaning robot |
| CN114430988A (en) * | 2020-11-04 | 2022-05-06 | 南京德朔实业有限公司 | Intelligent mower |
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| CN106412429A (en) * | 2016-09-30 | 2017-02-15 | 深圳前海弘稼科技有限公司 | Image processing method and device based on greenhouse |
| CN106412429B (en) * | 2016-09-30 | 2019-12-17 | 深圳春沐源控股有限公司 | image processing method and device based on greenhouse |
| CN108733040A (en) * | 2017-04-21 | 2018-11-02 | 深圳乐动机器人有限公司 | Robot recharges control system and the robot with it |
| CN109242231A (en) * | 2017-07-10 | 2019-01-18 | 菜鸟智能物流控股有限公司 | Scheduling method of energy consumption equipment and related equipment |
| CN109242231B (en) * | 2017-07-10 | 2022-05-06 | 菜鸟智能物流控股有限公司 | Scheduling method of energy consumption equipment and related equipment |
| CN107272695A (en) * | 2017-07-20 | 2017-10-20 | 上海与德通讯技术有限公司 | A kind of robot autocontrol method and device |
| CN107807651A (en) * | 2017-11-29 | 2018-03-16 | 北京康力优蓝机器人科技有限公司 | The self-charging control system and method for a kind of mobile robot |
| CN108710365A (en) * | 2018-04-19 | 2018-10-26 | 五邑大学 | A kind of robot automatic recharging method and device waterborne based on optimal path cruise |
| WO2019227307A1 (en) * | 2018-05-29 | 2019-12-05 | 深圳市大疆创新科技有限公司 | Ground robot control method, and ground robot |
| WO2020125636A1 (en) * | 2018-12-17 | 2020-06-25 | 深圳市道通智能航空技术有限公司 | Automatic return method and device and unmanned aerial vehicle |
| US11919637B2 (en) | 2018-12-17 | 2024-03-05 | Autel Robotics Co., Ltd. | Automatic return method, apparatus and unmanned aerial vehicle |
| CN110281233B (en) * | 2019-05-13 | 2022-08-26 | 深圳创动科技有限公司 | Robot, robot control system, motion control method, and storage medium |
| CN110281233A (en) * | 2019-05-13 | 2019-09-27 | 深圳创动科技有限公司 | Robot, robot control system and motion control method and storage medium |
| CN114430988A (en) * | 2020-11-04 | 2022-05-06 | 南京德朔实业有限公司 | Intelligent mower |
| CN113867353A (en) * | 2021-10-08 | 2021-12-31 | 徐州徐工环境技术有限公司 | Automatic return path planning method of cleaning robot |
| CN114744705A (en) * | 2022-04-01 | 2022-07-12 | 上海飒智智能科技有限公司 | Automatic production line mobile robot energy management method and management device |
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| CN116912063A (en) * | 2023-07-18 | 2023-10-20 | 北控水务(中国)投资有限公司 | Marine environmental protection system |
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