CN108233466A - Automatic charging system - Google Patents
Automatic charging system Download PDFInfo
- Publication number
- CN108233466A CN108233466A CN201711387574.9A CN201711387574A CN108233466A CN 108233466 A CN108233466 A CN 108233466A CN 201711387574 A CN201711387574 A CN 201711387574A CN 108233466 A CN108233466 A CN 108233466A
- Authority
- CN
- China
- Prior art keywords
- robot
- ultrasonic
- ultrasonic transmitter
- charging
- charging pile
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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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
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
This application discloses a kind of automatic charging systems, including robot and charging pile, wherein, ultrasonic probe, ultrasonic receiver is installed in the robot, infrared receiving device and charging process device, the charging pile left and right ends are installed by the first ultrasonic transmitter respectively, second ultrasonic transmitter, point midway installation infrared launcher between first ultrasonic transmitter and second ultrasonic transmitter, after the charging process device adjusts the pose of the robot according to the ultrasound data that the ultrasonic probe, ultrasonic receiver receives, the pose of the robot is finely adjusted further according to the infrared data that the infrared receiving device receives, so that the electrode alignment of the electrode of the robot and the charging pile and contacting.The application setting accuracy is high.
Description
Technical field
This application involves robot field, in particular to a kind of automatic charging system.
Background technology
With the extensive use of robot, how quickly to find charging station becomes current robot automatic charging field
Research emphasis.In the relevant technologies, the infrared guiding charging of contact needs the angle of repeatedly adjustment robot that can accurately just find
The position of charging station because infrared signal penetration power is not strong, is easily disturbed, therefore this mode expends that the time is long, and efficiency is low, directly
Result in the efficiency of the robot charging of contact.
Invention content
The main purpose of the application is to provide a kind of automatic charging system, to solve to find charging pile time length and efficiency
The problem of low, improves the efficiency of the robot charging of contact.
To achieve these goals, according to the one side of the application, a kind of automatic charging system is provided, including machine
People and charging pile, wherein, ultrasonic probe, ultrasonic receiver, infrared receiving device and charging process device are installed in the robot,
The charging pile left and right ends are installed by the first ultrasonic transmitter, the second ultrasonic transmitter, first ultrasound emission respectively
Point midway installation infrared launcher between device and second ultrasonic transmitter, the charging process device is according to institute
After stating the pose of the ultrasound data adjustment robot that ultrasonic probe, ultrasonic receiver receives, filled further according to the infrared receiver
It puts the infrared data received to be finely adjusted the pose of the robot so that the electrode of the robot and the charging pile
Electrode alignment and contact.
Further, the height of first ultrasonic transmitter and second ultrasonic transmitter on the charging pile
It is identical.
Further, the ultrasonic probe, ultrasonic receiver and the infrared receiving device are mounted on the front of the robot.
Further, the charging process device includes adjusting towards judgment module, processing module, the first adjustment module and second
Mould preparation block, wherein, it is described towards judgment module, for being sent out according to first ultrasound that the ultrasonic probe, ultrasonic receiver receives
The ultrasound data that injection device and second ultrasonic transmitter are sent judges the direction of the robot；The processing mould
Block, if calculating the robot and first ultrasonic transmitter just facing towards the charging pile for robot of institute
With the distance of second ultrasonic transmitter, the robot is otherwise controlled to rotate to just facing towards the charging pile；It is described
The first adjustment module, for the ultrasonic wave number according to first ultrasonic transmitter and second ultrasonic transmitter transmission
The distance and rotation direction of the charging pile center line are moved to according to the calculating control robot；Second adjustment module, is used for
The robot is moved at the charging pile position of center line by the electrode of the robot and the charging pile by calculating
Electrode alignment and contact position at distance and rotation direction.
Further, the charging process device is built-in with navigation module, is moved to by navigation module generation described
The route of charging pile.
Further, the charging process device further includes breakdown judge module and communication module, wherein, the breakdown judge
When module is for judging just facing towards the charging pile, filled according to first ultrasonic transmitter and second ultrasound emission
The ultrasound data for putting transmission judges whether the distance value of the robot and the charging pile is invalid, is to generate fault cues
Information；The communication module, for the fault cues information to be sent to host computer.
Further, the host computer includes mobile equipment, PC machine, notebook or server.
Further, the frequency range of the communication module is 2.4GHz, 5GHz or 1GHz.
Further, the charging process device is connected with display module, and the display module is believed for receiving fault cues
Breath.
In the embodiment of the present application, using ultrasonic ranging and infrared distance measurement two ways, by robot location and
The adjustment in direction has achieved the purpose that be directed at robot and charging pile, it is achieved thereby that the technique effect of robot quick charge.
Description of the drawings
The attached drawing for forming the part of the application is used for providing further understanding of the present application so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Form the improper restriction to the application.In the accompanying drawings：
Fig. 1 is the structure diagram of automatic charging system described herein；
Fig. 2 is the structure of block diagram schematic diagram of herein described charging process device one embodiment.
Specific embodiment
In order to which those skilled in the art is made to more fully understand application scheme, below in conjunction in the embodiment of the present application
The technical solution in the embodiment of the present application is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of the application part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's all other embodiments obtained without making creative work should all belong to the model of the application protection
It encloses.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be the object for distinguishing similar, and specific sequence or precedence are described without being used for.It should be appreciated that it uses in this way
Data can be interchanged in the appropriate case, so as to embodiments herein described herein.In addition, term " comprising " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit
Process, method, system, product or equipment are not necessarily limited to those steps or unit clearly listed, but may include without clear
It is listing to Chu or for the intrinsic other steps of these processes, method, product or equipment or unit.
In this application, term " on ", " under ", "left", "right", "front", "rear", " top ", " bottom ", " interior ", " outer ",
" in ", " vertical ", " level ", " transverse direction ", the orientation of the instructions such as " longitudinal direction " or position relationship be based on orientation shown in the drawings or
Position relationship.These terms are not intended to limit indicated dress primarily to preferably describe the present invention and embodiment
It puts, element or component must have particular orientation or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or position relationship, it is also possible to for representing it
His meaning, such as term " on " also be likely used for representing certain relations of dependence or connection relation in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " should be interpreted broadly.For example,
Can be fixedly connected, be detachably connected or monolithic construction；Can be mechanical connection or electrical connection；It can be direct phase
It is indirectly connected even or by intermediary or is the connections of two inside between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figs. 1-2, this application provides a kind of automatic charging system, including robot 100 and charging pile 200,
In, ultrasonic probe, ultrasonic receiver 101, infrared receiving device (not shown) and charging process are installed in the robot 100
The first ultrasonic transmitter 201, the second ultrasound emission dress are installed in device (not shown), the charging pile left and right ends respectively
202 are put, the point midway between first ultrasonic transmitter 201 and second ultrasonic transmitter 202 installs infrared hair
Injection device 203, the charging process device is according to the ultrasound data adjustment that the ultrasonic probe, ultrasonic receiver 101 receives
After the pose of robot, the pose of the robot is carried out further according to the infrared data that the infrared receiving device receives micro-
It adjusts so that the electrode 102 of the robot is aligned and contacts with the electrode 204 of the charging pile.
In the application, the charging process device is sent out according to first ultrasonic transmitter, the second ultrasonic transmitter
The ultrasound data sent adjusts the pose of the robot for the first time so that the robot is moved to the charging pile
After on midline position, barrier is hidden, it is therefore prevented that interference of the barrier to infrared signal ensure that the charging process device
The pose of the robot is finely adjusted according to the infrared data that the infrared launcher is sent again, it is ensured that robot is in
Near position of center line, ensure the charging electrode that the robot can be aligned on the charging pile and contact, improve charging effect
Rate.
Specifically, the height of first ultrasonic transmitter and second ultrasonic transmitter on the charging pile
Identical, identical height ensure that the accuracy that the robot location is adjusted according to ultrasonic wave.
Further, the ultrasonic probe, ultrasonic receiver and the infrared receiving device are mounted on the front of the robot, just
The ultrasonic probe, ultrasonic receiver and the infrared receiving device of the installation in face can ensure the charging process device to calculating
Obtained robot and the virtual value of the distance of the charging pile are judged, so as to judge the steering of the robot, are ensured
Robot can be directed at the charging electrode on the charging pile and contact, so as to reach charging purpose.
Specifically, the charging process device is included towards judgment module 10, processing module 20,30 and of the first adjustment module
Second adjustment module 40.Wherein, it is described towards judgment module, for received according to the ultrasonic probe, ultrasonic receiver described
The ultrasound data that one ultrasonic transmitter and second ultrasonic transmitter are sent judges the direction of the robot；It is described
Processing module, if calculating the robot just facing towards the charging pile for robot of institute and being sent out with the described first ultrasound
Otherwise the distance of injection device and second ultrasonic transmitter controls the robot to rotate to just facing towards the charging
Stake；The first adjustment module, for what is sent according to first ultrasonic transmitter and second ultrasonic transmitter
Ultrasound data calculates the distance and rotation direction that the robot is controlled to be moved to the charging pile center line；Second adjustment mould
Block, for calculate the robot is moved at the charging pile position of center line by the electrode of the robot with it is described
Distance and rotation direction at the electrode alignment of charging pile and the position contacted.
Further, the charging process device is built-in with navigation module, is moved to by navigation module generation described
The route of charging pile, so as to described and other navigate to the charging pile neighbouring position.
In some embodiments, the charging process device further includes breakdown judge module and communication module, wherein, it is described
When breakdown judge module is for judging just facing towards the charging pile, described surpass according to first ultrasonic transmitter and the second
The ultrasound data that acoustic emission device is sent judges whether the distance value of the robot and the charging pile is invalid, is to generate
Fault cues information；The communication module, for the fault cues information to be sent to host computer.Further, on described
Position machine includes mobile equipment, PC machine, notebook, server etc., and specifically, host computer user can be that the charging pile management is used
Family or robot management user；The frequency range of the communication module is the communications bands such as 2.4GHz, 5GHz, 1GHz.
The present embodiment realizes the interaction with host computer by breakdown judge module and communication module.
Further, the charging process device is connected with display module, and the display module is believed for receiving fault cues
Breath understands fault message so that the robot manages user by the setting of display module, excludes in time in real time.
Obviously, those skilled in the art should be understood that each module of the above-mentioned present invention or each step can be with general
Computing device realize that they can concentrate on single computing device or be distributed in multiple computing devices and be formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
In the storage device by computing device come perform either they are fabricated to respectively each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific
Hardware and software combines.
The foregoing is merely the preferred embodiments of the application, are not limited to the application, for the skill of this field
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
Claims (9)
1. a kind of automatic charging system, which is characterized in that including robot and charging pile, wherein, it is equipped in the robot
The first ultrasound is installed in ultrasonic probe, ultrasonic receiver, infrared receiving device and charging process device, the charging pile left and right ends respectively
Emitter, the second ultrasonic transmitter, the midpoint between first ultrasonic transmitter and second ultrasonic transmitter
Position is equipped with infrared launcher, the ultrasonic wave number that the charging process device is received according to the ultrasonic probe, ultrasonic receiver
After the pose for adjusting the robot, further according to the infrared data that the infrared receiving device receives to the robot
Pose is finely adjusted so that the electrode alignment of the electrode of the robot and the charging pile simultaneously contacts.
2. automatic charging system according to claim 1, which is characterized in that first ultrasonic transmitter and described
Height of two ultrasonic transmitters on the charging pile is identical.
3. automatic charging system according to claim 1, which is characterized in that the ultrasonic probe, ultrasonic receiver and described infrared
Reception device is mounted on the front of the robot.
4. automatic charging system according to claim 1, which is characterized in that the charging process device is included towards judgement
Module, processing module, the first adjustment module and second adjustment module, wherein,
It is described towards judgment module, for first ultrasonic transmitter that is received according to the ultrasonic probe, ultrasonic receiver and
The ultrasound data that second ultrasonic transmitter is sent judges the direction of the robot；The processing module, for such as
Guo Suo robots just facing towards the charging pile, then calculate the robot and first ultrasonic transmitter and described second
Otherwise the distance of ultrasonic transmitter controls the robot to rotate to just facing towards the charging pile；The first adjustment mould
Block, for calculating control according to the ultrasound data of first ultrasonic transmitter and second ultrasonic transmitter transmission
The robot is moved to the distance and rotation direction of the charging pile center line；Second adjustment module, for calculating by described in
Robot is moved to the electrode alignment by the electrode of the robot and the charging pile at the charging pile position of center line
And distance and rotation direction at the position contacted.
5. automatic charging system according to claim 4, which is characterized in that the charging process device is built-in with navigation mould
Block is moved to the route of the charging pile by navigation module generation.
6. automatic charging system according to claim 4, which is characterized in that the charging process device further includes failure and sentences
Disconnected module and communication module, wherein, when the breakdown judge module is for judging just facing towards the charging pile, according to described the
The ultrasound data that one ultrasonic transmitter and second ultrasonic transmitter are sent judges the robot and the charging
Whether the distance value of stake is invalid, is to generate fault cues information；The communication module, for the fault cues information to be sent out
It send to host computer.
7. automatic charging system according to claim 6, which is characterized in that the host computer include mobile equipment, PC machine,
Notebook or server.
8. automatic charging system according to claim 6, which is characterized in that the frequency range of the communication module for 2.4GHz,
5GHz or 1GHz.
9. automatic charging system according to claim 4, which is characterized in that the charging process device is connected with display mould
Block, the display module are used to receive fault cues information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711387574.9A CN108233466A (en) | 2017-12-20 | 2017-12-20 | Automatic charging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711387574.9A CN108233466A (en) | 2017-12-20 | 2017-12-20 | Automatic charging system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108233466A true CN108233466A (en) | 2018-06-29 |
Family
ID=62652594
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711387574.9A Pending CN108233466A (en) | 2017-12-20 | 2017-12-20 | Automatic charging system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108233466A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109557927A (en) * | 2019-01-10 | 2019-04-02 | 深圳先进储能技术有限公司 | Paths planning method, device, equipment and the medium of hanging basket are returned for robot |
| CN112444816A (en) * | 2019-08-28 | 2021-03-05 | 纳恩博（北京）科技有限公司 | Positioning method and device, storage medium and electronic device |
| WO2023071559A1 (en) * | 2021-10-25 | 2023-05-04 | 北京京东乾石科技有限公司 | Return guide device, entry guide device, system, method, and medium |
| WO2023179616A1 (en) * | 2022-03-23 | 2023-09-28 | 北京石头创新科技有限公司 | Cleaning robot, and method and apparatus for same returning to base, and method and apparatus for same moving out of base |
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| CN104298234A (en) * | 2013-11-13 | 2015-01-21 | 沈阳新松机器人自动化股份有限公司 | Dual-booting robot self-charging method |
| CN105917284A (en) * | 2014-02-25 | 2016-08-31 | 阿尔弗雷德·凯驰两合公司 | Method for docking a floor treatment device to a base station, and floor treatment system |
| CN106324603A (en) * | 2016-08-10 | 2017-01-11 | 杭州阿优文化创意有限公司 | Indoor robot homing navigation method |
| CN106363643A (en) * | 2016-11-24 | 2017-02-01 | 湖南万为智能机器人技术有限公司 | Automatic patrol robot and charging pile matched with automatic patrol robot |
| CN107272675A (en) * | 2017-06-06 | 2017-10-20 | 青岛克路德机器人有限公司 | Recharging system based on infrared ray and ultrasonic wave |
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| CN104298234A (en) * | 2013-11-13 | 2015-01-21 | 沈阳新松机器人自动化股份有限公司 | Dual-booting robot self-charging method |
| CN105917284A (en) * | 2014-02-25 | 2016-08-31 | 阿尔弗雷德·凯驰两合公司 | Method for docking a floor treatment device to a base station, and floor treatment system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109557927A (en) * | 2019-01-10 | 2019-04-02 | 深圳先进储能技术有限公司 | Paths planning method, device, equipment and the medium of hanging basket are returned for robot |
| CN109557927B (en) * | 2019-01-10 | 2021-11-26 | 深圳先进储能技术有限公司 | Path planning method, device, equipment and medium for robot to return to hanging basket |
| CN112444816A (en) * | 2019-08-28 | 2021-03-05 | 纳恩博（北京）科技有限公司 | Positioning method and device, storage medium and electronic device |
| WO2023071559A1 (en) * | 2021-10-25 | 2023-05-04 | 北京京东乾石科技有限公司 | Return guide device, entry guide device, system, method, and medium |
| WO2023179616A1 (en) * | 2022-03-23 | 2023-09-28 | 北京石头创新科技有限公司 | Cleaning robot, and method and apparatus for same returning to base, and method and apparatus for same moving out of base |
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Application publication date: 20180629 |
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