Robot charging bootstrap technique based on infrared sensorTechnical field
The invention belongs to robot autonomous charging field, particularly relate to a kind of robot charging bootstrap technique based on infrared sensor。
Background technology
Mobile apparatus people's automatic charging function can extend the autonomous time of robot, increases its range of activity, it is achieved continuous duty action。Automatic charging technology requires robot energy fast searching charging station, has higher transmission electric energy efficiency and charge safely, quickly between robot and charging station。
Recharging comparatively the important point is exactly that robot within the scope of zone of action quickly, can position the position of self and charging station, and select Rational Path arrival charging station to be charged accurately。
Existing robot finds the mode of charging station and is broadly divided into two kinds:
1) robot interior sets up the map of zone of action, rotate a circle in current location, utilize the technology such as laser sensing, machine vision scanning surrounding, by identifying surrounding objects shape and distance, determine robot position in map, drive towards charging station direction。Surrounding is judged by motor process in real time, and the distance and angle according to robot ambulation wheel walking judges robot ambulation distance and current direction, if scanning the object of charging station shape, then adjust robot angle and charging station distance so that it is linearly drive towards charging station and complete charging process。The method advantage is that robot passes through the judgement to surrounding and can position the position of charging station accurately and rapidly and complete docking operation。But the cost that shortcoming is identification equipment (such as laser sensor, vision camera etc.) is at a relatively high, can be greatly increased the manufacturing cost of machine。
2) method that many charging stations adopt infrared guiding, utilizes infrared light border convergence property to realize the robot searching to charging station。The method cost is low, and algorithm is simple, but needs constantly to touch infrared border to adjust robot direction of advance progressively near charging station in finding charging station process, and the time is tediously long。Restrain and nonlinearity convergence additionally due to infrared light convergence property is curvature, it is easy to cause robot to dock angle with charging station and there is the problem of gross differences, cause that electrode docks unsuccessfully。
Summary of the invention
Present invention is primarily targeted at and a kind of robot charging bootstrap technique based on infrared sensor is provided, it can overcome the defect of prior art, multiple infrared guidance mode is utilized to carry out electrode interface docking, solving traditional method needs repeatedly adjustment robot angle just can find the problem of charging station, improves machine task efficiency。
For achieving the above object, the present invention adopts the following technical scheme that
Set up infrared emission region；
It is arranged on the infrared remote receiver on robot body and receives the infrared light that infrared transmitting tube is launched respectively, and walking moves closer to charging station in zigzag；
The 4 quadrant detector of robot bottommost receives the laser signal of charging station bottommost, adjusts the position of robot self；
Laser beam linearly advances after moving to the initial point of 4 quadrant detector, it is achieved accurately dock with charging station。
Preferably, setting up infrared emission region particularly as follows: install the concave mirror of at least three different curvature on the centrage of charging station, embed an infrared transmitting tube in each concave mirror, the transmitting range of each infrared transmitting tube is different。
Preferably, equidistant arrangement between concave mirror。
Preferably, a low power generating laser being mounted equidistant in the lowest point of the centrage of charging station, this generating laser can send visible laser。
Preferably, described infrared remote receiver is arranged on robot body, the quantity of infrared remote receiver and the quantity of concave mirror and highly consistent。
Preferably, robot is that zigzag is walked and moves closer to charging station, particularly as follows:
Infrared remote receiver bottom robot is firstly received the infrared light that bottom charging station, infrared transmitting tube is launched, and walks along infrared light direction；
When robot moves closer to charging station, the infrared remote receiver at middle part can receive the infrared light launched from infrared transmitting tube in the middle part of charging station, and walks along infrared light direction；
In walking process, the infrared remote receiver at robot top can receive the infrared light that the infrared transmitting tube at charging station top is launched, and now robot becomes closer to charging station。
Preferably, the local of bottom height same with generating laser at robot body installs a 4 quadrant detector, is used for receiving laser signal。
Preferably, also include: after charge mode is opened by robot, the retrieval that rotates a circle carries out self-inspection, without infrared signal being detected, find, according to the map set up, the infrared emission signal that charging station sends。
The mode guided robot that this patent is successively decreased step by step by the region of ultra-red on differing heights, by its movement limit in only small scope, is guided by the linear type of laser with 4 quadrant detector, it is achieved that charging station accurately docks with robot electrode。Solve the docking of traditional infrared guided robot electrode and there is angular deviation, even dock failed problem。Further reduce the time of electrode docking, improve docking efficiency。
Accompanying drawing explanation
Fig. 1 is that the present invention charges bootstrap technique flow chart。
Fig. 2 is charging station schematic diagram of the present invention。
Charging station track schematic diagram is found by Tu3Shi robot of the present invention。
Fig. 4 is 4 quadrant detector schematic diagram of the present invention。
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated。Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention。
As shown in Figure 1-Figure 3, a kind of step based on the robot charging bootstrap technique of infrared sensor of the embodiment of the present invention specifically includes:
S10: set up infrared emission region。
Concrete, on the centrage of charging station 10, the concave mirror of installation at least three different curvature (determine depending on the height of centrage by the quantity of concave mirror, under normal circumstances less than 4, in the present embodiment, the quantity of concave mirror is 3), equidistant arrangement between described concave mirror, embedding an infrared transmitting tube in each concave mirror, the transmitting range of each infrared transmitting tube is different, and transmitting range from top to bottom is from the near to the remote。Thus define one from top to bottom in the front of charging station 10, Infrared irradiation length from the near to the remote, irradiating width infrared emission region from narrow to wide。
Installing a low power generating laser 14 in the lowest point equidistant (lower section of three concave mirrors, equal with the spacing of three concave mirrors) of the centrage of charging station 10, this generating laser can send visible laser。
S20: be arranged on the infrared remote receiver on robot body 20 and receive the infrared light that infrared transmitting tube is launched respectively, walk in zigzag and move closer to charging station。
Concrete, in robot body 20 front, infrared remote receiver is installed, the quantity of infrared remote receiver and the quantity of concave mirror and highly consistent。
After charge mode is opened by robot, rotating a circle and retrieve the position at oneself place, without infrared signal being detected, then illustrate that robot is outside infrared emission region, now the infrared emission signal that charging station sends is found, according to the map set up, by robot。
After robot enters infrared emission region, the infrared light according to receiving moves closer to charging station, method particularly includes:
S201: the infrared remote receiver bottom robot is firstly received the infrared light that bottom charging station, infrared transmitting tube 11 is launched, and walks along infrared light direction。
Concrete, due to the infrared transmitting tube on charging station centrage be from top to bottom, illumination length from the near to the remote, width transmitting from narrow to wide, therefore robot is firstly received the infrared light that infrared transmitting tube 11 is launched bottom charging station after entering emitting area, and walking in region of ultra-red 100 bottom this, when touching infrared border, the infrared light that infrared remote receiver receives can weaken, now, adjust robot direction, make robot towards the direction of charging station along zigzag migration。
S202: when robot moves closer to charging station, the infrared remote receiver at middle part can receive the infrared light launched from infrared transmitting tube 12 in the middle part of charging station, and walks along infrared light direction。
When robot moves closer to charging station, the infrared remote receiver at middle part can receive the infrared light launched from infrared transmitting tube 12 in the middle part of charging station, and walks along infrared light direction, now, the zone of action of robot is limited in middle part region of ultra-red 200, equally along zigzag walking near charging station。
S203: in walking process, the infrared remote receiver at robot top can receive the infrared light that the infrared transmitting tube 13 at charging station top is launched, and now robot becomes closer to charging station。
When robot is further to charging station, the infrared remote receiver at top can receive the narrower infrared light that the infrared transmitting tube 13 at charging station top is launched, and now, the operational region of robot is in top IR region 300。
S30: the 4 quadrant detector of robot bottommost receives the laser signal of charging station bottommost, adjusts the position of robot self。
The local of bottom height same with generating laser at robot body 20 installs a 4 quadrant detector 24, is used for receiving laser signal。
S40: laser beam linearly advances after moving to the initial point of 4 quadrant detector, it is achieved accurately dock with charging station。
4 quadrant detector, upon receipt of laser signal, adjusts robot location according to the quadrant coordinate system of himself, until the light beam of laser moves to the initial point of four-quadrant detector, now, and Robot straight ahead。Owing to laser quasi is straightforward well, position is in again directly over charging station electrode, when laser beam overlaps with Quadrant detector initial point, illustrate that the electrode of robot and charging station is on same straight line, can be directly realized by along this direction straight line moving and dock with the accurate of charging station。
It is understood that for the person of ordinary skill of the art, it is possible to conceive according to the technology of the present invention and make other various corresponding changes and deformation, and all these change and deform the protection domain that all should belong to the claims in the present invention。