CN206960957U - Double infrared accurate calibrations and the robot of charging platform docking angle - Google Patents
Double infrared accurate calibrations and the robot of charging platform docking angle Download PDFInfo
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- CN206960957U CN206960957U CN201720271536.6U CN201720271536U CN206960957U CN 206960957 U CN206960957 U CN 206960957U CN 201720271536 U CN201720271536 U CN 201720271536U CN 206960957 U CN206960957 U CN 206960957U
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- robot
- charging platform
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- infrared distance
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Abstract
The utility model discloses a kind of double infrared accurate calibrations and the robot of charging platform docking angle, it is characterized in that：The robot is respectively mounted with an infrared distance sensor with the level the right and left of charging platform；Each infrared distance sensor is sent analog signal in the single-chip microcomputer of robot by respective interface circuit；Analog signal is converted into data signal by single-chip microcomputer again.When robot is close to charging platform, robot starts the two infrared distance sensors, go to measure the distance of respective infrared distance sensor and charging platform respectively, then according to institute's ranging from calculating robot and the angle of charging platform, after robot obtains angle-data, own rotation is carried out again with collimation angle, the docking angle of last accurate calibration robot and charging platform.The beneficial effects of the utility model are the docking angles of energy accurate calibration robot and charging platform.
Description
Technical field
It the utility model is related to a kind of robot, more particularly to a kind of double infrared accurate calibrations and charging platform docking angle
Robot.
Background technology
It is well known that taking the robot that the mode for changing working battery is continuously worked, needed when changing working battery
Accurately to be directed at charging platform.Precision of ultrasonic ranging is poor, causes calculated angle to be deviated；Lidar measurement cost
It is high；Common angle sensor can only robot measurement own rotation angle, be not suitable for the calibration of robot and charging platform.
Utility model content
In order to overcome disadvantages mentioned above, the utility model provides a kind of double infrared accurate calibrations and charging platform butt joint corner
The robot of degree.
Used technical scheme is the utility model to achieve the above object：
Double infrared accurate calibrations and the robot of charging platform docking angle, it is characterized in that：
The robot is respectively mounted with an infrared distance sensor with the level the right and left of charging platform；It is each red
All by respective interface circuit, analog signal is sent in the single-chip microcomputer of robot for outer distance measuring sensor；Single-chip microcomputer is again simulation
Signal is converted into data signal.When robot is close to charging platform, robot starts the two infrared distance sensors, goes point
The distance of respective infrared distance sensor and charging platform is not measured, then according to institute's ranging from calculating robot and charging platform
Angle, after robot obtains angle-data, then carry out own rotation with collimation angle, last accurate calibration robot and charging
The docking angle of platform.
The beneficial effects of the utility model are the docking angles of energy accurate calibration robot and charging platform.
Brief description of the drawings
The utility model is further illustrated with implementation below in conjunction with the accompanying drawings.Fig. 1 is schematic diagram of the present utility model, Fig. 2
It is to calculate angle schematic diagram, Fig. 3 is that driving moment rotates schematic diagram.
In figure, 1 is charging platform, and 2 be left infrared distance sensor, and 3 be right infrared distance sensor, and 4 be robot, 5
It is interface circuit, 6 be single-chip microcomputer, and 7 be left wheel, and 8 be right wheel.
Embodiment
In Fig. 1, double infrared accurate calibrations and the robot of charging platform docking angle, it is characterized in that：
The robot 4 is mounted with an infrared distance sensor respectively with 1 level the right and left of charging platform, often
Individual infrared sensor all by respective interface circuit 5, analog signal is sent in the single-chip microcomputer 6 of robot and is converted into digital letter
Number.When robot 4 is close to charging platform 1, robot starts left infrared distance sensor 2 and right infrared distance sensor 3, goes
The distance of respective infrared distance sensor and charging platform 1, then calculating robot 4 and the angle of charging platform 1 are measured respectively.
Further, the method for calculating the angle is as follows：If Fig. 2, L1 and L2 are respectively left side infrared sensor 2 and a left side
Side infrared sensing 3 and charging platform 1 it is measured come distance, x is known distance between two infrared sensors, obtains machine
People 4 and the angle a of charging platform 1：Because a and b are corresponding angles, so b=a, according to trigonometric function relation,, institute
With angle。
Further, after robot 4 obtains the robot 4 and angle a of charging platform 1, driving moment rotates respective distance.
For example, to make robot 4 parallel with charging platform 1, the driving rotation distance of left wheel 7 of robot 4 is,
Right wheel 8 is driven to rotate same distance toward opposite direction simultaneously.
It is described above, only it is preferred embodiment of the present utility model, not the utility model is made any formal
Limitation, it is any without departing from the utility model content, above example is made according to the technical essence of the utility model
Any simple modification, equivalent change and modification, in the range of still falling within technical solutions of the utility model.
Claims (1)
1. pair infrared accurate calibration and the robot of charging platform docking angle, it is characterized in that：The robot and charging platform
Level the right and left is respectively mounted with an infrared distance sensor；Each infrared distance sensor passes through respective interface
Circuit, analog signal is sent in the single-chip microcomputer of robot；Analog signal is converted into data signal by single-chip microcomputer again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720271536.6U CN206960957U (en) | 2017-03-20 | 2017-03-20 | Double infrared accurate calibrations and the robot of charging platform docking angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720271536.6U CN206960957U (en) | 2017-03-20 | 2017-03-20 | Double infrared accurate calibrations and the robot of charging platform docking angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206960957U true CN206960957U (en) | 2018-02-02 |
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ID=61377443
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720271536.6U Active CN206960957U (en) | 2017-03-20 | 2017-03-20 | Double infrared accurate calibrations and the robot of charging platform docking angle |
Country Status (1)
| Country | Link |
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| CN (1) | CN206960957U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774350A (en) * | 2017-03-20 | 2017-05-31 | 广东大仓机器人科技有限公司 | The robot of double infrared accurate calibration robots and charging platform docking angle |
| 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 |
-
2017
- 2017-03-20 CN CN201720271536.6U patent/CN206960957U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774350A (en) * | 2017-03-20 | 2017-05-31 | 广东大仓机器人科技有限公司 | The robot of double infrared accurate calibration robots and charging platform docking angle |
| 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 |
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