CN210015368U - Mobile robot pile-returning charging system - Google Patents
Mobile robot pile-returning charging system Download PDFInfo
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- CN210015368U CN210015368U CN201921223393.7U CN201921223393U CN210015368U CN 210015368 U CN210015368 U CN 210015368U CN 201921223393 U CN201921223393 U CN 201921223393U CN 210015368 U CN210015368 U CN 210015368U
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Abstract
The utility model discloses a mobile robot returns stake charging system, include: a signal transmitting device is fixedly arranged on the charging pile; the mobile robot body is provided with a signal receiving device; the mobile robot body includes: a control unit; the driving motor is connected to the control unit through an electric wire, so that the control unit can feed back the processed information to the driving motor to control the motion condition of the driving motor; the driving wheel is fastened to the driving motor so as to rotate along with the rotation of the driving motor; the mobile robot body receives the signal transmitting device through the signal receiving device, so that the mobile robot body searches and aligns to the charging pile for charging. The utility model discloses can reduce cost and reduce technical complexity to can show the efficiency that improves back stake and charge, greatly reduced research and development personnel's technical ability requirement.
Description
Technical Field
The utility model relates to a mobile robot technical field especially relates to a mobile robot returns stake charging system.
Background
The mobile robot is a comprehensive system integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution and the like. The method integrates the research results of multiple subjects such as sensor technology, information processing, electronic engineering, computer engineering, automatic control engineering, artificial intelligence and the like, represents the highest achievement of mechanical-electrical integration, and is one of the most active fields of scientific and technical development at present. With the continuous improvement of the performance of the robot, the application range of the mobile robot is greatly expanded, and the mobile robot is widely applied to industries such as industry, agriculture, medical treatment, service and the like, and is well applied to harmful and dangerous occasions such as the fields of urban safety, national defense, space detection and the like.
In the prior art, mobile robots have various recharging technologies, for example, patent application No. 201710876021.3 entitled "automatic cleaning equipment and charging method thereof" provides an automatic cleaning equipment that determines a pile feeding route to a charging pile according to a combination of an optical signal detected by a first bottom receiving device and/or a second bottom receiving device and an LDS, and then controls the automatic cleaning equipment to move based on the pile feeding route, completes alignment with the charging pile for charging, can ensure accuracy of the process, and can realize rapid pile feeding. The system needs to comprise a first bottom receiving device, a second bottom receiving device and a plurality of modules of a laser ranging sensor to coordinate to complete work. Similar recharging techniques are more, but more functional modules are required, which results in increased cost and technical complexity, and the recharging efficiency is more general, thereby greatly increasing the skill requirements of the developing personnel.
Therefore, there is a need in the art to design a mobile robot pile-returning charging system that can reduce the cost and the technical complexity.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem that exists among the above-mentioned prior art, the utility model provides a can in time remove robot and return stake charging system, can reduce cost and reduce technical complexity to can show to improve the efficiency that returns stake and charge, greatly reduced research and development personnel's technical requirement.
In order to achieve the above purpose, the utility model adopts the following technical scheme: the utility model provides a pair of mobile robot returns stake charging system, include: the charging pile is fixedly provided with a signal transmitting device; the mobile robot comprises a mobile robot body, wherein a signal receiving device is arranged on the mobile robot body; the mobile robot body includes: a control unit; the driving motor is connected to the control unit through a wire, so that the control unit can feed back the processed information to the driving motor to control the motion state of the driving motor; a driving wheel fastened to the driving motor so that the driving wheel can rotate with the rotation of the driving motor; the mobile robot body receives the signal transmitting device through the signal receiving device, so that the mobile robot body searches for and aims at the charging pile to charge.
Further, the signal transmitting apparatus includes: aligning the signal emitting device; and the pile searching signal transmitting device is internally fixed on the alignment signal transmitting device.
Further, the alignment signal transmitting apparatus includes: the bottom shell of the launching device is provided with an alignment signal baffle plate so that two cavities are formed in the bottom shell of the launching device; the rear end face of the cavity is respectively provided with an aligned emission lamp fixing hole; at least two bulges are arranged on the outer side of the bottom shell of the launching device; a pile searching and clamping groove is formed in the center line of the bottom shell of the launching device, which is perpendicular to the front end face; the transmitting device comprises a transmitting device face shell, wherein two transmitting device face shell buckles are arranged on the transmitting device face shell; a pile searching signal transmitting plate is arranged on the center line of the vertical front end face of the transmitting device face shell; the pile searching signal transmitting plate is provided with a pile searching signal transmitting hole; two alignment signal emission lamps respectively fastened in two cavities of the bottom shell of the emission device through the alignment emission lamp fixing holes; the alignment emission lamp PCB is connected with the alignment signal emission lamp through a circuit so that the alignment signal emission lamp is electrified to emit a signal; the transmitting device surface shell is matched with the bulge through the transmitting device surface shell buckle and is fixedly clamped on the transmitting device bottom shell; the pile searching signal transmitting device is arranged in the pile searching clamping groove and enables a transmitting signal to pass through the pile searching signal transmitting hole.
Further, the pile-searching signal transmitting device comprises: a pile searching signal transmitting lamp; the pile searching emission lamp PCB is connected with the pile searching signal emission lamp through a circuit.
Furthermore, a plurality of anti-reflection grooves are formed in the inner side of the cavity of the bottom shell of the emitting device.
Furthermore, two inner side surfaces of the pile searching signal transmitting hole and the central line of the pile searching signal transmitting hole form an angle of α degrees.
Further, the α angle is 0 ~ 90.
Further, the signal receiving apparatus includes: the first signal receiver is fixedly arranged on the left side of the mobile robot body; the first signal receiver is connected to the control unit through a line; the second signal receiver is fixedly arranged on the right side of the mobile robot body; the second signal receiver is connected to the control unit through a line; the third signal receiver is fixedly arranged right in front of the mobile robot body; the third signal receiver is connected with the control unit through a line, and a left signal receiving unit and a right signal receiving unit are arranged on the third signal receiver.
Further, the signal emitted by the signal emitting device is an infrared signal.
Further, the frequencies emitted by the first signal receiver, the second signal receiver and the third signal receiver are different.
The utility model discloses a still provide a mobile robot and return stake charging method, this method includes following step: the method comprises the following steps: the control unit receives a charging execution command; step two: and the signal receiving device receives the signal of the signal transmitting device and returns to the pile for charging.
Further, the first method step further specifically includes: and the mobile phone APP sends a charging instruction to the control unit.
Further, the first method step further specifically includes: and manually pressing a charging instruction key so as to send a charging instruction to the control unit.
Further, the first method step further specifically includes: the mobile robot body sends the electric quantity shortage signal to the control unit after self-testing electric quantity shortage, so that a charging instruction is formed.
Further, in the second step of the method, before the receiving device receives the signal of the signal transmitting device and returns to the pile for charging, the mobile robot body rotates.
Furthermore, the second step of the method also comprises that the signal receiving device receives the signal of the signal transmitting device, searches the charging pile first and then aims at the charging pile for recharging.
Further, the second step of the method also comprises that the signal receiving device receives the signal of the signal transmitting device, simultaneously searches for the charging pile and directly aims at the charging pile for charging and recharging.
The method for searching for the charging pile further comprises the steps of judging the orientation of the mobile robot body, judging that the mobile robot body moves leftwards when the first signal receiver and the third signal receiver receive signals emitted by the pile searching signal emitting lamp and the second signal receiver does not receive any related signals, judging that the mobile robot body moves rightwards when the mobile robot body is deviated rightwards relative to the charging pile, judging that the mobile robot body moves rightwards when the second signal receiver and the third signal receiver receive signals emitted by the pile searching signal emitting lamp and the first signal receiver does not receive any related signals, judging that the mobile robot body moves rightwards when the mobile robot body is deviated leftwards relative to the charging pile, judging that the mobile robot body moves rightwards when only the first signal receiver receives signals emitted by the pile searching signal emitting lamp and the third signal receiver and the second signal receiver do not receive any related signals, controlling the mobile robot body to control the pile searching signal emitting lamp β to the third signal receiver to determine that the mobile robot body moves rightwards when only the second signal receiver receives signals emitted by the pile searching signal emitting lamp and the third signal receiver and the pile searching signal receiver receives signals, and the signals to determine that the mobile robot body continues to detect the pile searching signal emitting signals and the moving angle when the mobile robot body detects that the pile searching signal receiver receives the pile searching signal emitting signals and the third signal emitting signals and the mobile robot body and the mobile robot receiver detects the pile.
Furthermore, when only the first signal receiver receives the signal transmitted by the pile searching signal transmitting lamp and the third signal receiver and the second signal receiver do not receive any related signal, the control unit controls the mobile robot body to rotate by β in the anticlockwise direction until the third signal receiver receives the signal transmitted by the pile searching signal transmitting lamp, so that the position of the mobile robot body relative to the charging pile is judged, wherein when the rotation angle β is smaller than 90 degrees, the mobile robot body is deviated in the left direction when the third signal receiver receives the signal transmitted by the pile searching signal transmitting lamp, when the rotation angle β is larger than 90 degrees, the third signal receiver receives the signal transmitted by the pile searching signal transmitting lamp, the mobile robot body is deviated in the right direction, and when the rotation angle β is equal to 90 degrees, the third signal receiver receives the signal transmitted by the pile searching signal transmitting lamp, the mobile robot body is located at the center line position of the charging pile.
Further, when only the second signal receiver receives the signal transmitted by the pile searching signal transmitting lamp and the third signal receiver and the first signal receiver do not receive any related signal, the control unit controls the mobile robot body to rotate counterclockwise by the angle θ until the third signal receiver receives the signal transmitted by the pile searching signal transmitting lamp, so as to determine the position of the mobile robot body relative to the charging pile: when the rotation angle theta is smaller than 90 degrees, the third signal receiver receives signals transmitted by the pile searching signal transmitting lamp, and the mobile robot body deflects rightwards; when the rotation angle theta is larger than 90 degrees, and the third signal receiver receives signals transmitted by the pile searching signal transmitting lamp, the mobile robot body is biased to the left; when the rotation angle theta is equal to 90 degrees, the third signal receiver receives signals transmitted by the pile searching signal transmitting lamp, and the mobile robot body is located at the center line position of the charging pile.
Further, the method for aligning the charging pile comprises the following steps: when the left signal receiving unit only receives the alignment signal transmitted by the left alignment signal transmitting lamp and the right signal receiving unit does not receive the alignment signal transmitted by the right alignment signal transmitting lamp, the mobile robot body deviates to the left relative to the charging pile, the control unit controls the mobile robot body to rotate right until the right signal receiving unit only receives the alignment signal transmitted by the right alignment signal transmitting lamp and the left signal receiving unit only receives the alignment signal transmitted by the left alignment signal transmitting lamp, so that the mobile robot body can be charged in the pile; when the alignment signal transmitted by the right signal receiving unit only receives the alignment signal transmitted by the right alignment signal transmitting lamp and the alignment signal transmitted by the left alignment signal transmitting lamp is not received by the left signal receiving unit, the mobile robot body is deviated to the right relative to the charging pile, the control unit controls the mobile robot body to move to the left direction, the left signal receiving unit only receives the alignment signal transmitted by the left alignment signal transmitting lamp and the right signal receiving unit only receives the alignment signal transmitted by the right alignment signal transmitting lamp, and then the pile charging can be carried out; when the left signal receiving unit receives the alignment signals transmitted by the left alignment signal transmitting lamp and the right alignment signal transmitting lamp at the same time and the right signal receiving unit does not receive the alignment signals transmitted by the right alignment signal transmitting lamp, the mobile robot body deviates to the left relative to the charging pile, the control unit controls the mobile robot body to rotate to the right, the right signal receiving unit only receives the alignment signals transmitted by the right alignment signal transmitting lamp, and the left signal receiving unit only receives the alignment signals transmitted by the left alignment signal transmitting lamp, so that the mobile robot body can be charged in the pile; when the right signal receiving unit receives the alignment signals transmitted by the right alignment signal transmitting lamp and the left alignment signal transmitting lamp at the same time and the left signal receiving unit does not receive the alignment signals transmitted by the left alignment signal transmitting lamp, the mobile robot body is rightwards deviated relative to the charging pile, the control unit controls the mobile robot body to be leftwards turned and moved to the left signal receiving unit, only the alignment signals transmitted by the left alignment signal transmitting lamp are received, and only the alignment signals transmitted by the right alignment signal transmitting lamp are received by the right signal receiving unit, so that the pile charging can be realized.
Compared with the prior art, the utility model has the advantages of it is following:
firstly, the cost can be reduced, the technical complexity can be reduced, the pile returning charging efficiency can be obviously improved, and the technical requirements of research personnel are greatly reduced.
Drawings
Fig. 1 is a schematic view of a pile-returning charging system of a mobile robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of functional modules of a pile-returning charging system of a mobile robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an alignment signal transmitting device of a pile-returning charging system of a mobile robot according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a pile searching signal transmitting device of a pile returning charging system of a mobile robot according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an alignment signal transmitting device of a pile-returning charging system of a mobile robot according to an embodiment of the present invention;
fig. 6 is a schematic sectional view along a-a of a transmitting device surface shell structure of a pile-returning charging system of a mobile robot according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a part of a signal receiving device of a pile-returning charging system of a mobile robot according to an embodiment of the present invention;
fig. 8 is a simplified schematic diagram of a signal receiving device of a pile-returning charging system of a mobile robot according to an embodiment of the present invention;
fig. 9 is a schematic view of a pile-searching and recharging process of a pile-returning charging method for a mobile robot according to an embodiment of the present invention;
fig. 10 is a schematic structural view of a bottom case of a pile-returning charging system of a mobile robot provided with an anti-reflection groove launching device according to an embodiment of the present invention;
fig. 11 is a schematic structural view of a bottom case of a reflection-preventing groove-free emitting device of a pile-returning charging system of a mobile robot according to an embodiment of the present invention.
Wherein, the symbols in the drawings are simply explained as follows:
1-charging pile; 2-moving the robot body; 101-a signal transmitting device; 102-a signal receiving device; 201 to a control unit; 202-driving a motor; 203-driving wheels; 1011 aligning the signal emitting device; 1012-pile-searching signal transmitting device; 10111-bottom shell of the launching device; 10113-aligning the signal emitting lamp; 101111-aligning the signal baffle; 101112-cavity; 101113-aligning with the fixing hole of the emission lamp; 101114-bulge; 101115 pile finding and clamping groove; 10112-transmitting device surface shell; 101121-transmitting device surface shell buckle; 101122-pile-searching signal transmitting plate; 101123 pile searching signal transmitting hole; 10121 pile searching signal emitting lamp; 10122-pile-searching emission lamp PCB board; 1011121-anti-reflection groove; 1021, a first signal receiver; 1022-second signal receiver; 1023 to a third signal receiver; 10231 left signal receiving unit; 10232 right signal receiving unit.
Detailed Description
In order to fully understand the technical content of the present invention, the present invention will be further described with reference to the accompanying drawings, but not limited thereto.
With reference to fig. 1 and 2, the utility model provides a mobile robot returns stake charging system, include: fill electric pile 1, fill fixed signalling device 101 that is equipped with on the electric pile 1. The mobile robot body 2 is provided with a signal receiving device 102, and it should be understood that the mobile robot may be an AGV, a floor sweeping robot, a floor mopping robot, or the like. The mobile robot body 2 includes: a control unit 201. And the driving motor 202, the driving motor 202 is connected to the control unit 201 through an electric wire, so that the control unit 201 can feed back the processed information to the driving motor 202 to control the motion state of the driving motor 202. A driving wheel 203, the driving wheel 203 being fastened to the driving motor 202 so that the driving wheel 203 can be rotated with the rotation of the driving motor 202. The mobile robot body 2 receives the signal transmitting device 101 through the signal receiving device 102, so that the mobile robot body 2 searches for and aims at the charging pile 1 to charge.
Referring to fig. 3 to fig. 5, in an embodiment of the present invention, the signal transmitting apparatus 101 includes: the signal emitting device 1011 is aligned. The pile-searching signal transmitting device 1012 is fixed on the alignment signal transmitting device 1011 in the pile-searching signal transmitting device 1012.
As shown in fig. 3 and 5, in an embodiment of the present invention, the alignment signal transmitting apparatus 1011 includes: the bottom case 10111 of the launching device, and the bottom case 10111 of the launching device is provided with an alignment signal baffle 101111 so that two cavities 101112 are formed in the bottom case 10111 of the launching device. The rear end surfaces of the cavities 101112 are respectively provided with an aligned emission lamp fixing hole 101113. At least two protrusions 101114 are disposed on the outer side of the bottom shell 10111 of the launching device. A pile searching clamping groove 101115 is arranged on the center line of the vertical front end face of the bottom shell 10111 of the launching device. The emitting device face shell 10112 is provided with two emitting device face shell buckles 101121 on the emitting device face shell 10112. The transmitting device face shell 10112 is provided with a pile searching signal transmitting plate 101122 on the center line perpendicular to the front end face. The pile searching signal transmitting plate 101122 is provided with a pile searching signal transmitting hole 101123. Two alignment signal emission lamps 10113, the alignment signal emission lamps 10113 are respectively fastened in the two cavities 101112 of the emitting device bottom case 10111 through the alignment emission lamp fixing holes 101113. The alignment emission lamp PCB board 10114, the alignment emission lamp PCB board 10114 is connected to the alignment signal emission lamp 10113 through a wire so that the alignment signal emission lamp 10113 is energized to emit a signal. The emitting device cover 10112 is engaged with the protrusion 101114 by the emitting device cover buckle 101121 to be fixed on the emitting device cover 10111. The homing signal emitting device 1012 is positioned in the homing slot 101115 and transmits a transmission signal through the homing signal transmitting aperture 101123.
As shown in fig. 4 and 5, in an embodiment of the present invention, the pile searching signal transmitting apparatus 1012 includes: pile-seeking signal emission lamp 10121. The pile searching emission lamp PCB board 10122 is connected with the pile searching signal emission lamp 10121 through a circuit.
Combine fig. 3, fig. 5, fig. 6, fig. 10 and fig. 11 to show the utility model discloses an in the embodiment, emitter drain pan 10111's cavity 101112 inboard is equipped with many and prevents reflecting groove 1011121, and the main objective is in order to reach the infrared signal that alignment signal emission lamp 10113 launches through reflecting groove 1011121's design and control infrared light signal's transmission situation comparatively easily, like angle, intensity etc to can not cause mobile robot body 2 to aim at the interference of filling electric pile 1 because of emitter drain pan 10111's medial surface reflection. But not limited to this method, the purpose can also be achieved by a plurality of wave-shaped structures. And preferably the angle of the light signal emitted from alignment signal emitting lamp 10113 of the present invention is 30 °. Fig. 11 shows a smooth-faced cavity 101112, which is very likely to interfere with the signal transmission of the signal receiver 102 aligned with the signal transmitter 1011 due to the reflection of light.
Referring to fig. 3 and 6, in an embodiment of the present invention, two inner sides of the pile searching signal transmitting hole 101123 form an angle of α with the center line of the pile searching signal transmitting hole 101123, the design is to enlarge the range of the infrared signal transmitted by the pile searching signal transmitting lamp 10121 through an oblique angle, so that the first signal receiver 1021 or the second signal receiver 1022 can quickly identify the position of the charging pile 1, thereby improving the pile searching efficiency.
Referring to fig. 3 and 6, in an embodiment of the present invention, the angle α is 0 ° to 90 °.
As shown in fig. 1, fig. 7 and fig. 8, in an embodiment of the present invention, the signal receiving apparatus 102 includes: the first signal receiver 1021 is tightly arranged on the left side of the mobile robot body 2. The first signal receiver 1021 is connected to the control unit 201 through a line. And a second signal receiver 1022, wherein the second signal receiver 1022 is fastened to the right side of the mobile robot body 2. The second signal receiver 1022 is connected to the control unit 201 through a line. The third signal receiver 1023 and the third signal receiver 1023 are fastened to the front of the mobile robot body 2. The third signal receiver 1023 is connected to the control unit 201 by a line, and the third signal receiver 1023 is provided with a left signal receiving unit 10231 and a right signal receiving unit 10232.
Referring to fig. 5, in an embodiment of the present invention, the signal emitted by the signal emitting device 101 is an infrared signal.
Referring to fig. 1, 7 and 8, in an embodiment of the present invention, frequencies of the first signal receiver 1021, the second signal receiver 1022 and the third signal receiver 1023 are different. The main purpose is to emit signals of different frequencies so as not to interfere with the reception of the relevant receivers on the mobile robot body 2.
With reference to fig. 2, 5 and 9, the present invention further provides a pile-returning charging method for a mobile robot, which includes the following steps: the method comprises the following steps: the control unit 201 receives the charging execution command. Step two: the signal receiving device 102 receives the signal of the signal transmitting device 101 and returns to the pile for charging.
It should be appreciated that in an embodiment of the present invention, the first method step further specifically includes: the mobile phone APP sends a charging instruction to the control unit 201.
It should be appreciated that in an embodiment of the present invention, the first method step further specifically includes: the charge instruction key is manually pressed, thereby transmitting a charge instruction to the control unit 201.
It should be appreciated that in an embodiment of the present invention, the first method step further specifically includes: the mobile robot body 2 sends the insufficient electric quantity signal to the control unit 201 after self-testing of the insufficient electric quantity, so that a charging instruction is formed. So it is above-mentioned, the utility model discloses there are three kinds of control mobile robot body charging methods, it is not enough to press charging instruction button and mobile robot self-test electric quantity respectively cell-phone APP, manual. But not limited to this, the charging instruction may also be sent in other ways, such as recharging through voice control.
Referring to fig. 1, 5 and 8, in an embodiment of the present invention, in the second step of the method, before the receiving device 102 receives the signal of the signal transmitting device 101 and returns to the pile for charging, the mobile robot body 2 rotates 360 °. The main purpose of this step is in order to reach mobile robot body 2 when returning the stake and charging, can be through the environment of glance around, seek the fastest path of going up a stake, also can reach the function that fills electric pile position fast simultaneously.
In an embodiment of the present invention, the second step of the method further includes that the signal receiving device 102 receives the signal of the signal transmitting device 101, and searches for the charging pile 1 first and then aligns to the charging pile 1 for recharging. It should be understood that the method has a sequence, and the aim of recharging is achieved by firstly searching the direction of the charging pile, then slowly approaching the charging pile and then continuously aligning the charging pile.
In an embodiment of the present invention, the second step of the method further includes that the signal receiving device 102 receives the signal of the signal transmitting device 101 and simultaneously searches for the charging pile 1 and directly aligns to the charging pile 1 for charging and recharging. It should be understood that mobile robot also carries out the process of aligning and filling electric pile 1 when looking for filling electric pile 1 to on one side being close to and filling electric pile 1 on one side alignment and filling electric pile 1, and then reach the purpose of recharging. The method is different from the method of firstly searching the charging pile and then aligning the charging pile, when the mobile robot body 2 is far away from the charging pile 1, the method of firstly searching the charging pile 1 and then aligning the charging pile 1 is preferably adopted, and the charging pile 1 does not need to be aligned at the beginning, so that the power consumption is low, the control unit 201 can reduce the calculation burden and the calculation complexity, and the recharging efficiency of the mobile robot body 2 can be improved; when the mobile robot body 2 is close to the charging pile 1, the charging pile 1 is aligned while the charging pile 1 is close to the charging pile 1, and due to the close distance, a method for directly and simultaneously opening the pile searching and the charging pile 1 aligning can be selected, so that the recharging efficiency of the mobile robot body 2 is improved. The method for judging the distance between the mobile robot body 2 and the charging pile 1 is multiple, a map navigation technology can be adopted, and particularly in the aspect of sweeping robots, the distance between the mobile robot body 2 and the charging pile 1 can be judged through the map navigation positioning technology.
In an embodiment of the present invention, the method for finding the charging pile 1 includes determining an orientation of the mobile robot body 2, when the first signal receiver 1021 and the third signal receiver 1023 receive the signal emitted by the pile searching signal emitter 10121 and the second signal receiver 1022 does not receive any related signal, the control unit 201 determines that the mobile robot body 2 is biased to the right relative to the charging pile 1, and the mobile robot body 2 moves to the left, when the second signal receiver 1022 and the third signal receiver 1023 receive the signal emitted by the pile searching signal emitter 10121 and the first signal receiver 1021 does not receive any related signal, the control unit 201 determines that the mobile robot body 2 is biased to the left relative to the charging pile 1, and the mobile robot body 2 moves to the right, when only the first signal receiver 1021 receives the signal emitted by the pile searching signal emitter 10121 and the third signal receiver 1023 and the second signal receiver 1022 do not receive any related signal, the control unit 201 controls the mobile robot body β to the third signal receiver 3521 to detect that the pile searching signal emitter emits the signal and the signal receiver 10121, and the mobile robot body continues to detect the orientation of the signal 1023 when the mobile robot body has not received the signals emitted by the pile searching signal receiver 1023 and the signals 1023, and the signal receiver 1023 detect the signal emitted by the pile searching signal receiver 1023.
In an embodiment of the present invention, only the first signal receiver 1021 receives the signal transmitted by the pile searching signal transmitting lamp 10121 and the third signal receiver 1023 and the second signal receiver 1022 do not receive any related signal, then the control unit 201 controls the counterclockwise rotation angle β of the mobile robot body 2 to the third signal receiver 1023 to receive the signal transmitted by the pile searching signal transmitting lamp 10121, so as to determine the position of the mobile robot body 2 relative to the charging pile 1. when the rotation angle β is smaller than 90 °, the third signal receiver 1023 receives the signal transmitted by the pile searching signal transmitting lamp 10121, the mobile robot body 2 is deviated to the left, when the rotation angle β is larger than 90 °, the third signal receiver 1023 receives the signal transmitted by the pile searching signal transmitting lamp 10121, the mobile robot body 2 is deviated to the right, when the rotation angle β is equal to 90 °, the third signal receiver 1023 receives the signal transmitted by the pile searching signal transmitting lamp 10121, the mobile robot body 2 is located at the center line position of the charging pile 1.
In an embodiment of the present invention, only when the second signal receiver 1022 receives the signal transmitted by the pile searching signal transmitting lamp 10121 and the third signal receiver 1023 and the first signal receiver 1021 do not receive any relevant signal, the control unit 201 controls the counterclockwise rotation angle θ of the mobile robot body 2 to the third signal receiver 1023 to receive the signal transmitted by the pile searching signal transmitting lamp 10121, so as to determine the position of the mobile robot body 2 relative to the charging pile 1: when the rotation angle θ is smaller than 90 °, the third signal receiver 1023 receives the signal emitted by the pile searching signal emitting lamp 10121, and the mobile robot body 2 is deflected to the right. When the rotation angle θ is greater than 90 °, the third signal receiver 1023 receives the signal emitted by the pile searching signal emitting lamp 10121, and the mobile robot body 2 is biased to the left. When the rotation angle θ is equal to 90 °, the third signal receiver 1023 receives the signal emitted by the pile searching signal emitting lamp 10121, and the mobile robot body 2 is located at the center line position of the charging pile 1.
In an embodiment of the present invention, the method for aligning the charging pile 1 includes: when the left signal receiving unit 10231 only receives the alignment signal transmitted by the left alignment signal transmitting lamp 10113 and the right signal receiving unit 10232 does not receive the alignment signal transmitted by the right alignment signal transmitting lamp 10113, the mobile robot body 2 is biased to the left with respect to the orientation of the charging pile 1, the control unit 201 controls the mobile robot body 2 to turn right and move to the right, the right signal receiving unit 10232 only receives the alignment signal transmitted by the right alignment signal transmitting lamp 10113 and the left signal receiving unit 10231 only receives the alignment signal transmitted by the left alignment signal transmitting lamp 10113, so that the charging pile can be carried out. When the alignment signal transmitted from the right signal receiving unit 10232 only receives the alignment signal transmitted from the right alignment signal transmitting lamp 10113 and the left signal receiving unit 10231 does not receive the alignment signal transmitted from the left alignment signal transmitting lamp 10113, the mobile robot body 2 is deflected to the right relative to the charging pile 1, the control unit 201 controls the mobile robot body 2 to move to the left, the control unit 10231 controls the left signal receiving unit 10231 to only receive the alignment signal transmitted from the left alignment signal transmitting lamp 10113 and the right signal receiving unit 10232 only receives the alignment signal transmitted from the right alignment signal transmitting lamp 10113, so that the pile charging can be carried out. When the left signal receiving unit 10231 receives the alignment signals transmitted by the left alignment signal transmitting lamp 10113 and the right alignment signal transmitting lamp 10113 at the same time and the right signal receiving unit 10232 does not receive the alignment signal transmitted by the right alignment signal transmitting lamp 10113, the mobile robot body 2 is biased to the left relative to the charging pile 1, the control unit 201 controls the mobile robot body 2 to turn right until the right signal receiving unit 10232 receives only the alignment signal transmitted by the right alignment signal transmitting lamp 10113 and the left signal receiving unit 10231 receives only the alignment signal transmitted by the left alignment signal transmitting lamp 10113, so that the charging pile can be carried out. When the right signal receiving unit 10232 receives the alignment signals transmitted by the right alignment signal transmitting lamp 10113 and the left alignment signal transmitting lamp 10113 at the same time and the left signal receiving unit 10231 does not receive the alignment signal transmitted by the left alignment signal transmitting lamp 10113, the mobile robot body 2 is deviated to the right relative to the charging pile 1, the control unit 201 controls the mobile robot body 2 to move to the left until the left signal receiving unit 10231 receives only the alignment signal transmitted by the left alignment signal transmitting lamp 10113 and the right signal receiving unit 10232 receives only the alignment signal transmitted by the right alignment signal transmitting lamp 10113, so that the charging pile can be carried out.
The utility model discloses can reduce cost and reduce technical complexity to can show the efficiency that improves back stake and charge, greatly reduced research and development personnel's technical ability requirement.
The above embodiments are only intended to illustrate the concept of the present invention, and those skilled in the art can make various modifications and changes within the scope of the present invention. Such modifications and variations are intended to be included within the scope of the present invention.
Claims (10)
1. A mobile robot pile-returning charging system is characterized by comprising:
the charging pile comprises a charging pile (1), wherein a signal transmitting device (101) is fixedly arranged on the charging pile (1);
the mobile robot comprises a mobile robot body (2), wherein a signal receiving device (102) is arranged on the mobile robot body (2); the mobile robot body (2) comprises:
a control unit (201);
the driving motor (202), the driving motor (202) is connected to the control unit (201) through an electric wire, so that the control unit (201) can feed back the processed information to the driving motor (202) to control the motion state of the driving motor (202);
a drive wheel (203), the drive wheel (203) being fastened to the drive motor (202) such that the drive wheel (203) is rotatable with rotation of the drive motor (202);
the mobile robot body (2) receives the signal transmitting device (101) through the signal receiving device (102) so that the mobile robot body (2) searches and aligns to the charging pile (1) for charging.
2. The mobile robotic pile return charging system of claim 1, wherein the signal emitting device (101) comprises:
an alignment signal transmitting device (1011);
the pile searching signal transmitting device (1012) is internally fixed on the alignment signal transmitting device (1011).
3. The mobile robotic pile return charging system of claim 2, wherein the alignment signal transmitting means (1011) comprises:
the launching device comprises a launching device bottom shell (10111), wherein an alignment signal baffle (101111) is arranged on the launching device bottom shell (10111) so that two cavities (101112) are formed in the launching device bottom shell (10111); the rear end surface of the cavity (101112) is respectively provided with an aligned emission lamp fixing hole (101113); at least two bulges (101114) are arranged on the outer side of the bottom shell (10111) of the launching device; a pile searching and clamping groove (101115) is arranged on the center line of the vertical front end face of the bottom shell (10111) of the launching device;
the transmitting device comprises a transmitting device face shell (10112), wherein two transmitting device face shell buckles (101121) are arranged on the transmitting device face shell (10112); a pile searching signal transmitting plate (101122) is arranged on the center line of the vertical front end face of the transmitting device face shell (10112); a pile searching signal transmitting hole (101123) is formed in the pile searching signal transmitting plate (101122);
two alignment signal emission lamps (10113), the alignment signal emission lamps (10113) are respectively fastened in two cavities (101112) of the emitting device bottom case (10111) through the alignment emission lamp fixing holes (101113);
an alignment emission lamp PCB board (10114), the alignment emission lamp PCB board (10114) connecting the alignment signal emission lamp (10113) through a wire so that the alignment signal emission lamp (10113) is energized to emit a signal;
the transmitting device face shell (10112) is matched and clamped with the bulge (101114) through the transmitting device face shell buckle (101121) to be fixed on the transmitting device bottom shell (10111) in a clamping mode; the pile searching signal transmitting device (1012) is arranged in the pile searching clamping groove (101115) and transmits a transmitting signal through the pile searching signal transmitting hole (101123).
4. The mobile robotic pile return charging system of claim 2, wherein said pile finding signal transmitting means (1012) comprises:
a pile-searching signal transmitting lamp (10121);
the pile searching signal transmitting lamp comprises a pile searching transmitting lamp PCB board (10122), and the pile searching transmitting lamp PCB board (10122) is connected with the pile searching signal transmitting lamp (10121) through a circuit.
5. The mobile robot pile-returning charging system according to claim 3, wherein a plurality of anti-reflection grooves (1011121) are provided inside the cavity (101112) of the bottom case (10111) of the launching device.
6. The mobile robot pile-returning charging system of claim 3, wherein two inner sides of the pile-searching signal transmitting hole (101123) are at α degrees to the centerline of the pile-searching signal transmitting hole (101123).
7. The mobile robot pile-back charging system of claim 6, wherein the α angle is 0-90 °.
8. The mobile robotic pile return charging system of claim 1, wherein the signal receiving means (102) comprises:
the first signal receiver (1021) is fixedly arranged on the left side of the mobile robot body (2); the first signal receiver (1021) is connected to the control unit (201) through a line;
a second signal receiver (1022), wherein the second signal receiver (1022) is tightly arranged at the right side of the mobile robot body (2); the second signal receiver (1022) is connected to the control unit (201) through a line;
a third signal receiver (1023), wherein the third signal receiver (1023) is tightly fixed right in front of the mobile robot body (2); the third signal receiver (1023) is connected to the control unit (201) through a line, and a left signal receiving unit (10231) and a right signal receiving unit (10232) are arranged on the third signal receiver (1023).
9. The mobile robot pile return charging system of claim 1, wherein the signal emitted by the signal emitting device (101) is an infrared signal.
10. The mobile robot pile-returning charging system of claim 8, wherein the frequencies emitted by the first signal receiver (1021), the second signal receiver (1022) and the third signal receiver (1023) are different.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921223393.7U CN210015368U (en) | 2019-07-31 | 2019-07-31 | Mobile robot pile-returning charging system |
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| CN201921223393.7U CN210015368U (en) | 2019-07-31 | 2019-07-31 | Mobile robot pile-returning charging system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112909712A (en) * | 2021-03-08 | 2021-06-04 | 北京石头世纪科技股份有限公司 | Line laser module and self-moving equipment |
| CN113917926A (en) * | 2021-10-25 | 2022-01-11 | 北京京东乾石科技有限公司 | Pile return guide device, pile driving guide device, system, method and medium |
| WO2022252712A1 (en) * | 2021-06-02 | 2022-12-08 | 北京石头世纪科技股份有限公司 | Line laser module and self-moving device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112909712A (en) * | 2021-03-08 | 2021-06-04 | 北京石头世纪科技股份有限公司 | Line laser module and self-moving equipment |
| WO2022188366A1 (en) * | 2021-03-08 | 2022-09-15 | 北京石头世纪科技股份有限公司 | Line laser module and self-moving device |
| WO2022252712A1 (en) * | 2021-06-02 | 2022-12-08 | 北京石头世纪科技股份有限公司 | Line laser module and self-moving device |
| US11966233B2 (en) | 2021-06-02 | 2024-04-23 | Beijing Roborock Technology Co., Ltd. | Line laser module and autonomous mobile device |
| CN113917926A (en) * | 2021-10-25 | 2022-01-11 | 北京京东乾石科技有限公司 | Pile return guide device, pile driving guide device, system, method and medium |
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