CN206684574U - A kind of mobile robot recharges control system - Google Patents
A kind of mobile robot recharges control system Download PDFInfo
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- CN206684574U CN206684574U CN201720340905.2U CN201720340905U CN206684574U CN 206684574 U CN206684574 U CN 206684574U CN 201720340905 U CN201720340905 U CN 201720340905U CN 206684574 U CN206684574 U CN 206684574U
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- mobile robot
- cradle
- infrared signal
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Abstract
The utility model discloses a kind of mobile robot and recharges control system, including mobile robot and cradle, is provided with wireless communication module and specific infrared signal transmitting-receiving mechanism each other；Mobile robot launches charge request wireless signal to cradle and waits reply, after the reply for allowing charging signals is received, it is moved at the coordinate of the infrared signal of mark, then behavior adjustment is carried out, until the infrared signal receiving unit of the positive front position of mobile robot receives the signal of cradle centre position infrared emission unit transmitting, moved according to the behavioral strategy after adjustment, completing charging with cradle docks；Then charge request signal is sent to cradle, after mobile robot receives the return information of cradle, into charged state.The utility model by communication, using the map that gyroscope is established with cleverly infrared signal guide mechanism, realization recharge.
Description
Technical field
It the utility model is related to field in intelligent robotics, and in particular to recharge control system to mobile robot.
Background technology
Allegro work, heavy housework, mercilessness have deprived the personal time of people.With the improvement of living standards,
More and more people thirst for obtaining more personal times, to enjoy life.With the development of science and technology, mobile robot can
Progressively to replace the mankind to undertake the manual labor simply repeated.There is quite a few machine to have to carry inside these robots
Battery is to realize mobility, and in the case where battery exhausts, robot can not just work, then just must constantly monitor machine
The electricity of people, when when the threshold value that electricity is as little as set or manually starting charge command, robot just must quickly recharge with
Prevent machine electricity from depleting to be stopped, if electricity could not be recharged successfully before depleting, customer experience will be had a strong impact on, drop
The degree of intelligence of low robot.
The method point of mobile robot searching cradle on the market has a variety of；1st, the random guidance method of infrared signal, it is mobile
Infrared receiver is housed, cradle launches the infrared carrier wave signal of different value, mobile robot from all angles in robot
According to demodulated signal outside the Different Red received, the position of cradle is judged.2nd, wireless radiofrequency guidance method, charging stand is according to one
In the fixed cycle, by diminuendo sending wireless signal by force, there is stateless in robot according to the signal in the range of some, so as to track
The position of stand.3rd, pattern-recognition method, charging stand be coated with a certain special color or some special shape or
Person sticks Quick Response Code on stand, and camera is housed in mobile robot, is taken pictures image by camera, with the image of correlation
Processing knowledge identifies stand position.
First method is simply simple optical infrared line technology method, and infrared ray can only transmit in straight line sighting distance,
Visual range is narrow, is easily blocked by outer barrie thing with interference, causes the loss of signal, the angle of infrared emission unit must
Must be by rational design, cradle on the market is all much to use transmitter unit of the extensive angle with two narrow angles,
The transmitter unit coverage of two narrow angles is not wide, the transmitter unit of extensive angle then no directionality and coverage compares
Closely.Although second method will not be blocked the Position Approximate that with interference, can only search out stand by outer barrie thing,
And product realizes that difficulty is all higher with cost.The third method is more prone to be influenceed by external environment condition, blocks with light
Line is bad, can all cause identification malfunction, and operand it is bigger, it is necessary to hardware cost it is higher, easily cause moving machine
Device people is being looked among the process of stand, and electric quantity consumption is bigger.
Utility model content
The utility model aims to provide a kind of mobile robot and recharges control system, and being realized on the premise of low cost can
Lean on, effectively recharge control.The purpose of this utility model is achieved through the following technical solutions：
A kind of mobile robot recharges control system and control method, and mobile robot recharges control system, including movement
Robot and cradle, wherein,
The mobile robot includes：Mobile robot body, action module, mobile robot control mainboard, wireless mould
Block, infrared signal receiving unit, detection of obstacles sensor, collision detecting device and gyro sensor；
The cradle includes：Cradle body, wireless module, cradle control mainboard and infrared signal transmitter unit；
Characterized in that, the infrared signal receiving unit at least four, is respectively arranged at mobile robot body
Surrounding；
The infrared signal transmitter unit at least three, is respectively arranged at cradle body front center and cradle
The both sides of body.
Further, the infrared signal receiving unit be respectively arranged in the positive rear end of mobile robot body, left front end,
Right front ends and positive front end, the receiving angle of the infrared receiver of positive front end is β 1, left front end and two infrared receivers of right front ends
The receiving angle of unit is all β 2, and the receiving angle of the infrared receiver of positive rear end is β 3, and β 1 relatively β 2, β 3 is small, for moving
The signal of infrared emission unit transmitting recharge behavior in the middle part of mobile robot alignment cradle, and β 2 is more than β 1, β 3 be more than or
Equal to β 2, for a wide range of interior signal for receiving cradle, β 1+ β 2+ β 2+ β 3>=360 °.
Further, the launch angle of the infrared signal transmitter unit for being arranged at cradle body front center is β
4, the launch angle for being arranged at the infrared signal transmitter unit of the both sides of cradle body is all β 5, and β 4 is less than β 5, β 4+ β 5+ β 5>
=180 °.
Further, three therein are arranged at cradle body front center, the first infrared signal hair of center section
It is β 4 to penetrate unit launch angle, and second, third infrared signal transmitter unit is arranged at the first infrared signal transmitter unit both sides, hair
Firing angle degree is all β 6, the launch angle of the four, the 5th infrared signal transmitter units of the both sides for being arranged at cradle body
All it is β 5, β 4 is less than β 5, β 4+ β 5+ β 5+ β 6 less than β 5, β 6, β 6>=180 °.
Mobile robot provided by the utility model recharges control system, and communication machine is established using the mode of radio communication
System, will not be disturbed, the transmitting range of signal is remote, can confirm that and whether there is cradle under current environment, keeps away by barrier
Exempt from no discovery cradle or cradle exception, machine blindly looks for cradle；By wirelessly linking up, cradle can be true
Recognize and when open charge power supply and realize Electrical Safety, machine is it will also be appreciated that whether cradle exception occurs；Use gyroscope, machine
The detection means such as code-disc mileage machine, detection of obstacles on device people, established by SLAM (positioning and map structuring immediately) technology
Motion maps, so as to position of the fast positioning cradle in map, realization quickly recharges；It is infrared in mobile robot
Receiving unit reception signal scope can cover the space more than 360 degree, and the infrared emission signal on cradle can cover greatly
In the space of 180 degree, quickly the front of cradle can be gone to by guided robot.
Brief description of the drawings
Fig. 1 is mobile robot structural representation in the utility model embodiment.
Fig. 2 is the receiving angle scope of mobile robot receiving unit in the utility model embodiment.
Fig. 3 is mobile robot cradle schematic diagram in the utility model embodiment.
Fig. 4 is mobile robot cradle signal receiving angle schematic diagram in the utility model embodiment.
Fig. 5 is the schematic diagram that mobile robot finds cradle in the utility model embodiment.
Fig. 6 is mobile robot refilling operation flow chart in the utility model embodiment.
Embodiment
Specific embodiment of the present utility model is described further below in conjunction with the accompanying drawings：
Such as Fig. 1 and Fig. 5, mobile robot base 4 is used for the action dress of fixed placement control mobile robot direction of advance
Put 2, the control panel 3 of mobile robot, wireless module 6, infrared receiver 1, collision detecting device 7；Wireless module 6 be used for
Cradle establishes wireless communication mechanism, can not be influenceed by barrier, even if across barrier, between the two can also be just
Normal open is believed；Four infrared receivers 1 are used for the infrared signal for receiving cradle transmission, before being separately mounted to mobile robot
Rear left, right, preceding, the different orientation such as rear, the receiving angle of each infrared receiver is different, so that cradle can be known
Other mobile robot is moved relative to the movement position of charging stand with direction, and for mobile robot close to the cradle period of the day from 11 p.m. to 1 a.m
Mobile robot docks with the accurate of cradle；Infrared receiver can pass through the working of plastics on mobile robot mould using black
The receiving angle of infrared receiver is limited, for example the infrared order member receiving angle installed in positive front end is β 1, left front end
Angle with two infrared receivers of right front ends is β 2, and the receiving angle of the infrared receiver of positive rear end is β 3, β 1 compared with β 2,
β 3 is small, and the signal for infrared emission unit transmitting in the middle part of mobile robot alignment cradle carries out recharging behavior, and β 2 is more than β 1,
β 3 is more than or equal to β 2, for a wide range of interior signal for receiving cradle, β 1+ β 2+ β 2+ β 3>=360 °, it is possible to achieve Quan Fang
The infrared signal of position search cradle transmitting is dispersed with different infrared emission units on cradle simultaneously, and the code value of transmitting is with angle
Degree is all different, and mobile robot receives the combination of different infrared signals according to different receiving units, adjusts mobile machine
The Motion of people；Such as when the infrared receiver on the mobile robot left side receives the infrared letter of cradle left side transmitting
Number, mobile robot is known that cradle on the left side of mobile robot, and mobile robot is in the right of cradle, moving machine
Device people can is kept straight on, until receive the signal of middle the transmitter unit transmitting of cradle, then is turned left until middle red
Outer receiving unit receives the infrared signal of cradle transmitting.If mobile robot is to facing away from cradle, then positive rear end
Infrared receiver will reception signal, the infrared receiver that mobile robot is just rotated up positive front end receives letter
Number；Gyroscope is used for the current relative angle for perceiving mobile robot；Detection of obstacles sensor can allow mobile robot
Predict barrier in advance and change direction of advance；During moveable robot movement, it is possible to run into various barriers
Hinder thing, collision detecting device 7 is it may determine that go out the direction of run into barrier, so that mobile robot adjusts appearance in time
State, and the mark collision coordinate on motion maps；Gyroscope, detection of obstacles sensor, collision detecting device combination robot
The code-disc signal of wheel is used for SLAM map label, digital map navigation..
If Fig. 2 is that the infrared receiver of mobile robot receives the angular range figure of infrared signal, such as figure upper a total of 4
Individual infrared receiver, each infrared receiver reception signal scope are limited in the region as schemed 1~β of β 3 respectively,
The infrared receiver of positive front end is used to be aligned with the infrared emission unit of cradle center section, therefore transmitting boundary compares
It is small.
As Fig. 3 cradle body on have a wireless module 6, cradle control mainboard 8, infrared emission unit 101~105,
Cradle wireless module 6 is used to establish wireless communication mechanism with mobile robot, and infrared emission unit 101~105 is used to launch
Different code values guide mobile robot with the infrared signal of different angle.
If Fig. 4 is the angular range figure of the infrared emission unit transmission signal on cradle body, such as scheme upper a total of 5
Infrared emission unit, each infrared emission unit transmission signal scope is limited in the region as schemed 4~β of β 6 respectively, preceding
The infrared emission unit of center section three in face is used to be aligned with the infrared receiver of the positive front end of mobile robot, therefore launches
Scope is smaller；The infrared emission angle of the right and left is β 1, for realizing a wide range of guided robot.
Specific workflow is as shown in fig. 6, mobile robot during movement, determines whether to receive charging
The infrared signal of seat and the signal of radio communication, if receiving, then mobile robot will utilize take action module, moving machine
Device people control mainboard, detection of obstacles sensor, collision detecting device and gyro sensor establish map by SLAM technologies,
And coordinate is marked in the orientation for receiving cradle infrared signal to mobile robot on map, and positioning charging block exists
Position in map；Mobile robot launches charge request signal by radio communication to cradle, when cradle connects upper electricity
When source and normal work, cradle, which can reply mobile robot one, allows the signal of charging to start simultaneously at transmitting infrared signal,
After mobile robot receives reply, it can judge the signal of cradle whether is received in motion process before first,
It is mobile if then mobile robot will navigate to the coordinate of infrared signal according to the cartographic information established in motion process
Robot receives different cradle infrared signals according to the infrared receiver of different azimuth and combined, and selects corresponding motion
Tactful carry out behavior adjustment, until the infrared signal receiving unit of the positive front position of mobile robot receives cradle interposition
The signal of infrared emission unit transmitting is put, mobile robot will directly walk until the sheet metal of the upper cradle of contact；Work as movement
In robotic contact during the sheet metal of cradle, mobile robot will detect the resistance being parallel on two panels sheet metal, generation
Table mobile robot is completed to dock with cradle, and at this moment mobile robot is filled by the requirement of communication firing order
Electric seat power-on is charged, and cradle receives power-on after mobile robot request, and returns to the letter of power-on
Cease to mobile robot, after the information for having been switched on power supply is led in mobile robot reception, detect whether to come into charging flow,
Good either cradle may not be contacted by, which thinking if not into the flow of charging, has damaged, and mobile robot reattempts to
Docked with cradle, if repeated multiple times all do not charge successfully, then it is assumed that cradle has damaged, and mobile robot stops back
Fill flow and shut down and report an error.
During if mobile robot waits cradle reply permission charging signals, if mobile robot never has
Receiving cradle and replying allows charging signals, and mobile robot can cycle through request always, until the number of request is more than
One setting value, mobile robot just think where region cradle is not present, at this moment mobile robot by voice with show
Show that module is reminded, and the origin of coordinates set out of mobile robot returned according to predetermined policy, during return if it find that
The signal of cradle transmitting is received, mobile robot then abandons returning the strategy of origin, into recharging flow.
After if mobile robot receives the reply for allowing charging signals, if mobile robot is in movement before this
During be not received by the infrared signal of cradle transmitting, thus coordinate is not marked on map, then mobile robot
It is random to take the scope for constantly expanding along wall and the mode of crisscross motion and finding cradle signal, once find the letter of cradle
Number, then enter and recharge flow, otherwise continually look for cradle signal, until warning line of the electricity of robot less than setting,
Then machine is returned to origin.
Above example is only fully open and unrestricted the utility model, it is all based on creation purport of the present utility model,
The replacement of equivalence techniques feature without creative work, the scope of the application exposure should be considered as.
Claims (4)
1. a kind of mobile robot recharges control system, mobile robot recharges control system, including mobile robot and charging
Seat；The mobile robot includes：Mobile robot body, action module, mobile robot control mainboard, the first wireless mould
Block, infrared signal receiving unit, detection of obstacles sensor, collision detecting device and gyro sensor；
The cradle includes：Cradle body, the second wireless module, cradle control mainboard and infrared signal transmitter unit；
It is characterized in that：
The infrared signal receiving unit at least four, it is respectively arranged at the surrounding of mobile robot body；
The infrared signal transmitter unit at least three, is respectively arranged at cradle body front center and cradle body
The both sides of front end.
2. mobile robot according to claim 1 recharges control system, it is characterised in that：The IR signal reception list
Member is four, is respectively arranged in the positive rear end of mobile robot body, left front end, right front ends and positive front end, positive front end it is infrared
The receiving angle of receiving unit is β 1, and the receiving angles of two infrared receivers of left front end and right front ends is all β 2, positive rear end
The receiving angle of infrared receiver be β 3, β 2 is more than β 1, and β 3 is more than or equal to β 2, β 1+ β 2+ β 2+ β 3>=360 °.
3. mobile robot according to claim 1 or 2 recharges control system, it is characterised in that：The infrared signal hair
Unit is penetrated as three, the launch angle of the infrared signal transmitter unit for being arranged at cradle body front center is β 4, if
The launch angle for being placed in the infrared signal transmitter unit of cradle body front end both sides is all β 5, and β 4 is less than β 5, β 4+ β 5+ β 5>=
180°。
4. mobile robot according to claim 1 or 2 recharges control system, it is characterised in that：The infrared signal hair
Unit is penetrated as five, wherein the first infrared signal transmitter unit is arranged at the center of cradle body front center, launch angle
For β 4；Second, third infrared signal transmitter unit is arranged at cradle body front center, is sent out respectively positioned at the first infrared signal
It is all β 6 to penetrate unit both sides launch angle；Four, the 5th infrared signal transmitter units are arranged at cradle body front end both sides, hair
Firing angle degree is all β 5；4 ＜ β of β 6 ＜ β 5, β 4+ β 5+ β 5+ β 6+ β 6>=180 °.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106814739A (en) * | 2017-04-01 | 2017-06-09 | 珠海市微半导体有限公司 | A kind of mobile robot recharges control system and control method |
| CN108089584A (en) * | 2017-12-25 | 2018-05-29 | 广州科语机器人有限公司 | The recharging method of grass-removing robot and grass-removing robot charging system |
| CN108303984A (en) * | 2018-02-27 | 2018-07-20 | 弗徕威智能机器人科技（上海）有限公司 | A kind of autonomous recharging method of mobile robot |
| CN109471442A (en) * | 2018-12-11 | 2019-03-15 | 珠海市微半导体有限公司 | Robot straight line encounters the processing method and chip and robot of barrier when returning seat |
| CN109491382A (en) * | 2018-11-07 | 2019-03-19 | 深圳乐动机器人有限公司 | A kind of robot charging method, device, storage medium and robot |
| CN111103870A (en) * | 2019-12-27 | 2020-05-05 | 深圳深岚视觉科技有限公司 | Robot charging method and device, robot and storage medium |
| CN111568308A (en) * | 2019-02-19 | 2020-08-25 | 北京奇虎科技有限公司 | Charging seat searching method and device, sweeping equipment and readable storage medium |
| CN112075891A (en) * | 2020-09-04 | 2020-12-15 | 苏州三六零机器人科技有限公司 | Recharging method and device for sweeping robot, sweeping robot and readable medium |
| CN112214015A (en) * | 2020-09-04 | 2021-01-12 | 安克创新科技股份有限公司 | Self-moving robot and recharging method, system and computer storage medium thereof |
-
2017
- 2017-04-01 CN CN201720340905.2U patent/CN206684574U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106814739A (en) * | 2017-04-01 | 2017-06-09 | 珠海市微半导体有限公司 | A kind of mobile robot recharges control system and control method |
| CN108089584A (en) * | 2017-12-25 | 2018-05-29 | 广州科语机器人有限公司 | The recharging method of grass-removing robot and grass-removing robot charging system |
| CN108303984A (en) * | 2018-02-27 | 2018-07-20 | 弗徕威智能机器人科技（上海）有限公司 | A kind of autonomous recharging method of mobile robot |
| CN109491382A (en) * | 2018-11-07 | 2019-03-19 | 深圳乐动机器人有限公司 | A kind of robot charging method, device, storage medium and robot |
| CN109491382B (en) * | 2018-11-07 | 2021-09-24 | 深圳乐动机器人有限公司 | Robot charging method and device, storage medium and robot |
| CN109471442A (en) * | 2018-12-11 | 2019-03-15 | 珠海市微半导体有限公司 | Robot straight line encounters the processing method and chip and robot of barrier when returning seat |
| CN109471442B (en) * | 2018-12-11 | 2022-03-04 | 珠海一微半导体股份有限公司 | Processing method for meeting obstacle when robot linearly returns to seat, chip and robot |
| CN111568308A (en) * | 2019-02-19 | 2020-08-25 | 北京奇虎科技有限公司 | Charging seat searching method and device, sweeping equipment and readable storage medium |
| CN111568308B (en) * | 2019-02-19 | 2023-02-17 | 北京奇虎科技有限公司 | Charging seat searching method and device, sweeping equipment and readable storage medium |
| CN111103870A (en) * | 2019-12-27 | 2020-05-05 | 深圳深岚视觉科技有限公司 | Robot charging method and device, robot and storage medium |
| CN112075891A (en) * | 2020-09-04 | 2020-12-15 | 苏州三六零机器人科技有限公司 | Recharging method and device for sweeping robot, sweeping robot and readable medium |
| CN112214015A (en) * | 2020-09-04 | 2021-01-12 | 安克创新科技股份有限公司 | Self-moving robot and recharging method, system and computer storage medium thereof |
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