CN209233570U - A kind of robot automatic charging system merging infrared navigation and magnetic navigation - Google Patents
A kind of robot automatic charging system merging infrared navigation and magnetic navigation Download PDFInfo
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- CN209233570U CN209233570U CN201920036750.2U CN201920036750U CN209233570U CN 209233570 U CN209233570 U CN 209233570U CN 201920036750 U CN201920036750 U CN 201920036750U CN 209233570 U CN209233570 U CN 209233570U
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- navigation
- magnetic stripe
- robot
- electromagnetic coil
- infrared
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Abstract
The utility model discloses a kind of fusion infrared navigation and the robot automatic charging systems of magnetic navigation, including coil drive platform and navigation playback platform；Coil drive platform includes electromagnetic coil, lifting device；Lifting device includes at least one, and an electromagnetic coil is equipped on each lifting device；The lifting device driving electromagnetic coil lifting, electromagnetic coil for realizing robot wireless charging；Navigation playback platform includes that infrared transmission module, guidance magnetic stripe, positioning magnetic stripe and signal receiving/transmission device, infrared transmission module are used for the coarse positioning of robot；Guiding magnetic stripe includes at least one, the corresponding electromagnetic coil of one guidance magnetic stripe, every guidance magnetic stripe is connected with a positioning magnetic stripe, the signal receiving/transmission device controls electromagnetic coil, lifting device, infrared transmission module, guidance magnetic stripe and positioning magnetic stripe for being connected to robot network.
Description
Technical field
The utility model relates to a kind of robot charging system, it is specifically related to a kind of fusion infrared navigation and magnetic navigation
Polytypic robot automatic charging system.
Background technique
Mobile robot using more and more extensive, there are various guide service machines in fields such as medical treatment, service, finance
Device people, but since current mobile robot energy resource system mostly uses battery pack, it is insufficient that it is frequently run onto battery capacity at work
Problem, therefore solve the problems, such as the automatic charging of mobile robot is to guarantee basis and mobile robot that it works long hours
The function that must have.
Currently, autonomous charging of robots scheme mostly uses: infrared signal tracking, wireless radiofrequency tracking and image recognition
Method.Infrared signal tracking is to look for charging pile position by the infrared signal of sending then to be docked, but it is docked
Position is usually not accurate enough, has been easy deviation；Wireless radiofrequency tracking is to judge charging pile according to the power for issuing radiofrequency signal
Position but can only substantially search out the position of charging pile；And image recognition method goes to carry out relevant image procossing according to camera
Method finds charging pile, is also easy to be influenced by environment.In conclusion the main problem of autonomous charging of robots is at present
Position is not accurate enough, degree of safety is low and easy by environmental disturbances when finding charging pile.
Utility model content
In order to solve the technical problems existing in the prior art, the utility model discloses a kind of fusion infrared navigation and magnetic
The polytypic robot automatic charging system and method for navigation.
The utility model the technical solution adopted is as follows:
A kind of robot automatic charging system merging infrared navigation and magnetic navigation, including coil drive platform, navigation are returned
Bit platform；
The coil drive platform includes electromagnetic coil, lifting device；The lifting device includes at least one, every
A lifting device is equipped with an electromagnetic coil；Lifting device is for driving the electromagnetic coil to go up and down, the electromagnetic wire
Enclose the wireless charging for realizing robot；
The navigation playback platform includes infrared transmission module, guidance magnetic stripe, positioning magnetic stripe and signal receiving/transmission device, institute
The infrared transmission module stated is used for the coarse positioning of robot；The guidance magnetic stripe includes at least one, a guidance magnetic stripe pair
An electromagnetic coil is answered, every guidance magnetic stripe is connected with a positioning magnetic stripe, and the signal receiving/transmission device is for being connected to
Robot network, while controlling electromagnetic coil, lifting device, infrared transmission module, guidance magnetic stripe and positioning magnetic stripe.
Further, the electromagnetic coil is mounted on a supporting plate, and the supporting plate is connected with lifting device.
Further, one is additionally provided on the supporting plate close to switch, for whether controlling in place to electromagnetic coil
System.
Further, the lifting device includes motor and lead screw assembly, the rotation of motor driven lead screw, screw slider with
The supporting plate is connected.
Further, it is equipped with coupled a plurality of guidance magnetic stripe in the positioning magnetic stripe two sides, described is a plurality of
Guide magnetic stripe vertical with positioning magnetic stripe.
Further, the lifting device and signal receiving/transmission device are mounted on the same mounting plate.
Further, the infrared transmission module is also mounted at the mounting plate, is equipped in robot infrared
Receiving module.
Further, magnetic navigation module is installed in the robot, the magnetic navigation module can guided robot
It is moved along positioning magnetic stripe direction, until touching the guidance magnetic stripe powered on.,
Further, in order to adapt to the charging of different robots, the specification of multiple coils can be arranged to it is identical or
The different specification of person.
The method to be charged using above system to robot is as follows:
The instruction of robotic end transmitting request charging；
The signal receiving/transmission device of automatic charging system is opened infrared after the request charge command for receiving robotic end sending
Transmitting module firing order information opens positioning magnetic stripe power up mode, and arranges distance according to the idle condition of current charge position
The nearest guidance magnetic stripe of robot powers on,
Before the signal coarse positioning to wireless charging system that robot emits according to infrared transmission module, and in the positioning powered on
The charge position of arrangement is reached under the guidance of magnetic stripe and guidance magnetic stripe；Then guidance magnetic stripe and positioning magnetic stripe power-off；
Radio charging system lifting device promotes electromagnetic coil, when touching robot lower part close to switch, lifting
Device is until move, and electromagnetic coil starts to charge to robot；
Does robot constantly detect whether charging complete in charging process? if it is not complete, continuing to charge；If completed,
Then lifting device drops to start bit, robot backed off after random wireless charging system, and wireless charging process terminates.
The technical effect that the utility model generates is as follows:
1, the utility model fusion infrared navigation and magnetic navigation technology reduce robot charging playback difficulty, improve machine
People's charging playback precision；
2, the utility model adaptation polytypic robot charges simultaneously, and system charging mechanism can be according to robot gauge size
Adjust automatically pose meets a variety of robot charge requirements；
3, the utility model scalability is strong, it is only necessary to increase lifting device and charge coil on a mounting board,
Charging module can be installed additional according to live use demand, meet the robot automatic charging demand of greater number and model.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is the control flow chart according to disclosed in one or more embodiments.
Fig. 2 is the shaft side figure according to disclosed in one or more embodiments；
Fig. 3 is the top view according to disclosed in one or more embodiments；
Fig. 4 is the front view according to disclosed in one or more embodiments；
Fig. 5 is the rearview according to disclosed in one or more embodiments；
In figure: 1 lifting device mounting plate, 2 infrared transmission modules, 3 signal receiving/transmission devices, 4 guidance magnet, 5 positioning magnetic stripes,
6 electromagnetic coils, 7 electromagnetic coil supporting plates, 8 close switches, 9 driving motors, 10 lifting devices.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination；
As background technique is introduced, autonomous charging of robots scheme mostly uses in the prior art: infrared signal is chased after
Track, wireless radiofrequency tracking and image recognition method.Infrared signal tracking is to look for charging by the infrared signal of sending
Then stake position is docked, but its docking location is usually not accurate enough, has been easy deviation；Wireless radiofrequency tracking is according to sending
The power of radiofrequency signal judges charging pile position, but can only substantially search out the position of charging pile；And image recognition method according to
Camera is gone to carry out relevant image treating to find charging pile, is also easy to be influenced by environment.In conclusion current machine
The main problem of device people's recharging is that position is not accurate enough when finding charging pile, degree of safety is low and easy to be dry by environment
It disturbs.
In order to solve technical problem as above, present applicant proposes a kind of fusion infrared navigation and the polytypic machines of magnetic navigation
Device people automatic charging system and method, the utility model merge infrared navigation and magnetic navigation technology, reduce robot charging playback
Difficulty improves robot charging playback precision.
Embodiment 1
In a kind of typical embodiment of the application, as Figure 2-Figure 5, robot automatic charging system is divided into two
A part: coil drive platform, navigation playback platform.
Coil drive platform includes lifting device mounting plate 1, electromagnetic coil 6, electromagnetic coil supporting plate 7, close switch 8, drives
Dynamic motor 9, lifting device 10.
Wherein lifting device mounting plate 1 is fixed on mounting plane, is equipped with signal receiving/transmission device 3 and lifting device thereon
10, lifting device 10 includes driving motor 9 and screw slider component；
Driving motor 9 is installed on the vertical direction of lead screw, screw slider connects electromagnetic coil supporting plate 7, driving motor 9
It drives electromagnetic coil supporting plate 7 vertically moving, electromagnetic coil 6 and close switch 8 is installed above electromagnetic coil supporting plate 7,
When realizing that electromagnetic coil supporting plate 7 rises to robot charging height, 9 stop motion of driving motor, and signal receiving/transmission device 3 is opened
Electromagnetic coil 6 realizes robot wireless charging.
Navigation playback platform includes infrared transmission module 2, signal receiving/transmission device 3, guidance magnetic stripe 4, positioning magnetic stripe 5；
Signal receiving/transmission device 3 is connected to robot network, while controlling whether electromagnetic coil is opened, lifting device is gone up and down
Height and whether go up and down, whether infrared transmission module works, guide magnetic stripe and position magnetic stripe whether be powered, be equivalent to one
Whole control system.
Lifting device and signal receiving/transmission device are mounted on the same mounting plate in the figure.
Guiding magnetic stripe 4 includes at least one, guidance magnetic stripe 4 one electromagnetic coil of correspondence, every guidance magnetic stripe with
The same positioning magnetic stripe 5 is connected, and in the present embodiment, as shown in Fig. 2, guidance magnetic stripe 4 includes three, three guidance magnetic stripes 4 are equal
It is connected with the same positioning magnetic stripe 5.
Further, adjacent the distance between guidance magnetic stripe 4 can be according to the size and model of actual robot
Etc. being configured.Magnetic navigation module is installed in robot, the magnetic navigation module can guided robot edge positioning magnetic stripe
Direction is mobile, until touching the guidance magnetic stripe powered on.
Further, it can according to need the length for extending positioning magnetic stripe 5, increase of guidance magnetic stripe 4 and charge coil
Number, realizes the extension of charging module.The utility model scalability is strong, it is only necessary to increase lifting device on a mounting board and fill
Electric coil can install charging module additional according to live use demand, and the robot for meeting greater number and model fills automatically
Electricity demanding.
Infrared transmission module 2 is used for the coarse positioning of robot, and the infrared transmission module is also mounted at the installation
Plate is equipped with infrared receiving module, the two cooperating in robot.
Specific working method is as follows:
As shown in Figure 1, robotic end first emits the instruction of request charging；
Signal receiving/transmission device 3 is opened infrared transmission module 2 and is emitted after the request charge command for receiving robotic end sending
Command information opens positioning 5 power up mode of magnetic stripe, and nearest apart from robot according to the idle condition arrangement of current charge position
Guidance magnetic stripe 4 powers on, and is reached in front of automatic charging system by two thick guided robots of infrared transmission module 2, works as robot
Continue movement when touching the located lateral magnetic stripe 5 being powered, the magnetic navigation module of robotic end installation can guided robot along fixed
Position 5 direction of magnetic stripe is mobile, until touching the guidance magnetic stripe 4 powered on, then keeps Robot guidance 4 direction of magnetic stripe mobile, until
The idle charge position arranged is reached, guides magnetic stripe 4 and positioning magnetic stripe 5 to power off at this time, starts wireless charging, machine after charging complete
People pulls back from wireless charging system, completes entire wireless charging process.
Embodiment 2
In the present embodiment, positioning magnetic stripe 5 is also installed in the other side of guidance magnetic stripe 4 and corresponding coil drive is flat
Platform, that is, the other side for being equal to Fig. 2 in embodiment 1 are equipped with the identical structure with Fig. 2's, more machines may be implemented
Charge while people, with structure it is identical with embodiment 1.Therefore, the utility model scalability is strong, it is only necessary to pacify
Increase lifting device and charge coil in loading board, charging module can be installed additional according to live use demand, met more
The robot automatic charging demand of quantity and model.
Embodiment 3
In order to adapt to the charging of different robots, multiple coils can be arranged to the coil or difference of same size
The coil of specification, with structure it is identical with embodiment 1 or embodiment 2.The utility model is adapted to polytypic machine
Device people charges simultaneously, and system charging mechanism can meet a variety of robot chargings according to robot gauge size adjust automatically pose
Demand.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (9)
1. a kind of fusion infrared navigation and the robot automatic charging system of magnetic navigation, which is characterized in that flat including coil drive
Platform and navigation playback platform；
The coil drive platform includes electromagnetic coil, lifting device；The lifting device includes at least one, in each liter
Falling unit is equipped with an electromagnetic coil；Lifting device for driving the electromagnetic coil to go up and down, use by the electromagnetic coil
In the wireless charging for realizing robot；
The navigation playback platform includes infrared transmission module, guidance magnetic stripe, positions magnetic stripe and signal receiving/transmission device, described
Infrared transmission module is used for the coarse positioning of robot；The guidance magnetic stripe includes at least one, a guidance magnetic stripe corresponding one
A electromagnetic coil, every guidance magnetic stripe are connected with a positioning magnetic stripe, and the signal receiving/transmission device is for being connected to machine
People's network, while controlling electromagnetic coil, lifting device, infrared transmission module, guidance magnetic stripe and positioning magnetic stripe.
2. a kind of fusion infrared navigation as described in claim 1 and the robot automatic charging system of magnetic navigation, feature exist
In the electromagnetic coil is mounted on a supporting plate, and the supporting plate is connected with lifting device.
3. a kind of fusion infrared navigation as claimed in claim 2 and the robot automatic charging system of magnetic navigation, feature exist
In, be additionally provided on the supporting plate one close to switch, for whether controlling in place electromagnetic coil.
4. a kind of fusion infrared navigation as claimed in claim 2 and the robot automatic charging system of magnetic navigation, feature exist
In the lifting device includes motor and lead screw assembly, and motor driven lead screw rotates, screw slider and the supporting plate phase
Even.
5. a kind of fusion infrared navigation as described in claim 1 and the robot automatic charging system of magnetic navigation, feature exist
In being equipped with coupled a plurality of guidance magnetic stripe in the positioning magnetic stripe two sides.
6. a kind of fusion infrared navigation as claimed in claim 2 and the robot automatic charging system of magnetic navigation, feature exist
In the lifting device and signal receiving/transmission device are mounted on the same mounting plate.
7. a kind of fusion infrared navigation as claimed in claim 6 and the robot automatic charging system of magnetic navigation, feature exist
In the infrared transmission module is also mounted at the mounting plate, and infrared receiving module is equipped in robot.
8. a kind of fusion infrared navigation as described in claim 1 and the robot automatic charging system of magnetic navigation, feature exist
In, magnetic navigation module is installed in robot, the magnetic navigation module can guided robot along positioning magnetic stripe and guidance magnetic
Direction is mobile.
9. a kind of fusion infrared navigation as described in claim 1 and the robot automatic charging system of magnetic navigation, feature exist
In the specification of multiple electromagnetic coils can be same or different.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920036750.2U CN209233570U (en) | 2019-01-09 | 2019-01-09 | A kind of robot automatic charging system merging infrared navigation and magnetic navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920036750.2U CN209233570U (en) | 2019-01-09 | 2019-01-09 | A kind of robot automatic charging system merging infrared navigation and magnetic navigation |
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| CN209233570U true CN209233570U (en) | 2019-08-09 |
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| CN201920036750.2U Expired - Fee Related CN209233570U (en) | 2019-01-09 | 2019-01-09 | A kind of robot automatic charging system merging infrared navigation and magnetic navigation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109660027A (en) * | 2019-01-09 | 2019-04-19 | 山东大学 | A kind of robot automatic charging system and method merging infrared navigation and magnetic navigation |
| CN117213919A (en) * | 2023-11-07 | 2023-12-12 | 山东大学 | Grain vehicle parking positioning method and system applied to track type double-lane sampler |
-
2019
- 2019-01-09 CN CN201920036750.2U patent/CN209233570U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109660027A (en) * | 2019-01-09 | 2019-04-19 | 山东大学 | A kind of robot automatic charging system and method merging infrared navigation and magnetic navigation |
| CN117213919A (en) * | 2023-11-07 | 2023-12-12 | 山东大学 | Grain vehicle parking positioning method and system applied to track type double-lane sampler |
| CN117213919B (en) * | 2023-11-07 | 2024-04-02 | 山东大学 | Grain vehicle parking positioning method and system applied to track type double-lane sampler |
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| GR01 | Patent grant | ||
| 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: 20190809 Termination date: 20200109 |