CN107528370B - Automatic charging system and control method of intelligent security robot - Google Patents
Automatic charging system and control method of intelligent security robot Download PDFInfo
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- CN107528370B CN107528370B CN201710790947.0A CN201710790947A CN107528370B CN 107528370 B CN107528370 B CN 107528370B CN 201710790947 A CN201710790947 A CN 201710790947A CN 107528370 B CN107528370 B CN 107528370B
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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
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/425—Structural combination with electronic components, e.g. electronic circuits integrated to the outside of the casing
- H01M10/4257—Smart batteries, e.g. electronic circuits inside the housing of the cells or batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to an automatic charging system and an automatic charging control method of an intelligent security robot, wherein the automatic charging system comprises: the system comprises a remote control end and at least one security robot; the security robot includes: the main control module is connected with the power detection module, the communication module, the driving module and the charging module; the main control module is used for acquiring the battery electric quantity of the security robot through the electric quantity detection module, sending an electric quantity alarm signal to the remote control end through the communication module when the battery electric quantity is lower than a preset threshold value, receiving a charging walking path fed back by the remote control end, controlling the driving module to enable the security robot to walk to an appointed charging pile position and control the charging module and the appointed charging pile to be in butt joint charging. The invention can automatically navigate to the charging pile when the security robot is insufficient in electric quantity and automatically charge, thereby improving the working efficiency of the security robot, saving the labor cost and realizing the unmanned charging process.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an automatic charging system of an intelligent security robot and an automatic charging control method thereof.
Background
after decades of development of the security industry in China, the market scale reaches nearly 5000 million yuan, wherein the product accounts for 1800 million yuan. The traditional civil air defense system is developed into the combination of civil air defense, physical air defense and technical air defense, and the life and property safety of people is effectively guaranteed.
With the rapid development of artificial intelligence technology, communication technology and the like, the mobile robot is in the way. The robot can work continuously and at high intensity, strictly abides by the operation flow, and the robot can also integrate a camera and various sensors. The mobile robot is applied to the security industry, and the security robot which executes autonomous patrol in a specified area and realizes other security functions can be obtained.
However, at present, a security robot usually lacks an automatic charging function, and when a manager finds that the security robot is insufficient in electric quantity and gives an alarm, the manager needs to manually send a control signal to the security robot through an upper computer, assign a charging pile for the security robot, and plan a path for the security robot to drive the security robot to walk to the assigned charging pile for charging. Therefore, the control mode depends on real-time monitoring and operation of a manager, and the automation degree is not high.
disclosure of Invention
aiming at the defects of the prior art, the invention provides an automatic charging system of an intelligent security robot and an automatic charging control method thereof, which can automatically navigate to a charging pile and automatically charge when the security robot has insufficient electric quantity.
in order to solve the above technical problem, the present invention provides an automatic charging system for an intelligent security robot, comprising: the system comprises a remote control end and at least one security robot; the security robot includes: the main control module is connected with the power detection module, the communication module, the driving module and the charging module; the electric quantity detection module is used for detecting the electric quantity of a battery of the security robot; the main control module is used for acquiring the battery electric quantity of the security robot, sending an electric quantity alarm signal to a remote control end through a communication module when the battery electric quantity is lower than a preset threshold value, receiving a charging walking path fed back by the remote control end, controlling the driving module to enable the security robot to walk to a specified charging pile position, and controlling the charging module to be in butt joint with the specified charging pile for charging; the remote control end is used for receiving an electric quantity alarm signal of the security robot, appointing a charging pile according to the real-time position of the security robot and the position information of the charging pile, planning a charging walking path and sending the charging walking path to the security robot.
Preferably, the security robot comprises a laser radar and/or an infrared sensor arranged on a security robot body; the main control module controls the driving module to enable the security robot to walk to an appointed charging pile according to the charging walking path, then obtains charging pile interface position information scanned by the laser radar and/or the infrared sensor, finely adjusts the position of the security robot through the driving module according to the charging pile interface position information, and sends a charging signal to control the charging module and the appointed charging pile to be in butt joint charging.
Preferably, the charging module comprises a charging motor, a charging screw slider, a transmission rod, a baffle, a charging brush and a current detection sensor; one end of the charging screw is connected with an output shaft of the charging motor, the other end of the charging screw is connected with the baffle, the charging screw can rotate relative to the baffle, and the charging screw sliding block is sleeved on the charging screw; the transmission rod is arranged in parallel with the charging screw, one end of the transmission rod is connected with the charging screw sliding block, and the other end of the transmission rod penetrates through the baffle and is connected with the charging electric brush; when the charging screw rod rotates, the charging screw rod sliding block moves along the axial direction of the charging screw rod and pushes the charging electric brush to move through the transmission rod; the current detection sensor is used for detecting a charging current.
Preferably, the main control module is connected to the current detection sensor, and is configured to detect a charging current through the current detection sensor, determine that charging is successful when the charging current is detected, and determine that charging is failed if the charging current is not detected, and feed back the charging failure to the remote control terminal.
Preferably, the main control module is configured to control the security robot to switch between the following modes: the state of normal operation, the state of driving to a charging pile, the state of charging, the state of returning to the last low electric quantity and the state of returning to the starting point of normal patrol.
Preferably, the remote control terminal includes a charging path planning unit, configured to specify the charging pile by:
1) acquiring a charging pile A closest to the real-time position of the security robot, judging whether the charging pile A is idle, and turning to the step 2 if the charging pile A is idle; otherwise, turning to the step 3);
2) Determining a charging pile A as a designated charging pile;
3) When the charging pile A is not idle, acquiring an idle charging pile B closest to the real-time position of the security robot;
4) Judging whether the following formula is satisfied:
Wherein t isaEnd time of charging for charging pile A, Liathe walking distance between the charging pile A and the real-time position of the security robot is determined,the average walking speed of the security robot is obtained;
if yes, turning to step 5), otherwise, turning to step 6);
5) judging whether the following formula is satisfied:
Lia-Lib+Laf-Lbf≥0
wherein L isiafor the walking distance, L, between the real-time positions of charging pile A and security robotafFor the walking distance, L, between the task destination positions of the charging pile A and the security robotibfor the walking distance, L, between the charging pile B and the real-time position of the security robotbfThe walking distance between the charging pile B and the task destination position of the security robot is set;
if yes, turning to step 7), otherwise, turning to step 2);
6) Judging whether the following formula is satisfied:
Wherein, taIn order to charge the end time of charging pile a,Is the average walking speed L of the security robotaffor the walking distance, L, between the task destination positions of the charging pile A and the security robotibFor the walking distance, L, between the charging pile B and the real-time position of the security robotbfThe walking distance between the charging pile B and the task destination position of the security robot is set;
If yes, turning to step 7), otherwise, turning to step 2);
7) And determining that the charging pile B is the designated charging pile.
The invention also provides an automatic charging control method of the intelligent security robot, which comprises the following steps:
S1, detecting the battery power of the security robot;
s2, when the battery power of the security robot is judged to be lower than a preset threshold value, sending a power alarm signal to a remote control end;
S3, the remote control end specifies a charging pile according to the real-time position of the security robot and the position information of the charging pile, plans a charging walking path and sends the charging walking path to the security robot;
s4, controlling the security robot to walk to the specified charging pile according to the charging walking path;
and S5, controlling a charging module of the security robot to be in butt joint with the specified charging pile for charging.
preferably, the step S4 includes:
S41, controlling the driving module according to the charging walking path to enable the security robot to walk to an appointed charging pile;
s42, acquiring charging pile interface position information scanned by a laser radar and/or an infrared sensor;
S43, fine adjustment is carried out on the position of the security robot through the driving module according to the charging pile interface position information, and a charging signal is sent to the charging module.
preferably, the step S5 includes: and detecting the charging current through a current detection sensor, judging that the charging is successful when the charging current is detected, and judging that the charging is failed if the charging current is not detected, and feeding back the charging current to the remote control terminal.
preferably, the step S3 includes:
1) acquiring a charging pile A closest to the real-time position of the security robot, judging whether the charging pile A is idle, and turning to the step 2 if the charging pile A is idle; otherwise, turning to the step 3);
2) Determining a charging pile A as a designated charging pile;
3) When the charging pile A is not idle, acquiring an idle charging pile B closest to the real-time position of the security robot;
4) Judging whether the following formula is satisfied:
Wherein t isaend time of charging for charging pile A, LiaThe walking distance between the charging pile A and the real-time position of the security robot is determined,the average walking speed of the security robot is obtained;
If yes, turning to step 5), otherwise, turning to step 6);
5) Judging whether the following formula is satisfied:
Lia-Lib+Laf-Lbf≥0
wherein L isiafor the walking distance, L, between the real-time positions of charging pile A and security robotaffor the walking distance, L, between the task destination positions of the charging pile A and the security robotibFor the walking distance, L, between the charging pile B and the real-time position of the security robotbfThe walking distance between the charging pile B and the task destination position of the security robot is set;
If yes, turning to step 7), otherwise, turning to step 2);
6) Judging whether the following formula is satisfied:
Wherein, taIn order to charge the end time of charging pile a,Is the average walking speed L of the security robotaffor the walking distance, L, between the task destination positions of the charging pile A and the security robotibfor the walking distance, L, between the charging pile B and the real-time position of the security robotbfThe walking distance between the charging pile B and the task destination position of the security robot is set;
If yes, turning to step 7), otherwise, turning to step 2);
7) And determining that the charging pile B is the designated charging pile.
The automatic charging system of the intelligent security robot has the following beneficial effects: according to the invention, all the fussy charging control steps can be automatically completed by the security robot and the remote control terminal, the security robot can automatically navigate to the charging pile when the electric quantity is insufficient, and the charging is automatically carried out, so that the working efficiency of the security robot is improved, the labor cost is saved, and the unmanned charging process is realized.
drawings
Fig. 1 is a schematic block diagram of an automatic charging system of an intelligent security robot according to a preferred embodiment of the present invention;
FIG. 2 is an isometric view of a charging module according to a preferred embodiment of the invention;
FIG. 3 is a front view of a charging module according to a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of security robot state switching management according to the present disclosure;
FIG. 5 is a flowchart of an automatic charging control method of the intelligent security robot according to the present invention;
Fig. 6 is a flowchart of a step of designating a charging pile in the automatic charging control method of the intelligent security robot according to the present invention.
Detailed Description
in order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
fig. 1 is a schematic block diagram of an automatic charging system of an intelligent security robot according to a preferred embodiment of the present invention. As shown in fig. 1, in a first aspect of the present invention, an automatic charging system for an intelligent security robot is provided, which includes at least one security robot 100, and a remote control 200 communicating with the security robot.
the at least one security robot 100 is disposed in an area to be patrolled and communicates with the remote control terminal 200 through a wireless network. The remote control end 200 can detect the specific position of each security robot in real time through GPS positioning, and perform further operations such as security alarm and the like by analyzing the environmental data uploaded by the intelligent security robot, for example, by prompting with sound and light or sending a short message to notify an administrator. Meanwhile, the remote control end 200 can control each intelligent security robot according to the requirement. That is to say, the security robot of the present invention can be used as a physical implementation end, so as to implement real-time control of the remote control end 200 on 100 of each security robot, and meet the requirements of intelligent security on the field.
The invention provides a complete automatic charging system scheme of an intelligent security robot. Wherein, security robot 100 includes at least host system 110 and continuous with it: the power detection module 120, the communication module 130, the driving module 140 and the charging module 150.
Wherein, the electric quantity detection module 120 is used for detecting the battery electric quantity of the security robot.
The communication module 130 is used for communicating with the remote control 200. Preferably, the communication module 130 can be implemented in a wireless communication manner.
The driving module 140 is configured to drive a traveling mechanism of the security robot to travel according to a planned path. The driving module 140 may be implemented by a driving motor.
The main control module 110 is configured to obtain a battery power of the security robot through the power detection module 120, and send an alarm signal to the remote control terminal 200 through the communication module 130 when the battery power is lower than a preset threshold. The main control module 110 is further configured to receive a charging travel path fed back by the remote control terminal 200, control the driving module 140 to enable the security robot to travel to a specified charging pile position, and control the charging module 150 to be in butt joint with a specified charging pile for charging. Preferably, the main control module 110 also controls the security robot to continue cruising when the security robot is fully charged, for example, to return to the position at which the electric quantity is alarm to continue walking to the task destination. More preferably, after the electric quantity is full, the security robot can be controlled to replan the path from the specified charging pile position to the task destination, and the cruise task is completed by the parallel walking.
the remote control terminal 200 is configured to receive an alarm signal of the security robot 100, specify a charging pile according to the real-time position of the security robot and the position information of the charging pile, plan a charging walking path, and send the charging walking path to the security robot 100.
Through the arrangement, the automatic charging system of the intelligent security robot can find the nearest charging pile for charging when the security robot is insufficient in electric quantity, and can continue cruising after the security robot is full of electric quantity.
in a more preferred embodiment of the present invention, the security robot further includes a laser radar 160 and/or an infrared sensor 170 disposed on the security robot body. The main control module 110 controls the driving module 140 according to the charging travel path to enable the security robot 100 to travel to the designated charging pile, obtains the charging pile interface position information scanned by the laser radar 160 and/or the infrared sensor 170, finely adjusts the position of the security robot through the driving module 170 according to the charging pile interface position information, sends a charging signal, and controls the charging module 150 to be in butt joint with the designated charging pile for charging.
As shown in fig. 2 and 3, the present invention is a structural diagram of a charging module in an automatic charging system of an intelligent security robot according to a preferred embodiment of the present invention. The charging device comprises a charging motor 31, a charging screw 34, a charging screw slider 35, a transmission rod 36, a baffle 33, a charging brush and a current detection sensor. One end of the charging screw 34 is connected with an output shaft of the charging motor 31, the other end of the charging screw is connected with the baffle 33, the charging screw 34 can rotate relative to the baffle 33, and the charging screw sliding block 35 is sleeved on the charging screw 34. The transmission rod 36 is arranged in parallel with the charging screw 34, one end of the transmission rod 36 is connected with the charging screw slider 35, and the other end of the transmission rod passes through the baffle 33 and is connected with the charging electric brush; when the charging screw 34 rotates, the charging screw slider 35 moves axially along the charging screw 34 and pushes the charging brush to move through the transmission rod 36. A current detection sensor (not shown in the figure) is used to detect the charging current.
As shown in fig. 2 and fig. 3, the present embodiment further includes a supporting plate 32, the supporting plate 32 is disposed opposite to the baffle 33 in parallel, and the supporting plate 32 is sleeved on the charging screw 34. One end of the charging screw 34 passes through the support plate 32 and is coaxially connected with the charging motor 31 through the coupler 7, and the other end is connected to the baffle 33.
of course, in another embodiment, the charging screw 34 and the charging motor 31 may also be connected by a synchronous wheel, and the charging motor 31 may also drive the charging screw 34 to rotate.
Specifically, the charging motor 31 used in this embodiment is a 57-step motor, and the coupling 7 is a GR bellows coupling. Of course, other types of the charging motor 31 and the coupling 7 can be selected according to actual requirements.
the charging motor 31 is fixed in the body of the automatic charging system of the intelligent security robot through a charging motor bracket 311. The charging motor support 311 is an L-shaped structure, and the output end of the charging motor 31 passes through the charging motor support 311 and is connected with the charging screw 34.
The charging screw 34 is rotatable relative to the support plate 32 and the shutter 33. Be equipped with the via hole that is used for wearing to establish the lead screw 34 that charges in the backup pad 32, be equipped with angular contact bearing 8 in the via hole, circlip 81 for the hole sets up in angular contact bearing 8's the outside, prevents that angular contact bearing 8 breaks away from the via hole. The charging screw 34 passes through the inner hole of the angular contact bearing 8 and then is connected with the charging motor 31. When the charging motor 31 rotates, the charging lead screw 34 rotates synchronously, the charging lead screw 34 is matched with the angular contact bearing 8, and the angular contact bearing 8 can enable the charging lead screw 34 to rotate relative to the support plate 32 without obstruction.
Preferably, in another embodiment, the baffle 33 may also be provided with an angular contact bearing 8 through hole to penetrate the charging screw 34. The support plate 32 and the shutter 33 function to support and restrict the position of the charging screw 34 while not affecting the rotation of the charging screw 34.
as shown in fig. 2, four drive links 36 are used in this embodiment. The charging screw slide block 35 is arranged on the charging screw 34 in a penetrating mode, the transmission rod 36 is parallel to the charging screw 34, one end of the transmission rod is connected with the charging screw slide block 35, and the other end of the transmission rod penetrates through the baffle 33 to be connected with the charging electric brush.
One side of the charging screw slider 35 is connected with a charging screw nut 351. Specifically, the charging screw nut 351 is connected to the left side (in the direction shown in fig. 3) of the charging screw slider 35. The charging screw nut 351 and the charging screw slider 35 are concentrically arranged through a via hole for penetrating the charging screw 34. The charging screw slider 35 is engaged with the charging screw 34 via a charging screw nut 351. The charging screw 34 is rotated, the charging screw nut 351 and the charging screw 34 move along the charging screw 34, the charging screw slider 35 is dragged or pushed to move along the charging screw 34 axially, and the rotation of the charging screw 34 is converted into the linear motion of the charging screw slider 35. Of course, in another embodiment, the through hole of the charging screw slider 35 may also be a threaded hole, and the charging screw slider 35 is engaged with the charging screw 34 through the internal threaded hole.
when the charging screw 34 rotates, the charging screw slider 35 moves and pushes the charging brush to move through the transmission rod 36. The transmission rod 36 enables the charging electric brush to be stable in the moving process, and the charging joint does not shake when extending out of the security robot body for charging.
as shown in fig. 2 and 3, preferably, four driving rods 36 are respectively disposed at four corners of the charging screw slider 35, so as to surround the charging screw 34 in the middle, and the distances from the charging screw 34 are equal, which is a structure for making the stress more uniform and the driving process more stable.
the charging brush includes a brush connecting plate 37, a brush positive pole 372 and a brush negative pole 373, the brush positive pole 372 and the brush negative pole 373 are connected to the outside of the brush connecting plate 37 by a compression spring, and the inside of the brush connecting plate 37 is connected to the transmission rod 36. Because brush positive pole 372 and brush negative pole 373 all install on the insulation board through compression spring, compression spring with fill electric pile contact in-process and play the cushioning effect, reduced the joint that charges to charging device and the impact of filling electric pile, can effectually avoid the brush to appear virtual connecing simultaneously, cause the phenomenon of sparking.
in addition, ordinary brush and the brush area ratio of filling on the electric pile of charging is about, and the brush that charges in this embodiment is the brush that increases, and the area is about 2 ~ 4 times of the brush that fills on the electric pile. After the effective area of contact of increase electric brush charges, during the charging, intelligent security robot body need not carry out accurate removal, can normally charge, can be more safe and reliable's completion charging process.
preferably, an insulating layer 371 is further provided, and the brush positive pole 372 and the brush negative pole 373 are connected to the brush connecting plate 37 through the insulating layer 371. Specifically, in the present embodiment, the brush connecting plate 37 is disposed perpendicular to the transmission rod 36, and the brush positive pole 372 and the brush negative pole 373 are disposed in parallel on the insulating plate at intervals, and the insulating plate is further disposed on the brush connecting plate 37.
preferably, a transverse partition plate is further arranged above the brush connecting plate 37 and is positioned above the brush positive pole 372 and the brush negative pole 373. The corresponding position is equipped with the articulated separation blade as the opening of charging on the shell of intelligent security robot's automatic charging system body, and when brush connecting plate 37 stretched out, transverse baffle promoted the separation blade and rotated, and the brush that charges stretches out intelligent security robot's automatic charging system's body and charges, and when brush connecting plate 37 withdrawed, the articulated separation blade fell down, sheltered from the opening of charging, prevents the inside ash that falls of robot.
as shown in fig. 2 and fig. 3, preferably, a guide rail 38 parallel to the charging screw 34 is further disposed on one side of the baffle 33, a guide rail slider 381 capable of sliding along the guide rail 38 is disposed on the guide rail 38, one end of the guide rail slider 381 is sleeved on the guide rail 38, and the other end is connected to the charging screw slider 35. Specifically, in this embodiment, the guide rail 38 is disposed at the bottom of the support plate 32 and the baffle plate 33, and during installation, the guide rail 38 may be fixed in the automatic charging system body of the intelligent security robot, and the bottom of the support plate 32 and the bottom of the baffle plate 33 are sleeved on the guide rail 38. The bottom of guide rail slider 381 cup joints at guide rail 38, and the lead screw slider 35 that charges is connected at the top, and guide rail 38 and guide rail slider 381 cooperate each other, can alleviate the pressure of the lead screw slider 35 that charges to the lead screw 34 that charges in the transmission process for the lead screw slider 35 that charges can remove more easily, and be difficult to take place offset.
further, in order to ensure that the charging screw slider 35 does not exceed the stroke when moving along the charging screw 34, and damage is caused to the charging motor 31, the side part of the baffle 33 is further provided with two limit switches 5, the charging under the general condition can not touch the limit switches 5, when the charging motor 31 loses steps or the program has errors, the charging screw slider 35 or the electric brush connecting plate 37 will trigger the limit switches 5, the charging motor 31 is powered off, and accidents are prevented.
Of course, in another embodiment, a limit switch 5 may be disposed on the baffle 33 and the supporting plate 32, respectively, and when the charging screw slider 35 is about to exceed the stroke, the limit switch 5 is triggered to stop the rotation of the charging motor 31 rapidly.
how the two limit switches 5 are provided depends on the shorter of the transmission lever 36 and the charging screw 34: if the transmission rod 36 is short, the two limit switches 5 are respectively arranged on the baffle 33 and the support plate 32; if the charging screw 34 is short, the two limit switches 5 are arranged on the baffle 33; if the two strokes are the same, i.e. the charging screw slider 35 touches the support plate 32 when the brush connecting plate 37 touches the baffle 33, both arrangements are the same.
in order to prevent the phenomenon of losing steps of the charging motor 31, the magnet 61 is mounted on the charging screw slider 35, in the embodiment, the magnet 61 is a small magnet, the small magnet is mounted on one side of the bottom of the charging screw slider 35, the hall proximity switch 62 is mounted in the security robot body, and the hall proximity switch 62 is located under the small magnet when the charging screw slider 35 is at the initial position. Install hall proximity switch 62 in charging lead screw 34 stroke, little magnet can realize charging motor 31 zeroing when hall proximity switch 62, clears away the accumulative error, prevents that charging motor 31 from appearing losing the step phenomenon, improves the precision of charging device motion.
preferably, cushions (not shown) are further disposed on the left and right sides (with respect to the direction shown in fig. 3) of the baffle 33 and the side of the support plate 32 close to the charging screw slider 35, and of course, in another embodiment, cushions may be disposed on the left and right sides of the charging screw slider 35 and the side of the brush connecting plate 37 close to the baffle 33. The cushion can select for use shock-absorbing material such as elastic rubber, can prevent to charge lead screw slider 35 and brush connecting plate 37 and directly bump with backup pad 32 or baffle 33 when accident appears, alleviates the impact of charging lead screw slider 35 and brush connecting plate 37 to the device, prevents that the device from taking place to damage.
in this embodiment, the main control module 110 is connected to the charging module 150. The automatic charging process of the present invention is as follows. First, the main control module 110 monitors the battery power in the security robot, and sends a power alarm signal to the remote control terminal 200 when determining that the battery power is lower than a preset threshold. The electric quantity of the robot is strictly monitored by the robot intelligent algorithm, the robot can read the current residual electric quantity at regular intervals, and when the electric quantity is found to be lower than a certain threshold value, the self-charging system can be started. The remote control end 200 specifies the charging pile according to the real-time position of the security robot and the position of the charging pile, plans a charging walking path, sends the charging walking path to the security robot 100, and controls the driving module 140 to enable the security robot to walk to the position near the specified charging pile. Preferably, the remote control terminal 200 can utilize the position of the charging pile in a pre-stored map, or the position of the charging pile scanned by the security robot in real time through the laser radar to perform path planning. The remote control end 200 can also acquire the real-time position of the automatic charging system of the intelligent security robot through the GPS, or directly acquire the real-time position of the security robot uploaded by the security robot to perform path planning. In another embodiment of the present invention, after the remote control end 200 specifies the charging pile, the remote control end may also directly send the position information of the specified charging pile to the security robot, and the security robot plans the charging walking path according to the scanned environment map and the real-time position. When the automatic charging system of the intelligent security robot walks to a position near the designated charging pile, the main control module 110 acquires the charging pile interface position information scanned by the laser radar 160 and/or the infrared sensor 170, and finely adjusts the position of the security robot through the driving module 170 according to the charging pile interface position information. Preferably, laser radar 160 installs at the middle part of security robot body, is located the top of charging the module, need guarantee during the installation that 270 within ranges do not shelter from. Moreover, an opening is formed in the position where the laser radar 160 is installed on the shell of the security robot, and the use environment of the laser radar 160 is guaranteed. Laser radar 160 can survey obstacles around, also can survey the position of filling electric pile at the module during operation that charges, ensures that the electric pile is filled in inserting that the brush that charges can be accurate. After confirming that the position of the charging pile is correct, the main control module 110 sends a charging signal and controls the charging module 150 to be in butt joint with the specified charging pile for charging. For example, the main control module 110 sends a charging signal to the charging motor 31 to enable the charging brush to be in butt joint with the charging pile interface, and detects the charging current through the current detection sensor, and when the charging current is detected, it is determined that the charging is successful, otherwise, it is determined that the charging is failed, and the charging is fed back to the remote control terminal 200. When the security robot 100 normally works, the charging head is in a withdrawing state, but when the security robot 100 automatically navigates to the position of the charging pile due to low electric quantity, the security robot 100 starts the charging head control process after accurate matching with the surrounding.
During the use, charge motor 31 drives the lead screw 34 that charges and rotates, and the lead screw slider 35 that charges moves to baffle 33 direction along the lead screw 34 that charges and guide rail 38, because transfer line 36 is connected between the lead screw slider 35 that charges and the brush that charges, and the brush that charges moves outside with the lead screw slider 35 that charges in step, stretches out the security protection robot body, inserts and fills electric pile and charge, and the electric energy fills in the battery in the security protection robot body. After charging, the charging motor 31 drives the charging screw 34 to rotate in the opposite direction, the charging screw slider 35 moves along the charging screw 34 and the guide rail 38 toward the support plate 32, and the transmission rod 36 drives the charging brush to retract.
it should be noted that the positions and sizes of the brush positive pole 372 and the brush negative pole 373 can be changed as required, but correspondingly, the charging pile should be adjusted to match with the charging brush of the charging device.
Please refer to fig. 4, which is a schematic diagram of a security robot status switching management according to the present invention. As shown in fig. 4, the main control module 110 is configured to control the security robot to switch between the following modes: the state of normal operation, the state of driving to a charging pile, the state of charging, the state of returning to the last low electric quantity and the state of returning to the starting point of normal patrol. The security robot 100 has many states, and the states related to automatic charging include:
And a normal running state (running), wherein the state indicates that the battery power is sufficient, namely the battery power is higher than a preset threshold value, and the security robot normally executes a patrol task.
When the main control module 110 receives the charging travel path fed back by the remote control end 200, the main control module also receives a charging instruction from the remote control end 200, and at this time, the security robot 100 travels to a specified charging pile position according to the charging travel path.
And in a charging state (charging), when the main control module 110 controls the charging module 150 to be in butt joint with the specified charging pile for charging, and detects the charging current through the current detection sensor, and when the charging current is detected, the charging is judged to be successful, and the charging state is switched to the charging state.
And returning to the last low battery state (return battery low point), when the main control module 110 detects that the battery is fully charged, ending charging, withdrawing the charging brush, and switching to the last low battery state, namely controlling the security robot to return to the position when the battery alarms.
And returning to a normal patrol starting point state (return start point), when the security robot returns to the position when the electric quantity is alarmed, switching to return to the normal patrol starting point state, continuing to walk to the task destination to execute the patrol task, and returning to the normal patrol starting point after the task is completed.
the invention provides a complete flow for switching among the states, and ensures the time sequence and the reliability.
The invention also provides an automatic charging control method of the intelligent security robot. Fig. 5 is a flowchart illustrating an automatic charging control method for an intelligent security robot according to the present invention. As shown in fig. 5, the process includes:
S1, detecting the battery power of the security robot 100;
S2, when the battery power of the security robot 100 is judged to be lower than a preset threshold value, sending a power alarm signal to the remote control terminal 200;
s3, the remote control end 200 specifies a charging pile according to the real-time position of the security robot and the position information of the charging pile, plans a charging walking path and sends the charging walking path to the security robot 100;
s4, controlling the security robot 100 to walk to the specified charging pile according to the charging walking path;
S5, controlling the charging module 150 of the security robot 100 to be in butt joint with the specified charging pile for charging.
preferably, step S4 includes:
S41, controlling the driving module 140 according to the charging walking path to enable the security robot 100 to walk to a specified charging pile;
S42, acquiring charging pile interface position information scanned by the laser radar 160 and/or the infrared sensor 170;
s43, finely adjusting the position of the security robot through the driving module 140 according to the charging pile interface position information, and sending a charging signal to the charging module 150.
preferably, step S5 includes: the charging current is detected through the current detection sensor, the charging is judged to be successful when the charging current is detected, and otherwise, the charging is judged to be failed and the charging is fed back to the remote control terminal 200.
The invention also provides a set of scheme for reasonably distributing the charging piles. Referring to fig. 6, a flowchart of a step of designating a charging pile in the automatic charging control method for the intelligent security robot according to the present invention is shown. Preferably, the step S3 includes:
s30, the flow starts.
S31, obtaining a charging pile A closest to the real-time position of the security robot, judging whether the charging pile A is idle, and turning to the step S32 if the charging pile A is idle; otherwise go to step S33;
S32, determining the charging pile A as the designated charging pile;
s33, when the charging pile A is not idle, the idle charging pile B closest to the real-time position of the security robot is obtained. When the charging pile A is not idle, the security robot can wait for a long time even if the security robot walks to the nearest charging pile A, so that the position of the nearest idle charging pile B is obtained, and then comparison is carried out to determine which charging pile is most reasonably appointed finally.
S34, judging whether the following formula (1) is satisfied, if yes, turning to the step S35, otherwise, turning to the step S36;
Wherein t isaEnd time of charging for charging pile A, Liathe walking distance between the charging pile A and the real-time position of the security robot is determined,the average walking speed of the security robot.
S35, judging whether the following formula (2) is satisfied, if yes, turning to the step S37, otherwise, turning to the step S32;
Lia-Lib+Laf-Lbf≥0 (2)
Wherein L isiafor the walking distance, L, between the real-time positions of charging pile A and security robotafFor the walking distance, L, between the task destination positions of the charging pile A and the security robotibfor the walking distance, L, between the charging pile B and the real-time position of the security robotbfThe walking distance between the charging pile B and the task destination position of the security robot is set;
when the formula (1) is satisfied, it indicates that the time for the security robot 100 to travel to the charging pile a is longer than the time for the security robot currently docked with the charging pile a to finish charging, and therefore waiting is not needed. At this time, in the prior art, the charging pile a closest to the real-time position of the security robot is usually selected, but the invention also considers a situation that the charging pile a is closest in position and does not represent that the distance between the security robot and the task destination is shortest after the security robot completes the charging process and charges. Therefore, the charging process and the distance to return to the task destination after charging need to be considered together. When the judgment result meets the formula (2), the distance between the representative security robot and the charging pile A to complete the charging process and the distance between the representative security robot and the target of the returned task after charging is larger than the distance between the representative security robot and the charging pile B, and therefore the charging pile B is determined to be the designated charging pile. And when the formula (2) is not satisfied, the situation is opposite, and therefore the charging pile A is determined to be the specified charging pile.
S36, judging whether the following formula (3) is satisfied, if yes, turning to the step S37, otherwise, turning to the step S32;
Wherein, tain order to charge the end time of charging pile a,Is the average walking speed L of the security robotafFor the walking distance, L, between the task destination positions of the charging pile A and the security robotibfor the walking distance, L, between the charging pile B and the real-time position of the security robotbfThe walking distance between the task destination positions of the charging pile B and the security robot is calculated.
when the judgment result meets the formula (3), the distance between the representative security robot and the charging pile A to complete the charging process and the distance between the representative security robot and the target of the returned task after charging is larger than the distance between the representative security robot and the charging pile B, and therefore the charging pile B is determined to be the designated charging pile. And when the formula (3) is not satisfied, the situation is opposite, and therefore the charging pile A is determined to be the specified charging pile.
And S37, determining that the charging pile B is the designated charging pile.
The automatic charging system of the intelligent security robot may also include a charging path planning unit configured to assign a charging pile to the security robot 100 through the specific process S31-S37 of the step S3.
in conclusion, the invention can automatically complete all the complicated charging control steps to the security robot and the remote control end, automatically navigate to the charging pile when the security robot has insufficient electric quantity, automatically charge, and recover to normal security patrol work again after the robot is charged. Through the automatic charging system, the security robot can realize all-weather uninterrupted work. The working efficiency of the security robot is improved, the labor cost is saved, and the unmanned charging process is realized. Security personnel do not need to deal with charging matters of the robot any more, and only need to monitor real-time videos of the security robot in a central control room, so that the security personnel concentrate on various difficulties and emergencies.
It should be understood that the automatic charging system of the intelligent security robot of the present invention has the same principle as the automatic charging control method thereof, and therefore, the explanation of the specific embodiment of the automatic charging system of the intelligent security robot is also applicable to the automatic charging control method.
finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. The utility model provides an automatic charging system of intelligent security robot which characterized in that includes: the system comprises a remote control end and at least one security robot;
The security robot includes: the main control module is connected with the power detection module, the communication module, the driving module and the charging module; the electric quantity detection module is used for detecting the electric quantity of a battery of the security robot; the main control module is used for acquiring the battery electric quantity of the security robot, sending an electric quantity alarm signal to a remote control end through a communication module when the battery electric quantity is lower than a preset threshold value, receiving a charging walking path fed back by the remote control end, controlling the driving module to enable the security robot to walk to a specified charging pile position, and controlling the charging module to be in butt joint with the specified charging pile for charging;
the remote control end is used for receiving an electric quantity alarm signal of the security robot, appointing a charging pile according to the real-time position of the security robot and the position information of the charging pile, planning a charging walking path and sending the charging walking path to the security robot;
The remote control end comprises a charging path planning unit and is used for appointing a charging pile in the following mode:
1) Acquiring a charging pile A closest to the real-time position of the security robot, judging whether the charging pile A is idle, and turning to the step 2 if the charging pile A is idle; otherwise, turning to the step 3);
2) determining a charging pile A as a designated charging pile;
3) When the charging pile A is not idle, acquiring an idle charging pile B closest to the real-time position of the security robot;
4) Judging whether the following formula is satisfied:
Wherein t isaEnd time of charging for charging pile A, Liathe walking distance between the charging pile A and the real-time position of the security robot is determined,the average walking speed of the security robot is obtained;
if yes, turning to step 5), otherwise, turning to step 6);
5) Judging whether the following formula is satisfied:
Lia-Lib+Laf-Lbf≥0，
wherein L isiafor filling reality of electric pile A and security robotDistance traveled between the hour positions, LafFor the walking distance, L, between the task destination positions of the charging pile A and the security robotibFor the walking distance, L, between the charging pile B and the real-time position of the security robotbfthe walking distance between the charging pile B and the task destination position of the security robot is set;
If yes, turning to step 7), otherwise, turning to step 2);
6) Judging whether the following formula is satisfied:
wherein, tain order to charge the end time of charging pile a,is the average walking speed L of the security robotafFor the walking distance, L, between the task destination positions of the charging pile A and the security robotibfor the walking distance, L, between the charging pile B and the real-time position of the security robotbfthe walking distance between the charging pile B and the task destination position of the security robot is set;
If yes, turning to step 7), otherwise, turning to step 2);
7) and determining that the charging pile B is the designated charging pile.
2. the automatic charging system of an intelligent security robot according to claim 1, wherein the security robot comprises a laser radar and/or an infrared sensor arranged on a security robot body;
The main control module controls the driving module to enable the security robot to walk to an appointed charging pile according to the charging walking path, then obtains charging pile interface position information scanned by the laser radar and/or the infrared sensor, finely adjusts the position of the security robot through the driving module according to the charging pile interface position information, and sends a charging signal to control the charging module and the appointed charging pile to be in butt joint charging.
3. The automatic charging system of the intelligent security robot as claimed in claim 1 or 2, wherein the charging module comprises a charging motor, a charging screw slider, a transmission rod, a baffle, a charging brush and a current detection sensor;
One end of the charging screw is connected with an output shaft of the charging motor, the other end of the charging screw is connected with the baffle, the charging screw can rotate relative to the baffle, and the charging screw sliding block is sleeved on the charging screw; the transmission rod is arranged in parallel with the charging screw, one end of the transmission rod is connected with the charging screw sliding block, and the other end of the transmission rod penetrates through the baffle and is connected with the charging electric brush; when the charging screw rod rotates, the charging screw rod sliding block moves along the axial direction of the charging screw rod and pushes the charging electric brush to move through the transmission rod; the current detection sensor is used for detecting a charging current.
4. the automatic charging system of the intelligent security robot as claimed in claim 3, wherein the main control module is connected to the current detection sensor and configured to detect the charging current through the current detection sensor, and determine that the charging is successful when the charging current is detected, or determine that the charging is failed if the charging current is detected, and feed back the charging current to the remote control terminal.
5. The automatic charging system of the intelligent security robot as claimed in claim 1 or 2, wherein the main control module is configured to control the security robot to switch between: the state of normal operation, the state of driving to a charging pile, the state of charging, the state of returning to the last low electric quantity and the state of returning to the starting point of normal patrol.
6. an automatic charging control method of an intelligent security robot is characterized by comprising the following steps:
S1, detecting the battery power of the security robot;
S2, when the battery power of the security robot is judged to be lower than a preset threshold value, sending a power alarm signal to a remote control end;
s3, the remote control end specifies a charging pile according to the real-time position of the security robot and the position information of the charging pile, plans a charging walking path and sends the charging walking path to the security robot;
S4, controlling the security robot to walk to the specified charging pile according to the charging walking path;
S5, controlling a charging module of the security robot to be in butt joint with the specified charging pile for charging;
wherein the step S3 includes:
1) Acquiring a charging pile A closest to the real-time position of the security robot, judging whether the charging pile A is idle, and turning to the step 2 if the charging pile A is idle; otherwise, turning to the step 3);
2) determining a charging pile A as a designated charging pile;
3) When the charging pile A is not idle, acquiring an idle charging pile B closest to the real-time position of the security robot;
4) Judging whether the following formula is satisfied:
Wherein t isaEnd time of charging for charging pile A, Liathe walking distance between the charging pile A and the real-time position of the security robot is determined,The average walking speed of the security robot is obtained;
if yes, turning to step 5), otherwise, turning to step 6);
5) Judging whether the following formula is satisfied:
Lia-Lib+Laf-Lbf≥0，
wherein L isiaFor the walking distance, L, between the real-time positions of charging pile A and security robotafFor the walking distance, L, between the task destination positions of the charging pile A and the security robotibFor charging pile B and security machineDistance traveled between real-time positions of persons, Lbfthe walking distance between the charging pile B and the task destination position of the security robot is set;
if yes, turning to step 7), otherwise, turning to step 2);
6) judging whether the following formula is satisfied:
Wherein, tain order to charge the end time of charging pile a,Is the average walking speed L of the security robotaffor the walking distance, L, between the task destination positions of the charging pile A and the security robotibFor the walking distance, L, between the charging pile B and the real-time position of the security robotbfThe walking distance between the charging pile B and the task destination position of the security robot is set;
if yes, turning to step 7), otherwise, turning to step 2);
7) and determining that the charging pile B is the designated charging pile.
7. The automatic charging control method for the intelligent security robot according to claim 6, wherein the step S4 includes:
S41, controlling a driving module according to the charging walking path to enable the security robot to walk to an appointed charging pile;
s42, acquiring charging pile interface position information scanned by a laser radar and/or an infrared sensor;
s43, fine adjustment is carried out on the position of the security robot through the driving module according to the charging pile interface position information, and a charging signal is sent to the charging module.
8. the automatic charging control method for the smart security robot according to claim 6 or 7, wherein the step S5 includes: and detecting the charging current through a current detection sensor, judging that the charging is successful when the charging current is detected, and judging that the charging is failed if the charging current is not detected, and feeding back the charging current to the remote control terminal.
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