CN107134836A - Robot automatic charging alignment methods - Google Patents
Robot automatic charging alignment methods Download PDFInfo
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- CN107134836A CN107134836A CN201710570463.5A CN201710570463A CN107134836A CN 107134836 A CN107134836 A CN 107134836A CN 201710570463 A CN201710570463 A CN 201710570463A CN 107134836 A CN107134836 A CN 107134836A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims 3
- 230000005856 abnormality Effects 0.000 abstract description 5
- 238000012545 processing Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000007726 management method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Classifications
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of robot automatic charging alignment methods, including infrared dispensing device and laser signal dispensing device are arranged on charging pile；Robot side is installed by infrared receiving device and laser signal reception device；Robot needs to open infrared receiving device during charging and adjusts the posture of robot itself；Robot opens laser signal reception device and adjusts posture；The current right position posture of robot holding is simultaneously advanced to charging pile, until the charge sheet of robot is contacted and started to charge up with the charge sheet of charging pile.The present invention is by infrared and laser double alignment patterns, so as to ensure that being accurately aimed at for robot and charging pile；By all types of abnormality processings, so that ensure that can farthest realize automatic alignment between robot and charging pile, the artificial processing time of administrative staff is reduced, so as to improve efficiency；Automatic alignment efficiency high of the invention, and automatic alignment result is good, can be automatically processed for abnormality, and also efficiency is higher.
Description
Technical field
Present invention relates particularly to a kind of robot automatic charging alignment methods.
Background technology
With the development and the improvement of people's living standards of national economy technology, robot technology has been obtained for considerable
Development, has begun to play very important effect in security protection, the field such as keep a public place clean.
Robot move freely carry out security protection or keep a public place clean etc. work when, the supply of its energy all relies on itself
Battery.Thus, robot must check the state of charge of its cells the moment, and when battery electric quantity is relatively low, Automatic-searching charges
Stake, close to charging pile charging after being aligned automatically.
But, the robot automatic charging alignment methods commonly used at present, its alignment normally only uses infrared alignment, right
It is accurate relatively inefficient；In addition, existing frequently-used robot automatic aligning method, its alignment procedures once occur accident or gone out
Existing abnormality, often in the absence of work such as troubleshootings but directly alarm, request manual intervention, hence in so that monitoring personnel
Management work it is extremely troublesome and cumbersome, seriously reduce efficiency.
The content of the invention
It is an object of the invention to provide a kind of automatic alignment efficiency high, automatic alignment result is good, it is different to automatically process
The robot automatic charging alignment methods of normal state.
This robot automatic charging alignment methods that the present invention is provided, comprise the following steps：
S1. three infrared dispensing devices are arranged on charging pile, it is red that the infrared dispensing device is divided into left, center, right three
Outer dispensing device simultaneously externally sends infrared light；Three road laser signal dispensing devices, the laser letter are arranged on charging pile simultaneously
Number dispensing device is divided into the laser signal dispensing device of left, center, right three and externally sends laser；In described infrared dispensing device and
The vertical center line of the charge sheet of middle laser signal dispensing device and charging pile is at grade；
S2. two-way infrared receiving device, the orthogonal distribution of the infrared receiving device, for connecing are installed in robot side
Receive the infrared light that the infrared dispensing device of charging pile is sent；Three road laser signal reception devices are also equipped with robot side, it is described
Laser signal reception device is divided into the road laser signal reception device of left, center, right three；The intersection point of the infrared receiving device swashs with
Light signal receiving with the vertical center line of the charge sheet of robot at grade；
S3. when robot judges itself to need charging, infrared receiving device is opened by robot, receives the infrared hair of charging pile
Send the infrared light that device is externally sent；
If any of two-way infrared receiving device S4. in robot receives after the infrared light that charging pile is sent all the way,
Robot uses the posture of following rule adjustment robot itself：
If infrared light that the right infrared dispensing device that the right side infrared receiving device of robot receives charging pile is sent and
The left side infrared receiving device of robot does not receive the infrared light that charging pile is sent, then robot continues to adjust posture to the right,
Until the left side infrared receiving device of robot receives the infrared light that the right infrared dispensing device of charging pile is sent；Then machine
People adjusts posture to the left until the left infrared receiving device and right infrared receiving device of robot are while receive in charging pile
The infrared light that infrared dispensing device is sent；
If infrared light that the left infrared dispensing device that the left side infrared receiving device of robot receives charging pile is sent and
The right side infrared receiving device of robot does not receive the infrared light that charging pile is sent, then robot continues to adjust posture to the left,
Until the right side infrared receiving device of robot receives the infrared light that the left infrared dispensing device of charging pile is sent；Then machine
People adjusts posture to the right until the left infrared receiving device and right infrared receiving device of robot are while receive in charging pile
The infrared light that infrared dispensing device is sent；
S5. the three road laser signal reception devices of itself are opened by robot, receive the laser signal dispensing device of charging pile
The laser signal sent, and using the posture of following rule adjustment robot itself：
If the middle laser signal dispensing device that the right laser signal reception device of robot itself receives charging pile is sent
Laser signal, then robot adjusts to the right itself posture, until the middle laser signal reception device of robot receives charging
The laser signal that the middle laser signal dispensing device of stake is sent；
If the middle laser signal dispensing device that the left laser signal reception device of robot itself receives charging pile is sent
Laser signal, then robot adjusts itself posture to the left, until the middle laser signal reception device of robot receives charging
The laser signal that the middle laser signal dispensing device of stake is sent；
S6. robot be adjusted to robot middle laser signal reception device receive charging pile middle laser signal send
After the laser signal that device is sent, the current right position posture of robot holding is simultaneously advanced to charging pile, until robot
Charge sheet is contacted and started to charge up with the charge sheet of charging pile.
The infrared receiving device of described robot is additionally provided with infrared fileter, for filtering out the infrared light in natural light
Influence to infrared receiving device.
The middle laser signal reception device of described robot is additionally provided with lens；The lens, which are used for laser in increasing, to be believed
Number reception device for laser receiving area, so as to ensure that robot will not left and right shake when being directed at charging pile movement.
Described robot automatic charging alignment methods, also comprise the following steps：
S7. robot is when charging alignment, if can not receive the infrared signal of charging pile transmission or be only capable of receiving
Charging pile send part infrared signal, then robot rotate in place to search infrared signal；If within the defined time
Still infrared signal is not received, then is directly alarmed；
S8. robot fills when charging alignment if the infrared signal that can receive charging pile transmission can not but be received
The laser signal that electric stake is sent, the then infrared signal that robot is sent with charging pile directly carries out alignment charging with charging pile：
If alignment, directly charge；If the higher limit X that alignment number of times exceedes setting still can not be aligned, robot alarm；The X
For natural number；
If S9. robot and charging pile are aligned and charge sheet of robot has been contacted with the charge sheet of charging pile,
But robot is not detected by charging voltage and charging current within the time of setting, then robot leaves charging pile and again right
It is accurate；When robot has been aligned with charging pile and has but still been not detected by the number of times of charging voltage and charging current and reaches setting value, machine
Device people alarms；
S10. robot and charging pile are aligned and start to charge up, if robot is left charging pile by external force effect,
Then charging pile is powered off immediately, and robot is aligned and charged with charging pile again；
If S11. charging pile oneself state is abnormal, charging pile itself alarm.
This robot automatic charging alignment methods that the present invention is provided, by infrared and laser double alignment patterns, from
And ensure that being accurately aimed at for robot and charging pile；By all types of abnormality processings, so as to ensure that robot and charging
Automatic alignment can be farthest realized between stake, the artificial processing time of administrative staff is reduced, so as to improve efficiency；
Alignment efficiency high of the invention automatic, and automatic alignment result is good, can be automatically processed for abnormality, and efficiency compared with
It is high.
Brief description of the drawings
Fig. 1 is flow chart of the method for the present invention.
Embodiment
It is flow chart of the method for the present invention as shown in Figure 1：This robot automatic charging alignment methods that the present invention is provided,
Comprise the following steps：
S1. three infrared dispensing devices are arranged on charging pile, it is red that the infrared dispensing device is divided into left, center, right three
Outer dispensing device simultaneously externally sends infrared light；Three road laser signal dispensing devices, the laser letter are arranged on charging pile simultaneously
Number dispensing device is divided into the laser signal dispensing device of left, center, right three and externally sends laser；In described infrared dispensing device and
The vertical center line of the charge sheet of middle laser signal dispensing device and charging pile is at grade；
S2. two-way infrared receiving device, the orthogonal distribution of the infrared receiving device, for connecing are installed in robot side
The infrared light that the infrared dispensing device of charging pile is sent is received, infrared receiving device is additionally provided with infrared fileter, for filtering out nature
Influence of the infrared light to infrared receiving device in light；Three road laser signal reception devices are also equipped with robot side, it is described
Laser signal reception device is divided into the road laser signal reception device of left, center, right three, and middle laser signal reception device is additionally provided with
Mirror；The lens are for receiving area of the laser signal reception device in increase for laser, so as to ensure robot in alignment
Charging pile will not left and right shake when moving；The intersection point of the infrared receiving device and middle laser signal reception device are and robot
Charge sheet vertical center line at grade；
S3. when robot judges itself to need charging, infrared receiving device is opened by robot, receives the infrared hair of charging pile
Send the infrared light that device is externally sent；
If any of two-way infrared receiving device S4. in robot receives after the infrared light that charging pile is sent all the way,
Robot uses the posture of following rule adjustment robot itself：
If infrared light that the right infrared dispensing device that the right side infrared receiving device of robot receives charging pile is sent and
The left side infrared receiving device of robot does not receive the infrared light that charging pile is sent, then robot continues to adjust posture to the right,
Until the left side infrared receiving device of robot receives the infrared light that the right infrared dispensing device of charging pile is sent；Then machine
People adjusts posture to the left until the left infrared receiving device and right infrared receiving device of robot are while receive in charging pile
The infrared light that infrared dispensing device is sent；
If infrared light that the left infrared dispensing device that the left side infrared receiving device of robot receives charging pile is sent and
The right side infrared receiving device of robot does not receive the infrared light that charging pile is sent, then robot continues to adjust posture to the left,
Until the right side infrared receiving device of robot receives the infrared light that the left infrared dispensing device of charging pile is sent；Then machine
People adjusts posture to the right until the left infrared receiving device and right infrared receiving device of robot are while receive in charging pile
The infrared light that infrared dispensing device is sent；
S5. the three road laser signal reception devices of itself are opened by robot, receive the laser signal dispensing device of charging pile
The laser signal sent, and using the posture of following rule adjustment robot itself：
If the middle laser signal dispensing device that the right laser signal reception device of robot itself receives charging pile is sent
Laser signal, then robot adjusts to the right itself posture, until the middle laser signal reception device of robot receives charging
The laser signal that the middle laser signal dispensing device of stake is sent；
If the middle laser signal dispensing device that the left laser signal reception device of robot itself receives charging pile is sent
Laser signal, then robot adjusts itself posture to the left, until the middle laser signal reception device of robot receives charging
The laser signal that the middle laser signal dispensing device of stake is sent；
S6. robot be adjusted to robot middle laser signal reception device receive charging pile middle laser signal send
After the laser signal that device is sent, the current right position posture of robot holding is simultaneously advanced to charging pile, until robot
Charge sheet is contacted and started to charge up with the charge sheet of charging pile；
S7. robot is when charging alignment, if can not receive the infrared signal of charging pile transmission or be only capable of receiving
Charging pile send part infrared signal, then robot rotate in place to search infrared signal；If within the defined time
Still infrared signal is not received, then is directly alarmed；
S8. robot fills when charging alignment if the infrared signal that can receive charging pile transmission can not but be received
The laser signal that electric stake is sent, the then infrared signal that robot is sent with charging pile directly carries out alignment charging with charging pile：
If alignment, directly charge；If the higher limit X that alignment number of times exceedes setting still can not be aligned, robot alarm；The X
For natural number；
If S9. robot and charging pile are aligned and charge sheet of robot has been contacted with the charge sheet of charging pile,
But robot is not detected by charging voltage and charging current within the time of setting, then robot leaves charging pile and again right
It is accurate；When robot has been aligned with charging pile and has but still been not detected by the number of times of charging voltage and charging current and reaches setting value, machine
Device people alarms；
S10. robot and charging pile are aligned and start to charge up, if robot is left charging pile by external force effect,
Then charging pile is powered off immediately, and robot is aligned and charged with charging pile again；
If S11. charging pile oneself state is abnormal, charging pile itself alarm.
Claims (4)
1. a kind of robot automatic charging alignment methods, comprise the following steps：
S1. three infrared dispensing devices are arranged on charging pile, the infrared dispensing device is divided into the infrared hair in left, center, right three
Send device and externally send infrared light；Three road laser signal dispensing devices, the laser signal hair are arranged on charging pile simultaneously
Send device to be divided into the laser signal dispensing device of left, center, right three and externally send laser；Infrared dispensing device swashs with described
The vertical center line of the charge sheet of optical signal transmitter and charging pile is at grade；
S2., two-way infrared receiving device is installed in robot side, the orthogonal distribution of the infrared receiving device is filled for receiving
The infrared light that the electric infrared dispensing device of stake is sent；Three road laser signal reception devices, the laser are also equipped with robot side
Signal receiving device is divided into the road laser signal reception device of left, center, right three；The intersection point of the infrared receiving device and middle laser letter
Number reception device with the vertical center line of the charge sheet of robot at grade；
S3. when robot judges itself to need charging, infrared receiving device is opened by robot, receives the infrared transmission dress of charging pile
Put the infrared light externally sent；
If any of two-way infrared receiving device S4. in robot receives after the infrared light that charging pile is sent all the way, machine
People uses the posture of following rule adjustment robot itself：
If the right side infrared receiving device of robot receives infrared light and the machine that the right infrared dispensing device of charging pile is sent
The left side infrared receiving device of people does not receive the infrared light that charging pile is sent, then robot continues to adjust posture to the right, until
The left side infrared receiving device of robot receives the infrared light that the right infrared dispensing device of charging pile is sent；Then robot to
Left adjustment posture is until the left infrared receiving device and right infrared receiving device of robot are while receive infrared in charging pile
The infrared light that dispensing device is sent；
If the left side infrared receiving device of robot receives infrared light and the machine that the left infrared dispensing device of charging pile is sent
The right side infrared receiving device of people does not receive the infrared light that charging pile is sent, then robot continues to adjust posture to the left, until
The right side infrared receiving device of robot receives the infrared light that the left infrared dispensing device of charging pile is sent；Then robot to
Right adjustment posture is until the left infrared receiving device and right infrared receiving device of robot are while receive infrared in charging pile
The infrared light that dispensing device is sent；
S5. the three road laser signal reception devices of itself are opened by robot, and the laser signal dispensing device for receiving charging pile is sent
Laser signal, and using following rule adjustment robot itself posture：
If what the middle laser signal dispensing device that the right laser signal reception device of robot itself receives charging pile was sent swashs
Optical signal, then robot adjusts to the right itself posture, until the middle laser signal reception device of robot receives charging pile
The laser signal that middle laser signal dispensing device is sent；
If what the middle laser signal dispensing device that the left laser signal reception device of robot itself receives charging pile was sent swashs
Optical signal, then robot adjusts itself posture to the left, until the middle laser signal reception device of robot receives charging pile
The laser signal that middle laser signal dispensing device is sent；
S6. robot is adjusted to the middle laser signal reception device of robot and receives the middle laser signal dispensing device of charging pile
After the laser signal sent, the current right position posture of robot holding is simultaneously advanced to charging pile, until the charging of robot
Piece is contacted and started to charge up with the charge sheet of charging pile.
2. robot automatic charging alignment methods according to claim 1, it is characterised in that described robot it is infrared
Reception device is additionally provided with infrared fileter, for filtering out influence of the infrared light in natural light to infrared receiving device.
3. robot automatic charging alignment methods according to claim 2, it is characterised in that swash in described robot
Light signal receiving is additionally provided with lens；The lens are used for receiving plane of the laser signal reception device for laser in increasing
Product, so as to ensure that robot will not left and right shake when being directed at charging pile movement.
4. robot automatic charging alignment methods according to claim 3, it is characterised in that described robot fills automatically
Electric alignment methods, also comprise the following steps：
S7. robot is when charging alignment, if can not receive the infrared signal of charging pile transmission or be only capable of receiving charging
Stake send part infrared signal, then robot rotate in place to search infrared signal；If within the defined time still
Infrared signal is not received, then is directly alarmed；
S8. robot can not but receive charging pile when charging alignment if the infrared signal of charging pile transmission can be received
The laser signal of transmission, the then infrared signal that robot is sent with charging pile directly carries out alignment charging with charging pile：If right
Standard, then directly charge；If the higher limit X that alignment number of times exceedes setting still can not be aligned, robot alarm；The X is certainly
So count；
If S9. robot and charging pile are aligned and charge sheet of robot has been contacted with the charge sheet of charging pile, still
Robot is not detected by charging voltage and charging current within the time of setting, then robot leaves charging pile and realigned；
When robot has been aligned with charging pile and has but still been not detected by the number of times of charging voltage and charging current and reaches setting value, robot
Alarm；
S10. robot and charging pile are aligned and start to charge up, if robot is left charging pile by external force effect, fill
Electric stake is powered off immediately, and robot is aligned and charged with charging pile again；
If S11. charging pile oneself state is abnormal, charging pile itself alarm.
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Cited By (14)
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| CN108312882A (en) * | 2018-03-14 | 2018-07-24 | 湖南超能机器人技术有限公司 | The signal record and charging pile position decision method of robot charging technique of alignment |
| CN108427422A (en) * | 2018-04-28 | 2018-08-21 | 湖南超能机器人技术有限公司 | The motion control method that robot charging system, robot are docked with charging pile |
| CN109445429A (en) * | 2018-10-15 | 2019-03-08 | 电子科技大学 | The narrow passage entry control method of automatic running equipment |
| WO2019062119A1 (en) * | 2017-09-27 | 2019-04-04 | 深圳市神州云海智能科技有限公司 | Autonomous mobile robot and control method and device for automatic docking thereof |
| CN109893032A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robotically-driven power consumption control apparatus |
| CN109991983A (en) * | 2019-04-10 | 2019-07-09 | 拉扎斯网络科技（上海）有限公司 | Robot navigation method, device, system, electronic equipment and storage medium |
| CN110162047A (en) * | 2019-05-21 | 2019-08-23 | 福建天泉教育科技有限公司 | Robot automatic charging bootstrap technique and its system |
| CN110825085A (en) * | 2019-11-27 | 2020-02-21 | 四川超影科技有限公司 | Automatic adjustment method for charging of intelligent inspection robot |
| CN111026102A (en) * | 2019-12-20 | 2020-04-17 | 浙江大学 | Mobile robot autonomous recharging method and system based on upper and lower computer collaborative planning |
| CN112583069A (en) * | 2020-11-19 | 2021-03-30 | 深圳拓邦股份有限公司 | Robot charging protection method and device, robot and storage medium |
| CN112792820A (en) * | 2021-03-16 | 2021-05-14 | 千里眼(广州)人工智能科技有限公司 | Automatic robot recharging method and device and robot system |
| CN109002043B (en) * | 2018-08-24 | 2021-06-15 | 湖南超能机器人技术有限公司 | Infrared alignment signal data processing method applied to robot |
| CN114265401A (en) * | 2021-12-09 | 2022-04-01 | 上海擎朗智能科技有限公司 | Robot automatic charging method and robot |
| CN115373375A (en) * | 2021-05-18 | 2022-11-22 | 未岚大陆(北京)科技有限公司 | Method and device for returning robot to charging pile, robot and storage medium |
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Effective date of registration: 20190712 Address after: 410013 16 Floor, F1 Building, Lugu Enterprise Square, 27 Wenxuan Road, Changsha High-tech Development Zone, Hunan Province Applicant after: Changsha Wanwei Robot Co., Ltd. Address before: 410013 16 Floor, F1 Building, Lugu Enterprise Square, 27 Wenxuan Road, Changsha High-tech Development Zone, Hunan Province Applicant before: Hunan Wan Intelligent Robot Technology Co., Ltd. |
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