CN208623345U - The intelligent charging spot system with robot lower coupling based on camera - Google Patents

Abstract

The utility model provides a kind of based on camera with robot lower coupling intelligent charging spot system, comprising: charging pile part: including charging pile control module, power supply adaptor, charging electrode module, the first wireless communication module (6), state display module, camera (4) and radiator fan (3)；And charging head part: including charging head control module (2-1), charging connector module (2-2), the second wireless communication module (2-3), communication interface (2-4) and fixed module (2-5.The compatibility of convenient and at low cost, easy to use, to environment and robot the mechanical performance of the utility model structure simple realization is strong, functional reliability is high, practical, intelligence degree is high, and low with robot degree of coupling.

Description

The intelligent charging spot system with robot lower coupling based on camera

Technical field

The utility model relates to robot autonomous localization and airmanship charging pile technical field application, especially one Kind and the lower intelligent charge technique field based on camera technology of the robot degree of coupling.

Background technique

Mobile robot is more and more applied in actual life, is for example swept the floor, is conducted a sightseeing tour, shopping guide, consulting robot etc., The functional requirements such as people's on duty, increase scope of activities long-term to robot, extension autonomous time are also higher and higher.Currently, mobile Robot is all using the airborne chargeable storage group of high quality come to power itself, but can only generally be maintained several small When, once electric energy exhausts, it is necessary to robot charging is given by the way of manual intervention, which prevent robot it is long-term from It controls.

Due to common mobile robot power source untetheredization and rely primarily on the airborne battery group of high-quality, such as What allows robot securely and reliably, quickly and efficiently to realize that recharging is to realize robot for a long time certainly under no manual intervention environment The a key technology controlled.

Existing robotic contact formula recharging technical solution is broadly divided into semi-autonomous and two kinds autonomous:

(1) semi-autonomous scheme: mainly mechanical guiding, is in the case where robot and bigger charging pile alignment error Increased householder method, householder method include guide rail, earth magnetism, horn charging interface and adjustable power supply head etc., generally speaking Structure is more complicated, complex installation process, while the process for being directed at charging lacks flexibility, has to the mechanical performance of robot larger It influences；Cost is comparatively also bigger, stringent to environmental requirement, and intelligence degree is very low.

(2) autonomous scheme: sensor used in technology primarily now has laser, infrared, sonar, camera, binocular camera Etc., it is all generally speaking robot in charging bootup process in the highest flight also there are many fusion of sensor, Er Qiechong Electric equipment is the corollary equipment of specific robotic；Management simultaneously during the charging process is not smart enough, cannot voluntarily judge machine The state of device people charging, it is very little with the interaction of robot during the charging process；Robot remote return charging pile time it is long and Blindly, low efficiency, or even before exhausting there are cell potential, robot, which can not search out charging pile, leads to battery over-discharge, makes The problems such as at damage battery or shutting down.

The characteristics of existing autonomous type charging guidance equipment, determines their limitation, shows:

(1) universality of charging pile is low: referring mainly to adapt to not homologous ray, platform, mechanical performance and shape size etc. The ability of robot to be charged is lower.

(2) the guidance charging success rate and low efficiency of charging pile.

(3) structure is complicated and complex installation process: needing to be similar to the alignment of the auxiliary such as guide rail, loudspeaker charge port and earth magnetism and sets It applies, and complicated adjustment is done to the structure of charging pile to make up the error of alignment；Infrared, laser etc. charges from main boot Installation is complicated.

(4) at high cost: to need additional equipment and mechanical structure, thus higher cost.

(5) intelligence degree is lower.

(6) there is also hardware features in existing charging pile recognition methods sensitive, shortage pervasive environments adaptability, guidance essence It is not strong enough to spend not ideal enough, fault-tolerant and error correcting capability, and property reasonable in design, science, in terms of it is also defective.

Therefore the problems of these autonomous charging of robots technologies are badly in need of us and go to solve.

Utility model content

The technical problem to be solved by the utility model is in view of the deficiency of the prior art, provide a kind of structure Simply, the compatible strong, functional reliability of convenient and at low cost, easy to use, to environment and robot mechanical performance is realized A kind of intelligent charging system based on camera high, practical, intelligence degree is high and low with robot degree of coupling And method.

One of the utility model is designed to provide a kind of based on camera with robot lower coupling intelligent charge Stake system, comprising:

Charging pile part: including charging pile control module, power supply adaptor (9), charging electrode module, the first wireless communication Module (6), state display module, camera (4) and radiator fan (3)；And

Charging head part: including charging head control module (2-1), charging connector module (2-2), the second wireless communication module (2-3), communication interface (2-4) and fixed module (2-5)；The power supply adaptor (9) and the charging pile control module are electrical Connection, provides the voltage by conversion for it；The charging pile control module and first wireless communication module (6) are described Charging electrode module, the camera (4), the radiator fan (3) and the state display module are separately connected and provide Corresponding control signal；The charging head control module (2-1) and the charging connector module (2-2), the communication interface (2- 4) and second wireless communication module (2-3) is separately connected and provides corresponding control signal.

Preferably, the charging pile control module includes: the first microcontroller, electric current and voltage detecting circuit, charging electricity Road, overcurrent-overvoltage protecting circuit, charged state control circuit, radio communication circuit and Vision information processing circuit；Described first Microcontroller is mounted in middle control circuit board；The charging circuit is connected and are connected in parallel on respectively to the electric current and voltage detecting circuit In, electric current and voltage when detection is charged respectively；The charging circuit is synchronous BUCK reduction voltage circuit, passes through the PWM of master control borad Signal is controlled, specified electric current and voltage is exported, is supplied to the charging electrode module；The overcurrent-overvoltage protecting circuit is by can Silicon and comparator composition are controlled, is connect with the electric current and voltage detecting circuit；It is micro- to receive first for the charged state control circuit Controller control can be realized according to the first microcontroller order and cut off charging current when locked electromagnetism and unlock, overcurrent；It is described Radio communication circuit connects first microcontroller and the radio communication circuit；The Vision information processing circuit connection Camera and first microcontroller.

Preferably, first microcontroller is STM32 microcontroller.

Preferably, the power supply adaptor is that exchange turns DC adapter, directly electrically connects, is converted into charging pile with city Control the utilizable direct current of module.

Preferably, the charging electrode module includes two metal conductive strips (1), one piece of electromagnetism iron bar (2), supersonic sounding Equipment, two electromagnetism limit switches, (8) two pieces of high molecular material insulation board, limit plastic column (14) four, band spring can live Dynamic energization copper post (11) four and caging bolt (7) six roots of sensation, the high molecular material insulation board (8) are divided into inner panel and outside plate, Described two metal conductive strips (1) are loosely nested on high molecular material insulation board (8) outside plate, and normal condition protrudes macromolecule material Expect insulation board (8) outside plate, rear respectively connects an electromagnetism limit switch actuators, two limit plastic columns (14), two side by side The band movable energization copper post (11) of spring, outside plate is according to metal conductive strips (1), electromagnetism iron bar (2), band spring retainer bolt (12) With band movable energization copper post (11) aperture of spring, Motionless electromagnetic iron bar (2), two metal conductive strips (1) are located at thereon Up and down, metal conductive strips (1) are not affixed on high molecular material insulation board (8) electromagnetism iron bar (2), and electromagnetism limit is installed on inner panel Switch sensor, according to band spring retainer bolt (12), electromagnetism apart from sensing apparatus (13) and with the movable energization copper post of spring (11) size aperture, installation electromagnetism passes through the movable energization copper post (11) of band spring and band apart from sensing apparatus (13) on inner panel Spring retainer bolt (12), limit spring (15) cannot be by the holes opened, and distance is solid between two high molecular material insulation boards (8) It is fixed；The electromagnetism is connected respectively to and fills apart from sensing apparatus (13), the movable energization copper post (11) of band spring and electromagnetism iron bar (2) The middle control circuit board (10) of electric stake control module, two band movable energization copper posts (11) of spring pass through inner panel, and cover upper spring The protruding state of copper bar electrode is kept, the high molecular material insulation board (8) and metal conductive strips (1) are entirely through caging bolt (7) rack-mount, it presses when robot is close to charging to after-contraction, the high molecular material insulation board (8), metal It is whole composed by conductive bar (1) and electromagnetism iron bar (2) to be integrally displaced outwardly and restore along bracket, the electromagnetism distance perception It answers equipment (13) and is connected on the middle control circuit board (10) of charging pile control module with the movable energization copper post (11) of spring Charged state control circuit.

Preferably, the state display module is LCD display module, the display status information in charging, including charging electricity Stream, charging voltage, temperature, estimated charging time and/or current electric quantity.

Preferably, the state display module is LCD12864 module.

Preferably, the camera (4) is digital camera, is connected at the visual information of the charging pile control module Circuit is managed, data are uploaded to first microcontroller and are handled.

Preferably, the camera (4) is OV series parallel port camera.

Preferably, the radiator fan is connected to charged state control circuit, controls the heat dissipation by transistor circuit The unlatching of fan (3) and revolving speed.

Preferably, the charging head control module (2-1) includes detection circuit, communication interface circuit and the second microcontroller Device, the detection circuit are parallel on the charging connector of robot, send a signal to second microcontroller by circuit； The communication interface circuit is by circuit connection communication interface (2-4) and second micro controller, and the communication interface (2-4) is even Platform is controlled in welding robot.

Preferably, second microcontroller is STM8 microprocessor.

Preferably, second wireless communication module (2-3) connects the charging head control module (2-1), with charging pile Part is communicated.

Preferably, the charging connector module (2-2) includes charging head metal conductive strips such as copper bar (2-6), electromagnet Contact block (2-7), lighting circuit and visual cues (2-8) are inhaled, the visual cues (2-8) include coloured lighting apparatus, described to fill Dateline metal conductive strips (2-6) and electromagnet are inhaled contact block (2-7) and are fixed on electrically non-conductive material pedestal, and the non-conductive material is protruded Expect that the length of base-plates surface is consistent, the charging head metal conductive strips (2-6) are connected on the charging circuit of robot battery；Institute It states visual cues (2-8) to be fixedly mounted in the vertical centerline of the electrically non-conductive material pedestal, mounting height and camera (4) It remains basically stable.

Preferably, the fixed module (2-5) includes adjustable size band and fixed screw holes, adjustable to be fixed on In robot.

In order to solve the above technical problems, also disclosing, a kind of method and step is simple, design is reasonable, realizes convenient, positioning effect The high autonomous charging of robots method to be played a leading role by charging pile based on camera of rate, i.e., it is a kind of it is based on camera with The intelligent charging spot charging method of robot weak coupling, method includes the following steps:

(1) determining robot, whether the lower needs of electricity charge and in charging pile visual field；

(2) it after robot enters charging pile visual field, is completed by the wireless telecom equipment between charging pile and robot Progressive boot mode is found visual indicia by camera and is guided to robot, robot is pressed to guide charging to start It says the word and is moved according to charging pile；

(3) press locked and start to charge.

Preferably, the step (1) includes:

(1a) lower than certain threshold value or receives charge command when robot electric quantity, and robot controls mould by charging head Circuit and the second wireless communication module (2-3) in block (2-1) wake up specified charging pile, and charging pile starts coloured in FOV of search Lighting apparatus；

(1b) robot enters charging pile visual field by independent navigation or artificial navigation, when charging pile find robot into After entering visual field, equipment switches robot control model by wireless communication, and hereafter robot behavior is controlled by charging pile；If no Into visual field, or enters after visual field and leave visual field and return message to robot then to allow robot to reenter visual field.

Preferably, the step (2) includes:

(2a) enters charging according to the special visual indicia guided robot being attached on the charging connector at robot rear The center of stake visual field, allows robot rear portion to install the similar face charging pile in position of charging connector；

(2b) guided robot is retreated close to charging pile, keeps visual indicia always in the center of visual field in this course The heart, i.e. the two dimension center of visual field, when the visual indicia deviates two dimension center, it is attached to return to target position in time for guided robot Closely；

(2c) robot carries out precise alignment after moving rearwards to certain distance so that the charging head at the rear portion of robot with The electrode of charging pile precisely aligns.

Preferably, the step (3) includes:

(3a) after the electrode of robot charging head and charging pile precisely aligns, control robot low speed moves backward, Charging pile carries electrode and charging head closed butt joint under the attraction of electromagnet, and when docking oppresses electrode, and electrode rear has distance to limit Bit switch sensor sends messages to control circuit board, control circuit board control when sensor sensing distance is lower than certain value It powers to electrode；

(3b) powers while judging electric current and voltage；

(3c) when electric current and voltage all in the normal range when determine and charge successfully, stopping robot motion, wherein there is lock The robot control of dead function is locked, the not robot of locking function then stop motion.

Preferably, the step (3a) further include: in the case that robotic is functional, made using electromagnet Electrode and charging head holding are pressed, and in the undesirable situation of robotic performance, are protected using electromagnet by electrode and charging head It holds and is provided with spring module in entire movable electrode block while pressing, so that forwardly convex conduct when robot slides forward Compensation.

Preferably, the step (3b) power supply judges electric current simultaneously and voltage includes following several when electrode and charging head pair The case where connecing judgement and the robot motion of rear Current Voltage situation:

(3b-1) does not have electric current, without voltage, judges to dock abnormal, sails out of and again right after electromagnetic unlock It is quasi-；

(3b-2) electric current has and very little, and voltage value judges that battery has electricity and user misoperation close to battery maximum voltage, this Shi Jixu charges to robot and gives user's prompt；

(3b-3) has moderate current, there is moderate voltage, judges that state is normal, and robot continues to charge；

(3b-4) in charge mode, if charged state control circuit senses overcurrent-overvoltage, releasing magnet stops Only charging process, and voice broadcast problem or text importing problem, charging pile enter standby mode, and charging pile reception at this time is filled The signal of electric connection module, but do not execute charging operations；Charging pile must be restarted to continue charging.

Preferably, the step (3c) includes the following:

(3c-1) is in charge mode, if the judgement that charged state control circuit electric current and voltage meet charging complete refers to Mark, it is determined that complete charging, releasing magnet, robot autonomous action, charging pile enters dormant state；Otherwise continue to fill Electricity；

(3c-2), if receiving the order for artificially terminating charging by wireless telecommunications system, is unlocked in charge mode Electromagnet, robot autonomous action, charging pile enter dormant state；Otherwise continue to charge；

Preferably, the method also includes steps:

(4) in charge mode, whether detection electric current and voltage detect the temperature inside charging pile while normal range (NR) Degree, if sensor sensing is excessively high to charging pile internal temperature in charged state control circuit, releasing magnet is robot autonomous Action, charging pile enter standby mode, and charging pile receives the signal of charging connector module at this time, but does not execute charging operations； Otherwise continue to charge, charging pile must be restarted to continue charging.

Preferably, the method can also support artificial recharging, include the following steps: when robot off-mode quilt When shifting charging pile position onto and oppressing metal conductive strips (1), the same electromagnetism that triggers is controlled apart from sensing apparatus (13) by charging Circuit processed is transmitted to the first microcontroller, and the first microcontroller connects the power supply of electromagnetism iron bar (2), is fixed on charging electrode module Together with inhaling with the magnet strip in charging connector module with iron bar, middle control circuit board (10) control is powered to electrode, is started to charge.

The technical problem to be solved by the utility model is in view of the deficiency of the prior art, give robot autonomous The solution that charging provides an intelligence, simplifies and take into account practical, economy and success rate, makes charging pile not depend on spy Determine robot to be charged and be individually present, to adapt to more types and different mechanical performances, is further simplified structure and section About cost provides hommization, intelligentized user experience, and then fundamentally extends the autonomous time of robot, further solves Manpower is put, the promotion and application major technique advantage of robot is promoted to be:

(1) charging electrode module can closely be pressed by electromagnetism joint strip and charging connector module, keep charging process more steady It is fixed, it also can preferably adapt to the mechanical performance of different robots；

(2) guiding function is integrated on charging pile, is communicated with robot platform by serial ports or wireless communication module, two The degree of coupling of person is lower, to adapt to different robot platforms；

(3) charging of camera progressive boot improves the success rate from main boot and improves the adaptability to environment.

According to the accompanying drawings to the detailed description of the utility model specific embodiment, those skilled in the art will be more Add the above-mentioned and other purposes, advantages and features of clear the utility model.

Detailed description of the invention

Some specific realities of the utility model are described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter Apply example.Identical appended drawing reference denotes same or similar part or part in attached drawing.It should be appreciated by those skilled in the art that The drawings are not necessarily drawn to scale.The target and feature of the utility model will more in view of following description taken together with the accompanying drawings Add obviously, in attached drawing:

Attached drawing 1 is the intelligent charging system with robot lower coupling according to the utility model embodiment based on camera Functional block diagram.

Attached drawing 2 is the intelligent charging system with robot lower coupling according to the utility model embodiment based on camera Charging pile front view.

Attached drawing 3 is the intelligent charging system with robot lower coupling according to the utility model embodiment based on camera Charging pile top view.

Attached drawing 4 is the intelligent charging system with robot lower coupling according to the utility model embodiment based on camera Charging head structure chart.

Attached drawing 5 is the intelligent charging method with robot lower coupling according to the utility model embodiment based on camera Guidance charging flow diagram.

Attached drawing 6 is the intelligent charging method with robot lower coupling according to the utility model embodiment based on camera Charged state management flow diagram.

The explanation of appended drawing reference:

1- metal conductive strips；2- electromagnetism iron bar；3- radiator fan；4- camera；5- bracket；The first radio communication mold of 6- Block；7- caging bolt；8- high molecular material insulation board；9- power supply adaptor；Circuit board is controlled in 10-；11- band spring is movable Energization copper post；12- band spring retainer bolt；13- electromagnetism is apart from sensing apparatus；14- limits plastic column；15- limit spring；2-1 Charging head control module；2-2 charging connector module；The second wireless communication module of 2-3；2-4 communication module；2-5 fixed module；2- 6 charging head metal conductive strips；2-7 electromagnet inhales contact block；2-8 visual cues

Specific embodiment

It is practical new to this below in conjunction with attached drawing to keep the purpose of this utility model, technical solution and advantage clearer Each embodiment of type is explained in detail.However, it will be understood by those skilled in the art that each in the utility model In embodiment, in order to make the reader understand this application better, many technical details are proposed.But even if without these skills The required guarantor of each claim of the application also may be implemented in art details and various changes and modifications based on the following respective embodiments The technical solution of shield.

Referring to attached drawing 1, the intelligent charging spot system with robot lower coupling based on camera of the utility model, including Charging head two parts group that collection charging guides, is controlled in integrated and robot lower coupling charging pile and is mounted in robot At.Charging pile part includes charging pile control module, power supply adaptor (9), charging electrode module, the first wireless communication module (6), state display module, camera (4) and radiator fan (3).Charging head part: it including charging head control module (2-1), fills Electric connection module (2-2), the second wireless communication module (2-3) and fixed module (2-5), the power supply adaptor (9) with it is described The electrical connection of charging pile control module, provides the voltage by conversion for it；The charging pile control module and first nothing Line communication module (6), the charging electrode module, the camera (4), the radiator fan (3) and the status display Module is separately connected and provides corresponding control signal；The charging head control module (2-1) and the charging connector module (2- 2), the communication interface (2-4) and second wireless communication module (2-3) are separately connected and provide corresponding control letter Number.

Referring to attached drawing 2-4, the specific structure view of charging pile and charging head.Wherein, charging pile includes shell, bracket (5) And fixed power supply adaptor (9) on the shell, middle control circuit board (10), radiator fan (3), the first wireless telecom equipment (6), status display apparatus and the charging electrode module being mounted on bracket (5).Power supply adaptor line accesses 220V alternating current, conversion At 36VDC, the charging circuit in circuit board (10) is then controlled in access.Middle control circuit board (10) equipped with the first microcontroller, Electric current and voltage detecting circuit, charging circuit, charging control circuit, overcurrent-overvoltage protecting circuit, radio communication circuit and vision Information-processing circuit.First microcontroller include but is not limited to be STM32 microprocessor, be the core processing of entire charging system Device, each circuit are all connected to the first microcontroller；Charge control electricity is connected and are parallel to respectively to electric current and voltage detecting circuit Lu Zhong, testing result return to microcontroller by circuit；Charging control circuit concentration is connected to controller, receives controller life Enable the locked reconciliation of control electromagnetic induction device signal reception respectively, charging circuit power supply on-off, charging electrode and charging connector The excessive power-off protection of lock, charging current and radiator fan (3) power supply.The output of voltage step-down circuit connection adapter, passes through drop Voltage is dropped to 29VDC and 15VDC by die block respectively, exports the charging for 24V and 12V battery.Overcurrent-overvoltage protecting circuit root According to the charged state of the robot detected in charge mode, if charged state control circuit senses overcurrent-overvoltage, Start overcurrent-overvoltage protecting circuit, releasing magnet stops charging process, so that charging pile is entered standby mode, prevent from charging Overcurrent, over-voltage and overheat in journey, overcurrent-overvoltage protecting circuit is made of silicon-controlled and comparator, with the electric current and voltage Detection circuit connection.Radio communication circuit receives micro controller order, controls in connection and connects 12V power supply and signal on circuit board (10) Interface is wirelessly connected the second wireless communication module of charging head (2-3).Vision information processing circuit inputs camera (4) signal Second micro controller, while connecting 5V power supply.Equipment used in first wireless communication module (6) includes but is not limited to APC220 Wireless module, 5V power supply.State display module be LCD display module, charging when show charging current, charging voltage, temperature, It is expected that the status informations such as charging time, current electric quantity.State display module includes but is not limited to what the present embodiment used LCD12864 module.Camera (4) is digital camera, is connected to the Vision information processing electricity of the charging pile control module Road, data are uploaded to first micro controller and are handled.Camera (4) includes but is not limited to the OV series that the present embodiment uses Parallel port camera.Radiator fan (3) includes but is not limited to the rectangular fan of 5V-50*50MM.It is connected to charged state control circuit, Unlatching and the revolving speed of the radiator fan (3) are controlled by transistor circuit.

Charging electrode module includes two pieces of high molecular material insulation boards (8) such as acrylic board, two metal conductive strips (1) Such as copper bar, as electrode, four limit plastic columns (14), ultrasound measurement modules, electromagnetism is limited apart from sensing apparatus (13), electromagnetism Bit switch, electromagnetism iron bar (2), band spring retainer bolt (12) and with the movable energization copper post (11) of spring, limit spring (15) And caging bolt (7) six roots of sensation.High molecular material insulation board (8) is divided into inner panel and outside plate, outside plate according to metal conductive strips (1), Electromagnetism iron bar (2), band spring retainer bolt (12) and with movable energization copper post (11) aperture of spring, thereon Motionless electromagnetic iron bar (2), two metal conductive strips (1) are located at electromagnetism iron bar (2) up and down, and metal conductive strips (1) are not affixed to high molecular material It is movable logical apart from sensing apparatus (13) and with spring according to band spring retainer bolt (12), electromagnetism on inner panel on insulation board (8) Electrolytic copper column (11) size aperture installs electromagnetism apart from sensing apparatus thereon, passes through the movable energization copper post (11) of band spring and band Spring retainer bolt (12), limit spring (15) cannot be by the holes opened, and distance is solid between two high molecular material insulation boards (8) It is fixed.Electromagnetism is connected respectively to middle control electricity apart from sensing apparatus (13), the movable energization copper post (11) of band spring and electromagnetism iron bar (2) Road plate.Metal conductive strips (1) are in nature since movable energization copper post (11) upper spring of band spring is influenced across macromolecule Insulated with material plate (8) outside plate protrudes outward, and presses when robot is close to charging to after-contraction.High molecular material insulation board (8), It is whole composed by metal conductive strips (1) and electromagnetism iron bar (2) to be integrally displaced outwardly and restore along bracket.The electromagnetism away from The middle control circuit board (10) of charging pile control module is connected to from sensing apparatus (13) and with the movable energization copper post (11) of spring On charged state control circuit.In the embodiment, using copper bar as metal conductive strips (1), and acrylic material is used to make For the material of high molecular material insulation board.

Charging head part includes: including charging head control module (2-1), charging connector module (2-2), the second wireless communication Module (2-3) and fixed module (2-5).

Wherein, charging head control module (2-1) includes detection circuit, communication interface (2-4) and the second microcontroller, detection On circuit in parallel to the charging connector of robot, second microcontroller is sent a signal to by circuit；Communication interface (2- 4) by circuit connection wired communication interface and the second micro controller, wired communication interface connects in robot and controls platform.Second is micro- Controller includes but is not limited to the STM8 microprocessor that the present embodiment uses.Second wireless communication module (2-3) connects charging head Control module (2-1), is communicated with charging pile part.

The charging connector module (2-2) includes charging head metal conductive strips (2-6), electromagnet suction contact block (2-7), illumination Circuit and visual cues (2-8), the visual cues (2-8) include coloured lighting apparatus, the charging head metal conductive strips (2- 6) it inhales contact block (2-7) with electromagnet and is fixed on electrically non-conductive material pedestal, protrude the length of the electrically non-conductive material base-plates surface Unanimously, the charging head metal conductive strips (2-6) are connected on the charging circuit of robot battery；The visual cues (2-8) It is fixedly mounted in the vertical centerline of the electrically non-conductive material pedestal, mounting height remains basically stable with camera (4).

Fixed module (2-5) includes adjustable size band and fixed screw holes, adjustable to be fixed in robot.

Referring to Fig. 5, the guidance with the intelligent charging method of robot lower coupling based on camera of the utility model is filled Method for electrically includes the following steps main points:

1, be mounted in robot charging head detection robot real time electrical quantity, when voltage be lower than certain threshold value when, fill The microcontroller of dateline judges that robot needs to charge, and sends charge requirement to robot by wireline interface, robot stops Task carries out charging and prepares and feed back to charging head microcontroller, and equipment communicates microcontroller with charging pile by wireless communication Confirmation charging process starts, and charging pile enters wake-up states, and camera begins look for the special visual cues at robot rear, whole A charging process formally starts.

2, the preset charging pile position before, robot enter charging pile by independent navigation or artificial navigation and regard , charging head is substantially aligned with charging pile, after charging pile discovery robot enters visual field, sends signal, robot to robot Stop navigation, otherwise continues navigation and tail portion alignment until charging pile detects robot, hereafter robot behavior is by filling Electric stake transmission speed instruction control；If into returning message to robot so that robot is led again if leaving visual field again after visual field It navigates back charging pile camera visual field.

3, after robot enters charging pile visual field, guidance charging starts, this process is known as progressive boot, by with machine Communication between device people is completed, and data, mainly the band video with visual cues level in camera acquisition field of view pass through view Feel position Fan Tui robot position relative to charging pile of the mark in band video, by wireless communication equipment transmission speed Instruction can control robot motion, can be the closed-loop control of realization robot motion, guidance by handling vision signal in real time Charging is broadly divided into three steps: first is that rough centering, according to the special visual indicia on the charging connector for being attached to robot rear Position guided robot in video band enters the center of charging pile visual field, if visual cues pass through on the visual field left side Command instruction guided robot is advanced to the right certain distance relative to charging pile, otherwise to the left；Second is that Z-shaped guidance, by real-time It handles vision signal closed loop guided robot to retreat close to charging pile, keeps visual indicia always in visual field in this course Center (two dimension center), leads back near target position, that is, zigzag is close to charging pile in time when robot deviates； Third is that precise alignment, can also extract rough range information by vision signal, according to this range information, work as robot When apart from charging pile 10CM, the charging head at rear portion of robot and the electrode of charging pile is allowed to precisely align.

4, after the electrode of robot charging head and charging pile precisely aligns, Communication Control robot low speed moves backward, Micro controller connects the power supply of electromagnetism iron bar, is fixed on charging electrode module and magnet strip in charging connector module and iron bar is inhaled and exists Together, thus electrode and charging head closed butt joint, when docking, oppresses copper bar electrode, and there is electromagnetism Distance-sensing at copper bar electrode rear Device sends messages to the microcontroller on charging pile when the distance of sensor sensing and trigger is lower than certain value (1CM), Circuit board, which controls, gives electrode power supply, while judging electric current and voltage, when electric current and voltage all in a certain range when determine charging Success, stopping robot motion (has the robot control of locking function locked；There is no the robot of locking function then to stop transporting It is dynamic).

The judgement of Current Voltage situation and robot motion after electrode is docked with charging head, as shown in table 1 below:

5, when robotic performance bad (runing time is too long and has the robot of locking function to be also likely to be present), There may be compress electrode after slide forward, this may result in this way with motor contact it is not close, can not charge normal, this Utility model is as follows for the solution of this problem: first is that being pressed with electromagnet by electrode and charging head holding；Second is that whole A movable electrode block is provided with spring module, can be forwardly convex as compensation when robot slides forward.

6, charge mode is entered after in electric current and voltage detecting.

7, in addition, this charging pile also supports artificial recharging, when robot off-mode is pulled to charging pile position simultaneously And when compressing copper bar electrode, the same electromagnetism that triggers is transmitted to micro controller, micro controller by charging control circuit apart from sensing apparatus The power supply for connecting electromagnetism iron bar is fixed on charging electrode module with the magnet strip in charging connector module together with iron bar suction, Circuit board is controlled powers to electrode, starts to charge.

As shown in fig. 6, the charging with the intelligent charging method of robot lower coupling based on camera of the utility model The method of schema management the following steps are included:

1, it in charge mode, if charging control circuit senses that electric current is greater than 5A, send information on charging pile Microcontroller, microcontroller disconnect the electricity of electromagnetism iron bar by charging control circuit, terminate charging process, terminate to robot Control, and voice broadcast, charging pile enter standby mode, and charging pile receives the signal of charging connector module at this time, but not Execute charging operations；Charging pile must be restarted to continue charging；

2, in charge mode, if charging control circuit electric current and voltage meet the judge index of charging complete, letter is sent The microcontroller on charging pile is ceased, microcontroller disconnects the electricity of electromagnetism iron bar, releasing magnet, knot by charging control circuit Beam charging process terminates the control to robot, and voice broadcast, charging pile enter standby mode, and charging pile receives at this time The signal of charging connector module, but do not execute charging operations；Charging pile must be restarted to continue charging；

3, in charge mode, if receiving the order for artificially terminating charging by wireless telecommunications system, electromagnetism is unlocked Iron terminates charging process, terminates the control to robot, and voice broadcast, charging pile enter standby mode, at this time charging pile The signal of charging connector module is received, but does not execute charging operations；Charging pile must be restarted to continue charging；

4, in charge mode, if sensor sensing is excessively high to charging pile internal temperature in charged state control circuit, Releasing magnet terminates charging process, terminates the control to robot, and voice broadcast, charging pile enter standby mode, this When charging pile receive the signal of charging connector module, but do not execute charging operations；Charging must be restarted to continue charging Stake.

The intelligent charging spot system and charging method with robot weak coupling using the present embodiment based on camera There is following beneficial technical effect compared with the prior art:

(1) universality of charging pile is preferable: system and method controls robot for not homologous ray peace platform, charging pile Behavior during the charging process, logic judgment and operation in charging process carry out on the microcontroller that charging pile carries, and Distinct interface is provided, the interaction needs with different platform are met by wireless device；Due to taking contact charge mode, contact Tightness degree between part is critically important, we, which provide a kind of fixed form that can be compatible with to various mechanicalnesses and allow, robot and fills Electric stake is in close contact；For different shape and size of robots, there is the special charging head being suitably attached in robot, meet The different machine Man's Demands of most of size and shape adapt to not homologous ray, platform, mechanical performance and shape size and wait The ability of charging robot is high；

(2) the guidance charging success rate and high-efficient of charging pile: the success rate height of this method and system is mainly reflected in one Secondary success rate height and the unsuccessful error correcting capability that charges are high, i.e., the success rate near one side guided robot to charging pile is high, On the other hand the fault-tolerant of the abnormal conditions such as electricity is not filled after charging pile to robot with, secondary raising robot is charged to The probability of function；It is primarily referred to as the efficiency in bootup process in terms of efficiency robot can be improved by visible sensation method drawing close charging The speed of stake and the accuracy of alignment, efficiency greatly improve；

(3) charge pilework and installation process it is simple: for semi-autonomous charging pile, do not need be similar to guide rail, The auxiliary such as loudspeaker charge port and earth magnetism are directed at facility, not do complicated adjustment to the structure of charging pile also to make up the mistake of alignment Difference；For, laser infrared relative to other etc. from main boot charging equipment, installation process is simple；

(4) at low cost: general network camera is realized to be aligned from main boot, without the equipment and machinery additionally assisted Structure, thus it is low in cost.

(5) intelligence degree is high: a variety of intelligent operations may be implemented by a series of sensor in system and method, Whether including independently detecting electric current judgement charging；The initial position for treating charging robot is not strict with, and need to only charged In the visual field of stake, treating charging robot status requirement is reduced；Boot efficiency and charging success rate are high, and have charging feedback With secondary boot when charging unsuccessful；The charged state that can detecte robot, prevent overcurrent in charging process, over-voltage with And overheat etc. is abnormal；With fault-tolerant and error correction, by detection alignment and charged state, position to robot and Direction is adjusted；Carry out the intelligent charging mode of constant pressure after first constant current, dynamic regulation charging current, guarantee cell safety and Under the premise of service life, charge efficiency is greatly improved.

Although the utility model is described by reference to specific illustrative embodiments, these realities are not will receive Apply the restriction of example and only by the restriction of accessory claim.It should be understood by those skilled in the art that can be without departing from this reality Change and modification are able to carry out to the embodiments of the present invention in the case where novel protection scope and spirit.

Claims (10)

1. a kind of based on camera with robot lower coupling intelligent charging spot system, characterized by comprising:

Charging pile part: including charging pile control module, power supply adaptor (9), charging electrode module, the first wireless communication module (6), state display module, camera (4) and radiator fan (3)；And

Charging head part: including charging head control module (2-1), charging connector module (2-2), the second wireless communication module (2- 3), communication interface (2-4) and fixed module (2-5)；

The power supply adaptor (9) and the charging pile control module are electrically connected, and provide the voltage by conversion for it；It is described Charging pile control module and first wireless communication module (6), the charging electrode module, the camera (4) are described to dissipate Hot-air fan (3) and the state display module are separately connected and provide corresponding control signal；

The charging head control module (2-1) and the charging connector module (2-2), the communication interface (2-4) and described Second wireless communication module (2-3) is separately connected and provides corresponding control signal.

2. according to claim 1 based on camera with robot lower coupling intelligent charging spot system, feature exists In the charging pile control module include: the first microcontroller, electric current and voltage detecting circuit, charging circuit, overcurrent-overvoltage protect Protection circuit, charged state control circuit, radio communication circuit and Vision information processing circuit；First microcontroller is mounted on In middle control circuit board；The electric current and voltage detecting circuit are connected and are connected in parallel in the charging circuit respectively, and detection is filled respectively Electric current and voltage when electric；The charging circuit is synchronous BUCK reduction voltage circuit, passes through the pwm control signal of master control borad, output Specified electric current and voltage is supplied to the charging electrode module；The overcurrent-overvoltage protecting circuit is by silicon-controlled and comparator Composition, connect with the electric current and voltage detecting circuit；The charged state control circuit receives the control of the first microcontroller, It can be realized according to the first microcontroller order and cut off charging current when locked electromagnetism and unlock, overcurrent；The wireless communication electricity Road connects first microcontroller and the radio communication circuit；The Vision information processing circuit connection camera and institute State the first microcontroller.

3. according to claim 2 based on camera with robot lower coupling intelligent charging spot system, feature exists In first microcontroller be STM32 microcontroller.

4. according to claim 1 based on camera with robot lower coupling intelligent charging spot system, feature exists It is that exchange turns DC adapter in the power supply adaptor, is directly electrically connected with city, being converted into control module in charging pile can benefit Direct current.

5. according to claim 1 based on camera with robot lower coupling intelligent charging spot system, feature exists Include two metal conductive strips (1), one piece of electromagnetism iron bar (2), supersonic sounding equipment, two electromagnetism in the charging electrode module Limit switch, (8) two pieces of high molecular material insulation board, limit plastic column (14) four, the band movable energization copper post (11) of spring Four and caging bolt (7) six roots of sensation, the high molecular material insulation board (8) are divided into inner panel and outside plate, two metal conductive strips (1) it being loosely nested on high molecular material insulation board (8) outside plate, normal condition protrudes high molecular material insulation board (8) outside plate, after Side is each to connect an electromagnetism limit switch actuators, two limit plastic columns (14), two band movable energization copper of spring side by side Column (11), outside plate is according to metal conductive strips (1), electromagnetism iron bar (2), band spring retainer bolt (12) and with the movable energization of spring Copper post (11) aperture, Motionless electromagnetic iron bar (2), two metal conductive strips (1) are located at electromagnetism iron bar (2) up and down thereon, gold Belong to conductive bar (1) to be not affixed on high molecular material insulation board (8), electromagnetism limit switch sensor is installed, according to band on inner panel Spring retainer bolt (12), electromagnetism are apart from sensing apparatus (13) and with movable energization copper post (11) the size aperture of spring, inner panel Upper installation electromagnetism is apart from sensing apparatus (13), by the movable energization copper post (11) of band spring and with spring retainer bolt (12), Limit spring (15) cannot be by the hole opened, and distance is fixed between two high molecular material insulation boards (8)；The electromagnetism distance perception It answers equipment (13), be connected respectively in charging pile control module with the movable energization copper post (11) of spring and electromagnetism iron bar (2) It controls circuit board (10), two band movable energization copper posts (11) of spring pass through inner panel, and cover upper spring and keep the convex of copper bar electrode It doing well, the high molecular material insulation board (8) and metal conductive strips (1) are rack-mount entirely through caging bolt (7), It presses when robot is close to charging to after-contraction, the high molecular material insulation board (8), metal conductive strips (1) and electromagnet Whole composed by item (2) to be integrally displaced outwardly and restore along bracket, the electromagnetism is apart from sensing apparatus (13) and with bullet The movable energization copper post (11) of spring is connected to the charged state control circuit on the middle control circuit board (10) of charging pile control module.

6. according to claim 1 based on camera with robot lower coupling intelligent charging spot system, feature exists In the state display module be LCD display module, charging when display status information, comprising: charging current, charging voltage, Temperature, estimated charging time and/or current electric quantity.

7. according to claim 2 based on camera with robot lower coupling intelligent charging spot system, feature exists It is digital camera in the camera (4), is connected to the Vision information processing circuit of the charging pile control module, in data First microcontroller is reached to be handled.

8. according to claim 1 based on camera with robot lower coupling intelligent charging spot system, feature exists It is connected to charged state control circuit in the radiator fan (3), opening for the radiator fan (3) is controlled by transistor circuit It opens and revolving speed.

9. according to claim 1 based on camera with robot lower coupling intelligent charging spot system, feature exists In the charging head control module (2-1) include detection circuit, communication interface circuit and the second microcontroller, the detection circuit It is parallel on the charging connector of robot, second microcontroller is sent a signal to by circuit；The communication interface electricity Road is by circuit connection communication interface (2-4) and second micro controller, described in second wireless communication module (2-3) connects Charging head control module (2-1), is communicated with charging pile part, controls platform in communication interface (2-4) connection robot.

10. according to claim 1 based on camera with robot lower coupling intelligent charging spot system, feature exists In the charging connector module (2-2) include charging head metal conductive strips (2-6), electromagnet inhale contact block (2-7), lighting circuit and Visual cues (2-8), the visual cues (2-8) include coloured lighting apparatus, the charging head metal conductive strips (2-6) and electricity Magnet is inhaled contact block (2-7) and is fixed on electrically non-conductive material pedestal, and the length for protruding the electrically non-conductive material base-plates surface is consistent, institute Charging head metal conductive strips (2-6) are stated to be connected on the charging circuit of robot battery；The visual cues (2-8) are fixedly mounted In the vertical centerline of the electrically non-conductive material pedestal, mounting height remains basically stable with camera (4).