阅读说明：本技术 一种移动机器人全向充电座及其自主充电方法 (Omnidirectional charging seat of mobile robot and autonomous charging method thereof ) 是由 王彦君 于 2016-12-21 设计创作，主要内容包括：本发明是一种移动机器人全向充电座及其自主充电方法,涉及机器人技术领域,所解决的是降低机器人自主充电时移动机器人与充电座的对接难度,减少对接时间,提高可靠性和安全性。该装置包括全向充电座和微动接触开关插头,其中微动接触开关插头集成在移动机器人底盘上。全向充电座上布置一圈红外发射管,使充电座周围360度范围都能接收到红外信号,移动机器人底盘可从任意方向进行对接；移动机器人的微动接触开关插头上有3个成一定角度排列的红外接收管,可检测微动接触开关插头是否正对准全向充电座。当对接完成后,移动底盘微控制器检测到微动接触开关动作,然后发出命令打开继电器开始充电。(The invention relates to an omnidirectional charging seat of a mobile robot and an autonomous charging method thereof, relating to the technical field of robots and aiming at reducing the docking difficulty of the mobile robot and the charging seat when the robot is autonomously charged, reducing the docking time and improving the reliability and the safety. The device comprises an omnidirectional charging seat and a micro-contact switch plug, wherein the micro-contact switch plug is integrated on a mobile robot chassis. A circle of infrared transmitting tubes are arranged on the omnidirectional charging seat, so that infrared signals can be received within 360-degree range around the charging seat, and the chassis of the mobile robot can be butted from any direction; the micro-motion contact switch plug of the mobile robot is provided with 3 infrared receiving tubes which are arranged at a certain angle, and the micro-motion contact switch plug can be detected whether to be aligned with the omnidirectional charging seat. When the docking is completed, the mobile chassis microcontroller detects the action of the micro-contact switch and then sends a command to turn on the relay to start charging.)

1. An omnidirectional charging seat of a mobile robot and an autonomous charging method thereof are characterized in that: comprises an omnidirectional charging socket 9;

a mobile robot chassis 10; a micro-contact switch plug 11;

wherein, the omnidirectional charging socket 9 includes: an upper charging electrode 1, an infrared emission tube 2, a lower charging electrode 3 and a base 4;

the micro contact switch plug 11 includes: an upper micro-motion contact switch contact 5; an infrared receiving tube 6; a lower micro-motion contact switch contact 7; a baffle plate 8;

the connection relationship is as follows: the omnidirectional charging seat (9) comprises the upper charging electrode (1) and the lower charging electrode (3), the height of the base (4) can be adjusted, the infrared transmitting tube (2) and the infrared transmitting tube are arranged in a circle around the charging electrode connecting shaft

18 infrared emission tubes (2), each infrared emission tube (2) is distributed at 20 degrees, so that infrared rays can be spread all around

360 degrees of space;

a microcontroller, a wireless communication module and a relay combination ACDC module are arranged in the omnidirectional charging seat (9), the microcontroller receives a command of the mobile robot chassis (10) and controls the infrared transmitting tube (2), the upper charging electrode (1) and the lower charging motor (3) to be switched on and off;

the mobile robot chassis (10) comprises a microcontroller, a wireless communication module, a relay group, a battery, a micro contact switch (upper), a micro contact switch (lower) and a motor driving module;

the micro-contact switch plug (11) comprises the upper micro-contact switch contact (5), the lower micro-contact switch contact (7), 3 infrared receiving tubes (6) and the baffle (8) among the 3 infrared receiving tubes;

the upper micro-motion contact switch contact (5) and the lower micro-motion contact switch contact (7) are mechanical limit switches, when the mobile robot chassis (10) moves to the bottom of the omnidirectional charging socket (9), the upper micro-motion contact switch contact (5) contacts the upper charging electrode (1), the micro-motion contact switch contact (5) is pressed down by the upper charging electrode (1) due to contact pressure, and a microcontroller on the mobile robot chassis (10) detects the switching action of the upper micro-motion contact switch (5); the lower micro contact switch (7) is contacted with the lower charging electrode (3);

the upper micro-motion contact switch contact (5) and the lower micro-motion contact switch contact (7) are mechanical limit switches and are also connected with a relay on a control board of the mobile robot, and the other end of the relay is connected with an electrode of a battery, namely, the micro-motion contact switch contact is an electrifying electrode which is used for detecting contact action and transmitting power to the battery.

2. The omnidirectional charging base of the mobile robot and the autonomous charging method thereof according to claim 1, wherein:

the structure formed by the 3 infrared receiving tubes (6) on the micro-contact switch plug (11) and the baffle (8) between the 3 infrared receiving tubes (6) is used for detecting the infrared rays emitted by the infrared emitting tube (2) on the omnidirectional charging seat (9); the left infrared receiving tube and the right infrared receiving tube in the 3 infrared receiving tubes (6) are in mirror symmetry with the middle infrared receiving tube at an angle of 20 degrees respectively; when the micro-contact switch plug (11) is over against the omnidirectional charging socket (9), the 3 infrared receiving tubes (6) can receive infrared rays, and when the micro-contact switch plug (9) is deviated to the left relative to the omnidirectional charging socket, only the right infrared receiving tube in the 3 infrared receiving tubes (6) can receive the infrared rays; similarly, only the left infrared receiving tube in the infrared receiving tubes (6) can receive infrared rays when the infrared receiving tube is deviated to the right; only when the micro-contact switch plug (11) is right opposite to the omnidirectional charging seat (9), 3 infrared receiving tubes (6) can receive infrared signals.

3. The mobile robot omnidirectional charging socket and the self-service charging method thereof according to claims 1 and 2, is characterized in that: after a microcontroller on the mobile robot chassis (10) receives signals of the 3 infrared receiving tubes (6), the direction of the mobile robot chassis (10) relative to the omnidirectional charging seat (9) can be judged; when a microcontroller in the mobile robot chassis (10) detects that the battery power is low, the mobile robot chassis (10) can be controlled to rotate in place, the angle is adjusted, the micro contact switch plug (11) is enabled to be over against the omnidirectional charging seat (9), and the mobile robot chassis (10) is controlled to move towards the omnidirectional charging seat (9); when the micro-contact switch plug (11) is in contact with the omnidirectional charging socket (9), a microcontroller on a mobile robot chassis (10) detects the actions of the upper micro-contact switch contact (5) and the lower micro-contact switch contact (7), judges that the contact of a charging electrode is good at the moment, and sends a signal to the microcontroller on the omnidirectional charging socket (9) to enable the microcontroller on the omnidirectional charging seat (9) to open a relay set, so that the upper charging electrode (1) and the lower charging electrode (3) are communicated with a power supply, and the charging is started at the moment;

when the microcontroller on the mobile robot chassis (10) detects that the battery is fully charged, a signal is sent to the microcontroller in the omnidirectional charging seat (9), and a relay group is disconnected, namely the connection between the upper charging electrode (1) and the lower charging electrode (3) and a power supply is disconnected; and then controlling the robot chassis (10) to be separated from the omnidirectional charging chassis backwards, and when the recovery actions of the upper micro-motion contact switch contact (5) and the lower micro-motion contact switch contact (7) are detected, the mobile robot chassis (10) can work normally.

Technical Field

The invention relates to the technical field of robots, in particular to an omnidirectional charging seat of a mobile robot and an autonomous charging method thereof.

Background

At present, more and more service robots walk into the family life of ordinary people, and the intelligent household products are combined, so that the life of people is greatly convenient. However, due to the current technical bottleneck of batteries, the service robot generally has short running time, and at the moment, the service robot needs to automatically find the charging seat for charging when detecting that the electric quantity is low. However, most autonomous charging seats and mobile robots on the market at present need to be accurately positioned through an infrared sensor, and then the mobile robots are accurately moved to metal electrode plates on the charging seats. The method needs to adjust the direction of the mobile robot for multiple times to realize accurate butt joint, and has the disadvantages of complex technology, weak anti-interference performance and low safety.

The analysis of the above mentioned prior art has the following disadvantages, namely the technical problems to be solved by the present invention: 1. at present, due to the technical bottleneck of batteries, the service robot generally has short running time, and at the moment, the service robot needs to automatically find a charging seat for charging when detecting that the electric quantity is low; 2. the existing autonomous charging seat and the mobile robot need to be accurately positioned through an infrared sensor, and then the mobile robot is enabled to accurately move to a metal electrode plate on the charging seat. The method needs to adjust the direction of the mobile robot for multiple times to realize accurate butt joint, and has the disadvantages of complex technology, weak anti-interference performance and low safety.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, relates to an omnidirectional charging seat of a mobile robot and an autonomous charging method thereof, and has the advantages of adjustable base height (matched with the height of a microswitch plug of the mobile robot), better universality and higher safety.

In order to solve the technical problem, the invention provides a set of omnidirectional charging base and a microswitch plug on a mobile robot, which is characterized in that: the omnidirectional charging seat is an I-shaped charging seat consisting of two parallel circular electrodes and a middle connecting rod, wherein a circle of infrared transmitting tube is arranged around the middle connecting rod, the distance between the two circular electrodes is fixed, but the height of the bottom support can be adjusted by the whole I-shaped charging seat so as to adapt to the heights of the chassis of different mobile robots.

The micro switch plug on the mobile robot comprises two micro switches and 3 infrared receiving tubes. The two microswitch contacts are respectively positioned on the upper surface and the lower surface of the mobile robot base, and when the two microswitch contacts with the omnidirectional charging seat, the two microswitches act simultaneously. The 3 infrared receiving tubes are arranged at a specific angle, and baffles are arranged in the middle of the 3 infrared receiving tubes, wherein the middle infrared receiving tube is parallel to the action direction of the mobile robot and is positioned in the center of the micro-contact switch plug.

The contact of the micro-motion contact switch is an electrode for detecting micro-motion and supplying power to the mobile robot.

The invention provides an omnidirectional charging seat of a robot and an autonomous charging method thereof.A infrared transmitting tube on the charging seat is utilized to generate an infrared signal within a range of 360 degrees around the charging seat, two receiving tubes on the edges of 3 infrared receiving tubes on a charging plug of a micro contact switch on a robot body receive the infrared signal to judge whether the charging seat is on the left or on the right of the moving direction of the robot, a chassis of the robot is rotated in situ to enable the 3 infrared receiving tubes to receive the infrared signal, and when the 3 infrared receiving tubes can receive the infrared signal, the current moving direction of the robot can be judged to move towards the omnidirectional charging seat. When the micro contact switch plug on the robot body receives the actions of the upper micro switch and the lower micro switch, the charging seat can be judged to be completely attached to the mobile solar term person power feeding plug, and charging can be started. The method is simple in butt joint and can be used for butt joint from any direction. And when the butt joint is judged to be completed, the respective on-off power supplies are turned on, so that the safety is ensured, and the charging seat and the robot electrode are prevented from being electrified due to the collision of foreign objects.

Drawings

Fig. 1 is a schematic diagram of a robot omnidirectional charging socket structure of the present invention; FIG. 2 is a schematic view of a micro-motion contact switch plug of the mobile robot of the present invention; FIG. 3 is a schematic diagram of the omnidirectional charging receptacle circuit of the robot of the present invention; FIG. 4 is a schematic diagram of the mobile robot micro-motion contact switch plug circuit of the present invention; FIG. 5 is a schematic diagram of the overall structure of the present invention; among them, 9-omnidirectional charging socket; 10-mobile robot chassis; 11-micro contact switch plug; the 9-omnidirectional charging socket comprises: 1-upper charging electrode, 2-infrared emission tube, 3-lower charging electrode, 4-base; 11-a micro-contact switch plug comprising: 5-upper micro-motion contact switch contact, 6-infrared receiving tube, 7-lower micro-motion contact switch contact and 8-baffle.

Detailed Description

The following description will be provided in detail with reference to the accompanying drawings, but the present invention is not limited thereto, and all similar structures and similar variations using the present invention shall fall within the protection scope of the present invention.

As shown in fig. 1, 2, 3, 4 and 5, the technical solution of the present invention is to provide a set of omnidirectional charging base and micro-switch plug device on a mobile robot, including an omnidirectional charging socket 9; a mobile robot chassis 10; a micro-contact switch plug 11; wherein the omnidirectional charging socket 9 comprises: an upper charging electrode 1, an infrared emission tube 2, a lower charging electrode 3 and a base 4; the micro contact switch plug 11 includes: an upper micro-motion contact switch contact 5; an infrared receiving tube 6; a lower micro-motion contact switch contact 7; a baffle 8.

As shown in fig. 1 and fig. 5, an omnidirectional charging base 9 for a mobile robot according to an embodiment of the present invention includes an upper charging electrode 1; an infrared emission tube 2; a lower charging electrode 3; a base 4.

The method is characterized in that: the omnidirectional charging seat 9 is provided with an upper charging electrode 1, a lower charging electrode 3, a height-adjustable base 4 and a circle of infrared emission tubes 2 surrounding a charging electrode connecting shaft, wherein 18 infrared emission tubes are arranged in the circle, and each infrared emission tube is distributed at 20 degrees, so that infrared rays can be distributed in the surrounding 360-degree space.

As shown in fig. 3, the omnidirectional charging base 9 has a microcontroller, a wireless communication module, a relay group, and an ACDC module. The microcontroller receives the command of the mobile robot base 10 and controls the switching of the infrared transmitting tube 2, the upper charging electrode 1 and the lower charging electrode 3.

As shown in fig. 2 and 5, a mobile robot micro-contact switch plug 11 provided by the embodiment of the present invention is integrated on a mobile robot base 10, and is characterized in that: the micro-contact switch plug 11 comprises an upper micro-contact switch contact 5, a lower micro-contact switch contact 7, 3 infrared receiving tubes 6 and a baffle 8 between the 3 infrared receiving tubes 6.

The upper micro-motion contact switch contact 5 and the lower micro-motion contact switch contact 7 are mechanical limit switches, when the mobile robot chassis 10 moves to the bottom of the omnidirectional charging socket 9, the upper micro-motion contact switch contact 5 contacts the upper charging electrode 1, the upper micro-motion contact switch contact 5 is pressed down by the upper charging electrode 1 due to contact pressure, and the robot detects that the upper micro-motion contact switch contact 5 acts; similarly the lower microswitch 7 contacts the lower charging electrode 3.

As shown in fig. 4, the mobile robot chassis 10 includes a microcontroller, a wireless communication module, a relay set, a battery, a motor driving module, a micro contact switch (up) and a micro contact switch (down). The upper micro-contact switch electric shock 5 and the lower micro-contact switch contact 7 are made of metal materials and are connected with a relay set on a mobile robot chassis 10, and the relay set is connected with a battery. That is, the upper micro-motion contact 5 and the lower micro-motion contact 7 are electrodes for detecting a contact operation between the mobile robot chassis 10 and the omnidirectional charging stand 9, and also for charging the battery.

The structure formed by the baffle plates 8 between the 3 infrared receiving tubes 6 and the 3 infrared receiving tubes 6 on the micro-contact switch plug 11 is used for detecting the infrared rays emitted by the infrared emission tube 2 on the omnidirectional charging seat 9. The left and right infrared receiving tubes of the 3 infrared receiving tubes 6 are respectively in mirror symmetry with the middle infrared receiving tube at an angle of 20 degrees. When the micro contact switch plug 11 is over against the omnidirectional charging socket, the 3 infrared receiving tubes 6 can receive infrared rays, and when the micro contact switch plug 11 is deviated to the left relative to the omnidirectional charging socket, the infrared receiving tube on the right side of the 3 infrared receiving tubes 6 can receive infrared rays; similarly, only the left infrared receiving tube of the infrared receiving tubes 6 can receive infrared rays when the right side is deviated. Only when the micro-contact switch plug 11 is opposite to the omnidirectional charging socket 9, the left, middle and right infrared receiving tubes in the 3 infrared receiving tubes 6 can receive infrared signals.

After receiving the signals of the 3 infrared receiving tubes 6, the microcontroller on the mobile robot chassis 10 can judge the direction of the micro-contact switch plug 11 relative to the omnidirectional charging seat 9. When the microcontroller on the mobile robot chassis 10 detects that the battery power is low, the mobile robot chassis 10 can be controlled to rotate in place, the angle is adjusted, the micro contact switch plug 11 is enabled to face the omnidirectional charging socket 10, and the mobile robot chassis 10 is controlled to move to the omnidirectional charging seat 9. When the mobile robot chassis 10 contacts the omnidirectional charging socket 9, the microcontroller on the mobile robot chassis 10 detects the action of the upper micro-contact switch contact 5 and the lower micro-contact switch contact 7, judges that the charging electrode is in good contact at the moment, and sends a signal to the controller on the omnidirectional charging socket 9, so that the microcontroller on the omnidirectional charging socket 9 opens the relay, the upper charging electrode 1 and the lower charging electrode 3 are connected with a power supply, and the charging is started at the moment.

When the microcontroller on the mobile robot chassis 10 detects that the battery is fully charged, the microcontroller sends a signal to the microcontroller on the omnidirectional charging socket 9 to disconnect the relay set, namely, the connection between the upper charging electrode 1 and the lower charging electrode 3 and the power supply is disconnected; and then controlling the mobile robot chassis 10 to be separated from the omnidirectional charging seat 9 backwards, and when the return actions of the upper micro-motion contact switch contact 5 and the lower micro-motion contact switch contact 7 are detected, the mobile robot chassis 10 can normally work.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.