WO2018045876A1 - 一种基于超声波实现机器人自主充电的方法及*** - Google Patents
一种基于超声波实现机器人自主充电的方法及*** Download PDFInfo
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- WO2018045876A1 WO2018045876A1 PCT/CN2017/098795 CN2017098795W WO2018045876A1 WO 2018045876 A1 WO2018045876 A1 WO 2018045876A1 CN 2017098795 W CN2017098795 W CN 2017098795W WO 2018045876 A1 WO2018045876 A1 WO 2018045876A1
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- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 11
- 238000001228 spectrum Methods 0.000 claims description 10
- 238000005070 sampling Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
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- 238000013459 approach Methods 0.000 claims description 3
- 230000003595 spectral effect Effects 0.000 claims description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Definitions
- the invention belongs to the field of robot auxiliary technology, and in particular relates to a method and a system for realizing autonomous charging of a robot based on ultrasonic waves.
- the charging stand to guide the robot to trace the way.
- the signal transmitter is installed on the charging stand, and the signal receiver is installed on the robot.
- the commonly used method has infrared ranging positioning, but This form has many drawbacks. Because the infrared emission and reception are point-to-point, it is necessary to ensure that the infrared emitting head and the receiving head are at the same horizontal plane. It is difficult to locate the infrared positioning in a complicated and uneven environment, and the dust debris is easy.
- the robot uses laser modeling or camera recognition to locate the orientation of the charger, combined with the motion control system of the robot.
- the robot is automatically moved to the side of the charging stand to achieve self-charging, but this solution is difficult to implement and expensive.
- An object of the present invention is to provide a method and system for autonomous charging of a robot based on ultrasonic waves, which is low in implementation cost and can be applied to a complicated environment.
- a method for realizing self-robot charging based on ultrasonic waves comprising the following steps:
- the robot detects its own electric quantity, and when detecting that its own electric quantity is low, the robot activates the charging base to generate an ultrasonic pulse signal through wireless communication;
- the robot passes through a first ultrasonic receiving module and a second ultrasonic connection mounted thereon
- the receiving module receives the ultrasonic pulse signal from the ultrasonic transmitting module of the charging stand;
- the robot receives the signal strength and intensity difference of the ultrasonic pulse signal according to the first ultrasonic receiving module and the second ultrasonic receiving module, and calculates its own distance and deviation from the charging base.
- the motion control system of the robot controls the robot to approach the charging base according to the distance and the deviation;
- the robot When the robot reaches the front of the charging stand or the distance and the deviation are less than a set threshold, the robot docks with the charging stand to perform charging.
- the two analog ultrasonic signals received are converted into digital signals by A/D, and then the two digital signals are respectively subjected to fast Fourier transform (FFT), and the data is windowed to obtain a finite-length sequence x(n) directly for Fourier transform.
- FFT fast Fourier transform
- the spectrum X(e jw ) take the square of the spectrum amplitude, and divide by N, as the estimation of the true power spectrum S X (e jw ) of x(n), and find the power spectrum intensity of the left and right signals.
- the robot rotates 180° in the process of receiving the ultrasonic pulse signal from the ultrasonic transmitting module on the charging stand, and if the ultrasonic pulse signal from the ultrasonic transmitting module on the charging stand is still not received, the robot follows the clockwise direction. The direction enters the extension wall movement.
- the system for the above method for realizing robot autonomous charging based on ultrasonic waves including a robot master control system, a robot power management system, a robot motion control system, a robot positioning, and a super
- the system for implementing a method for autonomous charging of a robot based on ultrasonic waves further includes a charging management unit, a battery voltage current sampling unit, and a battery unit.
- system for implementing a method for autonomous charging of a robot based on ultrasonic waves further includes a servo motor control unit and a robot chassis speed and a bias sampling unit.
- the method and system for realizing automatic autonomous charging of a robot based on ultrasonic waves by installing an ultrasonic transmitting module and a wireless communication module on a charging base, two ultrasonic receiving modules and a wireless communication module are installed on the robot body, and the robot according to the received ultrasonic signal strength And the difference between the strength, calculate the distance and deviation of the robot relative to the charging seat, and combine the motion control system and attitude adjustment strategy to complete the robot's independent tracing, achieve autonomous charging, low cost, suitable for complex use environment, improve the robot's The degree of intelligence.
- FIG. 1 is a schematic structural diagram of a system for realizing main charging from a robot according to the present invention
- FIG. 2 is a schematic diagram of a robot system module of the present invention
- FIG. 3 is a schematic diagram of a charging stand system module of the present invention
- FIG. 4 is a flow chart of an embodiment of a method for realizing main charging from a robot according to the present invention
- Figure 5 is a schematic diagram showing the distribution of ultrasonic emission intensity
- Figure 6 is a schematic diagram of the amplitude of the ultrasonic receiving spectrum
- FIG. 7 is a schematic diagram of the electrical principle of the ultrasonic transmitting module
- FIG. 8 is a schematic diagram of an electrical principle of an ultrasonic receiving module
- Figure 9 is a schematic diagram showing the electrical principle of the ultrasonic transmitting/receiving control unit.
- a system for realizing autonomous charging of a robot based on ultrasonic waves comprises a robot main control system, a robot power management system, a robot motion control system, a robot positioning and an ultrasonic distance deviation calculation control board, a first ultrasonic receiving module 1, a second ultrasonic receiving module 2, and an analog-to-digital conversion mounted on the charging base.
- Module AC to DC module
- ultrasonic transmitter module 3 and wireless communication module.
- charge management unit There are also a charge management unit, a battery voltage and current sampling unit, a battery unit, a servo motor control unit, and a robot chassis speed and a bias sampling unit.
- a method for implementing autonomous charging of a robot based on ultrasonic waves includes the following steps:
- the robot detects its own electric quantity, and when detecting that its own electric quantity is low, the robot activates the charging base to generate an ultrasonic pulse signal through wireless communication;
- the robot receives an ultrasonic pulse signal emitted by the ultrasonic transmitting module of the charging stand through the first ultrasonic receiving module and the second ultrasonic receiving module mounted thereon;
- the robot receives the signal strength and intensity difference of the ultrasonic pulse signal according to the first ultrasonic receiving module and the second ultrasonic receiving module, and calculates its own distance and deviation from the charging base.
- the motion control system of the robot controls the robot to approach the charging base according to the distance and the deviation;
- the robot When the robot reaches the front of the charging stand or the distance and the deviation are less than a set threshold, the robot docks with the charging stand to perform charging.
- the robot power management system detects that the power is low, that is, when the detected power is lower than the preset threshold, the power is considered to be low, and is reported to the robot master control system, and the robot master control system enters the autonomous charging mode, and sends a command to the robot.
- the robot motion control system is ready to enter the automatic charging tracing state.
- the robot motion control system activates the ultrasonic receiving control unit and activates the charging base to transmit the ultrasonic signal through wireless communication.
- FIG. 9 shows the electrical principle of the ultrasonic transmitting/receiving control unit, including the central control unit and the wireless transceiver module, and turns on the ultrasonic transmitting module 3 and the AC/DC charging power source.
- Figure 7 shows the electrical principle of the ultrasonic transmitting module.
- the ultrasonic transmitting module 3 emits a fan-shaped sound wave and starts to guide the robot to the charging stand.
- Figure 8 shows the electrical principle of the ultrasonic receiver module. After the robot receives the ultrasonic signal, the distance and the deviation of the robot from the charging stand are calculated according to the difference in intensity and intensity of the ultrasonic waves received by the first ultrasonic receiving module 1 and the second ultrasonic receiving module 2. As shown in Fig. 5, the ultrasonic signal has strong and weak, and the two analog ultrasonic signals received are converted into digital signals by A/D, and then the two digital signals are respectively subjected to fast Fourier transform (FFT), and the data window is limited.
- FFT fast Fourier transform
- the long sequence x(n) directly finds the Fourier transform, and obtains the spectrum X(e jw ), takes the square of the spectral amplitude, and divides by N, as the true power spectrum S X (e jw ) for x(n) It is estimated that the power spectrum intensities P L and P R and the intensity difference P ⁇ of the left and right signals are obtained, thereby calculating the deviation and range of the ultrasonic transmitting module located in the charging stand from the two ultrasonic receiving modules of the robot, thereby calculating The approximate orientation of the robot relative to the charging cradle is calculated as follows:
- the robot When the robot reaches the front of the charging stand, or when the distance is less than a certain threshold, the robot rotates 180 degrees in situ and runs backward until docking with the charging stand.
- the robot power management system detects that there is charging voltage access, the robot is considered as the robot.
- the charging stand has been reliably docked. At this time, the charging stand turns off the ultrasonic signal, and the robot also turns off the ultrasonic receiving signal.
- the charging stand turns off the charging power output, and the entire autonomous charging process is completed.
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
Description
Claims (10)
- 一种基于超声波实现机器人自主充电的方法,其特征在于,包括以下步骤:机器人检测自身电量,当检测到自身电量低于预设阈值时,所述机器人通过无线通讯启动充电座发出超声波脉冲信号;所述机器人通过安装在其上的第一超声波接收模块和第二超声波接收模块分别接收充电座的超声波发射模块发出的超声波脉冲信号;所述机器人根据其第一超声波接收模块和第二超声波接收模块分别接收到的超声波脉冲信号,计算出其本身相对于充电座的距离和偏向。所述机器人根据所述距离和偏向,向充电座靠近;当所述机器人到达充电座正前方或所述距离和偏向小于设定的阈值,机器人与充电座对接,进行充电。
- 根据权利要求1所述的基于超声波实现机器人自主充电的方法,其特征在于,所述机器人根据第一超声波接收模块和第二超声波接收模块分别接收到的超声波脉冲信号进一步包括:所述机器人根据第一超声波接收模块和第二超声波接收模块分别接收到的超声波脉冲信号的信号强度,以及,第一超声波接收模块和第二超声波接收模块分别接收到的信号强度之间的强度差。
- 根据权利要求2所述的基于超声波强度实现机器人自主充电的方法,其特征在于,所述计算出其本身相对于充电座的距离和偏向的过程为:将第一超声波接收模块和第二超声波接收模块分别接收到的两路模拟超声波信号通过模数转换模块转换为数字信号,然后将两路数字信号分别进行快速傅立叶变换(FFT),数据加窗得到有限长序列x(n)直接求傅里叶变换,得频谱X(ejw),取频谱幅度的平方,并除以N,以此作为对x(n)真实功率谱SX(ejw)的估计,求出左右两路信号的功率谱强度PL和PR, 以及,左右两路信号之间的强度差从而计算出位于充电座的超声波发射模块距离两个位于机器人的超声波接收模块的偏向和范围,从而计算出机器人相对于充电座的大致方位,计算公式如下:
- 根据权利要求1所述的基于超声波实现机器人自主充电的方法,其特征在于,所述机器人通过第一超声波接收模块和第二超声波接收模块分别接收充电座发出的超声波脉冲信号包括:当所述机器人接收到充电座的应答信号后,初次判断是否接收到充电座发出的超声波脉冲信号;当未接收到所述超声波脉冲信号时,所述机器人原地旋转180°寻找所述超声波信号。
- 根据权利要求4所述的基于超声波实现机器人自主充电的方法,其特征在于,所述机器人通过第一超声波接收模块和第二超声波接收模块分别接收充电座发出的超声波脉冲信号还包括:当所述机器人原地旋转180°后,再次判断是否接收到充电座发出的超声波脉冲信号;当所述机器人原地旋转180°后仍然接收不到充电座发出的超声波脉冲信号时,所述机器人按照顺时针方向进入延墙运动,且返回至初次判断是否接收到充电座发出的超声波脉冲信号。
- 根据权利要求1所述的基于超声波实现机器人自主充电的方法,其特征在于,所述机器人与充电座对接包括:所述机器人原地旋转180°,并向后运行,直到与充电座对接。
- 一种基于超声波实现机器人自主充电的***,其特征在于,包括:机器人和充电座;所述机器人包括:机器人主控***、机器人电源管理***、机器人运动控制***、机器人定位及超声波距离偏向计算控制板、第一超声波接收模块及第二超声波接收模块;所述充电座包括:模数转换模块、超声波发射模块及无线通讯模块。
- 根据权利要求7所述的基于超声波实现机器人自主充电的***,其特征在于,所述机器人还包括:充电管理单元、电池电压电流采样单元和蓄电池单元。
- 根据权利要求7所述的基于超声波实现机器人自主充电的***,其特征在于,所述机器人还包括:伺服电机控制单元和机器人底盘电机速度与偏向采样单元。
- 根据权利要求7所述的基于超声波实现机器人自主充电的***,其特征在于,所述充电座还包括:充电器电压电流采样单元。
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