CN203951212U - Mobile robot's recharging device - Google Patents
Mobile robot's recharging device Download PDFInfo
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- CN203951212U CN203951212U CN201420192577.2U CN201420192577U CN203951212U CN 203951212 U CN203951212 U CN 203951212U CN 201420192577 U CN201420192577 U CN 201420192577U CN 203951212 U CN203951212 U CN 203951212U
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 93
- 238000003032 molecular docking Methods 0.000 claims abstract description 37
- 230000008054 signal transmission Effects 0.000 claims description 10
- 230000002463 transducing effect Effects 0.000 claims description 9
- 239000004744 fabric Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 2
- 239000002253 acid Substances 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000002045 lasting effect Effects 0.000 description 2
- 229910001416 lithium ion Inorganic materials 0.000 description 2
- 230000035807 sensation Effects 0.000 description 2
- 241000124033 Salix Species 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010411 cooking Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009131 signaling function Effects 0.000 description 1
- 238000010407 vacuum cleaning Methods 0.000 description 1
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Abstract
A kind of mobile robot's recharging device, relates to Robotics field, and what solve is to reduce costs, and improves the technical problem of versatility, reliability.This device comprises charging pedestal, and be fixed on the companion's pedestal on mobile robot, on charging pedestal, be equipped with each infrared transmitter around, these two infrared transmitters are launched different infrared docking signal, thereby form three signal areas in charging pedestal front; On companion's pedestal, be equipped with the two groups of infrared remote receivers in left and right, robot judges signal area of living in by these two groups of infrared remote receivers, and find out the particular location of charging pedestal in conjunction with the difference in signal strength between the infrared docking signal of received two infrared transmitters transmitting, realize the automatic butt with charging pedestal.The device that the utility model provides, the mobile robot who is specially adapted in indoor environment uses, and adopts plug-in type modular design, applicable to different battery types and robot physical size.
Description
Technical field
The utility model relates to Robotics, particularly relates to a kind of technology of mobile robot's recharging device.
Background technology
A lot of service type mobile robots' task be in family and office environment, carry out cleaning, refuse collection, package delivery, the affairs such as beverage, monitoring of cooking, provide and deliver.These mobile robots can free the mankind from onerous toil, these mobile robots dispose recharging device conventionally, robot can be battery charging in body by recharging device termly automatically, thereby can full automatic running and do not need manpower intervention.
Mobile robot's recharging device is mainly by charging station, and the receiver being arranged in robot forms, charging station is wherein fixed on and lands on thing (metope, ground), the transmitting docking signal that charging station is lasting, robot receives the docking signal of charging station transmitting by receiver, and then find the particular location of charging station, and to realize and the automatic butt of charging station, the autonomous docking calculation of charging station that existing mobile robot's recharging device adopts has numerous defects.
Such as, the Roomba vacuum cleaning machine people that iRobot company produces is equipped with respectively 360 degree infrared emission/receivers at charging station and robot, robot receives the infrared docking signal of charging station by the infrared remote receiver of 360 degree, and then find the particular location of charging station, realize the automatic butt with charging station, 360 degree infrared emission/receivers must the be placed in apical position of charging station and robot of method that infrared emission/receiver realizes autonomous docking is spent in this employing 360, structural design to robot and charging station is restricted, can only be used for specific robot, its versatility is poor.
And for example, the Rovio far-end of the WowWee company robot that comes personally is equipped with infrared transmitter on charging station, charging station utilizes infrared transmitter that infrared light spot is projected on ceiling, the receiver of robot equipment utilize trigonometry come measuring position and towards, and then find the particular location of charging station, realize the automatic butt with charging station.But in family and office environment, often have chair, desk or other furniture shelter from robot and see the sight line to ceiling, and robot cannot find charging station position in this case, and its dependability is poor.
And for example, the Pioneer robot of ActiveMedia company adopts the shape of laser scanner identification charging station to find the particular location of charging station, realize the automatic butt with charging station, docking signal identification in this autonomous docking calculation needs heavy calculating, the operate power of laser scanning is also higher, and its hardware and software cost is higher.
And for example, the people such as Silverman adopts visible sensation method to assist Pioneer2-DX robot to realize and the automatic butt of charging station.The method need to be puted up colored paper on the wall above charging station, and a Pan/Tilt/Zoom camera is installed in robot is used for finding charging station.Similar with it, Willow Garage company has developed the far-end robot that comes personally, Texas by name robot, and this robot adopts colour TV camera to find charging station, is placed with a series of colored annulus on charging station.This employing visible sensation method is realized with the automatic butt of charging station needs stable illumination condition to realize the reliable recognition of color mode, and its dependability is poor.
Utility model content
For the defect existing in above-mentioned prior art, technical problem to be solved in the utility model is to provide one, and to realize cost low, and setting height(from bottom) can regulate arbitrarily, be subject to such environmental effects little, thereby there is mobile robot's recharging device of better versatility and dependability.
In order to solve the problems of the technologies described above, a kind of mobile robot's recharging device provided by the utility model, relates to the mobile robot who is built-in with battery, and this device comprises and is fixed on the charging pedestal landing on thing, and be fixed on the companion's pedestal on mobile robot, it is characterized in that:
Described charging pedestal has an infrared emission chamber, described infrared emission chamber is all being opened infrared ray on direction and left and right directions forward, and chamber, the both sides up and down wall in infrared emission chamber all can cut off infrared ray, in infrared emission chamber, be fixed with a perpendicular infrared division board of transmitting terminal of putting, infrared emission chamber is separated into each sub-chamber of transmitting around by the infrared division board of this transmitting terminal, in these two the sub-chambeies of transmitting, is respectively equipped with an infrared transmitter;
On described charging pedestal, be equipped with infrared signal transmission circuit, described infrared signal transmission circuit has two the infrared signal output ports that can export phase xor signal, and these two infrared signal output ports connect respectively two infrared transmitters;
Described companion's pedestal has an infrared reception cavity, described infrared reception cavity is open to infrared ray in left, front, right three directions, and can cut off infrared ray in upper and lower, rear three directions, in infrared reception cavity, be fixed with a perpendicular infrared division board of receiving terminal of putting, infrared reception cavity is separated into each sub-chamber of reception around by the infrared division board of this receiving terminal, in these two the sub-chambeies of reception, is respectively equipped with at least one infrared remote receiver;
On described companion's pedestal, be equipped with infrared signal receiving circuit, described infrared signal receiving circuit has multiple infrared signal receiving ports, and each infrared signal output port of infrared signal receiving circuit connects respectively each infrared remote receiver;
On described charging pedestal and companion's pedestal, point be equipped with can be with level charging plug, the charging socket to pluggable mode deciliter.
Further, the front end of described companion's pedestal is equipped with three sensitive switches that touch charging pedestal by bond energy, and these three sensitive switches from left to right arc interval are laid.
Further, described charging plug is fixed on charging pedestal, and charging socket is arranged on companion's pedestal, is respectively fixed with a conductive contact blade in the both ends of the surface up and down of charging plug;
Described charging socket has that two intervals are laid and just right sliding shoe up and down, and the spring moving for ordering about two sliding shoe subtends, and the opposite end of two sliding shoes is respectively fixed with a conductive contact blade.
Further, the face that caters to that two sliding shoes cater to charging plug one side is inclined-plane, and these two cloth that caters to face is set as front wide and rear narrow tubaeform.
Further, described infrared signal transmission circuit comprises emission control module, mains connection;
Described charging plug is received mains connection through a current sensor, a charging control relay, and described mains connection is received external power source;
Described emission control module has transducing signal input port, charging signals output port, and two infrared signal output ports, the transducing signal input port of emission control module is received the transducing signal output of current sensor, the charging signals output port of emission control module is received the control coil of charging control relay, and two infrared signal output ports of emission control module are received respectively two infrared transmitters.
Further, described infrared signal receiving circuit comprises reception control module, battery connecting piece;
Described charging socket is subject to electric control relay to receive battery connecting piece through one, and described battery connecting piece is received mobile robot's internal battery;
Described reception control module has the electrical signal of being subject to mouth, and multiple infrared signal receiving ports, three docking signal input ports, the electrical signal mouth that is subject to that receives control module is received the control coil that is subject to electric control relay, each infrared signal receiving port that receives control module is received respectively each infrared remote receiver, and three docking signal input ports that receive control module are received respectively three sensitive switches.
Mobile robot's recharging device that the utility model provides, utilize two infrared transmitters that charge on pedestal jointly along level to the infrared docking signal of transmitting, thereby form three signal areas in charging pedestal front, robot receives infrared docking signal by the infrared remote receiver on companion's pedestal, and find the particular location of charging pedestal according to the intensity difference between affiliated signal area and received two infrared docking signals, realize the automatic butt with charging pedestal, it is low that this device is realized cost, and the setting height(from bottom) to infrared transmitter and infrared remote receiver does not limit, do not need solar obligation at robot top, structural design to robot does not limit, setting height(from bottom) can regulate arbitrarily according to the robot of different size, can be used for the robot of all size, there is better versatility, obstacle in operational environment and illumination are also less on its impact, have the advantages that dependability is high.Further, charging pedestal and companion's pedestal connect internal battery and the supporting charger of robot by connector, can, for the mobile robot who does not dispose recharging device, further expand its versatility.Further adopt be easy to arrange and job stability is high in indoor environment infrared modulated signal as docking signal, not only can mask from sunlight, fluorescent lamp, the infrared interference of heating system equipment, and infrared modulated signal can transmit byte type data message, modulation and demodulation process does not need heavy calculating yet, the through-put power of infrared modulated signal is also lower, with laser scanner, sonars etc. are compared, realize cost lower, safety in utilization is also high, can under family and office environment, work reliably, even if there is the home environment of child or pet to be also applicable to using.
Brief description of the drawings
Fig. 1 is the structural representation of mobile robot's recharging device of the utility model embodiment;
Fig. 2 is the structural representation of the charging socket in mobile robot's recharging device of the utility model embodiment;
Fig. 3 is the circuit diagram of the infrared signal transmission circuit in mobile robot's recharging device of the utility model embodiment;
Fig. 4 is the circuit diagram of the infrared signal receiving circuit in mobile robot's recharging device of the utility model embodiment;
Fig. 5 a is the infrared signal overlay area schematic diagram of mobile robot's recharging device of the utility model embodiment;
Fig. 5 b be the utility model embodiment mobile robot's recharging device seek a schematic diagram;
Fig. 6 is the positioning principle figure of mobile robot's recharging device of the utility model embodiment;
Wherein, the state diagram of the leading flank side of the companion's pedestal shown in Fig. 6 a or Fig. 6 c the utility model embodiment to charging pedestal;
The leading flank of the companion's pedestal shown in Fig. 6 b the utility model embodiment is the state diagram to charging pedestal just;
Fig. 7 is the schematic diagram of the infrared modulated signal launched of the infrared transmitter in mobile robot's recharging device of the utility model embodiment;
Mobile robot's motion track figure when Fig. 8 is mobile robot's recharging device to test of the utility model embodiment.
Embodiment
Below in conjunction with brief description of the drawings, embodiment of the present utility model is described in further detail, but the present embodiment is not limited to the utility model, every employing analog structure of the present utility model and similar variation thereof, all should list protection range of the present utility model in.
As Figure 1-Figure 2, a kind of mobile robot's recharging device that the utility model embodiment provides, relates to the mobile robot who is built-in with battery, and this device comprises and is fixed on the charging pedestal 10 landing on thing, and be fixed on the companion's pedestal 20 on mobile robot, it is characterized in that:
Described charging pedestal 10 has an infrared emission chamber 11, described infrared emission chamber 11 is open to infrared ray in left, front, right three directions, and can cut off infrared ray in upper and lower, rear three directions, in infrared emission chamber 11, be fixed with a perpendicular infrared division board 12 of transmitting terminal of putting, infrared emission chamber is separated into each sub-chamber of transmitting around by the infrared division board 12 of this transmitting terminal, in these two the sub-chambeies of transmitting, is respectively equipped with an infrared transmitter 13;
On described charging pedestal 10, be equipped with infrared signal transmission circuit, described infrared signal transmission circuit has two the infrared signal output ports that can export phase xor signal, and these two infrared signal output ports connect respectively two infrared transmitters 11;
Described companion's pedestal 20 has an infrared reception cavity 21, described infrared reception cavity 21 is all being opened infrared ray on direction and left and right directions forward, and chamber, the both sides up and down wall of infrared reception cavity 21 all can cut off infrared ray, in infrared reception cavity 21, be fixed with a perpendicular infrared division board 22 of receiving terminal of putting, infrared reception cavity is separated into each sub-chamber of reception around by the infrared division board 22 of this receiving terminal, in these two the sub-chambeies of reception, is respectively equipped with at least one infrared remote receiver 23;
On described companion's pedestal 20, be equipped with infrared signal receiving circuit, described infrared signal receiving circuit has multiple infrared signal receiving ports, and each infrared signal output port of infrared signal receiving circuit connects respectively each infrared remote receiver 23;
The front end of described companion's pedestal 20 is equipped with three sensitive switches 25 that touch charging pedestal by bond energy, and these three sensitive switches 25 from left to right arc interval are laid;
On described charging pedestal 10 and companion's pedestal 20, point be equipped with can be with level charging plug 14, the charging socket to pluggable mode deciliter, charging plug 14 be wherein fixed on charging pedestal on 10, charging socket is arranged on companion's pedestal 20, is respectively fixed with a conductive contact blade in the both ends of the surface up and down of charging plug 14;
Described charging socket comprises the each sleeve 241 being up and down separately fixed on companion's pedestal, and be movably arranged on respectively the each sliding shoe 242 up and down in upper and lower sleeve 241, two sliding shoe 242 intervals layings and just right up and down, the opposite end of two sliding shoes 242 extends respectively sleeve 241 outsides, and the opposite end of two sliding shoes 241 is respectively fixed with a conductive contact blade 243, the spring 244 that the interior sliding shoe 242 being all equipped with for ordering about in this sleeve of each sleeve 241 moves towards another sliding shoe direction, each sleeve all with this sleeve in sliding shoe have cooperatively interact deviate from the position limiting structure of sleeve for limit slippage piece entirety, the face that caters to that two sliding shoes cater to charging plug one side is inclined-plane, these two cloth that caters to face is set as front wide and rear narrow tubaeform, so that charging plug inserts.
As shown in Figure 3, in the utility model embodiment, described infrared signal transmission circuit comprises emission control module U11, mains connection J11, plug connector J12;
Two conductive contact blades of described charging plug are received respectively two end pin of plug connector J12, plug connector J12 receives mains connection J11 through a current sensor U12, a charging control relay JD11, and mains connection J11 receives external power source (the supporting charger of mobile robot);
Described emission control module U11 has transducing signal input port A03, charging signals output port P06, and two infrared signal output port P09, P10, the transducing signal input port A03 of emission control module U11 receives the transducing signal output end vo ut of current sensor U12, the charging signals output port P06 of emission control module U11 receives the control coil of charging control relay JD11, two infrared signal output port P09 of emission control module U11, P10 is by two electrical fitting J13, J14 receives respectively two infrared transmitter Q11, Q12(Q11, Q12 is labeled as 13 in Fig. 1),
What described emission control module U11 adopted is Arduino micro treatment module, and what current sensor adopted is that model is the linear current sensing IC of ACS712, and this current sensor is for detection of charged state.
As shown in Figure 4, in the utility model embodiment, described infrared signal receiving circuit comprises reception control module U21, battery connecting piece J21, socket connector J22;
Two conductive contact blades of described charging socket are received respectively two of socket connector J22 end pin, and socket connector J22 is subject to electric control relay J D21 to receive battery connecting piece J21 through one, and battery connecting piece J21 receives mobile robot's internal battery;
Described reception control module U21 has the electrical signal of being subject to mouth P06, and multiple infrared signal receiving port AD3, AD5, three docking signal input port P08, P09, P10, the electrical signal mouth P06 that is subject to that receives control module U21 receives the control coil that is subject to electric control relay J D21, receive each infrared signal receiving port AD3 of control module U21, AD5 is by two electrical fitting J23, J24 receives respectively each infrared remote receiver Q21, Q22, Q23, Q24(Q21, Q22, Q23, Q24 is labeled as 23 in Fig. 1), receive three docking signal input port P08 of control module U21, P09, P10 receives respectively three sensitive switches by an electrical fitting J25,
What described reception control module U21 adopted is Arduino micro treatment module.
As shown in Figure 5 a, in mobile robot's recharging device of the utility model embodiment, when two infrared transmitters 13 on charging pedestal are launched infrared signal, under the block of the infrared division board 12 of transmitting terminal, the overlay area of infrared signal is divided into A1, A2, tri-regions of A3 from left to right, the A1 region in left side only has the signal of left infrared transmitter 13, and the A3 region on right side only has the signal of right infrared transmitter 13, and middle A2 region exists the signal of two infrared transmitters 13 simultaneously.
The recharging method of mobile robot's recharging device that the utility model embodiment provides, is characterized in that, the lasting transmitting infrared signal of two infrared transmitters that makes to charge on pedestal, and make the infrared signal of two infrared transmitter transmittings different;
When mobile robot need to charge, carry out following steps:
1) by each infrared remote receiver on companion's pedestal, adopt pirouette flowing mode to detect infrared docking signal, described infrared docking signal refers to two infrared signals that infrared transmitter is launched on charging pedestal;
Mobile robot detects after infrared docking signal, detects the infrared signal that whether can simultaneously receive two infrared transmitters, if can receive the infrared signal of two infrared transmitters simultaneously, goes to step 3, otherwise goes to step 2;
2) now the leading flank of companion's pedestal towards charging pedestal, and companion's pedestal is positioned at charging pedestal left side and can only receives the A1 region of left infrared transmitter signal, or be positioned at charging pedestal right side and can only receive the A3 region of right infrared transmitter signal, because the signal of left and right infrared transmitter transmitting is different, so robot can judge and be currently located at A1 or A3 region according to received infrared signal content;
Mobile robot adopts original place reciprocating rotation mode to find out to detect two critical angle of infrared docking signal, and then find out the sector region that infrared docking signal can be detected, the center line direction of this sector region is the center of infrared docking signal, then make mobile robot first turn to the just center to infrared docking signal of leading flank of companion's pedestal, rotate a centering towards the infrared transmitter direction of not receiving infrared docking signal again and adjust angle, it is the predefined threshold value that is less than 60 degree that this centering is adjusted angle, its preferred value is 20 degree, then mobile robot again towards the dead ahead of companion's pedestal to rectilinear movement, until go to step 3 after receiving two infrared docking signals simultaneously,
Such as, the infrared docking signal that mobile robot receives is from left infrared transmitter, infrared transmitter direction is rotated a centering and is adjusted angle to the right, and the infrared docking signal that mobile robot receives is from right infrared transmitter, and infrared transmitter direction is rotated a centering and adjusted angle left;
As shown in Figure 5 b, suppose that mobile robot's current location R is positioned at charging pedestal left side and can only receives the A1 region of left infrared transmitter signal, the leading flank of companion's pedestal is just to pointing to the direction RC of infrared docking signal center, mobile robot rotates a centering towards right infrared transmitter direction and adjusts after angle θ, the leading flank of companion's pedestal is just to direction RB, the A2 region that this direction RB can receive the infrared signal of two infrared transmitters in the middle of pointing to simultaneously, then mobile robot moves linearly along direction RB, until enter the infrared overlay area A2 that can receive two infrared docking signals simultaneously, if mobile robot can only receive in the A3 region of right infrared transmitter signal in charging pedestal right side, the centering that mobile robot rotates is adjusted the identical but opposite direction of angle,
3) now the leading flank of companion's pedestal is towards charging pedestal, and companion's pedestal is positioned at the A2 region that can simultaneously receive two infrared transmitter signals;
Whether the signal strength signal intensity that mobile robot detects two infrared docking signals of receive is consistent, if institute receives that two infrared docking signal strength signal intensities are consistent, goes to step 5, otherwise goes to step 4;
4) now companion's pedestal is positioned at the dead ahead of charging pedestal leading flank side in the companion's pedestal shown in Fig. 6 a or Fig. 6 c state to charging pedestal;
Mobile robot rotates towards the large side of received infrared docking signal strength signal intensity, until institute's two infrared docking signal strength signal intensities of receiving go to step 5 after consistent;
5) now companion's pedestal is positioned at the dead ahead of charging pedestal the just state to charging pedestal of leading flank in the companion's pedestal shown in Fig. 6 b;
Mobile robot moves towards self front, until go to step 6 after one of them the sensitive switch closure on companion's pedestal, mobile robot's translational speed is inversely proportional to the infrared signal strength signal intensity of docking, to reduce the impact of mobile robot to charging pedestal;
6) if be positioned at the sensitive switch closure in left side, show that charging socket does not dock completely with charging plug, mobile robot rotates towards right side, until go to step 7 after the sensitive switch closure in the middle of being positioned at;
If be positioned at the sensitive switch closure on right side, show that charging socket does not dock completely with charging plug, mobile robot rotates towards left side, until go to step 7 after the sensitive switch closure in the middle of being positioned at;
If the sensitive switch closure in the middle of being positioned at, shows that charging socket docks completely with charging plug, goes to step 7;
7) charge to mobile robot's internal battery by charging plug and charging socket.
For security reasons, only have after charging socket docks completely with charging plug, conductive contact blade on charging plug just has charging current to be passed through, for realizing this safety function, the low-voltage DC signal function of one+5v is on charging socket charging contact, after charging socket docks completely with charging plug, emission control module on charging plug detects this+the 5v signal of telecommunication, emission control module is controlled the switch cutter closure of charging control relay immediately, makes charging plug and external power source (the supporting charger of mobile robot) conducting.
In the utility model embodiment, the infrared signal that two infrared transmitters on charging pedestal are launched is to be superimposed upon for example, infrared modulated signal on high frequency carrier (38kHz) by low-frequency control signal, each infrared remote receiver on companion's pedestal be tuned to the frequency consistent with high frequency carrier, to neglect environmental noise, avoid the infrared interference of the environmental factors such as sunlight, bulb, heater.
The infrared modulated signal that infrared transmitter is launched belongs to phase place distance modulated, and the signal format of this infrared modulated signal is: start bit+address bit+command bit+cut-off position; Wherein, start bit adopts continuous 4ms high level+1ms low level statement, cut-off position adopts continuous 2ms high level statement, address bit adopts 4 bit statements, command bit adopts 6 bit statements, binary one adopts continuous 1ms high level+2ms low level statement, and Binary Zero adopts continuous 1ms high level+3ms low level statement; Making to charge in the infrared modulated signal of two infrared transmitters transmitting on pedestal comprises different character strings, and what can make mobile robot tell to receive is the signal which infrared transmitter is launched.
The infrared modulated signal example schematic diagram that includes string of binary characters 1001100100 of being launched for infrared transmitter as Fig. 7, F01 region in this figure is start bit, F02 region is address bit, F03 region is command bit, F04 region is cut-off position, B1 region representation binary one, B2 region representation Binary Zero.
In the utility model embodiment, charging socket and charging plug all adopt conductive contact blade to realize face contact, and utilize spring to increase joint reliability, firm to ensure that charging socket engages with charging plug.
The utility model embodiment can adjust according to the mobile robot of different size the setting height(from bottom) of charging pedestal and companion's pedestal, applicable to the mobile robot of plurality of specifications.
The utility model embodiment has carried out recharging test on existing multiple mobile robot (such as existing difference mobile robot Pioneer 3-DX, existing omni-directional mobile robots Rio), has all obtained better effects;
Wherein, the internal battery of existing difference mobile robot Pioneer 3-DX is traditional lead-acid battery, the output specification of the supporting charger that manufacturer provides is 14 volts, 4 amperes of direct currents, when in test process, this mobile robot is placed in different starting positions, first capital moves to the A2 region that two infrared transmitter signals can be received in charging pedestal dead ahead simultaneously, then moves linearly until charging socket docks completely with charging plug towards charging pedestal;
Fig. 8 is the mobile robot motion track figure of mobile robot's recharging device of the utility model embodiment while being arranged on existing difference mobile robot Pioneer 3-DX test, the horizontal number axis that in this figure, X-axis and Y-axis are position coordinates and vertical number axis, T0 is charging pedestal position, T1, T2, T3, T4, T5, T6 is the initial position at each the robot place in test, as shown in Figure 8, no matter mobile robot is from what position, first capital moves to the A2 region that two infrared transmitter signals can be received in charging pedestal dead ahead simultaneously, then move linearly until charging socket docks completely with charging plug towards charging pedestal.
Existing omni-directional mobile robots Rio has 4 driving wheels, each wheel possesses the direct locomotivity of side direction, this mobile robot is equipped with 14.4 volts, the lithium ion battery of 0.38 kilowatt hour, when mobile robot's recharging device of the utility model embodiment is arranged on the upper test of this mobile robot, the motion track of this mobile robot's motion track and difference mobile robot Pioneer 3-DX is similar.
Test result shows no matter be differential motion robot or omni-directional mobile robots, and what no matter be equipped with is traditional lead acid accumulator or lithium ion battery, and mobile robot's recharging device of the utility model embodiment all can be worked normally.
Claims (6)
1. mobile robot's recharging device, relates to the mobile robot who is built-in with battery, and this device comprises and be fixed on the charging pedestal landing on thing, and is fixed on the companion's pedestal on mobile robot, it is characterized in that:
Described charging pedestal has an infrared emission chamber, described infrared emission chamber is open to infrared ray in left, front, right three directions, and can cut off infrared ray in upper and lower, rear three directions, in infrared emission chamber, be fixed with a perpendicular infrared division board of transmitting terminal of putting, infrared emission chamber is separated into each sub-chamber of transmitting around by the infrared division board of this transmitting terminal, in these two the sub-chambeies of transmitting, is respectively equipped with an infrared transmitter;
On described charging pedestal, be equipped with infrared signal transmission circuit, described infrared signal transmission circuit has two the infrared signal output ports that can export phase xor signal, and these two infrared signal output ports connect respectively two infrared transmitters;
Described companion's pedestal has an infrared reception cavity, described infrared reception cavity is all being opened infrared ray on direction and left and right directions forward, and chamber, the both sides up and down wall of infrared reception cavity all can cut off infrared ray, in infrared reception cavity, be fixed with a perpendicular infrared division board of receiving terminal of putting, infrared reception cavity is separated into each sub-chamber of reception around by the infrared division board of this receiving terminal, in these two the sub-chambeies of reception, is respectively equipped with at least one infrared remote receiver;
On described companion's pedestal, be equipped with infrared signal receiving circuit, described infrared signal receiving circuit has multiple infrared signal receiving ports, and each infrared signal output port of infrared signal receiving circuit connects respectively each infrared remote receiver;
On described charging pedestal and companion's pedestal, point be equipped with can be with level charging plug, the charging socket to pluggable mode deciliter.
2. mobile robot's recharging device according to claim 1, is characterized in that: the front end of described companion's pedestal is equipped with three sensitive switches that touch charging pedestal by bond energy, and these three sensitive switches from left to right arc interval are laid.
3. mobile robot's recharging device according to claim 1 and 2, is characterized in that: described charging plug is fixed on charging pedestal, and charging socket is arranged on companion's pedestal, is respectively fixed with a conductive contact blade in the both ends of the surface up and down of charging plug;
Described charging socket has that two intervals are laid and just right sliding shoe up and down, and the spring moving for ordering about two sliding shoe subtends, and the opposite end of two sliding shoes is respectively fixed with a conductive contact blade.
4. mobile robot's recharging device according to claim 3, is characterized in that: the face that caters to that two sliding shoes cater to charging plug one side is inclined-plane, and these two cloth that caters to face is set as front wide and rear narrow tubaeform.
5. mobile robot's recharging device according to claim 1 and 2, is characterized in that: described infrared signal transmission circuit comprises emission control module, mains connection;
Described charging plug is received mains connection through a current sensor, a charging control relay, and described mains connection is received external power source;
Described emission control module has transducing signal input port, charging signals output port, and two infrared signal output ports, the transducing signal input port of emission control module is received the transducing signal output of current sensor, the charging signals output port of emission control module is received the control coil of charging control relay, and two infrared signal output ports of emission control module are received respectively two infrared transmitters.
6. mobile robot's recharging device according to claim 1 and 2, is characterized in that: described infrared signal receiving circuit comprises reception control module, battery connecting piece;
Described charging socket is subject to electric control relay to receive battery connecting piece through one, and described battery connecting piece is received mobile robot's internal battery;
Described reception control module has the electrical signal of being subject to mouth, and multiple infrared signal receiving ports, three docking signal input ports, the electrical signal mouth that is subject to that receives control module is received the control coil that is subject to electric control relay, each infrared signal receiving port that receives control module is received respectively each infrared remote receiver, and three docking signal input ports that receive control module are received respectively three sensitive switches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420192577.2U CN203951212U (en) | 2014-04-21 | 2014-04-21 | Mobile robot's recharging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420192577.2U CN203951212U (en) | 2014-04-21 | 2014-04-21 | Mobile robot's recharging device |
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| CN203951212U true CN203951212U (en) | 2014-11-19 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103997082A (en) * | 2014-04-21 | 2014-08-20 | 伍小军 | Autonomous charging device and autonomous charging method of mobile robot |
| CN104950889A (en) * | 2015-06-24 | 2015-09-30 | 美的集团股份有限公司 | Robot charging stand and robot provided with same |
| CN106081081A (en) * | 2016-06-21 | 2016-11-09 | 深圳市博飞航空科技有限公司 | Can be automatically near unmanned vehicle and the control method of vertical |
| CN106410510A (en) * | 2016-10-19 | 2017-02-15 | 上海发那科机器人有限公司 | Visual positioning magnetic plug power taking device |
| CN106532375A (en) * | 2016-12-21 | 2017-03-22 | 北京灵铱科技有限公司 | A mobile robot omnidirectional charging stand and its autonomous charging method |
| CN108836149A (en) * | 2018-07-05 | 2018-11-20 | 李林涛 | A kind of intelligences combination system |
| CN110558899A (en) * | 2019-08-02 | 2019-12-13 | 卓秋珍 | sweeping robot and charging method thereof |
| US11172609B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
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2014
- 2014-04-21 CN CN201420192577.2U patent/CN203951212U/en not_active Withdrawn - After Issue
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103997082A (en) * | 2014-04-21 | 2014-08-20 | 伍小军 | Autonomous charging device and autonomous charging method of mobile robot |
| CN103997082B (en) * | 2014-04-21 | 2016-01-13 | 伍小军 | Mobile robot's recharging device and recharging method thereof |
| CN104950889A (en) * | 2015-06-24 | 2015-09-30 | 美的集团股份有限公司 | Robot charging stand and robot provided with same |
| CN106081081A (en) * | 2016-06-21 | 2016-11-09 | 深圳市博飞航空科技有限公司 | Can be automatically near unmanned vehicle and the control method of vertical |
| US11172609B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
| CN106410510A (en) * | 2016-10-19 | 2017-02-15 | 上海发那科机器人有限公司 | Visual positioning magnetic plug power taking device |
| CN106410510B (en) * | 2016-10-19 | 2019-05-03 | 上海发那科机器人有限公司 | A kind of vision positioning magnetic plug electricity getting device |
| CN106532375A (en) * | 2016-12-21 | 2017-03-22 | 北京灵铱科技有限公司 | A mobile robot omnidirectional charging stand and its autonomous charging method |
| CN106532375B (en) * | 2016-12-21 | 2020-10-16 | 苏州睿澎诚科技有限公司 | A mobile robot omnidirectional charging device |
| CN108836149A (en) * | 2018-07-05 | 2018-11-20 | 李林涛 | A kind of intelligences combination system |
| CN110558899A (en) * | 2019-08-02 | 2019-12-13 | 卓秋珍 | sweeping robot and charging method thereof |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20141119 Effective date of abandoning: 20160113 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |