CN104298233A - Mobile robot self-charging system - Google Patents
Mobile robot self-charging system Download PDFInfo
- Publication number
- CN104298233A CN104298233A CN201310563037.0A CN201310563037A CN104298233A CN 104298233 A CN104298233 A CN 104298233A CN 201310563037 A CN201310563037 A CN 201310563037A CN 104298233 A CN104298233 A CN 104298233A
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- robot
- sensor
- control board
- infrared
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to a mobile robot self-charging system comprising a main control board, a robot controller, a power supply module, a power monitoring module, a drive control module, a sensor board, a laser sensor, and an infrared sensor. The power monitoring module acquires power information of the power supply module. The robot controller controls the laser sensor to acquire a pulse signal containing charging station position information according to the power information. The main control board establishes a first travel path trajectory according to the pulse signal. The sensor board collects an infrared signal acquired by the infrared sensor. The main control board corrects the first travel path trajectory according to the infrared signal to obtain a second travel path trajectory. The mobile robot self-charging system provided by the invention is an intelligent mobile robot self-charging system composed of a laser scanning modeling technology, an infrared positioning technology and a robot motion control technology. The defect of sole dependence on the laser or infrared technology is overcome. The reliability and accuracy of robot self-charging are improved.
Description
Technical field
The present invention relates to motion planning and robot control technology, particularly relate to a kind of mobile robot's recharging system.
Background technology
In the prior art, intelligent mobile robot recharging implementation mainly contains two kinds, and one utilizes infrared distance measurement technology to combine with movement control technology to realize recharging; Another kind utilizes laser modeling technique and movement control technology to combine to realize recharging.But all there is following defect in actual applications in above-mentioned two kinds of technology: when (1) utilizes infrared distance measurement technology to realize recharging, mainly adopt infrared receiver in conjunction with pose adjustment strategy, cause robot like this and constantly adjust attitude in distance charging station comparatively far region, the position determining charging station in the short time can not be realized, charge too time-consuming; (2), when adopting laser modeling technique to carry out recharging, in remote region, robot can lock rapidly charging station position, but closely accurate on time, because laser sensor exists visual angle blind zone, may cause location deviation in alignment procedures.
Summary of the invention
The present invention is intended to solve above-mentioned problems of the prior art, proposes a kind of mobile robot's recharging system.
Mobile robot's recharging system that the present invention proposes comprises: master control board, robot controller, power module, electricity monitoring module, drive control module, sensor board, laser sensor and infrared sensor, wherein, described electricity monitoring module obtains the information about power of power module, described robot controller controls laser sensor according to described information about power and obtains the pulse signal comprising charging station positional information, and described master control board sets up the first conduct track according to described pulse signal; Described sensor board gathers the infrared signal that described infrared sensor obtains, and described master control board is revised the first conduct track according to described infrared signal, obtains the second conduct track; Described robot controller sends drive singal according to the second conduct track to described drive control module and moves to charging station with control.
Mobile robot's recharging system that the present invention proposes uses the intelligent mobile robot recharging system be made up of laser scanning modeling technique, infrared location technology and motion planning and robot control technology, relative to recharging mode in the past, overcome simple dependence laser or infrared brought defect, improve reliability and the accuracy of robot autonomous charging.
Accompanying drawing explanation
Fig. 1 is mobile robot's recharging system construction drawing of one embodiment of the invention.
Fig. 2 is mobile robot's recharging system construction drawing of one embodiment of the present invention.
Embodiment
Below in conjunction with specific embodiment and accompanying drawing, the present invention is described in further detail.Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining technical scheme of the present invention, and not should be understood to limitation of the present invention.
In describing the invention, term " interior ", " outward ", " longitudinal direction ", " transverse direction ", " on ", D score, " top ", the orientation of the instruction such as " end " or position relationship be based on orientation shown in the drawings or position relationship, be only the present invention for convenience of description instead of require that the present invention with specific azimuth configuration and operation, therefore must not should be understood to limitation of the present invention.
The invention provides a kind of mobile robot's recharging system.
As shown in Figure 1, mobile robot's recharging system that the present invention proposes comprises: master control board 100, robot controller (Robot Controller, RC) 200, power module 300, electricity monitoring module 400, drive control module 500, sensor board 600, laser sensor 700 and infrared sensor 800.Wherein, robot controller 200, electricity monitoring module 400, drive control module 500, sensor board 600 carry out data interaction by bus; Master control board 100 and robot controller 200 carry out data interaction by wireless network.
Below the mobile robot's recharging system components proposed the present invention and principle of work are described in further detail.
Electricity monitoring module 400 can obtain the information about power of power module 300 in real time or periodically, robot controller 200 controls laser sensor 700 according to described information about power and obtains the pulse signal comprising charging station positional information, and master control board 100 sets up according to described pulse signal the first conduct track being target with described charging station; Meanwhile, sensor board 600 gathers the infrared signal that infrared sensor 800 obtains, and master control board 100 is revised described first conduct track further according to described infrared signal, obtains more accurate second conduct track; Robot controller 200 sends drive singal according to described second conduct track to drive control module 500 and moves to charging station with control.
In the foregoing description, master control board 100 Main Function realizes the control to whole robot system, is equivalent to the brain of system, and master control board 100 and robot controller 200 carry out data interaction by wireless network.
Robot controller 200 major function realizes motion planning and robot control, sensor information Acquire and process and electricity monitoring function, it is connected with electricity monitoring module 400, drive control module 500 by CAN, and realize carrying out data interaction in real time with master control board 100 by Ethernet, master control board 100 and robot controller 200 are the core component of whole system.
Electricity monitoring module 400 is realized by electricity monitor board.The method of general employing current integration calculates dump energy.The method that software adopts is that supposition each run electric current is certain, and each battery electric quantity is full of, and records the corresponding cell voltage of each current value and the relation curve of discharge time, and then obtains the relation curve of electricity and voltage.
Preferably, power module 300 adopts redundancy dual power supply to design, the redundant power supply of overall robot system can be achieved, so not only add battery capacity, solve the problem because battery failures causes outdoor robot normally to run simultaneously, thus increase outdoor robot working time, make outdoor robot can the task of execution time long, distance.
Further preferably, power module 300 adopts ferric phosphate lithium cell group as battery pack, ferric phosphate lithium cell is that high-energy-density is the highest, the most stabilize lithium battery of performance, by the requirement of the restriction of outdoor machine human body product space and high energy ratio, ferric phosphate lithium cell group can be preferably adopted to be that outdoor robot powers.
Drive control module 500 is made up of multiple drived control plate, and described drived control plate realizes position closed loop by code-disc, thus reaches the object that motion parts accurately controls.
Laser sensor 700 can detect 150 °, object in 30 meters, and according to returning pulse signal, surrounding environment is described out, Main Function passes through environmental scanning, determine current charging station position, go out by routine plan the first conduct track that robot walks to charging station, robot can move on to rapidly near charging station according to track.It is noted that described first conduct track is only locate by laser sensor 700 the rough track obtained, need to be optimized further.
Accurate positioning function after infrared sensor 800 has been primarily implemented in laser coarse positioning and has moved to charging station approximate location, by the transmitting terminal of infrared sensor 800 and the docking of receiving end, accurate judgement robot is relative to the position of charging station, and then adjustment attitude is close to target charging station in real time, thus realize recharging.
Preferably, mobile robot's recharging system that the present invention proposes also comprises the remote monitoring module 900 with master control board 100 wireless connections, described information about power, the first conduct track, the second conduct track and robot are sent to remote monitoring module 900 relative to the positional information of charging station by master control board 100, thus realize the Real-time Feedback of robotary information.
Due to the singularity of mobile robot application scenario, master control board 100 and robot controller 200 can preferably adopt industrial wireless network card to carry out wireless connections, and its transmission range can reach km.
Mobile robot's recharging system that the present invention proposes can also be applied to the fields such as automatical pilot transportation vehicle (Automated Guided Vehicle, AGV), electric automobile.Be directed to different industries, only need increase or reduce board and number of sensors according to the actual requirements, when without the need to changing system, recharging function can be realized.As in automatical pilot transportation vehicle system, recharging control system and automatical pilot transportation vehicle kinetic control system can be integrated and can realize automatical pilot transportation vehicle and carry out recharging.Adopt recharging not only can realize automatical pilot transportation vehicle to run continuously, and save human cost, raising entire system operation continuity and reliability are had very great help.
Mobile robot's recharging system that the present invention proposes utilizes laser to carry out environmental modeling to realize charging station long distance positioning, and realizes closely pinpoint mode in conjunction with infrared sensor and realize recharging.Whole control system composition comprises master control board, robot controller, sensor collection plate, electricity monitor board, laser sensor and infrared sensor etc.The present invention adopts wireless network master control board and robot controller to be coupled together.Robot controller, sensor board, electricity monitoring part grade, and realize communication by CAN, by realizing recharging function to the programming of the softwares such as laser environment modeling, motion planning and robot control and infrared sensor aligning.
Mobile robot's recharging system that the present invention proposes uses the intelligent mobile robot recharging system be made up of laser scanning modeling technique, infrared location technology and motion planning and robot control technology, relative to recharging mode in the past, overcome simple dependence laser or infrared brought defect, improve reliability and the accuracy of robot autonomous charging.In addition, the two mainboard control system of the robot that the present invention's application master control board and robot controller form, separates motion control and other controlling functions, more clearly demarcated on control hierarchy, is also more beneficial to simultaneously and realizes modularization in software programming.
Although the present invention is described with reference to current better embodiment; but those skilled in the art will be understood that; above-mentioned better embodiment is only used for explaining and technical scheme of the present invention being described; and be not used for limit protection scope of the present invention; any within the spirit and principles in the present invention scope; any modification of doing, equivalence replacement, distortion, improvement etc., all should be included within claims of the present invention.
Claims (8)
1. mobile robot's recharging system, comprise: master control board, robot controller, power module, electricity monitoring module, drive control module, sensor board, laser sensor and infrared sensor, wherein, described electricity monitoring module obtains the information about power of power module, described robot controller controls laser sensor according to described information about power and obtains the pulse signal comprising charging station positional information, and described master control board sets up the first conduct track according to described pulse signal; Described sensor board gathers the infrared signal that described infrared sensor obtains, and described master control board is revised the first conduct track according to described infrared signal, obtains the second conduct track; Described robot controller sends drive singal according to the second conduct track to described drive control module and moves to charging station with control.
2. mobile robot's recharging system according to claim 1, is characterized in that, described robot controller, electricity monitoring module, drive control module, sensor board carry out data interaction by bus.
3. the mobile robot's recharging system described in claim 1 or 2, is characterized in that, described master control board and described robot controller carry out data interaction by wireless network.
4. mobile robot's recharging system according to claim 3, is characterized in that, described master control board and described robot controller carry out data interaction by industrial wireless network card.
5. mobile robot's recharging system according to claim 1, it is characterized in that, also comprise the remote monitoring module with described master control board wireless connections, described information about power, the first conduct track, the second conduct track and robot are sent to described remote monitoring module relative to the positional information of charging station by described master control board.
6. mobile robot's recharging system according to claim 1, is characterized in that, described power module adopts the design of redundancy dual power supply.
7. mobile robot's recharging system according to claim 6, is characterized in that, described power module adopts ferric phosphate lithium cell group as battery pack.
8. mobile robot's recharging system according to claim 1, is characterized in that, described drive control module comprises at least one drived control plate, and described drived control plate realizes position closed loop by code-disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310563037.0A CN104298233A (en) | 2013-11-13 | 2013-11-13 | Mobile robot self-charging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310563037.0A CN104298233A (en) | 2013-11-13 | 2013-11-13 | Mobile robot self-charging system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104298233A true CN104298233A (en) | 2015-01-21 |
Family
ID=52318008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310563037.0A Pending CN104298233A (en) | 2013-11-13 | 2013-11-13 | Mobile robot self-charging system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104298233A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104750109A (en) * | 2015-04-07 | 2015-07-01 | 上海市建筑科学研究院 | Cable climbing robot pulling back method and device |
| CN105182972A (en) * | 2015-09-01 | 2015-12-23 | 广州杰赛科技股份有限公司 | Environment detection apparatus and wireless charging method thereof, and emergency monitoring system |
| CN105259918A (en) * | 2015-09-18 | 2016-01-20 | 莱克电气股份有限公司 | Automatic charging returning method of robot dust collector |
| CN105388896A (en) * | 2015-09-23 | 2016-03-09 | 上海物景智能科技有限公司 | CAN bus-based distributed cleaning robot control system and control method |
| CN106671138A (en) * | 2016-08-25 | 2017-05-17 | 北京创想智控科技有限公司 | Mobile robot and charging system and charging control method thereof |
| CN106896828A (en) * | 2017-04-18 | 2017-06-27 | 厦门领夏智能科技有限公司 | A kind of unmanned plane automated wireless charging method and system |
| CN107134836A (en) * | 2017-07-13 | 2017-09-05 | 湖南万为智能机器人技术有限公司 | Robot automatic charging alignment methods |
| CN107145148A (en) * | 2017-06-06 | 2017-09-08 | 青岛克路德机器人有限公司 | A kind of robot autonomous charging system |
| CN107402574A (en) * | 2017-08-22 | 2017-11-28 | 上海合时智能科技有限公司 | Robot autonomous charging system and method |
| CN107765688A (en) * | 2017-09-27 | 2018-03-06 | 深圳市神州云海智能科技有限公司 | The control method and device of a kind of autonomous mobile robot and its automatic butt |
| CN107817801A (en) * | 2017-11-03 | 2018-03-20 | 深圳市杉川机器人有限公司 | Robot control method, device, robot and cradle |
| CN107825425A (en) * | 2017-11-03 | 2018-03-23 | 深圳市杉川机器人有限公司 | Robot control method, device, robot and cradle |
| CN108898737A (en) * | 2018-08-31 | 2018-11-27 | 成都越凡创新科技有限公司 | Vending machine recharges navigation system automatically |
| CN108931194A (en) * | 2018-07-10 | 2018-12-04 | 苏州艾弗伦智能技术有限公司 | A kind of intelligent robot 3D precision measurement system |
| CN109345697A (en) * | 2018-08-31 | 2019-02-15 | 成都越凡创新科技有限公司 | Vending machine recharges air navigation aid automatically |
| CN109720223A (en) * | 2018-12-26 | 2019-05-07 | 广东嘉腾机器人自动化有限公司 | AGV charging management method and storage device and transportation system |
| CN110162047A (en) * | 2019-05-21 | 2019-08-23 | 福建天泉教育科技有限公司 | Robot automatic charging bootstrap technique and its system |
| CN106950989B (en) * | 2017-04-18 | 2019-09-10 | 厦门领夏智能科技有限公司 | A kind of unmanned plane fixed point location method and system |
| CN110471405A (en) * | 2018-05-10 | 2019-11-19 | 深圳市神州云海智能科技有限公司 | A kind of robot tracking charging method and robot |
| CN110783975A (en) * | 2019-09-17 | 2020-02-11 | 广西电网有限责任公司柳州供电局 | Automatic charging system suitable for multi-model robots and control method |
-
2013
- 2013-11-13 CN CN201310563037.0A patent/CN104298233A/en active Pending
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104750109B (en) * | 2015-04-07 | 2017-07-04 | 上海市建筑科学研究院 | Cable-climbing robot recovery method and its equipment |
| CN104750109A (en) * | 2015-04-07 | 2015-07-01 | 上海市建筑科学研究院 | Cable climbing robot pulling back method and device |
| CN105182972A (en) * | 2015-09-01 | 2015-12-23 | 广州杰赛科技股份有限公司 | Environment detection apparatus and wireless charging method thereof, and emergency monitoring system |
| CN105259918A (en) * | 2015-09-18 | 2016-01-20 | 莱克电气股份有限公司 | Automatic charging returning method of robot dust collector |
| CN105259918B (en) * | 2015-09-18 | 2018-12-04 | 莱克电气股份有限公司 | The method that robot cleaner automatic charging returns |
| CN105388896A (en) * | 2015-09-23 | 2016-03-09 | 上海物景智能科技有限公司 | CAN bus-based distributed cleaning robot control system and control method |
| CN106671138A (en) * | 2016-08-25 | 2017-05-17 | 北京创想智控科技有限公司 | Mobile robot and charging system and charging control method thereof |
| CN106671138B (en) * | 2016-08-25 | 2023-10-20 | 北京创想智控科技有限公司 | Mobile robot, charging system and charging control method thereof |
| CN106896828A (en) * | 2017-04-18 | 2017-06-27 | 厦门领夏智能科技有限公司 | A kind of unmanned plane automated wireless charging method and system |
| CN106896828B (en) * | 2017-04-18 | 2019-09-06 | 厦门领夏智能科技有限公司 | A kind of unmanned plane automated wireless charging method and system |
| CN106950989B (en) * | 2017-04-18 | 2019-09-10 | 厦门领夏智能科技有限公司 | A kind of unmanned plane fixed point location method and system |
| CN107145148A (en) * | 2017-06-06 | 2017-09-08 | 青岛克路德机器人有限公司 | A kind of robot autonomous charging system |
| CN107134836A (en) * | 2017-07-13 | 2017-09-05 | 湖南万为智能机器人技术有限公司 | Robot automatic charging alignment methods |
| CN107402574A (en) * | 2017-08-22 | 2017-11-28 | 上海合时智能科技有限公司 | Robot autonomous charging system and method |
| CN107765688A (en) * | 2017-09-27 | 2018-03-06 | 深圳市神州云海智能科技有限公司 | The control method and device of a kind of autonomous mobile robot and its automatic butt |
| CN107765688B (en) * | 2017-09-27 | 2019-12-20 | 深圳市神州云海智能科技有限公司 | Autonomous mobile robot and automatic docking control method and device thereof |
| CN107825425A (en) * | 2017-11-03 | 2018-03-23 | 深圳市杉川机器人有限公司 | Robot control method, device, robot and cradle |
| CN107817801A (en) * | 2017-11-03 | 2018-03-20 | 深圳市杉川机器人有限公司 | Robot control method, device, robot and cradle |
| CN110471405A (en) * | 2018-05-10 | 2019-11-19 | 深圳市神州云海智能科技有限公司 | A kind of robot tracking charging method and robot |
| CN108931194A (en) * | 2018-07-10 | 2018-12-04 | 苏州艾弗伦智能技术有限公司 | A kind of intelligent robot 3D precision measurement system |
| CN109345697A (en) * | 2018-08-31 | 2019-02-15 | 成都越凡创新科技有限公司 | Vending machine recharges air navigation aid automatically |
| CN108898737A (en) * | 2018-08-31 | 2018-11-27 | 成都越凡创新科技有限公司 | Vending machine recharges navigation system automatically |
| CN108898737B (en) * | 2018-08-31 | 2023-12-29 | 成都越凡创新科技有限公司 | Automatic recharging navigation system of vending machine |
| CN109720223A (en) * | 2018-12-26 | 2019-05-07 | 广东嘉腾机器人自动化有限公司 | AGV charging management method and storage device and transportation system |
| CN110162047A (en) * | 2019-05-21 | 2019-08-23 | 福建天泉教育科技有限公司 | Robot automatic charging bootstrap technique and its system |
| CN110783975A (en) * | 2019-09-17 | 2020-02-11 | 广西电网有限责任公司柳州供电局 | Automatic charging system suitable for multi-model robots and control method |
| CN110783975B (en) * | 2019-09-17 | 2023-05-30 | 广西电网有限责任公司柳州供电局 | Automatic charging system suitable for multiple types of robots and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104298233A (en) | Mobile robot self-charging system | |
| CN207718228U (en) | A kind of reliable indoor omni-directional mobile robots recharging system | |
| CN107402574B (en) | Autonomous charging system and method for robot | |
| Guo et al. | A mobile robot for inspection of substation equipments | |
| CN103075963B (en) | A kind of indoor locating system and method | |
| CN107943049B (en) | Unmanned vehicle control method and unmanned mowing vehicle | |
| CN109062150A (en) | A kind of automatic handing system and its more AGV collaboration methods based on AGV | |
| CN105449876A (en) | Automatic wireless charging system for power line-patrol multi-rotor type aircraft | |
| CN109324610B (en) | Routing inspection robot positioning method adaptive to change of charging room door | |
| CN205003547U (en) | AGV control system | |
| CN105302150A (en) | Unmanned aircraft infinite endurance system | |
| CN109878355A (en) | A kind of automatic charging vehicle and its operation method and automatic charging system | |
| CN104836293A (en) | Charging method of automatic guided vehicle (AGV), movable charging pile and charging system | |
| CN110026978A (en) | A kind of control system and working method of electric inspection process robot | |
| CN101667032A (en) | Vision-based target tracking system using unmanned helicopter | |
| CN103264730A (en) | Tracked robot moving platform | |
| CN104401366B (en) | A kind of ATO tests the speed range-measurement system | |
| CN109878354A (en) | A kind of automatic charge device and its operation method | |
| CN105717921A (en) | Automated guided vehicle (AGV) system | |
| CN109976327A (en) | A kind of patrol robot | |
| CN110977999A (en) | Nuclear power station nuclear instrument source test intelligent robot | |
| Rao et al. | IR based auto-recharging system for autonomous mobile robot | |
| Fetisov et al. | Continuous monitoring of terrestrial objects by means of duty group of multicopters | |
| CN107168338B (en) | Inertial guided vehicle navigation method based on millimeter wave radar and inertial guided vehicle | |
| CN106608265A (en) | Rail type mobile robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150121 |
|
| WD01 | Invention patent application deemed withdrawn after publication |