CN105978078A - Wheeled robot automatic charging method based on wireless and infrared location - Google Patents
Wheeled robot automatic charging method based on wireless and infrared location Download PDFInfo
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- CN105978078A CN105978078A CN201610416248.5A CN201610416248A CN105978078A CN 105978078 A CN105978078 A CN 105978078A CN 201610416248 A CN201610416248 A CN 201610416248A CN 105978078 A CN105978078 A CN 105978078A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 239000012634 fragment Substances 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000005265 energy consumption Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000009432 framing Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/26—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for engaging or disengaging the two parts of a coupling device
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wheeled robot automatic charging method based on wireless and infrared location. A beacon is arranged on a wall; a charging pile is arranged on the ground close to the beacon; ZigBees are arranged in different locations of the body of the robot; an infrared sensor is arranged at each of a left side and a right side; the robot judges the orientation of the beacon through the wireless ZigBees; the robot is controlled to walk in parallel to the wall through the infrared sensors until the power supply electrode at the bottom of the robot contacts with the elastic sheet on the charging pile, thereby realizing charging. The method has the advantages of precise location, high reusability, low energy consumption, simple control and low cost.
Description
Technical field
The present invention relates to wheeled robot, particularly relate to a kind of wheeled robot based on wireless and infrared location and automatically fill
The method of electricity.
Background technology
Along with social development and scientific and technological progress, robot has obtained increasingly being widely applied in current productive life.
Mobile robot is to research and develop a kind of robot earlier, and mainly there are wheeled, crawler type, lower limb formula, formula of crawling, saltatory in travel mechanism
And combined type.Wherein, wheeled robot owing to having from heavy and light, carrying is big, mechanism simple, drive and control relative convenience, OK
Walk that speed is fast, maneuverability, work efficiency advantages of higher, and be widely used in that industry, agricultural, anti-terrorism be explosion-proof, family, space
The fields such as detection, but its automatic charging technology is further improved.
Automatic robot is maked a return voyage charging, have multiple technologies principle, location mode have use infrared ray location, have employing nothing
Line location, have radar fix, and charging modes has contactless and contact.Wherein, although infrared ray positions precision
Higher, but owing to being that this light cannot penetrate opaque article so that infrared ray is merely able in horizon range inner position；Ultrasonic
Ripple is affected very big by multipath effect and non-line-of-sight propagation, compares the infrared distance measurement time longer；The technical scheme of wireless location at present
Feasibility is big, relatively bluetooths location that use more, but wireless signal is easily reflected by the object such as environment such as body of wall of surrounding, leads
Cause deviations.Non-contact type wireless charging power dissipation ratio in charging scheme is relatively big, high to the power requirement of charging pile, so ratio
More use the charging scheme of contact, but the problem that mainly solves of the scheme of contact be the most exactly with charging electrode
In contact.
A kind of supply socket neck as open in the Chinese patent " artificial intelligence's charging system " of application number 201210379375.4
Artificial intelligence's charging system in territory, including intelligent plug device, smart jack two part；Intelligent plug device is arranged on intelligent machine
In tool or robot, when automatically detecting intelligent machine or robot needs charging, charging can be carried out and prepare, while from
The dynamic radio signal that sends, triggering is arranged on the smart jack of metope and sends radio, infrared waves and laser beam framing signal,
Intelligent plug device, after these framing signals of motion tracking, drives the actuating unit of intelligent machine or robot to move to intelligence and inserts
Before Zuo, then drive mechanical arm to be accurately positioned with the supply socket on smart jack by attaching plug thereon, and accurately insert
Enter supply socket to be charged, reach the purpose of Automatic-searching supply socket automatic charging.But the infrared location of this patent is
Being positioned by the signal of infrared transmission, be also required to control robot and mechanical arm simultaneously, control difficulty big, docking mode is multiple
Miscellaneous, the requirement to precision is high.
Summary of the invention
Big for prior art deviations, be charged to the defects such as power is low, the present invention provides a kind of accurate positioning, multiplexing
Property high, consume energy method low, that control the wheeled robot automatic charging based on wireless and infrared location of simple, low cost.
The present invention is achieved by the following technical programs:
A kind of method of wheeled robot automatic charging based on wireless and infrared location, is provided with beacon on the wall, near letter
Target ground is provided with charging pile, and with robot, diverse location is provided with ZigBee, and the left and right sides is respectively provided with infrared sensor, machine
Device people judges beacon orientation by wireless ZigBee, then controls robot by infrared sensor and be parallel to wall and walk, until
Bottom robot, power electrode contacts with the shell fragment on charging pile, it is achieved charging.The present invention uses the wireless location of ZigBee,
And the ingenious drawback that make use of infrared ray to position is converted to advantage, the distance between robot measurement and opaque article assists
Location, both complement each other, and finally solve because of wireless location deviation, and what the technical problems such as infrared location is limited caused is charged to
The situation that power is low, thus realize accurately searching out charging pile, and complete charging.
Wherein, charging pile is positioned near wall locations, on the one hand facilitates charging pile to connect power supply, and on the other hand wall can
Auxiliary robot is walked more accurate.Distance between two panels power electrode and two shell fragments on charging pile bottom described robot
Between distance identical.
Wireless location reusable, can individually take out the navigation as robot and use, and nothing on the charging pile of the present invention
Need control circuit, therefore it is low to consume energy.
Specifically, the ZigBee of robot diverse location judges beacon orientation according to the signal intensity size received, and
Control robot close to beacon orientation.When judge beacon at dead ahead, robot then toward dead ahead direction walk；When judging beacon
In dead astern, robot then turns around to walk toward direction, dead astern；When judge beacon above left/right, robot then turns left/upper right
Fang Fangxiang walks；When judging beacon direction below left/right, robot then turns around to turn left/direction, lower right walking.
Preferably, the ZigBee being located at robot diverse location is 6.Described 6 ZigBee surround into the most individual positive six
Square, a ZigBee antenna is placed at each angle, and each ZigBee antenna is responsible for detecting the signal intensity in the range of 60 degree, according to
Signal intensity size judges the concrete orientation of signal.
ZigBee is for receiving the signal of charging pile ZigBee transmitting and judging its level orientation in robot, to machine
People finds one accurate direction of charge position.
Further, infrared location, by the way of range finding, its durability is the highest, can be used for robot obstacle-avoiding function, right
For the control of robot the most relatively easy, only need to control its actuating unit and adjust self opposing sides position, simultaneously can before
Enter walking charging and also can retreat walking charging.
Specifically, homonymy infrared sensor for being front and back arranged side by side n, described homonymy infrared sensor measure robot with
Horizontal range between the walls is X1, X2 ..., Xn, and charging pile and wall horizontal range are Y, and robot adjusts and runs to X1=
X2=...=Xn, and measure robot with horizontal range between the walls equal to Y ± error near that side infrared sensor of wall
Value, wherein n >=2.
Preferably, described homonymy infrared sensor is 2.Error amount is 2 ~ 5cm.Preferably, error amount is 3cm.
Further, after charging, by detection electricity, robot judges whether that charging is completely, it is judged that machine after charging completely
Device people exits charging pile.
Compared with prior art, beneficial effects of the present invention is as follows:
(1) present invention uses the wireless location of ZigBee, and the ingenious drawback that make use of infrared ray to position is converted to advantage, solves
Because of wireless location deviation, the low success rate of situation of charging that the technical problems such as infrared location is limited cause, thus realize accurately
Search out charging pile, and complete charging；
(2) wireless location and the equal reusable of infrared ray, and without control circuit on the charging pile of the present invention, therefore it is low to consume energy；
(3) present invention control simply, low cost.
Accompanying drawing explanation
Fig. 1 is flow chart of the present invention；
Fig. 2 is that beacon schematic diagram is found by robot；
Fig. 3 is Robot wall walking schematic diagram；
Wherein, 1, beacon；2, robot；3, wall；4, infrared sensor.
Detailed description of the invention
Below in conjunction with Figure of description and specific embodiment the present invention made and elaborating further, but embodiment is also
The present invention is not limited in any form.
Embodiment 1
A kind of method of wheeled robot automatic charging based on wireless and infrared location, is provided with beacon on the wall, near letter
Target ground is provided with charging pile, and with robot, diverse location is provided with 6 ZigBee, and the left and right sides is respectively provided with infrared sensing
Device, robot judges beacon orientation by wireless ZigBee, then controls robot by infrared sensor and be parallel to wall and walk,
Until power electrode contacts with the shell fragment on charging pile bottom robot, it is achieved charging.
Further, bottom described robot on distance between two panels power electrode and charging pile between two shell fragments
Apart from identical.
Such as Fig. 1, when wheeled robot needs charging, robot begins look for beacon, robot diverse location
ZigBee judges beacon orientation according to the signal intensity size received, and then control robot is close to beacon orientation, the most again
Use infrared sensor to find wall, and along the parallel walking of wall, until bottom robot power electrode with on charging pile
In shell fragment contact, it is achieved charging, after charging, by detection electricity, robot judges whether that charging is completely, it is judged that after charging completely
Robot exits charging pile.
Fig. 2 be robot find beacon schematic diagram, when judge beacon 1 at dead ahead, robot 2 is then toward dead ahead direction row
Walk；When judge beacon 1 in dead astern, robot 2 then turn around toward direction, dead astern walk；When judge beacon 1 above left/right,
Robot 2 then turns left/walking of direction, upper right side；When judging beacon 1 direction below left/right, robot 2 then turns around toward left/right
The walking of direction, lower section.
Specifically, homonymy infrared sensor for be front and back arranged side by side 2, described homonymy infrared sensor measure robot with
Horizontal range between the walls is X1, X2, and charging pile and wall horizontal range are Y, and robot adjusts and runs to X1=X2, and leans on
Nearly that side infrared sensor of wall measures robot with horizontal range between the walls equal to Y ± error amount.Fig. 3 is Robot
Wall walking schematic diagram, robot 2 walks along left side wall 3, when distance wall measured by left front and left back infrared sensor 4
The distance of wall 3, walks forward when two distance values are equal, when left front distance value less than left back distance value time, to the right before
Side's walking, on the contrary walk to left front.
Wherein, error amount is 3cm.
Claims (9)
1. the method for a wheeled robot automatic charging based on wireless and infrared location, it is characterised in that be provided with on the wall
Beacon, is being provided with charging pile on the ground of beacon, and with robot, diverse location is provided with ZigBee, and the left and right sides is respectively provided with
Infrared sensor, robot judges beacon orientation by wireless ZigBee, then controls robot by infrared sensor and be parallel to
Wall is walked, until power electrode contacts with the shell fragment on charging pile bottom robot, it is achieved charging.
The most according to claim 1, the method for wheeled robot automatic charging based on wireless and infrared location, its feature exists
Judge beacon orientation in, the ZigBee of robot diverse location according to the signal intensity size received, and control robot and connect
Nearly beacon orientation.
The most according to claim 2, the method for wheeled robot automatic charging based on wireless and infrared location, its feature exists
In, the ZigBee being located at robot diverse location is 6.
The most according to claim 2, the method for wheeled robot automatic charging based on wireless and infrared location, its feature exists
In, when judge beacon at dead ahead, robot then toward dead ahead direction walk；When judge beacon in dead astern, robot then falls
Head is walked toward direction, dead astern；When judge beacon above left/right, robot then turns left/walking of direction, upper right side；When judging letter
Being marked on direction below left/right, robot then turns around to turn left/direction, lower right walking.
The most according to claim 1, the method for wheeled robot automatic charging based on wireless and infrared location, its feature exists
In, homonymy infrared sensor is for being front and back arranged side by side n, and described homonymy infrared sensor measures robot and water between the walls
Flat distance is X1, X2 ..., Xn, charging pile and wall horizontal range are Y, and robot adjusts and runs to X1=X2=...=Xn,
And measure robot with horizontal range between the walls equal to Y ± error amount, wherein n >=2 near that side infrared sensor of wall.
The most according to claim 5, the method for wheeled robot automatic charging based on wireless and infrared location, its feature exists
In, described homonymy infrared sensor is 2.
The most according to claim 5, the method for wheeled robot automatic charging based on wireless and infrared location, its feature exists
In, error amount is 2 ~ 5cm.
The most according to claim 1, the method for wheeled robot automatic charging based on wireless and infrared location, its feature exists
In, after charging, by detection electricity, robot judges whether that charging is completely, it is judged that after charging completely, robot exits charging pile.
The most according to claim 1, the method for wheeled robot automatic charging based on wireless and infrared location, its feature exists
In, bottom described robot, the distance between distance and on charging pile two shell fragments between two panels power electrode is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610416248.5A CN105978078B (en) | 2016-06-15 | 2016-06-15 | A method of the wheeled robot automatic charging based on wireless and infrared positioning |
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| CN201610416248.5A CN105978078B (en) | 2016-06-15 | 2016-06-15 | A method of the wheeled robot automatic charging based on wireless and infrared positioning |
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| CN105978078B CN105978078B (en) | 2018-09-11 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106712194A (en) * | 2017-01-18 | 2017-05-24 | 成都黑盒子电子技术有限公司 | Automatic charging control method of robot |
| 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 |
| CN107355103A (en) * | 2017-07-31 | 2017-11-17 | 江西丹巴赫机器人股份有限公司 | Stop robot |
| CN107558414A (en) * | 2017-09-29 | 2018-01-09 | 珂伯特机器人（天津）有限公司 | It is a kind of to follow sanitation cart using zigbee |
| CN107770366A (en) * | 2017-08-31 | 2018-03-06 | 珠海格力电器股份有限公司 | A kind of method, apparatus, storage medium and equipment for finding equipment |
| CN108075514A (en) * | 2016-11-10 | 2018-05-25 | 深圳市朗驰欣创科技股份有限公司 | The control method and control system of automatic charging, for electric installation and ground robot |
| CN109283544A (en) * | 2018-10-06 | 2019-01-29 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of autonomous charging of robots alignment methods based on laser ranging |
| CN109933073A (en) * | 2019-04-01 | 2019-06-25 | 珠海市一微半导体有限公司 | A kind of robot returns the automatic generation method of seat code |
| WO2021082676A1 (en) * | 2019-10-30 | 2021-05-06 | 苏州科瓴精密机械科技有限公司 | Automatic working system and control method therefor |
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| CN107355103A (en) * | 2017-07-31 | 2017-11-17 | 江西丹巴赫机器人股份有限公司 | Stop robot |
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| CN107770366B (en) * | 2017-08-31 | 2019-02-22 | 珠海格力电器股份有限公司 | A kind of method, apparatus, storage medium and equipment for finding equipment |
| CN107558414A (en) * | 2017-09-29 | 2018-01-09 | 珂伯特机器人（天津）有限公司 | It is a kind of to follow sanitation cart using zigbee |
| CN109283544A (en) * | 2018-10-06 | 2019-01-29 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of autonomous charging of robots alignment methods based on laser ranging |
| CN109933073A (en) * | 2019-04-01 | 2019-06-25 | 珠海市一微半导体有限公司 | A kind of robot returns the automatic generation method of seat code |
| WO2021082676A1 (en) * | 2019-10-30 | 2021-05-06 | 苏州科瓴精密机械科技有限公司 | Automatic working system and control method therefor |
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