CN113162256A - Robot wireless charging alignment method and system - Google Patents
Robot wireless charging alignment method and system Download PDFInfo
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- CN113162256A CN113162256A CN202110469773.4A CN202110469773A CN113162256A CN 113162256 A CN113162256 A CN 113162256A CN 202110469773 A CN202110469773 A CN 202110469773A CN 113162256 A CN113162256 A CN 113162256A
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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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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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
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
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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
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to a robot wireless charging alignment method and system, wherein the method comprises the following steps: when the charging management unit detects that the electric quantity of the power battery is less than a preset value, an automatic return charging signal is sent to the whole vehicle controller; the vehicle control unit controls the robot to return to a preset wireless charging position; identifying the outline of the wireless charging base and moving the wireless charging base to the position above the wireless charging base; receiving an infrared signal sent by an infrared alignment lamp set; judging whether the percentage of the signal area of the received infrared signals sent by the infrared alignment lamp group is larger than a preset proportion or not; if the ratio is smaller than the preset ratio, controlling the robot to align again; if the charging current is larger than the preset proportion, judging whether the detected charging current of the wireless charging transmitting coil is larger than the preset current; if yes, wireless charging is carried out; if not, controlling the robot to align again. The alignment efficiency, the accuracy and the intelligent degree are improved, and the situation that the charging efficiency is low due to too low charging current is avoided.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot wireless charging alignment method and system.
Background
The intelligent robot is commonly used in service scenes, such as cleaning robots, government affairs robots and library robots, and can realize the functions of sanitation, guidance and the like. The existing intelligent robot is provided with a rechargeable battery, and a charging device is arranged in a corner or a hidden space. When the robot needs to be charged, the robot can automatically navigate to the vicinity of the charging device for charging.
The charging mode of the existing robot is divided into a wired charging mode and a wireless charging mode, wherein the wired charging mode needs manual operation of operation and maintenance personnel, and the wireless charging mode of the robot can be popularized in a large scale along with popularization of unmanned service of the robot; in the existing wireless charging process, if the wireless charging transmitting module of the transmitting end and the wireless charging receiving module of the receiving end cannot be completely aligned, the problem of low charging efficiency can be caused.
Disclosure of Invention
Therefore, a robot wireless charging alignment method and system are needed to be provided, so that the problem that in the existing robot wireless charging process, if the wireless charging receiving module and the wireless charging transmitting module are not aligned, the charging efficiency is too low is solved.
In order to achieve the above object, the inventor provides a robot wireless charging alignment method, which includes the following steps:
when the charging management unit detects that the electric quantity of the power battery is less than a preset value, an automatic return charging signal is sent to the whole vehicle controller;
the vehicle control unit controls the robot to return to a preset wireless charging position;
the method comprises the following steps of identifying the outline of a wireless charging base, moving the wireless charging base to the position above the wireless charging base, wherein a wireless charging transmitting coil and an infrared alignment lamp set are arranged on the wireless charging base;
receiving an infrared signal sent by an infrared alignment lamp set;
judging whether the percentage of the signal area of the received infrared signals sent by the infrared alignment lamp group is larger than a preset proportion or not;
if the ratio is smaller than the preset ratio, controlling the robot to align again;
if the charging current is larger than the preset proportion, judging whether the detected charging current of the wireless charging transmitting coil is larger than the preset current;
if yes, wireless charging is carried out;
if not, controlling the robot to align again.
Further preferably, the infrared alignment lamp set comprises a first infrared alignment lamp set and a second infrared alignment lamp set, and the first infrared alignment lamp set and the second infrared alignment lamp set are respectively arranged above and below the wireless charging emission coil;
the step of judging whether the percentage of the signal area of the received infrared signals sent by the infrared alignment lamp group is larger than a preset proportion or not; if the ratio is smaller than the preset ratio, controlling the robot to perform the counterpoint again specifically comprises the following steps:
judging whether the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is larger than a preset proportion or not;
if the percentage of the received signal areas of the first infrared alignment lamp group or the second infrared alignment lamp group is smaller than the preset proportion, the vehicle control unit controls the robot to execute forward movement and detects the percentage change of the received signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group;
if the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is increased, continuing to control the robot to move forward until the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is unchanged;
and if the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is reduced, the robot is continuously controlled to retreat until the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is unchanged.
Further preferably, the infrared alignment lamp set further comprises a third infrared alignment lamp set, and the third infrared alignment lamp set is arranged on the left side or the right side of the wireless charging transmitting coil;
further comprising the steps of:
when the percentage of the received signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is larger than the preset proportion;
judging whether the percentage of the received signal area of the third infrared alignment lamp group is larger than a preset proportion or not;
if the distance is smaller than the preset proportion, controlling the robot to exit the wireless charging base and recording the distance away;
recognizing that the third infrared alignment lamp group is in a state that the robot leans to the left or the right through the depth camera;
and then adjusting the robot according to the recorded distance that the robot leaves and the state that the third infrared alignment lamp group is at the left or right of the robot, and controlling the robot to return to the wireless charging base again.
Further optimization, the method also comprises the following steps:
and when the received signal area percentage of the first infrared alignment lamp group and the second infrared alignment lamp group is less than 0, reading the outline of the wireless charging base again, and moving the robot to the position above the wireless charging base.
Further preferably, the step of "identifying the outline of the wireless charging base" specifically includes the steps of:
the outline of the wireless charging base is identified through the radar and the depth camera.
The robot wireless charging alignment system comprises a robot and a wireless charging base;
the wireless charging base comprises a wireless charging transmitting coil, an infrared alignment lamp set and a wireless charging transmitting controller; the wireless charging transmitting coil and the infrared alignment lamp set are connected to the wireless charging transmitting controller;
the robot comprises a vehicle control unit VCU, a motor control unit MCU, a charging management unit BMS, an identification module, a wireless charging receiving controller, a wireless charging receiving coil and an infrared alignment lamp receiving module; the motor control unit MCU, the charging management unit BMS and the wireless charging receiving controller are connected to a VCU (vehicle control unit) through a CAN (controller area network) bus;
the charging management unit BMS is used for sending an automatic return charging signal to the vehicle control unit when detecting that the electric quantity of the power battery is less than a preset value;
the vehicle control unit is used for controlling the robot to return to a preset wireless charging position after receiving the automatic return charging signal;
the identification module is used for identifying the outline of the wireless charging base; the identification module further comprises a radar and a depth camera; the radar and the depth camera are used for identifying the outline of the wireless charging base.
The vehicle control unit is used for moving the vehicle control unit to the position above the wireless charging base according to the outline of the wireless charging base identified by the identification module;
the infrared alignment lamp receiving module is used for receiving infrared signals sent by the infrared alignment lamp set;
the wireless charging receiving controller is used for judging whether the percentage of the signal area of the received infrared signals sent by the infrared alignment lamp group is larger than a preset proportion or not; if the alignment failure information is smaller than the preset proportion, the alignment failure information is sent to the whole vehicle controller; if the charging current is larger than the preset proportion, detecting the current sent by a wireless charging transmitting coil of the wireless charging base through a wireless charging receiving coil, and judging whether the detected charging current of the wireless charging transmitting coil is larger than the preset current or not; if yes, wireless charging is carried out; if not, sending alignment failure information to the vehicle control unit;
and the vehicle control unit is used for controlling the robot to carry out counterpoint again after receiving the counterpoint failure information.
Further preferably, the infrared alignment lamp set comprises a first infrared alignment lamp set and a second infrared alignment lamp set, and the first infrared alignment lamp set and the second infrared alignment lamp set are respectively arranged above and below the wireless charging emission coil;
the wireless charging receiving controller is also used for judging whether the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is larger than a preset proportion or not; if the percentage of the received signal areas of the first infrared alignment lamp group or the second infrared alignment lamp group is smaller than the preset proportion, sending alignment failure information to the vehicle control unit, controlling the robot to execute forward movement by the vehicle control unit, and detecting the percentage change of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group through the infrared alignment lamp receiving module; if the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is increased, continuing to control the robot to move forward until the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is unchanged; and if the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is reduced, the robot is continuously controlled to retreat until the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is unchanged.
Further preferably, the infrared alignment lamp set further comprises a third infrared alignment lamp set, and the third infrared alignment lamp set is arranged on the left side or the right side of the wireless charging transmitting coil;
the wireless charging receiving controller is further used for receiving signals of the first infrared alignment lamp group and the second infrared alignment lamp group when the percentage of the received signal areas is larger than a preset proportion; judging whether the percentage of the received signal area of the third infrared alignment lamp group is larger than a preset proportion or not; if the ratio is smaller than the preset ratio, sending alignment failure information of a third infrared alignment lamp set to the vehicle control unit;
the vehicle control unit is further used for controlling the robot to exit the wireless charging base and recording the distance after receiving the alignment failure information of the third infrared alignment lamp group; recognizing that the third infrared alignment lamp group is in a state that the robot leans to the left or the right through the depth camera; and then adjusting the robot according to the recorded distance that the robot leaves and the state that the third infrared alignment lamp group is at the left or right of the robot, and controlling the robot to return to the wireless charging base again.
Further preferably, the wireless charging receiving controller is further configured to send re-alignment information to the vehicle control unit when the received percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is smaller than 0, and the vehicle control unit is further configured to read the outline of the wireless charging base again after receiving the re-alignment information, and move the robot above the wireless charging base.
Further optimizing, the identification module further comprises a radar and a depth camera;
the radar and the depth camera are used for identifying the outline of the wireless charging base.
Different from the prior art, in the technical scheme, when the BMS of the robot detects that the current of the power battery is less than a preset value, an automatic return charging signal is sent to the vehicle control unit, after the vehicle control unit receives the automatic return charging signal, the robot is controlled to return to a preset wireless charging position, after the robot returns to the preset wireless charging position, the outline of the wireless charging base is identified, the robot is moved to the upper part of the charging base, the infrared signal sent by an infrared alignment lamp group on the wireless charging base is received, whether the signal area proportion of the received infrared signal sent by the infrared alignment lamp group is larger than the preset proportion or not is judged, if so, whether the charging current of a wireless charging transmitting coil detected by the vehicle control unit is larger than the preset current or not is continued, if so, wireless charging is carried out, otherwise, the robot is controlled to be in charging alignment, the wireless charging is more accurately aligned by judging the signal area of the received infrared alignment lamp set, the alignment efficiency, the accuracy and the intelligent degree are improved, and meanwhile, the situation that the charging efficiency is low due to too low charging current is avoided through the judgment of the charging current.
Drawings
Fig. 1 is a schematic structural diagram illustrating a wireless charging alignment method for a robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a wireless charging alignment system of a robot according to an embodiment;
fig. 3 is a schematic structural diagram of a wireless charging base according to an embodiment.
Description of reference numerals:
210. a robot;
211. the system comprises a vehicle control unit, 212, a motor control unit, 213, a charging management unit, 214, a wireless charging receiving controller, 215, a wireless charging receiving coil, 216, an infrared alignment lamp receiving module, 217, a power battery, 218, a depth camera, 219 and a radar;
220. a wireless charging base;
221. a wireless charging transmitting coil 222, an infrared alignment lamp set 223 and a wireless charging transmitting controller;
310. a first infrared alignment lamp set, 320, a second infrared alignment lamp set, 330, and a third infrared alignment lamp set.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1-3, the present embodiment provides a robot wireless charging alignment method, which is applied to a robot wireless charging alignment system, the robot wireless charging alignment system includes a robot 210 and a wireless charging base 220, the robot 210 includes a vehicle controller 211, a motor control unit 212, a charging management unit 213, a wireless charging receiving controller 214, a wireless charging receiving coil 215, and an infrared alignment lamp receiving module 216, and the wireless charging base 220 includes a wireless charging transmitting coil 221, an infrared alignment lamp set 222, and a wireless charging transmitting controller 223. The specific robot wireless charging alignment method comprises the following steps:
step S110: when the charging management unit detects that the electric quantity of the power battery is less than a preset value, an automatic return charging signal is sent to the whole vehicle controller; when the charging management unit BMS detects that the current electric quantity of the power battery of the robot is less than a preset value, if the current electric quantity is less than 10%, an automatic return charging signal is sent to the whole vehicle controller through the CAN bus, namely, the information that the current electric quantity of the power battery of the robot is too low and the automatic return charging is needed is sent to the whole vehicle controller;
step S120: the vehicle control unit controls the robot to return to a preset wireless charging position; and after receiving the automatic returning charging information, the vehicle control unit returns to the position near the wireless charging base according to the preset wireless charging position.
Step S130: the method comprises the following steps of identifying the outline of a wireless charging base, moving the wireless charging base to the position above the wireless charging base, wherein a wireless charging transmitting coil and an infrared alignment lamp set are arranged on the wireless charging base; after the robot comes to predetermine wireless charging position, discernment wireless charging base's profile, wherein, the robot can discern wireless charging base's profile through radar and degree of depth camera, and in other embodiments, the robot also can be through other profiles of sending discernment wireless charging base, like laser radar, ultrasonic radar or infrared ray sensor etc.. After the outline of the wireless charging base is identified, the robot is controlled to move to the upper side of the wireless charging base according to the identified outline of the wireless charging base.
Step S140: receiving an infrared signal sent by an infrared alignment lamp set; after the control robot removed the top to wireless charging base, received the infrared signal of the infrared alignment banks on the wireless charging base through the infrared alignment lamp receiving module group on the robot, wherein, infrared alignment banks has a plurality of infrared lamp to constitute, and a branch of infrared light is all launched upwards perpendicularly to each infrared lamp.
Step S150: judging whether the percentage of the signal area of the received infrared signals sent by the infrared alignment lamp group is larger than a preset proportion or not;
if the ratio is smaller than the preset ratio, step S160 is executed: controlling the robot to realign;
if the ratio is greater than the preset ratio, step S170 is executed: judging whether the detected charging current of the wireless charging transmitting coil is larger than a preset current or not;
if yes, go to step S180: carrying out wireless charging;
if not, go to step S160: and controlling the robot to realign.
Judge whether the signal area proportion of the infrared signal that received infrared counterpoint banks sent is greater than preset proportion, if be greater than preset proportion, then continue whether the wireless charging transmitting coil's that vehicle control unit detected charging current is greater than preset current, if be greater than preset current, then wirelessly charge, otherwise control the robot and charge the counterpoint, come to carry out more accurate counterpoint to wireless charging through judging the signal area of received infrared counterpoint banks, and improved counterpoint efficiency, degree of accuracy and intelligent degree, simultaneously through charging current's judgement, avoid charging current low and lead to the fact the circumstances of charging efficiency low to take place.
In this embodiment, in order to further improve the accuracy of the wireless charging of the robot, the infrared alignment lamp set 222 includes a first infrared alignment lamp set 310 and a second infrared alignment lamp set 320, and the first infrared alignment lamp set 310 and the second infrared alignment lamp set 320 are respectively disposed above and below the wireless charging transmitting coil;
the step of judging whether the percentage of the signal area of the received infrared signals sent by the infrared alignment lamp group is larger than a preset proportion or not; if the ratio is smaller than the preset ratio, controlling the robot to perform the counterpoint again specifically comprises the following steps:
judging whether the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is larger than a preset proportion or not;
if the percentage of the received signal areas of the first infrared alignment lamp group or the second infrared alignment lamp group is smaller than the preset proportion, the vehicle control unit controls the robot to execute forward movement and detects the percentage change of the received signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group;
if the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is increased, continuing to control the robot to move forward until the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is unchanged;
and if the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is reduced, the robot is continuously controlled to retreat until the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is unchanged.
The method comprises the steps of setting an infrared alignment lamp set as a first infrared alignment lamp set and a second infrared alignment lamp set, respectively setting the first infrared alignment lamp set and the second infrared alignment lamp set at the front side and the rear side of a wireless charging transmitting coil on a wireless charging base, respectively setting the first infrared alignment lamp set and the second infrared alignment lamp set at the front side and the rear side of the wireless charging transmitting coil in the advancing direction of the robot, judging an alignment route of the robot by the ratio of received signal areas of the first infrared alignment lamp set and the second infrared alignment lamp set after the robot enters the upper part of the wireless charging base, controlling the robot to continue to advance when the ratio of the received signal areas of the first infrared alignment lamp set or the second infrared alignment lamp set is increased, and controlling the robot to continue to advance when the ratio of the received signal areas of the first infrared alignment lamp set or the second infrared alignment lamp set is decreased, then control the robot and retreat, it is unchangeable until the infrared signal's of the infrared counterpoint banks of first infrared counterpoint banks and second received region, can make the wireless counterpoint of charging of robot more accurate and improve counterpoint efficiency through infrared counterpoint banks of first infrared counterpoint banks and second.
The alignment accuracy is further improved, the infrared alignment lamp set 222 further includes a third infrared alignment lamp set 330, and the third infrared alignment lamp set 330 is disposed on the left side or the right side of the wireless charging transmitting coil 221;
further comprising the steps of:
when the percentage of the received signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is larger than the preset proportion;
judging whether the percentage of the received signal area of the third infrared alignment lamp group is larger than a preset proportion or not;
if the distance is smaller than the preset proportion, controlling the robot to exit the wireless charging base and recording the distance away;
recognizing that the third infrared alignment lamp group is in a state that the robot leans to the left or the right through the depth camera;
and then adjusting the robot according to the recorded distance that the robot leaves and the state that the third infrared alignment lamp group is at the left or right of the robot, and controlling the robot to return to the wireless charging base again.
When the read signal area ratio of the first infrared alignment lamp group and the second infrared alignment lamp group is larger than the preset ratio, the wireless charging receiving controller on the robot judges the distance between the left side and the right side according to the received real-time signal area ratio of the third alignment lamp group, namely, judges whether the wireless charging receiving coil of the robot is deviated to the left or the right relative to the wireless charging transmitting coil on the wireless charging base, when the read signal area ratio of the third infrared alignment lamp group is larger than the preset ratio, whether the charging current of the wireless charging transmitting coil detected by the whole vehicle controller is larger than the preset current is continued, if so, the wireless charging is carried out, and when the read signal area ratio of the third infrared alignment lamp group is smaller than the preset ratio, the robot is deviated to the left or the right relative to the wireless charging base, and judging the distance of the robot to the left or right relative to the third infrared alignment lamp group according to the read signal area proportion of the third infrared alignment lamp group, sending the distance to the vehicle control unit, controlling the robot to leave the wireless charging base by the vehicle control unit MCU, recording the leaving linear distance, judging the state of the third infrared alignment lamp group to the left or right by the depth camera, adjusting the robot according to the data, namely the state of the robot to the left or right, the recorded leaving linear distance and the state of the robot to the left or right relative to the third infrared alignment lamp group, controlling the robot to return to the wireless charging base, and judging whether the percentages of the signal areas of the first infrared alignment lamp group, the second infrared alignment lamp group and the third infrared alignment lamp group are all larger than the preset proportion, if the ratio is larger than the preset ratio and the charging current detected by the wireless charging receiving controller is larger than the preset charging circuit, judging that the alignment is successful, then closing an infrared alignment lamp set of the base, and starting wireless charging; if the percentage of the signal areas of the first infrared alignment lamp group, the second infrared alignment lamp group or the third infrared alignment lamp group is smaller than the preset proportion or the charging current detected by the wireless charging receiving controller is smaller than the preset current, the alignment failure is judged, and then the alignment is restarted until the percentage of the signal areas of the first infrared alignment lamp group, the second infrared alignment lamp group and the third infrared alignment lamp group is larger than the preset proportion and whether the percentage of the signal areas of the first infrared alignment lamp group, the second infrared alignment lamp group and the third infrared alignment lamp group is larger than the preset proportion or not.
In this embodiment, the method further includes the following steps:
and when the received signal area percentage of the first infrared alignment lamp group and the second infrared alignment lamp group is less than 0, reading the outline of the wireless charging base again, and moving the robot to the position above the wireless charging base.
When the robot judges that the percentage of the received signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is smaller than 0, the robot is identified to not correctly reach the upper part of the wireless charging base, the robot reads the outline of the wireless charging base again, and then the robot moves to the upper part of the wireless charging base.
In this embodiment, the preset ratio is 90%, for example, the first infrared alignment lamp set, the second infrared alignment lamp set and the third infrared alignment lamp set are all assembled to be an infrared lamp set of 25 × 5 and 125 infrared lamps, each infrared lamp vertically emits a bundle of infrared light upward, the percentage of the signal area of the first infrared alignment lamp set, the second infrared alignment lamp set or the third infrared alignment lamp received by the infrared lamp set receiving module is determined by the number of the red lamps received by the infrared lamp set receiving module and the percentage of 125, and whether the alignment is successful is determined, if the preset ratio is 90%, the determination is performed by determining whether the number of the infrared lamps received in the first infrared alignment lamp set, the second infrared alignment lamp set or the third infrared alignment lamp set is greater than 113 infrared light rays. Wherein, the intensity of the infrared light of infrared lamp transmission on first infrared counterpoint banks, the infrared counterpoint banks of second and the infrared counterpoint banks of third transmission is different, for example, the intensity of the infrared pipe that the infrared lamp of first infrared counterpoint banks sent is first intensity, the intensity of the infrared pipe that the infrared lamp of second infrared counterpoint banks sent is the second intensity, the intensity of the infrared pipe that the infrared lamp of third infrared counterpoint banks sent is third intensity, according to first infrared counterpoint banks, the intensity difference of the infrared light of infrared lamp transmission on second infrared counterpoint banks and the infrared counterpoint banks of third transmission can distinguish infrared light and be by what banks sent. The number of the infrared lamps of each infrared alignment lamp group can be arranged according to actual needs.
Referring to fig. 2-3, in another embodiment, a robot wireless charging alignment system includes a robot 210 and a wireless charging base 220;
the wireless charging base 220 comprises a wireless charging transmitting coil 221, an infrared alignment lamp set 222 and a wireless charging transmitting controller 223; the wireless charging transmitting coil 221 and the infrared alignment lamp set 222 are connected to the wireless charging transmitting controller 223;
the robot 210 comprises a vehicle control unit 211, a motor control unit 212, a charging management unit 213, an identification module, a wireless charging receiving controller 214, a wireless charging receiving coil 215 and an infrared alignment lamp receiving module 216; the motor control unit 212, the charging management unit 213 and the wireless charging receiving controller 214 are connected to the vehicle controller 211 through a CAN bus;
the charging management unit 213 is configured to send an automatic return charging signal to the vehicle controller 211 when detecting that the electric quantity of the power battery 217 is less than a preset value; when the charging management unit 213 detects that the current electric quantity of the power battery of the robot is less than a preset value, for example, less than 10%, an automatic return charging signal is sent to the vehicle controller 211 through the CAN bus, that is, when the current electric quantity of the power battery of the robot is too low, information that automatic return charging is required is sent to the vehicle controller 211;
the vehicle control unit 211 is configured to control the robot 210 to return to a preset wireless charging position after receiving the self-return charging signal;
the identification module is used for identifying the outline of the wireless charging base 220; wherein the identification module further comprises a radar 219 and a depth camera 218; the radar 219 and depth camera 218 are used to identify the profile of the wireless charging base 220.
The vehicle control unit 211 is configured to move to a position above the wireless charging base 220 according to the profile of the wireless charging base 220 identified by the identification module, and identify the profile of the wireless charging base 220 after the robot 210 arrives at a preset wireless charging position, where the robot 210 may identify the profile of the wireless charging base 220 through the radar 219 and the depth camera 218, and in other embodiments, the robot 210 may also identify the profile of the wireless charging base 220 through other transmissions, such as a laser radar, an ultrasonic radar, or an infrared sensor. After the outline of the wireless charging base 220 is identified, the robot 210 is controlled to move above the wireless charging base 220 according to the identified outline of the wireless charging base 220.
The infrared alignment lamp receiving module 216 is configured to receive an infrared signal sent by the infrared alignment lamp set 222; after the robot 210 is controlled to move to the top of the wireless charging base 220, the infrared alignment lamp receiving module 216 on the robot 210 receives the infrared signal of the infrared alignment lamp set 222 on the wireless charging base 220, wherein the infrared alignment lamp set 222 comprises a plurality of infrared lamps, and each infrared lamp vertically emits a beam of infrared light upwards.
The wireless charging receiving controller 214 is configured to determine whether the percentage of the signal area of the received infrared signal sent by the infrared alignment lamp group 222 is greater than a preset ratio; if the ratio is smaller than the preset ratio, sending alignment failure information to the vehicle control unit 211; if the charging current is larger than the preset ratio, detecting the current sent by the wireless charging transmitting coil 221 of the wireless charging base 220 through the wireless charging receiving coil 215, and judging whether the detected charging current of the wireless charging transmitting coil 221 is larger than the preset current; if yes, wireless charging is carried out; if not, sending alignment failure information to the vehicle control unit 211;
and the vehicle control unit 211 is configured to control the robot 210 to perform alignment again after receiving the alignment failure information.
Whether the signal area proportion of the received infrared signal sent by the infrared alignment lamp group 222 is larger than a preset proportion or not is judged, if so, whether the charging current of the wireless charging transmitting coil 221 detected by the whole vehicle controller 211 is larger than the preset current or not is continued, if so, wireless charging is carried out, otherwise, the robot 210 is controlled to carry out charging alignment, more accurate alignment is carried out on wireless charging by judging the signal area of the received infrared alignment lamp group 222, the alignment efficiency, the accuracy and the intelligent degree are improved, and meanwhile, the situation that the charging efficiency is low due to too low charging current is avoided through judgment of the charging current.
In this embodiment, in order to further improve the accuracy of the wireless charging of the robot 210, the infrared alignment lamp set 222 includes a first infrared alignment lamp set 310 and a second infrared alignment lamp set 320, and the first infrared alignment lamp set 310 and the second infrared alignment lamp set 320 are respectively disposed above and below the wireless charging transmitting coil 221;
the wireless charging receiving controller 214 is further configured to determine whether the percentage of the signal areas receiving the first infrared alignment lamp set 310 and the second infrared alignment lamp set 320 is greater than a preset ratio; if the percentage of the received signal area of the first infrared alignment lamp group 310 or the second infrared alignment lamp group 320 is smaller than the preset ratio, the alignment failure information is sent to the vehicle control unit 211, the vehicle control unit 211 controls the robot 210 to execute a forward movement through the motor control unit 212, and the percentage change of the signal area of the first infrared alignment lamp group 310 or the second infrared alignment lamp group 320 is detected and received through the infrared alignment lamp receiving module 216; if the percentage of the signal areas receiving the first infrared alignment lamp set 310 and the second infrared alignment lamp set 320 is increased, the robot 210 continues to be controlled to move forward until the percentage of the signal areas receiving the first infrared alignment lamp set 310 and the second infrared alignment lamp set 320 is unchanged; if the percentage of the signal areas receiving the first infrared alignment lamp set 310 and the second infrared alignment lamp set 320 is decreased, the robot 210 continues to be controlled to move backward until the percentage of the signal areas receiving the first infrared alignment lamp set 310 and the second infrared alignment lamp set 320 is unchanged.
The infrared alignment lamp sets are set as a first infrared alignment lamp set 310 and a second infrared alignment lamp set 320, the first infrared alignment lamp set 310 and the second infrared alignment lamp set 320 are respectively arranged at the front side and the rear side of the wireless charging transmitting coil 221 on the wireless charging base 220, that is, the first infrared alignment lamp set 310 and the second infrared alignment lamp set 320 are respectively arranged at the front side and the rear side of the wireless charging transmitting coil 221 in the advancing direction of the robot 210, then after the robot 210 enters the upper part of the wireless charging base 220, the alignment route of the robot 210 is judged according to the proportion of the signal areas of the first infrared alignment lamp set 310 and the second infrared alignment lamp set 320, for example, when the proportion of the signal areas of the first infrared alignment lamp set 310 or the second infrared alignment lamp set 320 is increased, the robot 210 is controlled to continue to advance, and when the proportion of the signal areas of the first infrared alignment lamp set 310 or the second infrared alignment lamp set 320 is decreased, the robot 210 is controlled to retreat until the areas of the received infrared signals of the first infrared alignment lamp set 310 and the second infrared alignment lamp set 320 are unchanged, and the robot 210 can be wirelessly charged and aligned more accurately and the alignment efficiency can be improved through the first infrared alignment lamp set 310 and the second infrared alignment lamp set 320.
The alignment accuracy is further improved, the infrared alignment lamp set 222 further includes a third infrared alignment lamp set 330, and the third infrared alignment lamp set 330 is disposed on the left side or the right side of the wireless charging transmitting coil 221;
the wireless charging receiving controller 214 is further configured to receive the signals from the first infrared alignment light group 310 and the second infrared alignment light group 320 when the percentage of the received signal area is greater than the preset ratio; judging whether the percentage of the received signal area of the third infrared alignment lamp group 330 is greater than a preset ratio; if the ratio is smaller than the preset ratio, sending alignment failure information of the third infrared alignment lamp set 330 to the vehicle control unit 211;
the vehicle controller 211 is further configured to control the robot 210 to exit the wireless charging base 220 and record a distance to the robot after receiving the alignment failure information of the third infrared alignment lamp set 330; recognizing that the third infrared alignment light group 330 is in a state that the robot 210 is left or right by the depth camera 218; and then, adjusting the robot 210 according to the recorded distance that the robot 210 leaves and the state that the third infrared alignment lamp group 330 is at the left or right of the robot 210, and controlling the robot 210 to return to the wireless charging base 220 again.
When the read signal areas of the first infrared alignment lamp group 310 and the second infrared alignment lamp group 320 are both greater than the preset ratio, the wireless charging receiving controller 214 on the robot 210 determines the distance on the left side or the right side according to the percentage of the real-time signal area of the received third alignment lamp group, that is, determines whether the wireless charging receiving coil 215 of the robot 210 is on the left or the right with respect to the wireless charging transmitting coil 221 on the wireless charging base 220, when the read signal area of the third infrared alignment lamp group 330 is greater than the preset ratio, the wireless charging is performed if the charging current of the wireless charging transmitting coil 221 detected by the vehicle controller 211 is greater than the preset current, and when the read signal area of the third infrared alignment lamp group 330 is less than the preset ratio, the robot 210 is on the left or the right with respect to the wireless charging base 220, and according to the read signal area ratio of the third infrared alignment lamp group 330, judging whether the robot 210 is deviated to the left or right from the third infrared alignment lamp group 330, sending the deviated distance to the vehicle controller 211, the vehicle controller 211 controlling the robot 210 to leave the wireless charging base 220 through the motor control unit 212 and recording the linear distance left, then judging whether the third infrared alignment lamp group 330 is in the left or right state of the robot 210 through the depth camera 218, adjusting the robot 210 according to the above data, namely according to the left or right state of the robot 210 in the third infrared alignment lamp group 330, the recorded linear distance left and the left or right with respect to the third infrared alignment lamp group 330, controlling the robot 210 to return to the wireless charging base 220, and then judging whether the percentages of the signal areas of the first infrared alignment lamp group 310, the second infrared alignment lamp group 320 and the third infrared alignment lamp group 330 are all greater than the percentages of the signal areas of the first infrared alignment lamp group 310, the second infrared alignment lamp group 320 and the third infrared alignment lamp group 330 If the ratio is greater than the preset ratio and the charging current detected by the wireless charging receiving controller 214 is greater than the preset charging circuit, the alignment is determined to be successful, then the infrared alignment lamp set of the base is closed, and the wireless charging is started; if the percentage of the signal area of the first infrared alignment lamp set 310, the second infrared alignment lamp set 320 or the third infrared alignment lamp set 330 is smaller than the preset ratio or the charging current detected by the wireless charging receiving controller 214 is smaller than the preset current, it is determined that the alignment fails, and then the alignment is restarted until the percentage of the signal area of the first infrared alignment lamp set 310, the second infrared alignment lamp set 320 or the third infrared alignment lamp set 330 is greater than the preset ratio and whether the percentage of the signal area of the first infrared alignment lamp set 310, the second infrared alignment lamp set 320 or the third infrared alignment lamp set 330 is greater than the preset ratio.
In this embodiment, the wireless charging receiving controller 214 is further configured to send the re-alignment information to the vehicle control unit 211 when it is determined that the percentage of the received signal areas of the first infrared alignment lamp set 310 and the second infrared alignment lamp set 320 is less than 0, and the vehicle control unit 211 is further configured to read the outline of the wireless charging base 220 again after receiving the re-alignment information, and move the robot 210 to the position above the wireless charging base 220. When the robot 210 determines that the received percentage of the signal areas of the first infrared alignment lamp set 310 and the second infrared alignment lamp set 320 is less than 0, it is recognized that the robot 210 does not correctly reach the upper side of the wireless charging base 220, and then the robot 210 reads the outline of the wireless charging base 220 again and moves to the upper side of the wireless charging base 220.
In this embodiment, the preset ratio is 90%, for example, the first infrared alignment lamp set 310, the second infrared alignment lamp set 320, and the third infrared alignment lamp set 330 are all assembled into an infrared lamp set of 25 × 5 total 125 infrared lamps, each infrared lamp emits a beam of infrared light vertically upward, the percentage of the signal area received by the infrared lamp set receiving module and the percentage of 125 determine whether the alignment is successful, if so, the number of the received infrared lamps in the first infrared alignment lamp set 310, the second infrared alignment lamp set 320, or the third infrared alignment lamp set 330 is determined by determining whether the number of the received infrared lamps in the first infrared alignment lamp set 310, the second infrared alignment lamp set 320, or the third infrared alignment lamp set 330 is greater than the number of the received infrared lights 113. The intensity of the infrared light emitted by the infrared lamps of the first infrared alignment lamp group 310, the second infrared alignment lamp group 320 and the third infrared alignment lamp group 330 is different, for example, the intensity of the infrared tubes emitted by the infrared lamps of the first infrared alignment lamp group 310 is a first intensity, the intensity of the infrared tubes emitted by the infrared lamps of the second infrared alignment lamp group 320 is a second intensity, and the intensity of the infrared tubes emitted by the infrared lamps of the third infrared alignment lamp group 330 is a third intensity, and according to the difference in the intensity of the infrared light emitted by the infrared lamps of the first infrared alignment lamp group 310, the second infrared alignment lamp group 320 and the third infrared alignment lamp group 330, which lamp group emits the infrared light. The number of the infrared lamps of each infrared alignment lamp group can be arranged according to actual needs.
It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.
Claims (10)
1. A robot wireless charging alignment method is characterized by comprising the following steps:
when the charging management unit detects that the electric quantity of the power battery is less than a preset value, an automatic return charging signal is sent to the whole vehicle controller;
the vehicle control unit controls the robot to return to a preset wireless charging position;
the method comprises the following steps of identifying the outline of a wireless charging base, moving the wireless charging base to the position above the wireless charging base, wherein a wireless charging transmitting coil and an infrared alignment lamp set are arranged on the wireless charging base;
receiving an infrared signal sent by an infrared alignment lamp set;
after receiving the infrared signals sent by the infrared alignment lamp set, judging whether the percentage of the signal area of the received infrared signals sent by the infrared alignment lamp set is larger than a preset proportion or not;
if the ratio is smaller than the preset ratio, controlling the robot to align again;
if the charging current is larger than the preset proportion, judging whether the detected charging current of the wireless charging transmitting coil is larger than the preset current;
if yes, wireless charging is carried out;
if not, controlling the robot to align again.
2. The robot wireless charging alignment method according to claim 1, wherein the infrared alignment lamp set comprises a first infrared alignment lamp set and a second infrared alignment lamp set, and the first infrared alignment lamp set and the second infrared alignment lamp set are respectively arranged above and below the wireless charging transmitting coil;
the step of judging whether the percentage of the signal area of the received infrared signals sent by the infrared alignment lamp group is larger than a preset proportion or not; if the ratio is smaller than the preset ratio, controlling the robot to perform the counterpoint again specifically comprises the following steps:
judging whether the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is larger than a preset proportion or not;
if the percentage of the received signal areas of the first infrared alignment lamp group or the second infrared alignment lamp group is smaller than the preset proportion, the vehicle control unit controls the robot to execute forward movement and detects the percentage change of the received signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group;
if the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is increased, continuing to control the robot to move forward until the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is unchanged;
and if the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is reduced, the robot is continuously controlled to retreat until the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is unchanged.
3. The robot wireless charging alignment method according to claim 2, wherein the infrared alignment lamp set further comprises a third infrared alignment lamp set, and the third infrared alignment lamp set is arranged on the left side or the right side of the wireless charging transmitting coil;
further comprising the steps of:
when the percentage of the received signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is larger than the preset proportion;
judging whether the percentage of the received signal area of the third infrared alignment lamp group is larger than a preset proportion or not;
if the distance is smaller than the preset proportion, controlling the robot to exit the wireless charging base and recording the distance away;
recognizing that the third infrared alignment lamp group is in a state that the robot leans to the left or the right through the depth camera;
and then adjusting the robot according to the recorded distance that the robot leaves and the state that the third infrared alignment lamp group is at the left or right of the robot, and controlling the robot to return to the wireless charging base again.
4. The robot wireless charging alignment method according to claim 2, further comprising the steps of:
and when the received signal area percentage of the first infrared alignment lamp group and the second infrared alignment lamp group is less than 0, reading the outline of the wireless charging base again, and moving the robot to the position above the wireless charging base.
5. The robot wireless charging alignment method according to claim 1, wherein the step of "identifying the outline of the wireless charging base" includes the following steps:
the outline of the wireless charging base is identified through the radar and the depth camera.
6. A robot wireless charging alignment system comprises a robot and a wireless charging base, and is characterized in that the wireless charging base comprises a wireless charging transmitting coil, an infrared alignment lamp set and a wireless charging transmitting controller; the wireless charging transmitting coil and the infrared alignment lamp set are connected to the wireless charging transmitting controller;
the robot comprises a vehicle control unit, a motor control unit, a charging management unit, an identification module, a wireless charging receiving controller, a wireless charging receiving coil and an infrared alignment lamp receiving module; the motor control unit, the charging management unit and the wireless charging receiving controller are connected to the whole vehicle controller through a CAN bus;
the charging management unit is used for sending an automatic return charging signal to the vehicle control unit when detecting that the electric quantity of the power battery is less than a preset value;
the motor control unit is used for driving the robot;
the vehicle control unit is used for controlling the robot to return to a preset wireless charging position after receiving the automatic return charging signal;
the identification module is used for identifying the outline of the wireless charging base;
the vehicle control unit is used for moving to the upper part of the wireless charging base according to the outline of the wireless charging base identified by the identification module,
the infrared alignment lamp receiving module is used for receiving infrared signals sent by the infrared alignment lamp set;
the wireless charging receiving controller is used for judging whether the percentage of the signal area of the received infrared signals sent by the infrared alignment lamp group is larger than a preset proportion or not; if the alignment failure information is smaller than the preset proportion, the alignment failure information is sent to the whole vehicle controller; if the charging current is larger than the preset proportion, detecting the current sent by a wireless charging transmitting coil of the wireless charging base through a wireless charging receiving coil, and judging whether the detected charging current of the wireless charging transmitting coil is larger than the preset current or not; if yes, wireless charging is carried out; if not, sending alignment failure information to the vehicle control unit;
and the vehicle control unit is used for controlling the robot to carry out counterpoint again after receiving the counterpoint failure information.
7. The robot wireless charging alignment system according to claim 6, wherein the infrared alignment lamp set comprises a first infrared alignment lamp set and a second infrared alignment lamp set, and the first infrared alignment lamp set and the second infrared alignment lamp set are respectively disposed above and below the wireless charging transmitting coil;
the wireless charging receiving controller is also used for judging whether the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is larger than a preset proportion or not; if the percentage of the received signal areas of the first infrared alignment lamp group or the second infrared alignment lamp group is smaller than the preset proportion, sending alignment failure information to the vehicle control unit, controlling the robot to execute forward movement by the vehicle control unit, and detecting the percentage change of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group through the infrared alignment lamp receiving module; if the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is increased, continuing to control the robot to move forward until the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is unchanged; and if the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is reduced, the robot is continuously controlled to retreat until the percentage of the signal areas of the first infrared alignment lamp group and the second infrared alignment lamp group is unchanged.
8. The robot wireless charging alignment system according to claim 7, wherein the infrared alignment lamp set further comprises a third infrared alignment lamp set, and the third infrared alignment lamp set is disposed on the left side or the right side of the wireless charging transmitting coil;
the wireless charging receiving controller is further used for receiving signals of the first infrared alignment lamp group and the second infrared alignment lamp group when the percentage of the received signal areas is larger than a preset proportion; judging whether the percentage of the received signal area of the third infrared alignment lamp group is larger than a preset proportion or not; if the ratio is smaller than the preset ratio, sending alignment failure information of a third infrared alignment lamp set to the vehicle control unit;
the vehicle control unit is further used for controlling the robot to exit the wireless charging base and recording the distance after receiving the alignment failure information of the third infrared alignment lamp group; recognizing that the third infrared alignment lamp group is in a state that the robot leans to the left or the right through the depth camera; and then adjusting the robot according to the recorded distance that the robot leaves and the state that the third infrared alignment lamp group is at the left or right of the robot, and controlling the robot to return to the wireless charging base again.
9. The robot wireless charging alignment system of claim 7,
the wireless charging receiving controller is further used for sending re-alignment information to the vehicle control unit when the received signal area percentage of the first infrared alignment lamp group and the second infrared alignment lamp group is smaller than 0, the vehicle control unit is further used for reading the outline of the wireless charging base again after receiving the re-alignment information, and the robot is moved to the position above the wireless charging base.
10. The robot wireless charging alignment system of claim 6, wherein the identification module further comprises a radar and a depth camera;
the radar and the depth camera are used for identifying the outline of the wireless charging base.
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| CN202110469773.4A CN113162256A (en) | 2021-04-28 | 2021-04-28 | Robot wireless charging alignment method and system |
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| CN202110469773.4A CN113162256A (en) | 2021-04-28 | 2021-04-28 | Robot wireless charging alignment method and system |
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