Robot, charger, charging alignment methods and charging systemTechnical field
The invention belongs to automation field, particularly to a kind of robot, charger, charging alignment methods and charging system.
Background technology
Robot is the installations automatically performing work.It both can accept mankind commander, can run again the program of layout in advance, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology, robot can assist human work, all can have important use in the field such as industry, building industry of production.And at present, robot is widely used in sphere of life, has the functions such as early warning, automatic pathfinding, amusement, education, cleaning, in order to realize various function.These robots adopt rechargeable battery as power source, reduce intellectuality and the work efficiency of robot, even if using the robot of automatic charging mode, generally use guide rail or infrared alignment, its automatic aligning method there is also alignment inaccuracy, cost of manufacture is high, occupies the shortcomings such as space.
Summary of the invention
It is an object of the invention to provide a kind of robot, charger, charging alignment methods and charging system, it is intended to solve general robot can not automatic charging, and the problem that there is misalignment in automatic charging process.
In order to solve above-mentioned technical problem, the present invention is achieved through the following technical solutions:
According to the first aspect of the invention, it is provided that a kind of robot.
A kind of robot, described robot includes robot body and the charging alignment device being arranged on described robot body and the first charging connector；
Described charging alignment device includes:
Infrared receiver, for receiving the infrared signal that charger sends；
Signal strength detection unit, for detecting the intensity of described infrared signal；
Control unit, sending control signal to described robot body to adjust the direction of travel of this robot for the intensity according to described infrared signal, being directed at the second charging connector of charger thus realizing described first charging connector in the traveling process of robot after several times adjustment.
As further technical scheme, described control unit is for the intensity random device in described infrared signal
According to the second aspect of the invention, it is provided that a kind of charger.
A kind of charger, for being charged to described robot, it is characterised in that described charger includes cradle and the second charging connector being arranged on described cradle and infrared transmission module；
Described infrared transmission module includes:
Infrared emission head, is used for launching infrared signal；
First optical module, for making the infrared signal that infrared emission head sends disperse at a predetermined angle along an axis, and signal intensity reduces along with the increase deviateing described axis angle.
According to the third aspect of the invention we, it is provided that a kind of robot charging alignment methods.
A kind of robot charging alignment methods, described method includes:
A, control robot advance along an inceptive direction；
The infrared signal that b, reception charger send；
C, detect the intensity of described infrared signal；
D, send control signal according to the intensity of described infrared signal to described robot body to adjust the direction of travel of this robot, thus the second charging connector of the first charging connector and charger realizing robot after several times adjustment in the traveling process of robot is directed at.
According to the fourth aspect of the invention, the invention provides a kind of robot charging system.
A kind of robot charging system, described system includes described robot and described charger.
Charging alignment device charging alignment device charging alignment device
Beneficial effect:
Robot and charger is included at robot charging system of the present invention, utilize in the method for the charging alignment device of this robot and a kind of robot charging of charger, infrared signal is received by robot by infrared receiver, by the signal strength detection unit being arranged on robot, infrared signal intensity is detected, and under the control of the control unit according to the strong and weak position adjusting robot in real time of the infrared signal received and direction of travel, so can ensure that robot is in the process of walking, all the time the position of alignment robot can be adjusted, and finally dock with charger accurately repeatedly adjusting Hou Shi robot, to reach automatically, charge accurately.
Accompanying drawing explanation
Fig. 1 is the structural representation of the robot of the embodiment of the present invention 1.
Fig. 2 is the structural representation of the charger of the embodiment of the present invention 2.
Fig. 3 is the schematic flow sheet of a kind of robot charging alignment methods of the embodiment of the present invention 3.
Fig. 4 is the system block diagram of a kind of robot charging system of the embodiment of the present invention 4.
Fig. 5 is a kind of track schematic diagram of robot ambulation in 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.
In order to technical scheme is described, illustrate below by specific embodiment.
Embodiment 1
Please referring especially to Fig. 1, and in conjunction with Fig. 2 and Fig. 5, a kind of robot, described robot includes robot body and the charging alignment device 1 being arranged on described robot body and the first charging connector 3.
Described charging alignment device 1 includes infrared receiver 10, for receiving the infrared signal that charger sends；Signal strength detection unit 11, for detecting the intensity of described infrared signal；Control unit 12, sending control signal to described robot body to adjust the direction of travel of this robot for the intensity according to described infrared signal, being directed at the second charging connector of charger thus realizing described first charging connector in the traveling process of robot after several times adjustment.
In this embodiment 1, the number of the first charging connector 22 and the second charging connector 13 is preferably two, certainly, in other examples, can be more or less, but at least need one, it should be noted that this first charging connector 22 is the metal joint that model is the same with the second charging connector 13.In embodiments of the invention 1, control unit 12 can be MCU, programmable logic controller (PLC) or other, it is connected with battery 16, is operated by the power supply of battery 16.Preferably, robot ambulation is generally adopted the walking of the tortuous round about manners such as the walking of S shape or spiral walking, certainly, in other examples, it is possible to adopt other walking manner.
In embodiments of the invention 1, described control unit 12 is for before the intensity random device people of described infrared signal and then when reducing, control robot to halt, then control robot rotate and monitor in real time in rotary course and record the detected value of signal strength detection unit 11 during towards all directions, then control robot again and advance towards the direction that detected value is maximum.
It is to be appreciated that control unit 12 can also adjust direction of advance by other modes.Such as, described control unit 12, specifically for, before the intensity random device people of described infrared signal and then when reducing, controlling robot and halt, then controls robot and rotates with default step angle according to first direction；If the rotation of the intensity random device people of infrared signal and weaken, then described control unit 12 controls described robot and reversely rotates with described default step angle；If the rotation of the intensity random device people of infrared signal and strengthen, then described control unit 12 control described robot keep original direction of rotation with described default step angle be rotated up detecting the intensity of infrared signal reduce after this control unit 12 control robot and once reversely rotate with described step angle, and described carry out once reversely rotate after stop the rotation, control unit 12 control robot with this time reversely rotate after towards moving on.This default step angle can be 5 ° or 6 °, or other less angles.
In embodiments of the invention 1, this robot also includes electric power detection module, and this electric power detection module is connected with the power supply of control unit 12 and robot respectively.Described electric power detection module is for detecting the dump energy of described robot body, and generates and sends when described dump energy is lower than preset value to touch and signal to described control unit 12, and described control unit 12 opens charging alignment function according to this triggering signal.
In the embodiment of the present invention 1, signal strength detection unit 11 is specially an analog-digital commutator, for converting this analog quantity of the infrared signal received to digital signal, and test the magnitude of voltage obtaining this digital signal, certainly, in other examples, it is possible to for other device, but must have and infrared signal can convert the function of digital signal to.
In the embodiment of the present invention 1, infrared receiver 10 includes infrared receiving terminal 101, shade 102 and convex lens 103, described shade 102 is provided with light inlet 104, described convex lens 103 is arranged on described light inlet 104, and described infrared receiving terminal 101 is contained in described shade 102 and towards described convex lens 103.Certainly, in other examples, it is possible to use other light shielding device, it is not limited to adopt shade 130, it addition, this optical lens 131 is convex lens.Additionally, described robot also includes at least one battery 16, described battery 16 connects described first charging connector 3.
In this embodiment 1, the first charging connector 3 in robot is preferred identical with the number of the second charging connector 4 of charger, it is specially two, certainly, in other examples, can be more or less, but at least need one, it should be noted that this first charging connector 3 is the metal joint that model is the same with the second charging connector 4.
In the embodiment of the present invention 1, infrared signal is received by robot by infrared receiver, by the signal strength detection unit being arranged on robot, infrared signal intensity is detected, and under the control of the control unit according to the strong and weak position adjusting robot in real time of the infrared signal received and direction of travel, so can ensure that robot is in the process of walking, all the time the position of alignment robot can be adjusted, and finally dock with charger accurately repeatedly adjusting Hou Shi robot, to reach automatically, to charge accurately.
Embodiment 2
Please referring especially to Fig. 2, and in conjunction with Fig. 1 and Fig. 5, a kind of charger, described charger includes cradle 25 and the second charging connector 4 being arranged on cradle 25 and infrared transmission module 2；Described infrared transmission module 2 includes: infrared emission head 20, is used for launching infrared signal；First optical module 21, for making the infrared signal that infrared emission head 20 sends disperse at a predetermined angle along an axis, and signal intensity reduces along with the increase deviateing described axis angle.
In embodiments of the invention 2, described first optical module 21 includes fish-eye lens 211 and curved optic mist lens 210, and described infrared emission head 20, described curved optic mist lens 210 and described fish-eye lens 211 are arranged on described cradle 25 along described axis successively.In embodiments of the invention 2, first optical module 21, it is arranged at the front of infrared emission head 20, for being that a predetermined angle is dispersed by the infrared signal that infrared transmission module 20 sends, this predetermined angle is less than or equal to 180 °, is each filled with infrared signal in this angular range, and this range areas is chargeable range, robot only entering within the scope of this, just can start to charge up process.
In the embodiment of the present invention 2, described curved optic mist lens 210 are preferably a convex lens, certainly, in other examples, can be other lenses.Wherein, existence due to fish-eye lens 211, therefore infrared signal can be launched in the scope of a panorama, its coverage becomes wide, and due to its optically focused effect, during the charging alignment device alignment fish-eye lens therefore made, the signal that its position receives is 360 °, this position peak signal, and surrounding parabolically reduces.
Refer to shown in Fig. 3, the infrared signal that charger 2 is launched is a sector region in border, two, left and right, the intensity of infrared signal is that a gradient is successively decreased, distance is further away from charger, direction is deviation direction, center more, and its intensity is more low, for the time being by the situation that gradient is successively decreased, this infrared signal is called curved infrared signal intensity gradient face, from charger more close to gradient face on infrared signal intensity more strong, the infrared signal on same gradient face is all equal.When certain location point of robot ambulation to certain gradient face, the direction of its charging alignment device 1 must be this gradient face normal direction at this point, and robot adjusts this normal direction, is the direction that within the scope of 360 ° of this location point, infrared signal is the strongest.
In embodiments of the invention 2, described equipment includes infrared emission modulation module 24, and described infrared emission modulation module 24 is connected with described infrared transmission module 2, for the infrared signal after employing sine wave modulation is sent to described infrared transmission module 2.Certainly, it is necessary to explanation, being certain frequency sine wave signal by the infrared signal after this sine wave modulation, it is different from general infrared signal, and the ability of its anti-interference and anti-distortion is remarkably reinforced, and can effectively prevent from being subject to the interference of the infrared signal of nature.Certainly, in other examples, it is possible to for impulse modulation or other, and the sine wave modulation in the embodiment of the present invention 2 refer generally to sine wave freuqency modulation or sine wave phase modulation, do not adopt sinusoidal amplitude to modulate.
In embodiments of the invention 2, described charger also includes charging detection module 23, it is connected with described second charging connector 4 and described infrared transmission module 2 respectively, for detecting whether be charged, and detecting that sending shutdown signal makes infrared transmission module 2 stop launching infrared signal when being charged to red described emission module 2.This charging detection module 23 is specially a charging detector, the curtage that can pass through to detect the second charging connector 4 judges whether robot is just charged, certainly, in other examples, it is alternatively other device, it is not limited to the charging detector in the present embodiment 2.In embodiments of the invention 2, described second charging connector 4, consistent with described first charging connector 3 number, and it is in sustained height with described first charging connector 3.
In the embodiment of the present invention 2, fish-eye lens in charger makes the infrared signal emitted from infrared emission unit can ensure that when charging alignment device is directed at the first Optical devices, the signal that its position receives is peak signal within the scope of 360 °, this position, so can ensure that robot is in the process of screwdriven, all the time the position of alignment robot can be adjusted, and finally dock with charger accurately repeatedly adjusting Hou Shi robot, to reach automatically, to charge accurately.
These are only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention.
Embodiment 3
Please referring especially to Fig. 3, and in conjunction with Fig. 1, Fig. 2 and Fig. 5, a kind of robot charging alignment methods, described method includes:
S101, control robot advance along an inceptive direction；
When robot needs to charge, randomly choose a direction as inceptive direction, advance then along the direction.It will of course be understood that ground, in order to improve charge efficiency, it is possible to passing through control robot self rotating 360 degrees and receiving in rotary course and detect infrared signal intensity, finally make robot advance towards the direction of infrared signal maximum intensity.
The infrared signal that S102, reception charger send；
S103, detect the intensity of described infrared signal；
S104, send control signal according to the intensity of described infrared signal to described robot body to adjust the direction of travel of this robot, thus the second charging connector of the first charging connector and charger realizing robot after several times adjustment in the traveling process of robot is directed at.
In embodiments of the invention 3, described step S103 includes:
When, before the intensity random device people of described infrared signal and then when reducing, control unit 12 sends a signal to robot and halts to control robot；
Control unit 12 controls robot and rotates and monitor in real time in rotary course and record the detected value of infrared signal during towards all directions；
Control unit 12 controls robot and advances towards the direction that detected value is maximum.
Concrete, described step S104 specifically includes:
Before the intensity random device people of described infrared signal and then when reducing, control unit 12 controls robot and halts, and then controls robot and rotates with default step angle according to first direction；
If the rotation of the intensity random device people of infrared signal and weaken, then described control unit 12 controls described robot and reversely rotates with described default step angle；
If the rotation of the intensity random device people of infrared signal and strengthen, then described control unit 12 control described robot keep original direction of rotation rotate with described default step angle, until detecting that the intensity of infrared signal controls robot after reducing and once reversely rotates with described step angle, and described carry out once reversely rotating after stop the rotation, now this robot stop after towards direction be exactly the direction of infrared signal maximum intensity；Control unit 12 control robot with this time reversely rotate after towards moving on.
Such as, in a preferred embodiment, when robot goes to B point from A point, find that the infrared signal at B point reduces, then now robot stops moving ahead, control unit 12 controls robot and turns clockwise 5 °, if infrared signal intensity still weakens, then control unit 12 controls robot inverse hour hands rotation 5 °, another mistake hour hands rotate 5 °, now can find that the more original position of infrared signal enhances, then control unit 12 controls robot and rotates counterclockwise with the angle of 5 ° every time, until the infrared signal that its dead ahead direction receives is the peak signal within the scope of 360 °, this position, control unit 12 is controlled robot and is walked by the direction.Then after going to C point from B point along the direction, find to reduce in C point infrared signal, the mode identical with when B point is adopted to be adjusted direction of advance, to deviate the angle of this axis not little for the direction of advance through once adjusting robot, after several times adjust, the direction of advance of robot is completely and this dead in line.
As previously described, the infrared signal that charger is launched is a sector region in border, two, left and right, the intensity of infrared signal is that a gradient is successively decreased, distance is further away from cradle, direction is deviation direction, center more, and its intensity is more low, for the time being by the situation that gradient is successively decreased, this infrared signal is called curved infrared signal intensity gradient face, from charger more close to gradient face on infrared signal intensity more strong, the infrared signal on same gradient face is all equal.When certain location point of robot ambulation to certain gradient face, the direction of charging alignment device 1 must be this gradient face normal direction at this point, and robot adjusts this normal direction, is the direction that within the scope of 360 ° of this location point, infrared signal is the strongest.Therefore, this locality is the gradient face normal direction at this point.
Certainly, understandably, in order to realize alignment, also there are enough distances to realize the robot direction of advance adjustment of several times, can by arrange in robot and charger distance detection module realize, when needs charge on time, robot walks one automatically outside the preset distance of charger.Such as, this preset distance can be 10 meters etc..
In embodiments of the invention 3, further comprising the steps of before described step b:
Charging detection module detection detects the dump energy of described robot body, and generates when described dump energy is lower than preset value for triggering the triggering signal opening charging alignment function.After this triggering signal is sent to control unit by charging detection module, control unit opens charging alignment function.
In embodiments of the invention 3, described realizing described first charging connector 3 and be directed at the second charging connector 4 of charger, after being charged, described method also includes:
Control unit 12 sends the signal that charging has been docked, shutdown signal intensity detection unit 11；After cradle 2 detects that robot starts to charge up, close infrared transmission module 20.
In the robot charging method of the embodiment of the present invention 3, infrared signal is received by robot by infrared receiver, by the signal strength detection unit being arranged on robot, infrared signal intensity is detected, and under the control of the control unit according to the strong and weak position adjusting robot in real time of the infrared signal received and direction of travel, so can ensure that robot is in the process of walking, all the time the position of alignment robot can be adjusted, and finally dock with charger accurately repeatedly adjusting Hou Shi robot, to reach automatically, charge accurately.
These are only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention.
Embodiment 4
As shown in Figure 4, a kind of robot charging system, including the robot 100 in embodiment 1 and the charger 200 in embodiment 2.Its specific works principle described in embodiment 1, embodiment 2 and embodiment 3, does not repeat at this one by one.
In this robot charging system, infrared signal is received by robot by infrared receiver, by the signal strength detection unit being arranged on robot, infrared signal intensity is detected, and under the control of the control unit according to the strong and weak position adjusting robot in real time of the infrared signal received and direction of travel, so can ensure that robot is in the process of walking, all the time the position of alignment robot can be adjusted, and finally dock with charger accurately repeatedly adjusting Hou Shi robot, to reach automatically, to charge accurately.
These are only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention.