CN105071512A - Automatic charging control system and control method of intelligent household robot - Google Patents
Automatic charging control system and control method of intelligent household robot Download PDFInfo
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- CN105071512A CN105071512A CN201510463684.3A CN201510463684A CN105071512A CN 105071512 A CN105071512 A CN 105071512A CN 201510463684 A CN201510463684 A CN 201510463684A CN 105071512 A CN105071512 A CN 105071512A
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Abstract
The invention provides an automatic charging control system and control method of an intelligent household robot. The automatic charging control system, through a structural design, by use of a simpler infrared ray orientation technology, enables the intelligent household robot to have a charging orientation identification capability, and at the same time, provides stable charging connection by use of a lower-cost contact type wired charging connection structure, for solving the problems large research and development difficulty, high cost and the like of the automatic charging function design of the intelligent household robot in the prior art and providing favorable system realization technical conditions for automatic charging control of the intelligent household robot. The automatic charging control method can effectively guide the intelligent household robot to approach the position of a charging pedestal, is not misled easily, at the same time, carries out charging by direct use of a mature wired charging technology, is high in charging efficiency and effectively ensures the feasibility and reliability of automatic charging control between the intelligent household robot and the charging pedestal.
Description
Technical field
The present invention relates to robotics and automatic control technology field, particularly relate to a kind of charging controller system and control method of intelligent home robot.
Background technology
Along with the development of Robotics, intelligent home robot more and more appears on robot product market, and starts the concern and the acceptance that are subject to people gradually.Intelligent home robot has the movement executing mechanism being subject to its internal motion driving governor and controlling usually, move on each different directions to realize intelligent home robot, thus help user to complete a series of house miscellaneous functions such as floor cleaning, article transmission, long-distance video collection.
In order to ensure that intelligent home robot is continued a journey ability to work preferably, usual intelligent home robot all adopts storage battery power supply, so that the recharging base mated with intelligent home robot by is charged repeatedly to it, realize the circulation continuation of the journey work of intelligent home robot; Further, if intelligent home robot relies on manual operation charging, the problem such as easily cause charging not in time, also add the trouble that user uses, affects experience, therefore in intelligent home robot, design automatic charging function and be necessary.
But realize the charging controller of intelligent home robot, mainly need the problem of solution two aspect, one is the identification how realizing charging orientation, another how to provide stable charging to connect.For how realizing the identification problem of intelligent home robot to charging orientation, the video acquisition ability that generally can possess based on intelligent home robot, carry out by the video image gathered it orientation that image recognition processing determines to possess in its surrounding enviroment the article place of recharging base contour feature, thus close recharging base charges towards this azimuth motion to control intelligent home robot; But it is larger based on the recharging base orientation recognition technical research difficulty of Computer Vision, the dynamic image recognition technology research staff of specialty is needed to participate in, R&D costs are relatively high, and its orientation judges the misleading being easily subject to the article similar to recharging base profile, accuracy rate is not enough, affects the reliability of charging controller.And for the problem how to provide stable charging to connect to intelligent home robot, technology can be carried out by wireless charging and solve, as long as control the recharging base of intelligent home robot near wireless charging, just can realize comparatively stable charging connects; But there is the problem that research and development difficulty is comparatively large, R&D costs are higher equally in wireless charging technology, and the technology maturity of wireless charging solution is also not enough to some extent at present, also be subject to the technical limitations such as charging current is little, charge efficiency is low simultaneously, affect the ageing of charging controller.These factors affect intelligent home Robotics perfect, hinders popularization and the development of intelligent home Robotics.
Therefore, how to pass through the realization of more simple technology to the identification in charging orientation, and how to adopt the more cheap technology of cost to provide comparatively stable charging to connect, and the reliability of charging controller and ageing can be ensured preferably, become the important technology problem in intelligent home robot controlling field.
Summary of the invention
For above shortcomings in prior art, the object of the present invention is to provide a kind of charging controller system of intelligent home robot, it is by the design of structure, have employed more simple infrared-ray directional technology makes intelligent home robot to the recognition capability in charging orientation, have employed cost more cheap contact wired charging syndeton simultaneously and provide stable charging connection, in order to solve in prior art, to realize intelligent home robot automatic charging function design research and development difficulty large, high in cost of production problem, charging controller for intelligent home robot provides favourable system actualizing technology condition.
For solving the problems of the technologies described above, present invention employs following technical scheme:
A kind of charging controller system of intelligent home robot, the recharging base comprising intelligent home robot and mate with it, described intelligent home robot comprises the robot body that is provided with movement executing mechanism, is provided with the motion driving governor of controlled motion actuator action in robot body;
Described recharging base is provided with the battery charger cradle that has level table, the level table of battery charger cradle is provided with protruding upward and can be pressed down and can two elasticity charging contacts of upwards elastic reset, the marginal position place, side of the level table of battery charger cradle has the facade upwards extended from level table, and described facade is provided with can towards the infrared transmitter of emission level direction, side, direction, elasticity charging contact place infrared-ray on level table; Recharging base is also provided with plant-grid connection interface circuit, Transformer Rectifier circuit and charging control circuit are installed in recharging base, plant-grid connection interface circuit is electrically connected to the power input of Transformer Rectifier circuit, the power supply output of Transformer Rectifier circuit is electrically connected to the feeder ear of infrared transmitter, and the power supply output of Transformer Rectifier circuit is also electrically connected to two elasticity charging contacts by charging control circuit simultaneously;
The side of the robot body of described intelligent home robot is charge position side, the charge position side of robot body is provided with the infrared remote receiver that can receive horizontal direction infrared-ray, and the terrain clearance of infrared transmitter installation site matches on the terrain clearance of infrared remote receiver installation site and recharging base, the detection signal output signal of telecommunication of infrared remote receiver is connected to the motion orientation control trigger end of motion driving governor, the marginal position place that the bottom surface of robot body is positioned at charge position side side is provided with power connection, described power connection is the fit electrode film and negative electrode plate that are arranged on marginal position place robot body bottom surface being positioned at charge position side side of transverse arrangement of turbo ground, and the terrain clearance on two elasticity charging contact tops matches on the terrain clearance of electrode film and negative electrode plate position and the level table of recharging base, on the layout orientation of electrode film and negative electrode plate and the level table of recharging base in two elasticity charging contacts just, the layout orientation of cathode contact matches,
The robot body inside of intelligent home robot is also provided with charging circuit assembly, described charging circuit assembly comprises power connection power on detection circuit, storage battery and charge management circuit, the power input of charge management circuit and the detection input of power connection power on detection circuit are electrically connected with power connection respectively, the charging output of charge management circuit is electrically connected to the charging input end of storage battery, the power supply output of storage battery is electrically connected in the current supply circuit of intelligent home robot, the detection signal output signal of telecommunication of power connection power on detection circuit is connected to the control for brake trigger end of motion driving governor.
Above-mentionedly state in the charging controller system of intelligent home robot, as further improvement project, the charging circuit assembly of described intelligent home robot also comprises supply power voltage change-over circuit, battery power detection circuit, charge capacity comparator, power switch controller and power supply electric-controlled switch, the disconnection that also signal of telecommunication is connected to power switch controller of the detection signal output of described power connection power on detection circuit controls trigger end, the power input of supply power voltage change-over circuit is electrically connected with power connection, the power supply output of supply power voltage change-over circuit is electrically connected to battery power detection circuit respectively, charge capacity comparator, the feeder ear of power switch controller and power supply electric-controlled switch, the detection input of battery power detection circuit is electrically connected to storage battery, the detection signal output signal of telecommunication of battery power detection circuit is connected to the comparision of quantity of electricity value input of charge capacity comparator, charge capacity comparator reference value is the default saturated charge value of storage battery, the comparative result output signal of telecommunication of charge capacity comparator is connected to the disconnection control releasing trigger end of power switch controller, the control output end signal of telecommunication of power switch controller is connected to the control end of power supply electric-controlled switch, the switch contact end of power supply electric-controlled switch is serially connected in the current supply circuit of intelligent home robot.
Above-mentionedly state in the charging controller system of intelligent home robot, as further improvement project, the comparative result output of the described charge capacity comparator control for brake that also signal of telecommunication is connected to motion driving governor removes trigger end.
Above-mentionedly state in the charging controller system of intelligent home robot, as a kind of preferred version, the charging circuit assembly of described intelligent home robot is arranged on the position near charge position side in robot body.
Above-mentionedly state in the charging controller system of intelligent home robot, as a kind of preferred version, the robot body bottom surface of described intelligent home robot is positioned at the electrode film at side marginal position place, charge position side and negative electrode plate and all there is the angle of inclination of 1 ~ 3 ° of being inclined upwardly towards robot body bottom edge direction.
Above-mentionedly state in the charging controller system of intelligent home robot, as a kind of preferred version, on described recharging base, the top of resilient contact is bulb shape.
Correspondingly, present invention also offers the charging controller method of above-mentioned intelligent home robot charging controller system, with the charging controller system by above-mentioned intelligent home robot, effectively ensure feasibility and the reliability of charging controller between intelligent home robot and recharging base.For this reason, present invention employs following technical scheme:
A charging controller method for intelligent home robot, adopts the charging controller system of above-mentioned intelligent home robot, to be coordinated carry out charging and control by intelligent home robot with recharging base; Specifically comprise the steps:
In advance by recharging base fixed placement on the ground, and the plant-grid connection interface circuit of recharging base is electrically connected to power supply place, the infrared transmitter on recharging base is made to be powered by the Transformer Rectifier of Transformer Rectifier circuit and work on power, the infrared-ray in emission level direction, side, direction, elasticity charging contact place on battery charger cradle level table;
When intelligent home robot starts charging operations, motion of cruising is carried out by its motion driving governor controlled motion actuator, Smart Home robot is moved towards variant direction, until when the infrared remote receiver on robot body charge position side receives the infrared-ray from horizontal direction, the motion orientation of motion driving governor control trigger end the infrared detection signal that sends by the detection signal output of infrared remote receiver trigger, motion driving governor controlled motion actuator carries out directed movement, Smart Home robot is made to do directed movement towards side, direction, place, robot body charge position side, until Smart Home robot motion is to recharging base position, and when robot body bottom surface being positioned at two elasticity charging contact joints on the power connection at side marginal position place, charge position side and the battery charger cradle level table of recharging base, two elasticity charging contacts of recharging base control to power to the power connection on robot body bottom surface by the Transformer Rectifier of Transformer Rectifier circuit and the charging of charging control circuit, power connection power on detection circuit in the charging circuit assembly of now intelligent home robot detects that power connection powers on, the control for brake trigger end of motion driving governor the upper power detection signal that sends by the detection signal output of power connection power on detection circuit trigger, the stop motion of motion driving governor controlled motion actuator, utilized by the charge management circuit in charging circuit assembly, from the power supply of power connection, Charge Management is carried out to storage battery, realize the charge in batteries of intelligent home robot.
In the charging controller method of above-mentioned intelligent home robot, as further improvement project, the charging circuit assembly of described intelligent home robot also comprises supply power voltage change-over circuit, battery power detection circuit, charge capacity comparator, power switch controller and power supply electric-controlled switch, the disconnection that also signal of telecommunication is connected to power switch controller of the detection signal output of described power connection power on detection circuit controls trigger end, the power input of supply power voltage change-over circuit is electrically connected with power connection, the power supply output of supply power voltage change-over circuit is electrically connected to battery power detection circuit respectively, charge capacity comparator, the feeder ear of power switch controller and power supply electric-controlled switch, the detection input of battery power detection circuit is electrically connected to storage battery, the detection signal output signal of telecommunication of battery power detection circuit is connected to the comparision of quantity of electricity value input of charge capacity comparator, charge capacity comparator reference value is the default saturated charge value of storage battery, the comparative result output signal of telecommunication of charge capacity comparator is connected to the disconnection control releasing trigger end of power switch controller, the control output end signal of telecommunication of power switch controller is connected to the control end of power supply electric-controlled switch, the switch contact end of power supply electric-controlled switch is serially connected in the current supply circuit of intelligent home robot,
When two elasticity charging contact joints of the power connection of Smart Home robot and recharging base, the disconnection of the power switch controller in charging circuit assembly control trigger end the upper power detection signal that sends by the detection signal output of power connection power on detection circuit trigger, the switch contact end that power switch controller controls power supply electric-controlled switch by its control output end disconnects, the current supply circuit of intelligent home robot is made to form open circuit, simultaneously, supply power voltage change-over circuit in charging circuit assembly utilizes the power supply from power connection to carry out after voltage transitions charge capacity comparator, power switch controller and power supply electric-controlled switch are powered,
When charge in batteries is to time saturated, the comparision of quantity of electricity value that battery power detection circuit in charging circuit assembly exports reaches the saturated charge value of storage battery that charge capacity comparator is preset, the disconnection of power switch controller control to remove trigger end the signal of telecommunication that exports by the comparative result output of charge capacity comparator trigger, power switch controller controls the switch contact end conducting of power supply electric-controlled switch by its control output end, makes the current supply circuit of intelligent home robot again form path.
In the charging controller method of above-mentioned intelligent home robot, as further improvement project, the comparative result output of the charge capacity comparator of the described intelligent home robot control for brake that also signal of telecommunication is connected to motion driving governor removes trigger end;
When charge in batteries is to time saturated, the comparision of quantity of electricity value that battery power detection circuit in charging circuit assembly exports reaches the saturated charge value of storage battery that charge capacity comparator is preset, the control for brake of motion driving governor remove trigger end the signal of telecommunication that exports by the comparative result output of charge capacity comparator trigger, motion driving governor is removed state of a control is stopped to the braking of movement executing mechanism.
In the charging controller method of above-mentioned intelligent home robot, as further improvement project, the motion driving governor controlled motion actuator of described intelligent home robot carries out in the process of directed movement, whenever infrared remote receiver fail continuous reception to infrared-ray from horizontal direction time, motion driving governor then again controlled motion actuator carry out motion of cruising, until when the infrared remote receiver on robot body charge position side receives the infrared-ray from horizontal direction again, the motion orientation of motion driving governor control trigger end again the infrared detection signal that sends by the detection signal output of infrared remote receiver trigger, motion driving governor then again controlled motion actuator carry out directed movement, Smart Home robot is made to do directed movement towards side, direction, place, robot body charge position side.
Compared to prior art, the present invention has following beneficial effect:
1, the charging controller system of intelligent home robot of the present invention, have employed more simple infrared-ray directional technology, make use of infrared-ray and there is better direction-sense characteristic, make intelligent home robot to the recognition capability in charging orientation, its technology realizes effectively simple, research and development difficulty is little, and R&D costs are low.
2, the charging controller system of intelligent home robot of the present invention, the wired charging syndeton of the more cheap contact of cost is have employed between intelligent home robot and recharging base, and can ensure with the fit structure between recharging base the stability that the wired charging of contact is connected by intelligent home robot preferably, structure realizes also very simple, research and development difficulty is little, and R&D costs are low.
3, in the charging controller system of intelligent home robot of the present invention, intelligent home robot as charge power supply joint just, the layout designs of negative electrode plate, ensure that power connection effectively can carry out while the wired charging of contact is connected with the charging contact of recharging base, also substantially reduce phase electrical contact between the power connection of intelligent home robot with other charging equipment and cause the probability that circuit damages, the probability that the power connection also significantly reducing intelligent home robot is damaged by collision, more be conducive to the charging circuit safety protecting intelligent home robot.
4, in the charging controller system of intelligent home robot of the present invention, recharging base adopt elasticity charging contact as the connecting terminal be connected with the wired charging of intelligent home robotic contact formula, and be mounted on protruding upward on the level table of its battery charger cradle, such matching structure design makes intelligent home robot just it can be used as charge power supply joint, negative electrode plate be arranged on bottom be designed in order to may, the basis protecting the function of charging circuit safety to provide respective outer side edges is reached for charge power supply joint design is arranged on bottom by intelligent home robot.
In the charging controller method of 5, intelligent home robot of the present invention, intelligent home robot relies on infrared-ray directional technology to judge the identification that recharging base carries out orientation, can effectively guide intelligent home robot close to recharging base position, and in the environment for use of intelligent home robot, except from except the horizontal direction infrared-ray of recharging base, usually the infrared-ray of other horizontal direction can not be there is in its robot body floor height position, therefore be not easy to be misled to the identification in charging orientation, there is better reliability.
In the charging controller method of 6, intelligent home robot of the present invention, in intelligent home robot after recharging base completes the wired charging connection of contact, the direct wired charging technique of maturation that utilizes charges, charging current more easily controls to reach design object, charge efficiency is guaranteed, charging controller can be possessed better ageing, thus the utilization shorter time complete the charging to intelligent home robot, contributes to promoting experience.
7, the charging controller system of intelligent home robot of the present invention and control method thereof combine, and effectively can ensure feasibility and the reliability of charging controller between intelligent home robot and recharging base.
Accompanying drawing explanation
Fig. 1 is the sectional structure schematic layout pattern of recharging base in charging controller system of the present invention.
Fig. 2 is the schematic diagram of a kind of circuit structure scheme of recharging base in charging controller system of the present invention.
Fig. 3 is the sectional structure schematic layout pattern of intelligent home robot in charging controller system of the present invention.
Fig. 4 is the schematic diagram of a kind of circuit structure scheme of intelligent home robot in charging controller system of the present invention.
Fig. 5 is that in charging controller system of the present invention, intelligent home robot coordinates the view of charging and being connected with recharging base.
Fig. 6 is the schematic diagram of the another kind of circuit structure scheme of intelligent home robot in charging controller system of the present invention.
Embodiment
The invention provides a kind of charging controller system of intelligent home robot, the recharging base that this charging controller system comprises intelligent home robot and mates with it, wherein, intelligent home robot comprises the robot body that is provided with movement executing mechanism, is provided with the motion driving governor of controlled motion actuator action in robot body.These basic structural design frameworks are all identical with the mentality of designing of prior art, but in concrete structural design details, charging controller system of the present invention have employed special fit structure and circuit structure.
Wherein, in the matching structure design of recharging base, as shown in Figure 1, recharging base 10 is provided with the battery charger cradle 11 that has level table, the level table of battery charger cradle 11 is provided with protruding upward and can be pressed down and can in two elasticity charging contact 12(Fig. 1 diagrams of upwards elastic reset, two elasticity charging contacts are overlapped because being arranged side by side, therefore one of them elasticity charging contact stop by another), elasticity charging contact is adopted to be in order to by its elasticity, more effectively ensure that elasticity charging contact carries out connection reliability and the stability of charging to intelligent home robot, the marginal position place, side of the level table of battery charger cradle 11 has the facade upwards extended from level table, this facade is provided with can towards the infrared transmitter 13 of emission level direction, side, direction, elasticity charging contact place infrared-ray on level table, in order to the directivity by infrared-ray, as the pilot signal of intelligent home robot being carried out to charging bearing directing.In the circuit structure design of recharging base 10, recharging base is also provided with plant-grid connection interface circuit 14, Transformer Rectifier circuit 15 and charging control circuit 16 are installed in recharging base, the circuit structure design of recharging base as shown in Figure 2, plant-grid connection interface circuit is electrically connected to the power input of Transformer Rectifier circuit, the power supply output of Transformer Rectifier circuit is electrically connected to the feeder ear of infrared transmitter, and the power supply output of Transformer Rectifier circuit is also electrically connected to two elasticity charging contacts by charging control circuit simultaneously.
And in intelligent home robot, as shown in Figure 2, except movement executing mechanism 21 and motion driving governor 22, in its matching structure design, the side of its robot body 20 is set as charge position side 23, in specific design application, this charge position side can be any one side on robot body, it can be such as the front side of robot body, rear side, left side, right side etc., it can be even a side of specialized designs certain specific circumferential angular position on robot body, as long as this charge position side is convenient to be applied to charging and be convenient to motion driving governor controlled motion actuator allow intelligent home robot do rectilinear motion towards this side, direction, place, charge position side, the charge position side of robot body 20 is provided with the infrared remote receiver 24 that can receive horizontal direction infrared-ray, and the terrain clearance of infrared transmitter installation site matches on the terrain clearance of infrared remote receiver 24 installation site and recharging base, such fit structure can make the infrared remote receiver on robot body receive the infrared-ray of the horizontal direction that infrared transmitter sends on recharging base well, thus by the directivity of infrared-ray, the infrared-ray source direction sent by infrared transmitter on recharging base is as the direction in orientation, recharging base place, make it possessed to charging orientation recognition capability, the marginal position place that the bottom surface of robot body 20 is positioned at charge position side side is provided with power connection 25, this power connection 25 is fitted the electrode film and negative electrode plate that are arranged on marginal position place robot body bottom surface being positioned at charge position side side with being specially transverse arrangement of turbo, and the terrain clearance on two elasticity charging contact tops matches on the terrain clearance of electrode film and negative electrode plate position and the level table of recharging base, on the layout orientation of electrode film and negative electrode plate and the level table of recharging base in two elasticity charging contacts just, the layout orientation of cathode contact matches, such fit structure can make intelligent home robot in the charge position side of its robot body near recharging base time, robot body bottom surface being positioned at the electrode film at side marginal position place, charge position side and negative electrode plate can just and on the level table of recharging base just, cathode contact joint and providing comparatively is stablized wired charging and is connected.And in the circuit structure design of intelligent home machine, as shown in Figure 4, first, the detection signal output signal of telecommunication of its infrared remote receiver is connected to the motion orientation control trigger end of motion driving governor, the infrared detection signal exported during in order to receive the infrared-ray sent from recharging base by infrared remote receiver, comes triggered motion driving governor controlled motion actuator and carries out directed movement, simultaneously, in robot body inside, charging circuit assembly 26 is also installed, this charging circuit assembly comprises power connection power on detection circuit, storage battery and charge management circuit, the power input of charge management circuit and the detection input of power connection power on detection circuit are electrically connected with power connection respectively, the charging output of charge management circuit is electrically connected to the charging input end of storage battery, the power supply output of storage battery is electrically connected in the current supply circuit of intelligent home robot, the detection signal output signal of telecommunication of power connection power on detection circuit is connected to the control for brake trigger end of motion driving governor, the upper power detection signal triggered motion driving governor controlled motion actuator stop motion exported during in order to detect that power connection powers on by power connection power on detection circuit, namely control for brake is carried out to movement executing mechanism.
When embody rule realizes, in the charging controller system of intelligent home robot of the present invention, infrared transmitter in recharging base, Transformer Rectifier circuit, charging control circuit, plant-grid connection interface circuit etc. are can the ripening electron components and parts of commercial acquisition or circuit product, infrared remote receiver, power on detection circuit, storage battery, charge management circuit, power connection etc. simultaneously in intelligent home robot are also all can the ripening electron components and parts of commercial acquisition or circuit product, therefore can directly be assembled by commercial acquisition and be realized.As for the motion driving governor in intelligent home robot, then the difference of the movement executing mechanism drived control application mode that may adopt according to intelligent home robot and different, under normal circumstances, the movement executing mechanism that intelligent home robot adopts typically uses driving stepper motor, be conducive to controlling its pace easily, Distance geometry steering angle etc., and stepping motor must be equipped with stepper motor driving circuit use, stepper motor driving circuit has been a kind of programme control circut of technology maturation, and be all designed with motion orientation in conventional stepper motor driving circuit and control trigger end, the ports such as control for brake trigger end, so that connect external sensor signal to carry out assistance control, therefore under this application scenarios, stepper motor driving circuit is exactly the motion driving governor of intelligent home robot, also some intelligent home robots are had not use driving stepper motor, and directly adopt programmable logic device, single-chip microcomputer, the electronic processing components that flush bonding processor etc. possess calculation by program ability by after programming as motion driving governor, control the movement executing mechanism such as DC motor Driver wheels or machinery foot to move, under these applicable cases, its programmable logic device, single-chip microcomputer, also design motion orientation must be needed in the programming Control of the electronic processing components such as flush bonding processor to control, control for brake etc. are to the basic moving control function of movement executing mechanism, when being therefore applied to charging controller system of the present invention, only need in electronic processing components, set up corresponding triggered motion oriented control, the trigger terminal of control for brake controls trigger end respectively as motion orientation, control for brake trigger end, this is also ripe prior art.Also show thus, the circuit structure technology maturation adopted in the charging controller system of intelligent home robot of the present invention, research and development difficulty is little, and R&D costs are low, is very beneficial for industrial realization and applies.
The charging controller system of intelligent home robot of the present invention, it carries out use and the control procedure of charging controller, needs coordinated with recharging base by intelligent home robot and complete, and concrete mode is as follows:
Because intelligent home robot relies on movement executing mechanism to run on the ground, therefore need in advance by recharging base fixed placement on the ground, match to make the terrain clearance of infrared transmitter on the infrared remote receiver terrain clearance on the robot body charge position side of intelligent home robot and recharging base, also make terrain clearance robot body bottom surface being positioned at two elasticity charging contact tops on the electrode film at marginal position place of charge position side side and the level table of the terrain clearance of negative electrode plate and recharging base match simultaneously, and in specifically using, preferably by recharging base fixed placement by wall displacement ground on, and the transmit direction making its infrared transmitter outwardly, pedestal can be reduced like this and fix taking locus, also the plant-grid connection interface circuit of recharging base to be electrically connected to power supply place simultaneously, the infrared transmitter on recharging base is made to be powered by the Transformer Rectifier of Transformer Rectifier circuit and work on power, the infrared-ray in emission level direction, side, direction, elasticity charging contact place on battery charger cradle level table.Intelligent home robot can need according to practical application and design the opportunity that it starts charging operations, such as control to start charging operations when the minimum charge value that storage battery quantity not sufficient is preset, or control to start charging operations when the duration that intelligent home robot does not perform any task process reaches scheduled duration, etc., and when intelligent home robot starts charging operations, then carry out by its motion driving governor controlled motion actuator motion of cruising, Smart Home robot is moved towards variant direction, object be patrol search its infrared-ray of horizontal direction that sent by the infrared transmitter of recharging base in the environment where, until when the infrared remote receiver on robot body charge position side receives the infrared-ray from horizontal direction, because infrared-ray has stronger directivity, now then show that the robot body charge position side of Smart Home robot is just towards direction, recharging base place, simultaneously because infrared remote receiver receives infrared-ray, the motion orientation of motion driving governor control trigger end the infrared detection signal that sends by the detection signal output of infrared remote receiver trigger, motion driving governor controlled motion actuator carries out directed movement, Smart Home robot is made to do directed movement towards side, direction, place, robot body charge position side, the process of directed movement is being done towards side, direction, place, robot body charge position side, in fact namely Smart Home robot is moving and close process towards recharging base, and consider that Smart Home robot is towards recharging base motion and in close process, likely because side, direction, place, robot body charge position side is not very exactly just to direction, electric pedestal place, cause in traveling process, departing from the direction near recharging base position, but can make the infrared remote receiver of intelligent home robot can not the horizontal direction infrared-ray of continuous reception arrival self-charging pedestal in this case, therefore optimize as a kind of, carry out in the process of directed movement in the motion driving governor controlled motion actuator of intelligent home robot, whenever infrared remote receiver fail continuous reception to infrared-ray from horizontal direction time, motion driving governor then again controlled motion actuator carry out motion of cruising, until when the infrared remote receiver on robot body charge position side receives the infrared-ray from horizontal direction again, now then show that the robot body charge position side of Smart Home robot is again just towards direction, recharging base place, simultaneously due to the motion orientation of motion driving governor control trigger end again the infrared detection signal that sends by the detection signal output of infrared remote receiver trigger, motion driving governor then again controlled motion actuator carry out directed movement, Smart Home robot is made to do directed movement towards side, direction, place, robot body charge position side, thus get back on the track of direction, recharging base position motion, advance like this, until Smart Home robot motion is to recharging base position, and when robot body bottom surface being positioned at two elasticity charging contact joints on the power connection at side marginal position place, charge position side and the battery charger cradle level table of recharging base, wired charging that namely Smart Home robot and recharging base achieve contact is connected, the two view coordinating charging to connect as shown in Figure 5, now, two elasticity charging contacts of recharging base control to power to the power connection on robot body bottom surface by the Transformer Rectifier of Transformer Rectifier circuit and the charging of charging control circuit, power connection power on detection circuit in the charging circuit assembly of now intelligent home robot detects that power connection powers on, the control for brake trigger end of motion driving governor the upper power detection signal that sends by the detection signal output of power connection power on detection circuit trigger, the stop motion of motion driving governor controlled motion actuator, utilized by the charge management circuit in charging circuit assembly, from the power supply of power connection, Charge Management is carried out to storage battery, realize the charge in batteries of intelligent home robot.Can see, based on charging controller system of the present invention, by above-mentioned charging controller occupation mode, effectively can ensure feasibility and the reliability of charging controller between intelligent home robot and recharging base.
As can be seen here, its design by structure of the charging controller system of intelligent home robot of the present invention, have employed more simple infrared-ray directional technology, make use of infrared-ray and there is better direction-sense characteristic, make intelligent home robot to the recognition capability in charging orientation, its technology realizes effectively simple, research and development difficulty is little, R&D costs are low, the charging controller use procedure of combined with intelligent house robot also can be seen, intelligent home robot relies on infrared-ray directional technology to judge the identification that recharging base carries out orientation, can effectively guide intelligent home robot close to recharging base position, and in the environment for use of intelligent home robot, except from except the horizontal direction infrared-ray of recharging base, usually the infrared-ray of other horizontal direction can not be there is in its robot body floor height position, therefore be not easy to be misled to the identification in charging orientation, there is better reliability.On the other hand, the wired charging syndeton of the more cheap contact of cost is have employed between intelligent home robot and recharging base, and can ensure with the fit structure between recharging base the stability that the wired charging of contact is connected by intelligent home robot preferably, structure realizes also very simple, research and development difficulty is little, R&D costs are low, and the charging controller use procedure of combined with intelligent house robot also can be seen, in intelligent home robot after recharging base completes the wired charging connection of contact, the direct wired charging technique of maturation that utilizes charges, charging current more easily controls to reach design object, charge efficiency is guaranteed, charging controller can be possessed better ageing, thus the utilization shorter time completes the charging to intelligent home robot, contribute to promoting experience.Moreover, in charging controller system of the present invention, intelligent home robot as charge power supply joint just, negative electrode plate is the device uniquely exposing to robot body surface that charging circuit is correlated with, these two electrode slices are laid in marginal position place robot body bottom surface being positioned at charge position side side, such design ensure that power connection effectively can carry out while the wired charging of contact is connected with the charging contact of recharging base, also substantially reduce phase electrical contact between the power connection of intelligent home robot with other charging equipment and cause the probability that circuit damages, the probability that the power connection also significantly reducing intelligent home robot is damaged by collision, more be conducive to the charging circuit safety protecting intelligent home robot, and on recharging base, adopt elasticity charging contact as the connecting terminal be connected with the wired charging of intelligent home robotic contact formula, and be mounted on protruding upward on the level table of its battery charger cradle, such matching structure design make intelligent home robot it can be used as the positive, negative electrode plate of charge power supply joint be arranged on bottom be designed in order to may, for charge power supply joint design to be arranged on the basis that function that bottom reaches protection charging circuit safety provides respective outer side edges by intelligent home robot.
For the charging controller system of intelligent home robot of the present invention, as comparatively preferably designing, the charging circuit assembly of intelligent home robot is preferably arranged on the position near charge position side in robot body, because charging circuit assembly includes storage battery etc. have greater weight component, when such layout can make intelligent home robot be that recharging base carries out the wired charging connection of contact and charges, the weight of charging circuit assembly can form certain downforce to the side, charge position side of robot body, impel the electrode film that robot body bottom surface is positioned at side marginal position place, charge position side and negative electrode plate can two more stable keeping in touch of elasticity charging contact of recharging base under downforce effect, ensure the stability that the wired charging of contact connects and reliability better.As decision design on the other hand, the robot body bottom surface of intelligent home robot is positioned at the electrode film at side marginal position place, charge position side and negative electrode plate and preferably all there is the angle of inclination of 1 ~ 3 ° of being inclined upwardly towards robot body bottom edge direction, and the top of resilient contact is also preferably designed as bulb shape on recharging base, be so more conducive to realizing both promoting in the process that intelligent home robot and recharging base draw close mutually stability that the wired charging of contact is connected and reliability.
As further improvement project, in order to increase the protective value to charging circuit and power supply circuits in energy at home robot further, as shown in Figure 6, in the charging circuit assembly of intelligent home robot, supply power voltage change-over circuit, battery power detection circuit, charge capacity comparator, power switch controller and power supply electric-controlled switch can also be set up, wherein, the detection signal output of power connection power on detection circuit also the signal of telecommunication be connected to power switch controller disconnection control trigger end, the power input of supply power voltage change-over circuit is electrically connected with power connection, the power supply output of supply power voltage change-over circuit is electrically connected to battery power detection circuit respectively, charge capacity comparator, the feeder ear of power switch controller and power supply electric-controlled switch, the detection input of battery power detection circuit is electrically connected to storage battery, the detection signal output signal of telecommunication of battery power detection circuit is connected to the comparision of quantity of electricity value input of charge capacity comparator, charge capacity comparator reference value is the default saturated charge value of storage battery, the comparative result output signal of telecommunication of charge capacity comparator is connected to the disconnection control releasing trigger end of power switch controller, the control output end signal of telecommunication of power switch controller is connected to the control end of power supply electric-controlled switch, the switch contact end of power supply electric-controlled switch is serially connected in the current supply circuit of intelligent home robot.In addition, as further optimization, the comparative result output of charge capacity comparator can also remove trigger end by the signal of telecommunication control for brake that is connected to motion driving governor, as shown in Figure 6.
After adding above-mentioned charging circuit assembly structure, in the process of the charging controller of intelligent home robot execution, when two elasticity charging contact joints of the power connection of Smart Home robot and recharging base, the disconnection of the power switch controller in charging circuit assembly control trigger end the upper power detection signal that sends by the detection signal output of power connection power on detection circuit trigger, the switch contact end that power switch controller controls power supply electric-controlled switch by its control output end disconnects, the current supply circuit of intelligent home robot is made to form open circuit, simultaneously, supply power voltage change-over circuit in charging circuit assembly utilizes the power supply from power connection to carry out after voltage transitions charge capacity comparator, power switch controller and power supply electric-controlled switch are powered, so just when not affecting charge capacity comparator, power switch controller and power supply electric-controlled switch and being able to powered operation, allowing storage battery disconnect when starting to charge be electrically connected the confession of intelligent home robot current supply circuit, avoiding the charging end of storage battery to cause harmful effect to feeder ear and causing the problem that charging end or feeder ear circuit damage, and carry out in the charge management circuit technology of Charge Management to storage battery in prior art, only can charge to the continuation of storage battery in charge in batteries to saturated time control stop, now charge in batteries end causes harmful effect also corresponding disappearance to feeder ear, and when charge in batteries is to time saturated, the comparision of quantity of electricity value that battery power detection circuit in charging circuit assembly exports reaches the saturated charge value of storage battery that charge capacity comparator is preset, thus make the disconnection of power switch controller control to remove trigger end the signal of telecommunication that exports by the comparative result output of charge capacity comparator trigger, power switch controller controls the switch contact end conducting of power supply electric-controlled switch by its control output end, the current supply circuit of intelligent home robot is made again to form path, recover the confession electrical connection of storage battery to intelligent home robot current supply circuit.In addition, if the control for brake further signal of telecommunication of comparative result output of charge capacity comparator being connected to motion driving governor removes trigger end, when charge in batteries is to time saturated, the comparision of quantity of electricity value that battery power detection circuit in charging circuit assembly exports reaches the saturated charge value of storage battery that charge capacity comparator is preset, the control for brake of motion driving governor remove trigger end also can by the signal of telecommunication that exports by the comparative result output of charge capacity comparator trigger, motion driving governor is removed state of a control is stopped to the braking of movement executing mechanism, thus allow Smart Home robot can return to its working again.
In specific implementation, the supply power voltage change-over circuit set up in the charging circuit assembly of intelligent home robot, battery power detection circuit, charge capacity comparator and power supply electric-controlled switch are all can the ripening electron components and parts of commercial acquisition or circuit product, the controlling functions of power switch controller is also the disconnection and the conducting that control power supply electric-controlled switch simply, adopts simple controller chip of the prior art or control device to be achieved; Even, realized by programming Control if the motion driving governor of intelligent home robot is the electronic processing components adopting programmable logic device, single-chip microcomputer, flush bonding processor etc. to possess calculation by program ability, then the function of charge capacity comparator, power switch controller and motion driving governor by the programming technique knowledge of its grasp, can be combined and are realized by programming Control by those skilled in the art completely.Therefore visible, if increase above-mentioned charging circuit assembly structure, its research and development difficulty and R&D costs are still low-down, do not affect the realisation and reliability of the technology of charging controller system of the present invention.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (10)
1. the charging controller system of an intelligent home robot, the recharging base comprising intelligent home robot and mate with it, described intelligent home robot comprises the robot body that is provided with movement executing mechanism, is provided with the motion driving governor of controlled motion actuator action in robot body; It is characterized in that:
Described recharging base is provided with the battery charger cradle that has level table, the level table of battery charger cradle is provided with protruding upward and can be pressed down and can two elasticity charging contacts of upwards elastic reset, the marginal position place, side of the level table of battery charger cradle has the facade upwards extended from level table, and described facade is provided with can towards the infrared transmitter of emission level direction, side, direction, elasticity charging contact place infrared-ray on level table; Recharging base is also provided with plant-grid connection interface circuit, Transformer Rectifier circuit and charging control circuit are installed in recharging base, plant-grid connection interface circuit is electrically connected to the power input of Transformer Rectifier circuit, the power supply output of Transformer Rectifier circuit is electrically connected to the feeder ear of infrared transmitter, and the power supply output of Transformer Rectifier circuit is also electrically connected to two elasticity charging contacts by charging control circuit simultaneously;
The side of the robot body of described intelligent home robot is charge position side, the charge position side of robot body is provided with the infrared remote receiver that can receive horizontal direction infrared-ray, and the terrain clearance of infrared transmitter installation site matches on the terrain clearance of infrared remote receiver installation site and recharging base, the detection signal output signal of telecommunication of infrared remote receiver is connected to the motion orientation control trigger end of motion driving governor, the marginal position place that the bottom surface of robot body is positioned at charge position side side is provided with power connection, described power connection is the fit electrode film and negative electrode plate that are arranged on marginal position place robot body bottom surface being positioned at charge position side side of transverse arrangement of turbo ground, and the terrain clearance on two elasticity charging contact tops matches on the terrain clearance of electrode film and negative electrode plate position and the level table of recharging base, on the layout orientation of electrode film and negative electrode plate and the level table of recharging base in two elasticity charging contacts just, the layout orientation of cathode contact matches,
The robot body inside of intelligent home robot is also provided with charging circuit assembly, described charging circuit assembly comprises power connection power on detection circuit, storage battery and charge management circuit, the power input of charge management circuit and the detection input of power connection power on detection circuit are electrically connected with power connection respectively, the charging output of charge management circuit is electrically connected to the charging input end of storage battery, the power supply output of storage battery is electrically connected in the current supply circuit of intelligent home robot, the detection signal output signal of telecommunication of power connection power on detection circuit is connected to the control for brake trigger end of motion driving governor.
2. the charging controller system of intelligent home robot according to claim 1, it is characterized in that, the charging circuit assembly of described intelligent home robot also comprises supply power voltage change-over circuit, battery power detection circuit, charge capacity comparator, power switch controller and power supply electric-controlled switch, the disconnection that also signal of telecommunication is connected to power switch controller of the detection signal output of described power connection power on detection circuit controls trigger end, the power input of supply power voltage change-over circuit is electrically connected with power connection, the power supply output of supply power voltage change-over circuit is electrically connected to battery power detection circuit respectively, charge capacity comparator, the feeder ear of power switch controller and power supply electric-controlled switch, the detection input of battery power detection circuit is electrically connected to storage battery, the detection signal output signal of telecommunication of battery power detection circuit is connected to the comparision of quantity of electricity value input of charge capacity comparator, charge capacity comparator reference value is the default saturated charge value of storage battery, the comparative result output signal of telecommunication of charge capacity comparator is connected to the disconnection control releasing trigger end of power switch controller, the control output end signal of telecommunication of power switch controller is connected to the control end of power supply electric-controlled switch, the switch contact end of power supply electric-controlled switch is serially connected in the current supply circuit of intelligent home robot.
3. the charging controller system of intelligent home robot according to claim 2, is characterized in that, the comparative result output of the described charge capacity comparator control for brake that also signal of telecommunication is connected to motion driving governor removes trigger end.
4. the charging controller system of intelligent home robot according to claim 1, is characterized in that, the charging circuit assembly of described intelligent home robot is arranged on the position near charge position side in robot body.
5. the charging controller system of intelligent home robot according to claim 1, it is characterized in that, the robot body bottom surface of described intelligent home robot is positioned at the electrode film at side marginal position place, charge position side and negative electrode plate and all there is the angle of inclination of 1 ~ 3 ° of being inclined upwardly towards robot body bottom edge direction.
6. the charging controller system of intelligent home robot according to claim 1, it is characterized in that, on described recharging base, the top of resilient contact is bulb shape.
7. a charging controller method for intelligent home robot, is characterized in that, adopts the charging controller system of intelligent home robot as claimed in claim 1, to be coordinated carry out charging and control by intelligent home robot with recharging base; Specifically comprise the steps:
In advance by recharging base fixed placement on the ground, and the plant-grid connection interface circuit of recharging base is electrically connected to power supply place, the infrared transmitter on recharging base is made to be powered by the Transformer Rectifier of Transformer Rectifier circuit and work on power, the infrared-ray in emission level direction, side, direction, elasticity charging contact place on battery charger cradle level table;
When intelligent home robot starts charging operations, motion of cruising is carried out by its motion driving governor controlled motion actuator, Smart Home robot is moved towards variant direction, until when the infrared remote receiver on robot body charge position side receives the infrared-ray from horizontal direction, the motion orientation of motion driving governor control trigger end the infrared detection signal that sends by the detection signal output of infrared remote receiver trigger, motion driving governor controlled motion actuator carries out directed movement, Smart Home robot is made to do directed movement towards side, direction, place, robot body charge position side, until Smart Home robot motion is to recharging base position, and when robot body bottom surface being positioned at two elasticity charging contact joints on the power connection at side marginal position place, charge position side and the battery charger cradle level table of recharging base, two elasticity charging contacts of recharging base control to power to the power connection on robot body bottom surface by the Transformer Rectifier of Transformer Rectifier circuit and the charging of charging control circuit, power connection power on detection circuit in the charging circuit assembly of now intelligent home robot detects that power connection powers on, the control for brake trigger end of motion driving governor the upper power detection signal that sends by the detection signal output of power connection power on detection circuit trigger, the stop motion of motion driving governor controlled motion actuator, utilized by the charge management circuit in charging circuit assembly, from the power supply of power connection, Charge Management is carried out to storage battery, realize the charge in batteries of intelligent home robot.
8. the charging controller method of intelligent home robot according to claim 7, it is characterized in that, the charging circuit assembly of described intelligent home robot also comprises supply power voltage change-over circuit, battery power detection circuit, charge capacity comparator, power switch controller and power supply electric-controlled switch, the disconnection that also signal of telecommunication is connected to power switch controller of the detection signal output of described power connection power on detection circuit controls trigger end, the power input of supply power voltage change-over circuit is electrically connected with power connection, the power supply output of supply power voltage change-over circuit is electrically connected to battery power detection circuit respectively, charge capacity comparator, the feeder ear of power switch controller and power supply electric-controlled switch, the detection input of battery power detection circuit is electrically connected to storage battery, the detection signal output signal of telecommunication of battery power detection circuit is connected to the comparision of quantity of electricity value input of charge capacity comparator, charge capacity comparator reference value is the default saturated charge value of storage battery, the comparative result output signal of telecommunication of charge capacity comparator is connected to the disconnection control releasing trigger end of power switch controller, the control output end signal of telecommunication of power switch controller is connected to the control end of power supply electric-controlled switch, the switch contact end of power supply electric-controlled switch is serially connected in the current supply circuit of intelligent home robot,
When two elasticity charging contact joints of the power connection of Smart Home robot and recharging base, the disconnection of the power switch controller in charging circuit assembly control trigger end the upper power detection signal that sends by the detection signal output of power connection power on detection circuit trigger, the switch contact end that power switch controller controls power supply electric-controlled switch by its control output end disconnects, the current supply circuit of intelligent home robot is made to form open circuit, simultaneously, supply power voltage change-over circuit in charging circuit assembly utilizes the power supply from power connection to carry out after voltage transitions charge capacity comparator, power switch controller and power supply electric-controlled switch are powered,
When charge in batteries is to time saturated, the comparision of quantity of electricity value that battery power detection circuit in charging circuit assembly exports reaches the saturated charge value of storage battery that charge capacity comparator is preset, the disconnection of power switch controller control to remove trigger end the signal of telecommunication that exports by the comparative result output of charge capacity comparator trigger, power switch controller controls the switch contact end conducting of power supply electric-controlled switch by its control output end, makes the current supply circuit of intelligent home robot again form path.
9. the charging controller method of intelligent home robot according to claim 8, it is characterized in that, the comparative result output of the charge capacity comparator of the described intelligent home robot control for brake that also signal of telecommunication is connected to motion driving governor removes trigger end;
When charge in batteries is to time saturated, the comparision of quantity of electricity value that battery power detection circuit in charging circuit assembly exports reaches the saturated charge value of storage battery that charge capacity comparator is preset, the control for brake of motion driving governor remove trigger end the signal of telecommunication that exports by the comparative result output of charge capacity comparator trigger, motion driving governor is removed state of a control is stopped to the braking of movement executing mechanism.
10. the charging controller method of intelligent home robot according to claim 7, it is characterized in that, the motion driving governor controlled motion actuator of described intelligent home robot carries out in the process of directed movement, whenever infrared remote receiver fail continuous reception to infrared-ray from horizontal direction time, motion driving governor then again controlled motion actuator carry out motion of cruising, until when the infrared remote receiver on robot body charge position side receives the infrared-ray from horizontal direction again, the motion orientation of motion driving governor control trigger end again the infrared detection signal that sends by the detection signal output of infrared remote receiver trigger, motion driving governor then again controlled motion actuator carry out directed movement, Smart Home robot is made to do directed movement towards side, direction, place, robot body charge position side.
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