CN205986255U - Automatic alignment device that charges of robot - Google Patents
Automatic alignment device that charges of robot Download PDFInfo
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- CN205986255U CN205986255U CN201620971751.2U CN201620971751U CN205986255U CN 205986255 U CN205986255 U CN 205986255U CN 201620971751 U CN201620971751 U CN 201620971751U CN 205986255 U CN205986255 U CN 205986255U
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- robot
- charging pile
- alignment device
- charging
- master control
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Abstract
The utility model discloses an automatic alignment device that charges of robot, aim at the system and fill electric pile including the robot and aim at the system. Alignment system of robot includes industrial computer main control board, the next quick -witted control panel and vision collector, the next quick -witted control panel, vision collector pass through the control line with the industrial computer main control board respectively and are connected. Fill electric pile alignment system including filling electric pile main control board and vision sign, fill the electric pile main control board and pass through control line connection vision sign. The utility model discloses the accurate alignment that can extensively be used for the charging system of robot.
Description
Technical field
This utility model is related to a kind of robot automatic charging alignment device.
Background technology
At present, existing increasing robot product is applied to service for life field.In these robot products,
It is greatly rechargeable battery to be used as power source.In the not enough power supply of rechargeable battery, need user by rechargeable battery
It is connected with external power source, complete to charge.This not only can increase the workload of user, and, under staff working environment in short supply,
Once failing to find in time because electric quantity of rechargeable battery is not enough, periods of robot operation stop can be caused, thus affecting work efficiency.
Secondly, existing market robot charges is all by magnetic navigation or other types charging alignment, meeting on optimized integration
Increase the condition that the constraints such as ground magnet-wire use, larger to use environment limitation.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of robot automatic charge device and its automatically fills
Electricity side, in the not enough power supply of rechargeable battery, enables robot promptly automatically to find external power source and to complete to charge.
For solving the above problems, this utility model provides a kind of robot automatic charging alignment device, including robot
To Barebone and charging pile to Barebone.Described robot includes industrial computer master control borad, slave computer panel and regards to Barebone
Feel harvester, described slave computer panel, vision collecting device are connected by control line respectively at industrial computer master control borad.Described charging
Stake includes charging pile master control borad and visual cues to Barebone, and described charging pile master control borad connects visual cues by control line.
As further improvement of the utility model, described slave computer panel includes robot break-make relay, electricity
Harvester, infrared remote coding receptor, voltage x current harvester；Described robot break-make relay is two relays, with
Slave computer panel is connected by control line, and described electric quantity collector is connected with slave computer panel by data/address bus, described
Infrared remote coding receptor is connected to Barebone with charging pile, and described voltage x current harvester passes through control with slave computer panel
Line processed connects.
As further improvement of the utility model, described vision collecting device be infrared camera, its setting height(from bottom) with fill
Visual cues in electric stake are highly basically identical, can guarantee that the visual cues on the charging pile collecting.
As further improvement of the utility model, described charging pile master control borad is provided with the charging connecting by control line
Stake break-make electrical relay, charging pile photoelectric detector, electro-magnet switch controller and infrared remote coding emitter.
As further improvement of the utility model, described visual cues are the beacon of infrared cross asymmetric labelling,
The setting height(from bottom) of described beacon is highly basically identical with the vision collecting device in robot, can guarantee that on the charging pile collecting
Visual cues.
As further improvement of the utility model, described robot automatic charging alignment device also includes being directed at locking machine
Structure, be aligned locking mechanism includes electromagnetic door lock and electro-magnet switch controller, the electromagnetism suction piece part peace of described electromagnetic door lock
It is contained on the skeleton of robot body, another part is arranged on charging pile body, both setting height(from bottom)s are consistent, electro-magnet switch
Controller is connected by control line with charging pile master control borad.
The beneficial effects of the utility model are：
Robot, in the not enough power supply of rechargeable battery, without manual intervention, just can be automatically performed by vision alignment and fill
Electricity, realizes full-automatic unmanned robot system on duty.And, this utility model is suitable for existing any types robot to be made
With, as long as if having AC Power supply socket so that robot can be achieved with the region that can provide alternating current full-automatic unmanned
Automatic charging on duty.
Brief description
In order to be illustrated more clearly that the technical scheme in this utility model embodiment, below will be to institute in embodiment description
Need use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only more of the present utility model
Embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also be attached according to these
Figure obtains other accompanying drawings, wherein：
Fig. 1 is this utility model block diagram；
Fig. 2 is the infrared transmitting tube layout of infrared cross asymmetric labelling of the present utility model.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely description is it is clear that described embodiment is only a part of embodiment of the present utility model rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of making creative work
The all other embodiment being obtained, broadly falls into the scope of this utility model protection.
Refering to Fig. 1 to Fig. 2, robot of the present utility model automatic charging alignment device, including robot to Barebone, fill
Electric stake is to Barebone and be aligned locking mechanism.Described robot Barebone is included industrial computer master control borad, slave computer panel and
Vision collecting device, described slave computer panel, vision collecting device are connected by control line with industrial computer master control borad respectively.Described right
Quasi- locking mechanism includes electromagnetic door lock and electro-magnet switch controller.
Specifically：
Industrial computer master control borad is CPU, collects all kinds of external informations that each sensor acquisition arrives, through one is
After column processing, send related execution order to actuator, so that robot realizes various functions.Robot slave computer control
Making sheet, by the sensing data collecting, is transmitted with industrial computer master control borad by data/address bus, receives industrial computer master control borad simultaneously
Order, each actuator on robot slave computer panel for the drive connection.
Slave computer panel including robot break-make relay, electric quantity collector, infrared remote coding receptor,
Voltage x current harvester.Robot break-make relay is two relays, the positive pole of a switched charge power supply, another switch
The negative pole of charge power supply.Under the non-charged state of robot, this relay is closed mode, primarily to allow on charge sheet without
Electricity, safety, prevent power supply short circuit outside robot.Charge before be aligned, it is closed, robot gathers the voltage on contact chip,
By filling series connection constantan wire in a loop, slave computer panel connects comparator and detects that its electric current has or not, use it to process
Robot automatic charging is directed at the judgement of exception and process in the middle of charge circuit.Current electric quantity is believed by battery current collecting part
Through data bus transmission to robot slave computer panel, infrared remote coding receptor adopts the remote controller codes of standard to breath
Form or Bluetooth transmission form are transmitted with charging pile system, adopt infrared remote coding receiver module in the present embodiment,
Infrared transmitting tube.Charging voltage is wired to robot slave computer panel by voltage x current harvester.For voltage
Collection, in the present embodiment connects charging line ball to robot slave computer panel, using electric resistance partial pressure, to single-chip microcomputer IO end
Mouthful, AD conversion collection voltages.Current acquisition mode, using constantan wire of connecting in charge circuit, gathers the voltage drop at its two ends,
Through comparator output low and high level in order to judge the presence or absence of charging current.
Vision collecting device is 4 highly consistent infrared network cameras, divides four orientation to be all around arranged on machine
On human body, height as its setting height(from bottom) cross asymmetric labelling infrared with charging pile is robot to charge finding
Stake, be aligned charging pile provide vision alignment signal.Infrared network camera in the present embodiment and robot charging panel are at one
On vertical line, that is, the center of circle of infrared network camera in the centrage of charging panel on the direction in vertical the earth's core, on one wire.
In the case that electricity is less than and sets electricity, searched infrared by ten on charging pile using 90 degree of infrared network camera of 4 spacing
The asymmetric labelling of font, after infrared network camera finds, robot, according to alignment algorithm, makes the infrared network of robot take the photograph
Find the infrared cross asymmetric labelling on charging pile, the letter that then robot collects according to infrared network camera as head
Number it is adjusted to robot itself attitude, the charging realized between robot and charging pile is accurately aligned.
Described charging pile includes charging pile master control borad and visual cues to Barebone, and described charging pile master control borad passes through to control
Line connects visual cues.
Charging pile master control borad is provided with the charging pile break-make electrical relay connecting by control line, charging pile Photoelectric Detection
Device, electro-magnet switch controller and infrared remote coding emitter.Visual cues are the beacon of infrared cross asymmetric labelling,
The setting height(from bottom) of described beacon is highly consistent with the vision collecting device in robot.
Charging pile master control borad is arranged on charging pile, and this is internal, acts primarily as the state gathering various sensors at present, such as：Inspection
Survey before charging pile charge sheet be aligned with robot be aligned after state, the control energising of electromagnetic door lock and power-off, control charging
The open and close of stake charge sheet charge power supply, control the transmitting of infrared cross asymmetric labelling and closing on charging pile.
The major function of charging pile break-make electrical relay is to open and charge closing power supply, and charging pile does not receive robot
The registration signal sent through infrared transmission module or robot charge abnormal disconnection with during charging complete, and charging pile passes through this mould
Block is opened and charge closing power supply.Simultaneously for security consideration, be charging pile under non-aligned charged state, charge closing stake is filled
Power supply on electric piece, prevents from getting an electric shock.
The major function of charging pile photoelectric detector is the detection robot charge sheet situation of the contact with charging pile charge sheet,
Only after contact puts in place, after impaction state, notifying robot, automatic charging be aligned has put in place infrared transceiver module, with
When robot halt, self-locking motor, wait charging pile to open the message of electric magnet, detect charging current, close motor simultaneously
Self-locking.Charging pile closes the ultrared transmitting of infrared cross asymmetric labelling, prevents robot and robot from fighting for charging
Stake, opens charging pile electric magnet.After charging pile charge sheet unclamps, charging pile opens the infrared letter of infrared cross asymmetric labelling
Number transmitting, charge closing stake charge power supply, close electromagnet power supply, open charging pile realign pattern.Abnormal conditions
With above-mentioned process.
Infrared remote coding emitter adopts the remote controller codes of standard.
The height of infrared cross asymmetric mark installment is consistent with infrared network camera, adopts red in the present embodiment
Emission pipe 1.It is assembled according to the such as cross shape marks of Fig. 2.Infrared cross asymmetric labelling and charging pile charging panel exist
Article one, on vertical line, that is, the center of circle of infrared cross asymmetric labelling is in charging pile charge sheet centrage, in vertical the earth's core
On direction, on one wire.When opening the infrared transmitting tube 1 on infrared cross asymmetric labelling, toward emission infrared ray
Guided robot finds charging pile, and infrared cross asymmetric labelling is used for realizing be aligned.
Be aligned locking mechanism includes electromagnetic door lock and electro-magnet switch controller, its objective is that robot is aligned with charging pile
Afterwards, realize interfixing of robot and charging pile.An electromagnetism suction piece part for electromagnetic door lock is arranged on the bone of robot body
On frame, another part is arranged on charging pile body, and both setting height(from bottom)s are consistent, electro-magnet switch controller and charging pile master control
Plate is connected by control line.Electro-magnet switch controller is using concealed installation magnetic key operated lock it is ensured that being unlikely to pine under larger straight pull
Open, it is possible to use controlling it to open and to close, after unlatching, the suction piece supporting with it is arranged on the pattern of audion and relay
In robot.The installation sheet of electromagnetic door lock is provided with robot body, installation sheet is connected on the skeleton of robot, works as machine
After device people is aligned with charging pile, charging pile opens electric magnet, and robot is electrically charged stake and holds.
The beneficial effects of the utility model are：
Robot, in the not enough power supply of rechargeable battery, without manual intervention, just can be automatically performed by vision alignment and fill
Electricity, realizes full-automatic unmanned robot system on duty.And, this utility model is suitable for existing any types robot to be made
With, as long as if having AC Power supply socket so that robot can be achieved with the region that can provide alternating current full-automatic unmanned
Automatic charging on duty.
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, for this
For the technical staff in field, this utility model can have various modifications and variations.All of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvement made etc., should be included within protection domain of the present utility model.
Claims (6)
1. a kind of robot automatic charging alignment device, including robot to Barebone and charging pile to Barebone, its feature exists
In：
Described robot includes industrial computer master control borad, slave computer panel and vision collecting device, described slave computer control to Barebone
Making sheet, vision collecting device are connected by control line with industrial computer master control borad respectively；
Described charging pile includes charging pile master control borad and visual cues to Barebone, and described charging pile master control borad is by control line even
Connect visual cues.
2. according to claim 1 a kind of robot automatic charging alignment device it is characterised in that：Described slave computer panel
Including robot break-make relay, electric quantity collector, infrared remote coding receptor, voltage x current harvester；Described robot
Break-make relay is connected by control line with slave computer panel, and described electric quantity collector is passed through data/address bus and controlled with slave computer
Plate connects, and described infrared remote coding receptor is connected to Barebone with charging pile, described voltage x current harvester and slave computer
Panel is connected by control line.
3. according to claim 1 a kind of robot automatic charging alignment device it is characterised in that：Described vision collecting device is
Infrared camera, the visual cues on its setting height(from bottom) and charging pile highly consistent.
4. according to claim 1 a kind of robot automatic charging alignment device it is characterised in that：Described charging pile master control borad
Be provided with the charging pile break-make electrical relay being connected by control line, charging pile photoelectric detector, electro-magnet switch controller and
Infrared remote coding emitter.
5. according to claim 1 a kind of robot automatic charging alignment device it is characterised in that：Described visual cues are red
The beacon of cross asymmetric labelling outward, the setting height(from bottom) of described beacon is highly consistent with the vision collecting device in robot.
6. according to claim 1 a kind of robot automatic charging alignment device it is characterised in that：Described robot fills automatically
Electric alignment device also includes being aligned locking mechanism, and be aligned locking mechanism includes electromagnetic door lock and electro-magnet switch controller, described
An electromagnetism suction piece part for electromagnetic door lock is arranged on the skeleton of robot body, and another part is arranged on charging pile body,
Both setting height(from bottom)s are consistent, and electro-magnet switch controller is connected by control line with charging pile master control borad.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620971751.2U CN205986255U (en) | 2016-08-29 | 2016-08-29 | Automatic alignment device that charges of robot |
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|---|---|---|---|
| CN201620971751.2U CN205986255U (en) | 2016-08-29 | 2016-08-29 | Automatic alignment device that charges of robot |
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| CN205986255U true CN205986255U (en) | 2017-02-22 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108508897A (en) * | 2018-04-20 | 2018-09-07 | 杭州蓝芯科技有限公司 | A kind of robot automatic charging alignment system and method for view-based access control model |
| CN108521149A (en) * | 2018-04-17 | 2018-09-11 | 武汉斌果科技有限公司 | The intelligent charging spot system and method with robot lower coupling based on camera |
| CN108897323A (en) * | 2018-07-23 | 2018-11-27 | 福建（泉州）哈工大工程技术研究院 | The control method of mobile robot self alignment recharging base |
| CN110014997A (en) * | 2018-08-20 | 2019-07-16 | 深圳威琳懋生物科技有限公司 | A kind of charging base station |
| CN110263601A (en) * | 2018-03-12 | 2019-09-20 | 杭州萤石软件有限公司 | A kind of cradle recognition methods and mobile robot |
| CN110417084A (en) * | 2019-07-23 | 2019-11-05 | 深兰科技（上海）有限公司 | A kind of robot charging method and device |
| CN110928307A (en) * | 2019-12-10 | 2020-03-27 | 广东技术师范大学 | Automatic recharging method and system based on infrared laser, robot and charging dock |
| CN111603096A (en) * | 2019-02-25 | 2020-09-01 | 江苏美的清洁电器股份有限公司 | Charging station and information processing method |
-
2016
- 2016-08-29 CN CN201620971751.2U patent/CN205986255U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110263601A (en) * | 2018-03-12 | 2019-09-20 | 杭州萤石软件有限公司 | A kind of cradle recognition methods and mobile robot |
| CN108521149A (en) * | 2018-04-17 | 2018-09-11 | 武汉斌果科技有限公司 | The intelligent charging spot system and method with robot lower coupling based on camera |
| CN108521149B (en) * | 2018-04-17 | 2024-06-11 | 武汉斌果科技有限公司 | Intelligent charging pile system and method based on camera and low coupling with robot |
| CN108508897A (en) * | 2018-04-20 | 2018-09-07 | 杭州蓝芯科技有限公司 | A kind of robot automatic charging alignment system and method for view-based access control model |
| CN108508897B (en) * | 2018-04-20 | 2021-03-05 | 杭州蓝芯科技有限公司 | Vision-based robot automatic charging alignment system and method |
| CN108897323A (en) * | 2018-07-23 | 2018-11-27 | 福建（泉州）哈工大工程技术研究院 | The control method of mobile robot self alignment recharging base |
| CN110014997A (en) * | 2018-08-20 | 2019-07-16 | 深圳威琳懋生物科技有限公司 | A kind of charging base station |
| CN111603096A (en) * | 2019-02-25 | 2020-09-01 | 江苏美的清洁电器股份有限公司 | Charging station and information processing method |
| CN110417084A (en) * | 2019-07-23 | 2019-11-05 | 深兰科技（上海）有限公司 | A kind of robot charging method and device |
| CN110928307A (en) * | 2019-12-10 | 2020-03-27 | 广东技术师范大学 | Automatic recharging method and system based on infrared laser, robot and charging dock |
| CN110928307B (en) * | 2019-12-10 | 2023-05-12 | 广东技术师范大学 | Automatic recharging method and system based on infrared laser, robot and charging dock |
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Legal Events
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190718 Address after: 410013 16 Floor, F1 Building, Lugu Enterprise Square, 27 Wenxuan Road, Changsha High-tech Development Zone, Hunan Province Patentee after: Changsha Wanwei Robot Co., Ltd. Address before: 410205 Building A2 202, Yuyuan, Lugu, 27 Wenxuan Road, Changsha High-tech Development Zone, Hunan Province Patentee before: Hunan Wan Intelligent Robot Technology Co., Ltd. |