CN208257467U - A kind of intelligent security guard robot automatic charging docking system - Google Patents
A kind of intelligent security guard robot automatic charging docking system Download PDFInfo
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- CN208257467U CN208257467U CN201820873841.7U CN201820873841U CN208257467U CN 208257467 U CN208257467 U CN 208257467U CN 201820873841 U CN201820873841 U CN 201820873841U CN 208257467 U CN208257467 U CN 208257467U
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 34
- 230000003287 optical effect Effects 0.000 claims abstract description 11
- 238000003466 welding Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 17
- 238000004891 communication Methods 0.000 abstract description 7
- 238000012423 maintenance Methods 0.000 abstract description 4
- 239000002699 waste material Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000013024 troubleshooting Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
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Abstract
The utility model discloses a kind of intelligent security guard robot automatic charging docking systems, including robot, contact plate and security robot controller, the back side of the robot is equipped with infrared sensor, and optical filter is provided on the outside of infrared sensor, the contact plate is placed in the lower section at the robot back side, the right of the robot is equipped with charging pile, and charging pile is internally provided with power module.The intelligent security guard robot is constructed in such a way that software is combined with hardware with automatic charging docking system, pass through infrared communication and the automatic butt algorithm of precision, realize Dock With Precision Position when security robot automatic charging, largely solve manual intervention charging waste of human resource and by other docking modes occur it is relatively inefficient, maintenance process is cumbersome, higher cost the problems such as, the charging controller system logic being related to is reasonable, and circuit reliability is high.
Description
Technical field
The utility model relates to security robot charging technique field, specially a kind of intelligent security guard robot with filling automatically
Electric docking system.
Background technique
At present, indoor mobile robot (such as automated guided vehicle AGV) relies primarily on the airborne chargeable storage of high quality
Battery pack is come to power itself, is needed by the way of artificial connection charger or artificial replacement battery when electric energy exhausts,
These modes in the presence of need manually to be intervened, low efficiency, and the disadvantages of there are security risks, manual intervention is utilized to charge
Mode does not simultaneously meet robot automation, intelligentized development trend, and the automatic charging technology graduallyd mature in recent years is only solution
The certainly best way of robot charging problems.
The interconnection method of currently used robot automatic charging favorably uses light source, utilizes laser sensor or utilization
Visual sensor, there is the problems such as alignment low efficiency, maintenance process is cumbersome, at high cost in these modes, in addition, existing frequently-used machine
Device people's automatic aligning method, alignment procedures once occur accident or abnormality occur, and often there is no troubleshootings etc.
It works but directly alarms, request manual intervention, so that the management work of monitoring personnel is extremely troublesome and cumbersome, it is serious to drop
The problem of low efficiency, for this purpose, it is proposed that a kind of intelligent security guard robot automatic charging docking system.
Utility model content
The purpose of this utility model is to provide a kind of intelligent security guard robot automatic charging docking systems, on solving
The interconnection method for stating the currently used robot automatic charging proposed in background technique favorably uses light source, utilizes laser sensing
Device or visual sensor is utilized, there is alignment low efficiency, the problems such as maintenance process is cumbersome, at high cost in these modes, in addition,
Existing frequently-used robot automatic aligning method, alignment procedures once occur accident or abnormality occur, often do not deposit
It alarms in work such as troubleshootings but directly, manual intervention is requested, so that the management work of monitoring personnel is extremely troublesome
With cumbersome, the problem of seriously reducing efficiency.
To achieve the above object, the utility model provides the following technical solutions: a kind of intelligent security guard robot with filling automatically
Electric docking system, including robot, contact plate and security robot controller, the back side of the robot are equipped with infrared ray biography
Sensor, and optical filter is provided on the outside of infrared sensor, the contact plate is placed in the lower section at the robot back side, the machine
The right of device people is equipped with charging pile, and charging pile is internally provided with power module, is equipped with below the power module infrared
Line LED, and docking area is provided with below infrared LEDs, the security robot controller is set to the inside of robot, and
Security robot controller and infrared remote receiver d are electrically connected, and the infrared remote receiver d and infrared remote receiver c are electrical connected
It connecing, and infrared remote receiver c and infrared remote receiver b are electrically connected, the infrared remote receiver b is connected with infrared remote receiver a, and
Infrared remote receiver a and charging pile controller are electrically connected, and the charging pile controller and infrared transmitter D are electrically connected,
And infrared transmitter D and infrared transmitter C are electrically connected, the infrared transmitter C and infrared transmitter B are electrically connected,
And infrared transmitter B and infrared transmitter A are electrically connected.
Preferably, the robot and infrared remote receiver d, infrared remote receiver c, infrared remote receiver b and infrared remote receiver a are logical
Cross bolt composition be fixedly connected, and infrared remote receiver d, infrared remote receiver c, infrared remote receiver b and infrared remote receiver a respectively with filter
Being integrally formed structure on the inside of mating plate.
Preferably, the contact plate and docking area pass through electrical contact formula composition bascule, and contact plate and robot
By the way that close connection is formed by welding.
Preferably, the connection type between the infrared remote receiver b and infrared remote receiver a is to be electrically connected.
Preferably, the infrared transmitter D and infrared transmitter C is to be connected in parallel.
Preferably, the model between the infrared transmitter B and infrared transmitter A is identical.
Compared with prior art, the utility model has the beneficial effects that the intelligent security guard robot is docked with automatic charging
System constructs in such a way that software is combined with hardware, by infrared communication and the automatic butt algorithm of precision, realizes
Dock With Precision Position when security robot automatic charging, largely solve the waste of human resource of manual intervention charging with
And by other docking modes occur it is relatively inefficient, maintenance process is cumbersome, higher cost the problems such as, be related to automatically fill
Electric control system logic is reasonable, and circuit reliability is high, and intelligence degree is advanced, long-term on duty, entirely autonomous to robot is realized
The continuous work of intelligence has very strong practicability and novelty, and the automatic butt algorithm using infrared communication and precision is real
Dock With Precision Position when security robot automatic charging is showed, has improved machine task efficiency, saves manpower, robot reality
It is now fully automated, is intelligent, it is red using theoretical and practical application maturation infrared ray as the carrier of robot automatic butt
Outside line anti-interference ability and penetration capacity are strong, and transmitting range is remote, launch angle is wide, be not easily susceptible to ambient light according to and electromagnetic interference
It influences, realizes the perfect combination of Cost And Performance, there is good charge protection system, dislocation docking and short circuit can be overcome right
The problems such as connecing can be electrically charged stake electric shock to avoid staff when charging, guarantee worker safety, be related to robot and fill automatically
Electric docking system in such a way that hardware combines, has intelligence degree software compared with the docking mode of other robots
Height, algorithm is accurate, the high and energy saving advantage of circuit reliability.
Detailed description of the invention
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is the utility model main circuit flow diagram；
Fig. 3 is the utility model logic theory flow diagram；
Fig. 4 is the mobile flow diagram of the utility model.
In figure: 1, robot, 2, infrared sensor, 3, optical filter, 4, contact plate, 5, charging pile, 6, power module, 7, red
Outside line LED, 8, docking area, 9, security robot controller, 10, infrared remote receiver d, 11, infrared remote receiver c, 12, infrared receiver
Device b, 13, infrared remote receiver a, 14, charging pile controller, 15, infrared transmitter D, 16, infrared transmitter C, 17, infrared emission
Device B, 18, infrared transmitter A.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1-4 is please referred to, the utility model provides a kind of technical solution: a kind of intelligent security guard robot automatic charging pair
Welding system, including robot 1, infrared sensor 2, optical filter 3, contact plate 4, charging pile 5, power module 6, infrared LEDs 7,
Docking area 8, security robot controller 9, infrared remote receiver d10, infrared remote receiver c11, infrared remote receiver b12, infrared receiver
Device a13, charging pile controller 14, infrared transmitter D15, infrared transmitter C16, infrared transmitter B17 and infrared transmitter
A18, the back side of robot 1 is equipped with infrared sensor 2, and the outside of infrared sensor 2 is provided with optical filter 3, machine
People 1 and infrared remote receiver d10, infrared remote receiver c11, infrared remote receiver b12 and infrared remote receiver a13 are made up of bolt to be fixed
Connection, and infrared remote receiver d10, infrared remote receiver c11, infrared remote receiver b12 and infrared remote receiver a13 respectively with optical filter 3
Inside being integrally formed structure, optical filter can filter the intake of non-infrared light, guarantee the purity of infrared light and good
Communication, contact plate 4 are placed in the lower section at 1 back side of robot, and the right of robot 1 is equipped with charging pile 5, and charging pile 5 is interior
Portion is provided with power module 6, and the lower section of power module 6 is equipped with infrared LEDs 7, and the lower section of infrared LEDs 7 is provided with docking area
8, contact plate 4 and docking area 8 are by electrical contact formula composition bascule, and contact plate 4 and robot 1 are tight by being formed by welding
Close connection, convenient for position of the stationary machines people after mobile, security robot controller 9 is set to the inside of robot 1, and security protection
Robot controller 9 and infrared remote receiver d10 are electrically connected, and infrared remote receiver d10 and infrared remote receiver c11 are electrical connected
It connects, and infrared remote receiver c11 and infrared remote receiver b12 are electrically connected, between infrared remote receiver b12 and infrared remote receiver a13
Connection type be to be electrically connected, the signal of infrared ray sending, infrared remote receiver b12 and infrared remote receiver a13 can be received
It is connected, and infrared remote receiver a13 and charging pile controller 14 are electrically connected, charging pile controller 14 and infrared transmitter
D15 is electrically connected, and infrared transmitter D15 and infrared transmitter C16 are electrically connected, infrared transmitter D15 and infrared hair
Emitter C16 is to be connected in parallel, and timely can issue instruction, infrared transmitter C16 and infrared transmitter in the position to robot
B17 is electrically connected, and infrared transmitter B17 and infrared transmitter A18 are electrically connected, infrared transmitter B17 and infrared hair
Model between emitter A18 is identical, can be supplied to robot location apart from different direction.
Working principle: for a kind of this intelligent security guard robot automatic charging docking system security protection involved in novel
Robot is mounted with that optical filter 3, optical filter 3 can filter the intake of non-infrared light at infrared sensor 2, guarantees infrared light
Purity and good communication, security robot charging controller system takes in such a way that software is combined with hardware
Build, when robot controller detected by BMS 1 battery capacity of robot be not enough to support to connect it is lower in patrol task when, it is main
Control device can assign charge command control crusing robot 1 and reach near charging pile along magnetic navigation route, control robot 1 rotation one
Determine angle, closes magnetic navigation sensor and open infrared sensor 2, when the infrared sensor 2 of robot 1 detects infrared letter
Number when, carry out the docking of automatic charging, infrared sensor 2 receives the infrared signal emitted in charging pile controller 14
When by demodulate received information be passed to master control I/O port, main controller is by analyzing to robot the information received
1 control, docking operation can be divided into two processes of coarse regulation and fine control, when infrared remote receiver d10 receives infrared transmitter
When the signal A of A18, illustrate that robot at this time is located at the left side of charging pile, robot needs to deviate to the right, works as infrared remote receiver
When a13 receives the signal D of infrared transmitter D15, illustrate that robot at this time is located at the right side of charging pile, robot needs to the left
Offset, when infrared remote receiver b12 receives the signal A of infrared transmitter A18, infrared remote receiver c11 receives infrared transmitter
When the signal B of B17, illustrate that robot is slightly to the left relative to charging pile at this time, robot needs to adjust posture to the right, when infrared
Receiver b12 receives the signal C of infrared transmitter C16, and infrared remote receiver c11 receives the signal D of infrared transmitter D15
When, illustrate that robot is slightly to the right relative to charging pile at this time, robot needs to adjust posture to the left, as infrared remote receiver b12
The signal B of infrared transmitter B17 is received, when infrared remote receiver c11 receives the signal C of infrared transmitter C16, it is meant that this
When robot be located at the front of charging pile, robot retreats, and travels to charging pile, is equipped on charging pile 5 and in robot 1
Male and female head connector, by the control of infrared automatic butt and main controller so that robot is connect with charging pile male and female head, due to
Automatic butt has certain error, and charging unit must have certain fault-tolerant ability, when error is little, be considered as being butted into
Function, docking system generally can permit the butting error of ± 5 ° and ± 5cm, and robot must be shut down after docking successfully, this
Shi Ze is the communication device installed by charging pile 5, and after the completion of robot docking, communication device sends high level to robot
Signal, robot are shut down, the electromagnet installed on charging pile after shutdown can with the suction of 12Kg robot adsorption column, to prevent
The only shake in charging process guarantees that the safety of charging process carries out, and robot has charged to charging pile transmission after charging complete
At signal, the power-off of charging pile electromagnet, robot is detached from charging pile, continues to execute task, complete entire intelligent security guard like this
The use process of robot automatic charging docking system.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (6)
1. a kind of intelligent security guard robot automatic charging docking system, including robot (1), contact plate (4) and security protection machine
People's controller (9), it is characterised in that: the back side of the robot (1) is equipped with infrared sensor (2), and infrared ray sensing
It is provided on the outside of device (2) optical filter (3), the contact plate (4) is placed in the lower section at robot (1) back side, the robot
(1) right is equipped with charging pile (5), and charging pile (5) is internally provided with power module (6), the lower section of the power module (6)
It is equipped with infrared LEDs (7), and is provided with docking area (8) below infrared LEDs (7), the security robot controller
(9) it is set to the inside of robot (1), and security robot controller (9) and infrared remote receiver d (10) are electrically connected, institute
It states infrared remote receiver d (10) and infrared remote receiver c (11) is electrically connected, and infrared remote receiver c (11) and infrared remote receiver b
(12) be electrically connected, the infrared remote receiver b (12) is connected with infrared remote receiver a (13), and infrared remote receiver a (13) and
Charging pile controller (14) is electrically connected, and the charging pile controller (14) and infrared transmitter D (15) are electrically connected, and
Infrared transmitter D (15) and infrared transmitter C (16) are electrically connected, the infrared transmitter C (16) and infrared transmitter B
(17) it is electrically connected, and infrared transmitter B (17) and infrared transmitter A (18) are electrically connected.
2. a kind of intelligent security guard robot automatic charging docking system according to claim 1, it is characterised in that: described
Robot (1) and infrared remote receiver d (10), infrared remote receiver c (11), infrared remote receiver b (12) and infrared remote receiver a (13) are logical
It crosses bolt composition to be fixedly connected, and infrared remote receiver d (10), infrared remote receiver c (11), infrared remote receiver b (12) and infrared connects
Receive device a (13) respectively with being integrally formed structure on the inside of optical filter (3).
3. a kind of intelligent security guard robot automatic charging docking system according to claim 1, it is characterised in that: described
Contact plate (4) and docking area (8) are by electrical contact formula composition bascule, and contact plate (4) and robot (1) pass through welding
Constitute close connection.
4. a kind of intelligent security guard robot automatic charging docking system according to claim 1, it is characterised in that: described
Connection type between infrared remote receiver b (12) and infrared remote receiver a (13) is to be electrically connected.
5. a kind of intelligent security guard robot automatic charging docking system according to claim 1, it is characterised in that: described
Infrared transmitter D (15) and infrared transmitter C (16) is to be connected in parallel.
6. a kind of intelligent security guard robot automatic charging docking system according to claim 1, it is characterised in that: described
Model between infrared transmitter B (17) and infrared transmitter A (18) is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820873841.7U CN208257467U (en) | 2018-06-07 | 2018-06-07 | A kind of intelligent security guard robot automatic charging docking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820873841.7U CN208257467U (en) | 2018-06-07 | 2018-06-07 | A kind of intelligent security guard robot automatic charging docking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208257467U true CN208257467U (en) | 2018-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820873841.7U Expired - Fee Related CN208257467U (en) | 2018-06-07 | 2018-06-07 | A kind of intelligent security guard robot automatic charging docking system |
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| Country | Link |
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| CN (1) | CN208257467U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109474041A (en) * | 2018-12-25 | 2019-03-15 | 荷贝克电源系统（溧阳）有限公司 | A kind of on-line Full intelligent industrial charger of industrial robot and its charging method |
| CN109831005A (en) * | 2019-02-23 | 2019-05-31 | 杭州向上机器人科技有限公司 | A kind of automatic charging system of intelligent robot |
| CN110165485A (en) * | 2019-06-28 | 2019-08-23 | 北京史河科技有限公司 | Charging unit and robot 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 |
| CN111781930A (en) * | 2020-07-10 | 2020-10-16 | 广州今甲智能科技有限公司 | Method for accurately positioning charging pile by intelligent robot and intelligent robot |
-
2018
- 2018-06-07 CN CN201820873841.7U patent/CN208257467U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109474041A (en) * | 2018-12-25 | 2019-03-15 | 荷贝克电源系统（溧阳）有限公司 | A kind of on-line Full intelligent industrial charger of industrial robot and its charging method |
| CN109831005A (en) * | 2019-02-23 | 2019-05-31 | 杭州向上机器人科技有限公司 | A kind of automatic charging system of intelligent robot |
| CN110165485A (en) * | 2019-06-28 | 2019-08-23 | 北京史河科技有限公司 | Charging unit and robot 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 |
| CN111781930A (en) * | 2020-07-10 | 2020-10-16 | 广州今甲智能科技有限公司 | Method for accurately positioning charging pile by intelligent robot and intelligent robot |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181218 Termination date: 20190607 |