CN206697954U - Recharging system - Google Patents
Recharging system Download PDFInfo
- Publication number
- CN206697954U CN206697954U CN201720211780.3U CN201720211780U CN206697954U CN 206697954 U CN206697954 U CN 206697954U CN 201720211780 U CN201720211780 U CN 201720211780U CN 206697954 U CN206697954 U CN 206697954U
- Authority
- CN
- China
- Prior art keywords
- charging
- module
- communication module
- guide
- relay
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model provides a kind of recharging system, including：Charging pile, in charging pile upper guide post；First charging module, the first relay, first communication module；Second charging module, the second relay, second communication module.First communication module and the first relay are arranged on the sidepiece of guide pillar；Second charging module, second communication module and the second relay are arranged on the sidepiece of guide block；First communication module is corresponding with second communication module communication, and the first charging module is corresponding with the second charging module circuit.Robot base, two pieces of guide blocks are arranged at intervals on robot base, form guide groove between two pieces of guide blocks, the shape of guide groove and the shape of guide pillar match.The utility model has advantages below：Overcome robot in the docking operation that charges due to the error problem brought when angle of arrival and position deviation, so as to ensure that robot successfully can complete to dock with charging pile, ensure in the case of contact is insecure, charging pile will not be powered, ensure that the security of charging.
Description
Technical field
It the utility model is related to data the association area such as communicate, automatically control, and in particular to the autonomous of mobile robot fills
Electric system.
Background technology
Since 21 century, with the marked improvement of artificial intelligence and sensor technology, Autonomous Mobile Robot amusement,
The fields such as housekeeping, public arena all play more and more important role.But limited by battery capacity, mobile robot
Stream time often only have several hours, do not reach the effect of long-time utonomous working, it is necessary to which the manual participation of people is
It charges, and have impact on its operating efficiency, also increases artificial burden.Therefore it is desirable to mobile robot to possess recharging
Ability.
At present, mainly there are contact charging and contactless charging on charging modes.Wherein contact charging is often adopted
With traditional contactor, charging equipment and battery directly contact, but because its wire is exposed outside, are also easy to produce fire during connection
Flower, easily trigger blast；There is also electric shock hidden danger, security for people to ensure.Contactless charging utilizes electromagnetism
The coupled modes of principle of induction carry out energy transmission, when robot reaches fixed charging source position, it is possible to contactlessly connect
By the energy of charging source, induction charging has ensured the security of charging, but is influenceed by transimission power and efficiency of transmission,
Restriction is received in terms of charging interval and energy utilization rate.
Open source literature " the non-contact charge pattern of autonomous mobile robot, Shanghai second Industry Univ's journal, 2016
2 phases " describe a kind of method progress being combined using constant excitation supply frequency with the idle device parameters of dynamic regulation circuit
The contactless charging method of self-adapting tuning, but the charge efficiency of the technology is not high, and there is certain electromagnetic radiation.
The utility application of Application No. 201310563037.0 discloses a kind of automatic charging system, mainly adopts
With laser with the infrared fusion navigation algorithm being combined, coarse positioning and fine positioning are realized.But the system can not be overcome to taking over
The problem of can not smoothly joining due to being brought when robot and charging pile relative position and angular deviation occur in journey.
Utility model content
For in the prior art the defects of, the utility model purpose, which is to provide one kind, can make mobile robot quick, accurate
Really, the recharging system of recharging is stably carried out.
In order to solve the above technical problems, the utility model provides a kind of recharging system, including：Charging pile, described
Charging pile upper guide post；First charging module, first communication module and the first relay, first charging module, described first
Communication module and first relay are arranged on the guide pillar, first charging module and the first communication module position
In the sidepiece of the guide pillar；First charging module, the first communication module and first relay are connected with each other；Machine
Device people's base, two pieces of guide blocks are arranged at intervals on the robot base, guide groove, the guide groove are formed between two pieces of guide blocks
Shape and the shape of the guide pillar match；Second charging module, second communication module and the second relay, described second fills
Electric module, the second communication module and second relay are arranged on the guide block, second charging module and institute
State the sidepiece that second communication module is located at the guide block；Second charging module, the second communication module and described second
Relay is connected with each other；The first communication module is corresponding with second communication module communication, first charging module with
The second charging module communication is corresponding.
Preferably, second charging module and the second communication module are fixed on the guide block by spring.
Preferably, guide bearing is provided with the charging pile.
Preferably, display screen is provided with the charging pile.
Preferably, the first communication module and the second communication module use RS232 serial communication interfaces.
A kind of method of work of recharging system, comprises the following steps：
Step 1, robot carries out Global localization, makes robot close to charging pile；
Step 2, robot carries out local positioning, and robot is navigated；
Step 3, docking for robot base and robot is completed, is charged.
Preferably, the step 1, robot find the position of charging pile by the prior SLAM maps established, and with swashing
Optical sensor carries out Global localization and path planning, by position near robot navigation to charging pile.
Preferably, the step 2, robot are known using laser sensor to the artificial landmark of known form and size
Not, and with ICP algorithm resolved, so as to complete the relative positioning between robot and charging pile, carry out precision navigation, make machine
Device people reaches charging pile position.
Preferably, the step 3, completion robot base dock with robot, and first communication module communicates with second
Module is communicated, and the first relay and the second relay are opened, and form charge circuit, robot is charged.
Compared with prior art, the utility model has advantages below：
1) by the design of guide bearing and directive wheel, it can overcome robot in the docking operation that charges due to angle of arrival
With the error problem brought during position deviation, so as to ensure that robot successfully can complete to dock with charging pile, ensure charging
Reliability.
2) by the design of charging pile and the communication module of robot base, the control of respective system is controlled with communication module
Device processed, go to control the power on/off of related circuit by the form of relay, greatly ensured the security of contact charging, can
The electric shock problem during charging module of people's imprudence contact charging pile is avoided, while it is not high to also overcome contactless charge efficiency
The problem of.
3) in terms of navigation, by the design of artificial landmark, resolved, compensate in global map with ICP algorithm
The inaccuracy navigated, improve the positioning precision of robot and charging pile when closely, for charging docking can
Guarantee is provided by property.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, other spies of the present utility model
Sign objects and advantages will become more apparent upon.
Fig. 1 is the utility model recharging system structure diagram；
Fig. 2 is the utility model recharging system robot's understructure schematic diagram；
Fig. 3 is the flow chart of work methods of the utility model recharging system.
In figure：
1- charging piles 2- the first charging module 3- first communication modules
4- robot bases 5- the second charging module 6- second communication modules
7- guide bearing 8- display screen 9- guide pillars
10- guide block 11- guide grooves
Embodiment
The utility model is described in detail with reference to specific embodiment.Following examples will be helpful to this area
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that to ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, some changes and improvements can also be made.
As shown in Figure 1 and Figure 2, the utility model recharging system, there are display screen 8, the first charging module on charging pile 1
2nd, first communication module 3 and guide bearing 7.First charging module 2 of charging pile 1 is conventional by internal first Control
It is off in time, robot base 4 is with the second charging module 5 and second communication module 6, and its second charging
Module 5 is also affected by its second communication module by second Control of the inside of robot base 4, its second relay
6 controls.
During docking, robot starts close to charging source after preliminary navigation and precision navigation.In docking operation, when
When deviation occur in the direction of robot and angle, guide bearing 7 can be modified to its pose on charging pile 1, ensure robot
The charging source of base 4 and charging pile 1 keeps alignment.The forward slip of robot base 4, blocked by the guide groove 11 between guide block 10
Pick out guide pillar 9, make guide pillar 9 sidepiece the first charging module 2 and first communication module 3 and guide block 10 in the second charging module
5 and second communication module 6 contact, when the signal that the first communication module 3 on charging pile 1 is sent is connect by the communication module of robot
Receive, while when the signal that sends of robot base 4 is electrically charged stake 1 and received, represent and communicate successfully, so as to control respective control
Device controls corresponding relay to open so that respective charging module keeps path, and so as to form charge circuit, robot opens
Begin to charge.Its information about power is fed back to charging pile 1 by robot simultaneously, and is shown on its display screen 8.After electricity is full of,
Communication module controls its corresponding controller make it that relay is breaking, and robot leaves charging pile 1, so as to complete entirely to charge
Journey.
As shown in figure 3, when robot needs to perform charging tasks, first start Global localization, robot passes through prior
The map that SLAM is established finds the position of charging pile, and carries out Global localization and path planning with laser sensor, by moving machine
Device people navigates to position near charging pile.After reaching charging pile neighbouring position, robot is using laser sensor to known shape
Shape and the artificial landmark of size are identified, and are resolved with ICP algorithm, so as to complete the phase between robot and charging pile
To positioning, precision navigation is carried out, robot is accurate to up to charging pile position.Finally charging pile guide bearing 7 amendment
It is lower to complete handing-over, path is opened, is charged.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims,
This has no effect on substantive content of the present utility model.In the case where not conflicting, the spy in embodiments herein and embodiment
Sign can be arbitrarily mutually combined.
Claims (5)
- A kind of 1. recharging system, it is characterised in that including：Charging pile, in the charging pile upper guide post；First charging module, first communication module and the first relay, first charging module, the first communication module and First relay is arranged on the guide pillar, and first charging module and the first communication module are located at the guide pillar Sidepiece；First charging module, the first communication module and first relay are connected with each other；Robot base, two pieces of guide blocks are arranged at intervals on the robot base, form guide groove between two pieces of guide blocks, institute The shape and the shape of the guide pillar for stating guide groove match；Second charging module, second communication module and the second relay, second charging module, the second communication module and Second relay is arranged on the guide block, and second charging module and the second communication module are located at the guide block Sidepiece；Second charging module, the second communication module and second relay are connected with each other；The first communication module is corresponding with second communication module communication, first charging module and the described second charging Module communication is corresponding.
- 2. recharging system according to claim 1, it is characterised in that second charging module and described second logical Letter module is fixed on the guide block by spring.
- 3. recharging system according to claim 1, it is characterised in that guide bearing is provided with the charging pile.
- 4. recharging system according to claim 1, it is characterised in that display screen is provided with the charging pile.
- 5. recharging system according to claim 1, it is characterised in that the first communication module and described second logical Letter module uses RS232 serial communication interfaces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720211780.3U CN206697954U (en) | 2017-03-06 | 2017-03-06 | Recharging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720211780.3U CN206697954U (en) | 2017-03-06 | 2017-03-06 | Recharging system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206697954U true CN206697954U (en) | 2017-12-01 |
Family
ID=60443016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720211780.3U Active CN206697954U (en) | 2017-03-06 | 2017-03-06 | Recharging system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206697954U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106899057A (en) * | 2017-03-06 | 2017-06-27 | 上海悦合自动化技术有限公司 | Recharging system and its method of work |
| CN109050282A (en) * | 2018-07-04 | 2018-12-21 | 杭叉集团股份有限公司 | A kind of fork truck charging unit |
-
2017
- 2017-03-06 CN CN201720211780.3U patent/CN206697954U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106899057A (en) * | 2017-03-06 | 2017-06-27 | 上海悦合自动化技术有限公司 | Recharging system and its method of work |
| CN106899057B (en) * | 2017-03-06 | 2023-08-11 | 上海悦合自动化技术有限公司 | Autonomous charging system and working method thereof |
| CN109050282A (en) * | 2018-07-04 | 2018-12-21 | 杭叉集团股份有限公司 | A kind of fork truck charging unit |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206697954U (en) | Recharging system | |
| CN105867389A (en) | Blended laser navigation method of AGV (Automated Guided Vehicle) | |
| CN106899057A (en) | Recharging system and its method of work | |
| CN105302150A (en) | Unmanned aircraft infinite endurance system | |
| CN105045268A (en) | AGV laser tape hybrid navigation system | |
| CN106787105A (en) | Unmanned plane vehicle-mounted charging device and vehicle | |
| CN106127117A (en) | Based on binocular vision quick high robust identification, location automatically follow luggage case | |
| CN104898690A (en) | Rotor unmanned aerial vehicle self journey-continuing realization method based on APM platform | |
| CN100572682C (en) | Utilize the intelligent road making and the desert surface hardening system of solar energy | |
| CN205003547U (en) | AGV control system | |
| CN102420392A (en) | Transformer substation inspection robot global path planning method based on magnetic navigation | |
| CN107508390A (en) | A kind of crusing robot wireless charging system and method | |
| CN206790194U (en) | Unmanned plane vehicle-mounted charging device and vehicle | |
| CN110326867A (en) | Intelligent luggage carrier and its automatic follower method | |
| CN105620306A (en) | Residual electricity quantity detection based automatic charging electric vehicle | |
| CN100582379C (en) | Intelligent desert surface flattening system utilizing solar energy | |
| CN109024352A (en) | Robot is bored in the automatic putting and recovery method of a kind of intelligent transportation cone and intelligent transportation | |
| CN107368093A (en) | One kind is tethered at unmanned plane synchronization system for tracking | |
| CN108407650A (en) | Automobile wireless charging method, system and ground side charging system | |
| KR20190099553A (en) | The apparatus for auto change of drone battery with sequential movemnet | |
| CN109103957A (en) | A kind of autonomous docking system of unmanned aerial vehicle and charging method | |
| CN108873895A (en) | Drop intelligent patrol detection vehicle in road surface | |
| CN112731934B (en) | Method for quickly returning intelligent mower to charging station based on region segmentation | |
| WO2021082676A1 (en) | Automatic working system and control method therefor | |
| CN206553979U (en) | A kind of novel intelligent cone |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |