CN206302168U - Crusing robot automatic charging laser alignment system - Google Patents
Crusing robot automatic charging laser alignment system Download PDFInfo
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- CN206302168U CN206302168U CN201621121209.4U CN201621121209U CN206302168U CN 206302168 U CN206302168 U CN 206302168U CN 201621121209 U CN201621121209 U CN 201621121209U CN 206302168 U CN206302168 U CN 206302168U
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Abstract
The utility model discloses a kind of crusing robot automatic charging laser alignment system, including charging pile and crusing robot, electrode contact blade, charging pile controller, charging pile wireless transceiver and the generating laser of interconnection are installed on charging pile, charging electrode, robot controller, robot wireless transceiver and multiple transversely arranged laser pickoffs of interconnection are installed on crusing robot.The invention also discloses a kind of crusing robot automatic charging laser alignment method, examinations are carried out to all laser pickoff signals by robot controller, and then move and charge up to charging electrode is aligned with electrode contact blade according to actual signal source modification robot right position.The utility model uses a laser as registration signal, and the rough preparation of alignment is realized using multiple laser pickoffs, is accurately positioned using most middle laser pickoff, can automatically adjust itself attitude of machine people, completes the automatic charging of robot.
Description
Technical field
The utility model is related to a kind of robot automatic charging to fill Barebone, more particularly to a kind of crusing robot automatically
Electric shock optical registration system.
Background technology
At present, the crusing robot that powerhouse of hydropower station is specifically applied at present does not have also temporarily, and corresponding supporting technology is also
Compare missing, the crusing robot of outdoor transformer station is applied to present on market, because system load is larger, power is higher,
Charged using contact, automatic charging system typically all uses magnetic navigation alignment pattern, when robot electric quantity is less than threshold value,
Robot moves to charged area along electromagnetic path；Charging pile is arranged on corner or fixed charging house, uses magnetic stripe guide rail
Mode guide crusing robot to be directed at charging contact, complete docking for robot and charging pile.
If the crusing robot of powerhouse of hydropower station is applied to using existing magnetic navigation Pattern completion automatic charging, in peace
Workload is larger in dress engineering, while the construction to powerhouse of hydropower station increased extra work amount, and magnetic navigation use
Time limit is limited, and it is big to change quantities after magnetic stripe demagnetization, and difficulty is high, it is necessary to the magnetic stripe for being previously embedded in underground is dug out, then imbeds
New magnetic stripe, has destruction to the ground of powerhouse of hydropower station, is destroyed the overall earth construction of powerhouse of hydropower station, is unfavorable for water power
Stand the maintenance of factory building.If completing the scheme of automatic charging using image recognition, its solution technique is complicated, and accuracy has to be tested
Card, it is also difficult to popularization and application.
The content of the invention
The purpose of this utility model is that and provide that one kind does not rely on magnetic stripe, convenient to carry out in order to solve the above problems
Crusing robot automatic charging laser alignment system.
The utility model is achieved through the following technical solutions above-mentioned purpose：
A kind of crusing robot automatic charging laser alignment system, including charging pile and crusing robot, the charging pile
On electrode contact blade is installed, the charging electrode highly consistent with the electrode contact blade is installed on the crusing robot, it is described
Charging pile controller, charging pile wireless transceiver and generating laser are also equipped with charging pile, the charging pile controller
Communication ends, laser controlling output end and power control terminal respectively with the charging pile wireless transceiver, the generating laser
Control signal and the electrode contact blade are connected, and robot controller, robot are also equipped with the crusing robot wireless
The laser pickoff of transceiver and the multiple consistent with the laser transmitter height and the horizontal arranged in parallel for odd number, institute
State communication ends, laser signal input and the charging signal input terminal of robot controller respectively with the robot wireless receiving and dispatching
The connection of device, the signal output part of multiple laser pickoffs and the charging electrode, the charging pile wireless transceiver and institute
State wireless communication connection between robot wireless transceiver.
Preferably, the quantity of the laser pickoff is 11.
A kind of crusing robot automatic charging laser alignment system, including following system：
（1）Whether robot controller detection robot electric quantity is less than lower threshold, if it is, the movement of control robot
To near the charged area of charging pile；
（2）Robot controller is sent out by robot wireless transceiver and charging pile wireless transceiver to charging pile controller
Instruction is sent, electricity on charging pile controller coordination electrode contact；Meanwhile, charging pile controller control laser transmitter projects laser,
Or, generating laser is continued for launching laser；
（3）The signal of the multiple laser pickoffs of robot controller detection, if not detecting signal, controls machine
People moves freely in charged area, until detecting the signal of one of laser pickoff untill；
（4）If the corresponding laser pickoff of laser signal that robot controller is detected is in most middle laser pick-off
The left side of device, then control robot to move right；If the corresponding laser pick-off of laser signal that robot controller is detected
Device then controls robot to be moved to the left on the right of most middle laser pickoff；If what robot controller was detected swashs
The corresponding laser pickoff of optical signal is most middle laser pickoff, then control robot to be moved near the front of charging pile
It is dynamic；
（5）If robot controller does not detect the electric current of charging electrode, control robot is continued to move along,
If robot controller detects the electric current of charging electrode, control robot stops mobile and locks robot location, machine
Device people start to charge up；Laser is controlled by robot wireless transceiver, charging pile wireless transceiver and charging pile controller simultaneously
Transmitter stops transmitting laser；
（6）Whether robot controller detection robot electric quantity is higher than upper limit threshold, if it is, passing through robot wireless receiving and dispatching
Device and charging pile wireless transceiver send to charging pile controller and instruct, the power-off of charging pile controller coordination electrode contact；Meanwhile,
Robot controller control robot moves away from the working region of the charged area of charging pile；Charging terminates.
In order to avoid occurring deviation, the system in robot moving process（4）In, control machine in robot controller
During people near the front of charging pile to moving, continue the most middle laser pickoff of uninterrupted detection and left and right adjacent two
The signal of individual laser pickoff, if it find that signal is not from most middle laser pickoff, then presses the system immediately
（4）Correction left and right directions.
The beneficial effects of the utility model are：
The utility model uses a laser as registration signal, and the rough standard of alignment is realized using multiple laser pickoffs
It is standby, it is accurately positioned using most middle laser pickoff, itself attitude of machine people can be automatically adjusted, robot is charged
Electrode alignment charging pile electrode contact blade, and robot is drawn close from trend charging pile, filled until robot charging electrode is inserted into
Electric stake electrode contact blade, completes charging plug and is docked with socket, so as to complete the automatic charging of robot；Pass through robot control simultaneously
Device processed, robot wireless transceiver, charging pile controller, charging pile wireless transceiver, control charging pile need to fill in robot
Electricity is just gone up when electric, it is to avoid charging pile equipment is constantly in electriferous state, to personnel component security threat, while also saving energy
Source；The utility model is particularly suited for crusing robot automatic charging in powerhouse of hydropower station room.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of crusing robot automatic charging laser alignment system described in the utility model；
Fig. 2 is the dimensional structure diagram of crusing robot described in the utility model, and angle is different from Fig. 1 in figure.
Specific embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings：
As depicted in figs. 1 and 2, crusing robot automatic charging laser alignment system described in the utility model includes charging pile
1 and crusing robot 2, electrode contact blade 14, charging pile controller 12, the and of charging pile wireless transceiver 11 are installed on charging pile 1
Generating laser 13, the communication ends of charging pile controller 12, laser controlling output end and power control terminal respectively with charging pile without
Line transceiver 11, the control signal of generating laser 13 and electrode contact blade connection 14, is provided with charging electricity on crusing robot 2
Pole 23, robot controller 24, robot wireless transceiver 21 and laser pickoff 22, charging electrode 23 are high with electrode contact blade 14
Degree is consistent, 11（Can also be other odd numbers）Integrated installation laser pickoff 22 together is odd number simultaneously laterally arranged side by side
Arrangement and, the communication ends of robot controller 24, laser signal input and charging signals highly consistent with generating laser 13
Input is connected with the signal output part and charging electrode 23 of robot 21,11 laser pickoffs 22 of wireless transceiver respectively,
Wireless communication connection between charging pile wireless transceiver 11 and robot wireless transceiver 21.
With reference to Fig. 1 and Fig. 2, crusing robot automatic charging laser alignment system described in the utility model, including following system
System：
（1）Whether the detection of robot controller 24 robot electric quantity is less than lower threshold, if it is, control robot is moved
Move near the charged area of charging pile 2；
（2）Robot controller 24 is by robot wireless transceiver 21 and charging pile wireless transceiver 11 to charging pile control
Device processed 12 sends instruction, electricity on the coordination electrode contact 14 of charging pile controller 12；Meanwhile, the control laser hair of charging pile controller 12
Emitter 13 launches laser, or, discounting for electric energy is saved, generating laser 13 can also be continued for launching laser；
（3）Robot controller 24 detects 11 signals of laser pickoff 22 in the way of poll is scanned, if do not had
Signal is detected, then controls robot to be moved freely in charged area, the letter until detecting one of laser pickoff 22
Untill number；
（4）If the corresponding laser pickoff 22 of laser signal that robot controller 24 is detected is in most middle laser
The left side of receiver 22（I.e. signal comes from 1-5 laser pickoffs）, then robot is controlled to move right；If robot control
The corresponding laser pickoff 22 of laser signal that device processed 24 is detected is on the right of most middle laser pickoff 22（That is signal
From in 7-11 laser pickoffs）, then robot is controlled to be moved to the left；If the laser signal that robot controller 22 is detected
Corresponding laser pickoff 22 is most middle laser pickoff 22（I.e. No. 6 laser pickoffs）, then robot is controlled to close
The front movement of charging pile 2；During the control robot of robot controller 24 near the front of charging pile 2 to moving,
Robot controller 24 continues the most middle two neighboring laser pickoff 22 of laser pickoff 22 and left and right of uninterrupted detection
Signal, if it find that signal is not from most middle laser pickoff 22, then corrects left and right directions by the system immediately；
（5）If robot controller 24 does not detect the electric current of charging electrode 23, control robot continues forward
Mobile, if robot controller 24 detects the electric current of charging electrode 23, control robot stops mobile and locks machine
People position, robot is started to charge up；Pass through robot wireless transceiver 21, charging pile wireless transceiver 11 and charging pile control simultaneously
The control generating laser 13 of device processed 12 stops transmitting laser；
（6）Whether the detection of robot controller 24 robot electric quantity is higher than upper limit threshold, if it is, wirelessly being received by robot
Hair device 21 and charging pile wireless transceiver 11 send to charging pile controller 12 and instruct, the coordination electrode contact of charging pile controller 12
14 power-off；Meanwhile, the control of robot controller 24 robot moves away from the working region of the charged area of charging pile 2；Fill
Electricity terminates.
Above-described embodiment is preferred embodiment of the present utility model, is not the limit to technical solutions of the utility model
System, as long as the technical scheme that can be realized on the basis of above-described embodiment without creative work, is regarded as falling into
In the rights protection scope of the utility model patent.
Claims (2)
1. a kind of crusing robot automatic charging laser alignment system, including charging pile and crusing robot, on the charging pile
Electrode contact blade is installed, the charging electrode highly consistent with the electrode contact blade, its feature are installed on the crusing robot
It is：Charging pile controller, charging pile wireless transceiver and generating laser, the charging pile are also equipped with the charging pile
The communication ends of controller, laser controlling output end and power control terminal respectively with the charging pile wireless transceiver, the laser
The control signal of transmitter and the electrode contact blade are connected, and robot controller, machine are also equipped with the crusing robot
The laser of device people wireless transceiver and the multiple consistent with the laser transmitter height and the horizontal arranged in parallel for odd number
Receiver, the communication ends of the robot controller, laser signal input and charging signal input terminal respectively with the machine
The connection of people's wireless transceiver, the signal output part of multiple laser pickoffs and the charging electrode, the charging pile is wireless
Wireless communication connection between transceiver and the robot wireless transceiver.
2. crusing robot automatic charging laser alignment system according to claim 1, it is characterised in that：The laser connects
The quantity for receiving device is 11.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621121209.4U CN206302168U (en) | 2016-10-14 | 2016-10-14 | Crusing robot automatic charging laser alignment system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621121209.4U CN206302168U (en) | 2016-10-14 | 2016-10-14 | Crusing robot automatic charging laser alignment system |
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| CN206302168U true CN206302168U (en) | 2017-07-04 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106356944A (en) * | 2016-10-14 | 2017-01-25 | 四川超影科技有限公司 | Automatic charging laser aligning system of patrol check robot and aligning method |
| CN107368083A (en) * | 2017-09-15 | 2017-11-21 | 中国安全生产科学研究院 | A kind of crusing robot and crusing robot system |
| CN107703272A (en) * | 2017-11-09 | 2018-02-16 | 哈尔滨程天科技发展有限公司 | A kind of cesspool crusing robot and its detection method |
| CN107839539A (en) * | 2017-12-16 | 2018-03-27 | 无锡同春新能源科技有限公司 | A kind of automatic charging charging pile |
| CN109240307A (en) * | 2018-10-12 | 2019-01-18 | 苏州优智达机器人有限公司 | Robot precise positioning system |
| CN109291818A (en) * | 2018-09-25 | 2019-02-01 | 特治（深圳）智能科技实业有限公司 | Charging device of electric automobile |
| CN111762048A (en) * | 2020-06-30 | 2020-10-13 | 武汉天马微电子有限公司 | Automatic guide transport vehicle charging system and charging method |
| CN112596519A (en) * | 2020-12-14 | 2021-04-02 | 京东数科海益信息科技有限公司 | Guide control method and device, charging pile and robot |
| US11172609B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11172609B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
| CN106356944A (en) * | 2016-10-14 | 2017-01-25 | 四川超影科技有限公司 | Automatic charging laser aligning system of patrol check robot and aligning method |
| CN107368083A (en) * | 2017-09-15 | 2017-11-21 | 中国安全生产科学研究院 | A kind of crusing robot and crusing robot system |
| CN107703272A (en) * | 2017-11-09 | 2018-02-16 | 哈尔滨程天科技发展有限公司 | A kind of cesspool crusing robot and its detection method |
| CN107703272B (en) * | 2017-11-09 | 2023-10-03 | 哈尔滨跃渊环保智能装备有限责任公司 | Sewage pool inspection robot and detection method thereof |
| CN107839539A (en) * | 2017-12-16 | 2018-03-27 | 无锡同春新能源科技有限公司 | A kind of automatic charging charging pile |
| CN109291818A (en) * | 2018-09-25 | 2019-02-01 | 特治（深圳）智能科技实业有限公司 | Charging device of electric automobile |
| CN109240307A (en) * | 2018-10-12 | 2019-01-18 | 苏州优智达机器人有限公司 | Robot precise positioning system |
| CN111762048A (en) * | 2020-06-30 | 2020-10-13 | 武汉天马微电子有限公司 | Automatic guide transport vehicle charging system and charging method |
| CN112596519A (en) * | 2020-12-14 | 2021-04-02 | 京东数科海益信息科技有限公司 | Guide control method and device, charging pile and robot |
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