CN207337208U - A kind of robot autonomous charging system - Google Patents
A kind of robot autonomous charging system Download PDFInfo
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- CN207337208U CN207337208U CN201720653447.8U CN201720653447U CN207337208U CN 207337208 U CN207337208 U CN 207337208U CN 201720653447 U CN201720653447 U CN 201720653447U CN 207337208 U CN207337208 U CN 207337208U
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Abstract
The utility model discloses a kind of robot autonomous charging system, belong to robot autonomous localization and field of navigation technology.System includes external interactive module, ROS navigation modules, motion-control module and short distance control module；External interactive module provides platform for human-computer interaction, and extraneous charge command is received during recharging, control system proceeds by recharging and feeds back charging effect to the external world；ROS navigation modules during recharging by robot navigation to charging pile before in the range of 1.5m；Motion-control module is during recharging, receive the control command of ROS navigation modules, control motor does corresponding navigation action, after 1.5m or so before robot reaches charging pile, controls robot to complete to dock with the accurate of charging pile according to the data of short distance positioning module；The utility model being capable of avoiding obstacles and completion externally interaction automatically during recharging is realized.
Description
Technical field
It the utility model is related to robot autonomous localization and field of navigation technology, and in particular to a kind of robot autonomous charging
System.
Background technology
Robot industry development was swift and violent in recent years, and the market demand of robot is also increasing, while to robot
Intelligent requirements are also higher and higher.More and more application scenarios need robot to have the function of recharging, to realize autonomous
Charging must first determine real-time position information of the robot relative to cradle, and navigate to and filled according to real-time position information
Electric seat.Inside numerous location technologies, " the ROS navigation system based on laser radar " is utilized and " based on ultrasonic and infrared
Closely alignment system " can completely, efficiently realize the recharging function of optional position.At present the technical solution by
Using to polytype robot, such as mall shopping robot, bank's guest-meeting robot, computer room crusing robot, cell
Safety protection robot etc..
Existing robot autonomous charging scheme generally uses infrared positioning and navigation system, and the principle of this scheme is：
Infrared launcher is installed on charging pile, infrared receiving device is installed in robot.Infrared launcher on charging pile is continuous
Infrared ray is outwards launched on ground, after robot inspection is relatively low to electricity, start control robot according to certain mode constantly
Movement, near robot motion to charging pile and receives infrared signal, will then using the infrared ray information received
Robot navigation charges to charging pile.
Carrying out recharging using infrared positioning and navigation system has following three points defect：
1. this scheme efficiency is low, the incipient stage, robot did not had clear and definite path planning, and constantly stroll about searching
Infrared ray, walks many longer ways more；
2. this scheme success rate is low, because infrared ray can not penetrate object so that be merely able to using infrared ray in sighting distance model
Interior positioning is enclosed, just as the infrared ray of our TV remote controller, signal is just lost if thing blocks, then
Robot will be unable to find infrared signal, and recharging function will fail；
3. this scheme intelligence is low, application scenario scope is small, because the robot of scheme incipient stage for this will constantly come up
Go on foot to find infrared ray, degree of intelligence is too low, therefore this scheme can only be applied in the robot of low side, machine of such as sweeping the floor
People.
Utility model content
In view of this, the utility model provides a kind of robot autonomous charging system, which is realizing recharging
During can automatically avoiding obstacles and complete externally interaction.
A kind of robot autonomous charging system, the system include external interactive module, ROS navigation modules, motion control mould
Block and short distance control module；
External interactive module provides platform for human-computer interaction, and the interaction that user is received by " Mike " or " liquid crystal display " is ordered
Order, the echo message of robot is externally exported by " power amplifier " and " liquid crystal display "；Extraneous charging is received during recharging
Order, control system proceed by recharging and feed back charging effect to the external world；
The walking path of ROS navigation module planning robots, is robot navigation, by robot during recharging
Navigate to before charging pile in the range of 1.5m；
Motion-control module is used to control robot motor movement, during recharging, receives ROS navigation modules
Control command, control motor do corresponding navigation action, after 1.5m or so before robot reaches charging pile, are determined according to short distance
The data control robot of position module completes to dock with the accurate of charging pile；
Short distance positioning module calculates accurate coordinates of the robot relative to charging pile, and sends coordinate information to fortune
Dynamic control module.
Further, the externally interactive module is led with ROS respectively using Android control core by USB and UART interface
Model plane block and motion-control module realize information exchange.
Further, the ROS navigation modules are real by USB interface with internal Navigation Control core using laser radar
Existing information exchange, Navigation Control core are realized with external interactive module and motion-control module respectively by USB and UART interface
Information exchange.
Further, the motion-control module is real by 485 chips and motor and driver using motion control core
Existing information exchange, and information exchange is realized by UART interface and battery capacity detection unit, motion control core passes through three
UART interface realizes information exchange with external interactive module, ROS navigation modules and short distance positioning module respectively.
Further, the short distance positioning module is using ultrasonic infrared receiver control core and ultrasonic infrared receiver
Between realize information exchange, ultrasonic infrared receiver control core is using realizing that information hands between UART interface and motion-control module
Mutually.
Beneficial effect：
The recharging system cost of the utility model is low, hardware circuit and Design of Mechanical Structure are simple；Built-in function mould
Block is well defined, and realizes that the success rate of recharging is high, can realize the recharging function of optional position；Degree of intelligence is high, has
Clear and definite path planning function, during recharging is realized can automatic avoiding obstacles, and can realize it is effective,
Warm external interaction.
Brief description of the drawings
Fig. 1 is the system theory of constitution figure of the utility model.
Embodiment
With reference to the accompanying drawings and examples, the utility model is described in detail.
As shown in Figure 1, the utility model provides a kind of robot autonomous charging system, a kind of robot autonomous charging
System, the system include external interactive module, ROS navigation modules, motion-control module and short distance control module；
External interactive module provides platform for human-computer interaction, and the interaction that user is received by " Mike " or " liquid crystal display " is ordered
Order, the echo message of robot is externally exported by " power amplifier " and " liquid crystal display "；Extraneous charging is received during recharging
Order, control system proceed by recharging and feed back charging effect to the external world；
The walking path of ROS navigation module planning robots, is robot navigation, by robot during recharging
Navigate to before charging pile in the range of 1.5m；
Motion-control module is used to control robot motor movement, during recharging, receives ROS navigation modules
Control command, control motor do corresponding navigation action, after 1.5m or so before robot reaches charging pile, are determined according to short distance
The data control robot of position module completes to dock with the accurate of charging pile；
Short distance positioning module calculates accurate coordinates of the robot relative to charging pile, and sends coordinate information to fortune
Dynamic control module.
External interactive module using Android control core by USB and UART interface respectively with ROS navigation modules and movement
Control module realizes information exchange.
ROS navigation modules realize information exchange using laser radar and internal Navigation Control core by USB interface, lead
Boat control core realizes information exchange with external interactive module and motion-control module respectively by USB and UART interface.
Motion-control module realizes information exchange using motion control core by 485 chips and motor and driver, and
Information exchange is realized by UART interface and battery capacity detection unit, motion control core by three UART interfaces respectively with
External interactive module, ROS navigation modules and short distance positioning module realize information exchange.
Robot will start recharging system in both cases：
1st, the order of extraneous " going to charge " is received, that is, user command robot goes to charge；
After robot receives the order of extraneous " going to charge ", " Android control core " is by the life of " beginning recharging "
" Navigation Control core " and " motion control core " are issued in order, and " ROS navigation modules " control robot is by robot navigation to filling
The position of 1.5m or so before electric stake.Then " motion-control module " starts to receive the positioning letter that " short distance positioning module " is sent
Breath, and control robot to complete to dock with charging pile, start to charge up.When battery capacity inspection unit checks, " battery has filled
After full electricity ", control robot leaves charging pile, and recharging is completed since then.In robot autonomous charging process, robot is still
It so be free to interact with the external world, and being capable of automatic avoiding obstacles during charging pile is moved towards.
2nd, robot oneself detects that self electric quantity is low, and active control robot goes to charge.
When " the battery capacity inspection unit " of robot checks not enough power supply, " motion-control module " is by this information
" external interactive module " is fed back to, " external interactive module " makes corresponding interaction content to user, and then control system enters
" recharging task ", as flow afterwards with the flow of " 1 " is.
Simple " ROS navigation modules " can complete robot path planning and automatic obstacle avoiding function, but cannot complete
Millimetre-sized accurate control；Simple " closely alignment system " can accomplish the other accurate control of grade in effective scope
System, but robot can not be navigate to charging pile from optional position.So two schemes are combined, take two schemes respective
Advantage realizes the recharging function of intelligent robot.
In conclusion the above is only the preferred embodiments of the present utility model only, the utility model is not intended to limit
Protection domain.Where within the spirit and principles of the present invention, any modification, equivalent replacement, improvement and so on, should all wrap
It is contained within the scope of protection of the utility model.
Claims (5)
1. a kind of robot autonomous charging system, it is characterised in that the system includes external interactive module, ROS navigation modules, fortune
Dynamic control module and short distance control module；
External interactive module provides platform for human-computer interaction, and the interactive command of user is received by " Mike " or " liquid crystal display ", leads to
Cross the echo message that " power amplifier " and " liquid crystal display " externally exports robot；Received during recharging extraneous charge command,
Control system proceeds by recharging and feeds back charging effect to the external world；
The walking path of ROS navigation module planning robots, is robot navigation, by robot navigation during recharging
Before to charging pile in the range of 1.5m；
Motion-control module is used to control robot motor movement, during recharging, receives the control of ROS navigation modules
Order, control motor do corresponding navigation action, after 1.5m or so before robot reaches charging pile, according to short distance positioning mould
The data control robot of block completes to dock with the accurate of charging pile；
Short distance positioning module calculates accurate coordinates of the robot relative to charging pile, and sends coordinate information to movement control
Molding block.
2. robot autonomous charging system as claimed in claim 1, it is characterised in that the externally interactive module uses Android
Control core realizes information exchange with ROS navigation modules and motion-control module respectively by USB and UART interface.
3. robot autonomous charging system as claimed in claim 1, it is characterised in that the ROS navigation modules use laser
Radar realizes information exchange with internal Navigation Control core by USB interface, and Navigation Control core passes through USB and UART interface
Respectively information exchange is realized with external interactive module and motion-control module.
4. robot autonomous charging system as claimed in claim 1, it is characterised in that the motion-control module is using movement
Control core realizes information exchange by 485 chips and motor and driver, and detects list by UART interface and battery capacity
Member realizes information exchange, motion control core by three UART interfaces respectively with external interactive module, ROS navigation modules and short
Distance positioning module realizes information exchange.
5. robot autonomous charging system as claimed in claim 1, it is characterised in that the short distance positioning module is using super
Information exchange is realized between sound infrared receiver control core and ultrasonic infrared receiver, ultrasonic infrared receiver control core uses
Information exchange is realized between UART interface and motion-control module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720653447.8U CN207337208U (en) | 2017-06-06 | 2017-06-06 | A kind of robot autonomous charging system |
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| CN201720653447.8U CN207337208U (en) | 2017-06-06 | 2017-06-06 | A kind of robot autonomous charging system |
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| CN207337208U true CN207337208U (en) | 2018-05-08 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107145148A (en) * | 2017-06-06 | 2017-09-08 | 青岛克路德机器人有限公司 | A kind of robot autonomous charging system |
| CN109782770A (en) * | 2019-02-02 | 2019-05-21 | 南京航空航天大学 | A kind of method of grass trimmer recharging |
-
2017
- 2017-06-06 CN CN201720653447.8U patent/CN207337208U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107145148A (en) * | 2017-06-06 | 2017-09-08 | 青岛克路德机器人有限公司 | A kind of robot autonomous charging system |
| CN109782770A (en) * | 2019-02-02 | 2019-05-21 | 南京航空航天大学 | A kind of method of grass trimmer recharging |
| CN109782770B (en) * | 2019-02-02 | 2022-06-21 | 南京航空航天大学 | Method for automatically charging mower |
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