CN101923352B - Indoor security robot capable of automatically returning to charge base and method of returning indoor security robot to charge base - Google Patents
Indoor security robot capable of automatically returning to charge base and method of returning indoor security robot to charge base Download PDFInfo
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Abstract
本发明公开一种具有自动返回充电座功能的室内安保机器人，包括智能充电座和安保机器人两部分，所述智能充电座两侧各装有一个红外检测模块；所述安保机器人上设置有车体护头模块、电子罗盘模块和红外避障模块；智能充电座和车体护头模块主要用来完成安保机器人的充电功能。本发明还公开这种安保机器人自动返回充电座的方法。本发明采用的电子罗盘+红外检测避障传感器来实现的充电对接，相对于传统的随机行进检测人造标记的方案大大减少了机器人寻找充电座体的时间，从而保证了充电完成的成功率。
The invention discloses an indoor security robot with the function of automatically returning to a charging base, which includes two parts: an intelligent charging base and a security robot. An infrared detection module is installed on both sides of the intelligent charging base; a car body is arranged on the security robot. The head protection module, the electronic compass module and the infrared obstacle avoidance module; the intelligent charging stand and the car body head protection module are mainly used to complete the charging function of the security robot. The invention also discloses a method for the security robot to automatically return to the charging stand. The charging docking realized by the electronic compass + infrared detection and obstacle avoidance sensor adopted by the present invention greatly reduces the time for the robot to find the charging base compared with the traditional scheme of randomly traveling and detecting artificial marks, thus ensuring the success rate of charging completion.
Description
Technical field
The present invention relates to a kind of security robot, relate in particular to a kind of indoor security robot that returns the cradle function automatically that has, the invention still further relates to the method that this security robot returns cradle automatically.
Background technology
Indoor security robot independently moves in the localized area of for example dwelling house or office, and takes the device of situations such as indoor occupant turnover in real time.Because the security robot independently moves in the localized area, it provides driving power by battery.Easy to use for the user, the security robot has automatic charge function.When realizing going on patrol function automatically, the security robot detects the dump energy in the battery in real time.If the dump energy in the battery is lower than default charging voltage reference value, the security robot returns automatically and is placed on the cradle on the predeterminated position in the localized area.When realizing automatic charge function, the security robot detects the electric weight in the battery in real time, if the electric weight in the battery reaches the operating voltage reference value of setting, the security robot restarts its corresponding patrol operation.
Yet the classic method that the security robot returns cradle automatically is that artificial mark is attached on the cradle, and the security robot detects the artificial mark that is attached on the cradle by advancing at random, determines the position of cradle, and the security robot is returned cradle.
Because have bigger accidentalia by the detection of advancing at random, along with the position difference of security robot, there is bigger difference the time of returning cradle.In using the classic method that detects of advancing at random,, when returning cradle, probably cause owing to the not enough driving that stops the security robot of battery electric quantity if with detecting the artificial mark that is attached on the cradle for a long time.
Summary of the invention
Goal of the invention: the objective of the invention is to overcome deficiency of the prior art, provide a kind of have return the fast indoor security robot of cradle function and return speed automatically.
Technical scheme: of the present invention have an indoor security robot that returns the cradle function automatically, comprises intelligent charge base and security robot two parts, and an infrared detection module respectively is equipped with in described intelligent charge base both sides; Described security robot is provided with car body and protects head module, electrical compass module and infrared obstacle avoidance module;
Intelligent charge base and car body protect the charge function that head module is mainly used to finish the security robot; The security robot is long-range when returning intelligent charge base, adjusts the direct of travel of security robot by described electrical compass module detection angles information, makes car body protect head module and intelligent charge base is in parastate; When security robot and intelligent charge base closely the time, adjust the position of security robot about coming by two infrared detection modules, guarantee that car body protects head module and intelligent charge base is located along the same line.
Described intelligent charge base mainly is made of control module, communication module, locating module, charging circuit module and power module:
Control module is responsible for other each modules runnings on control and the coordination cradle as the control maincenter of whole intelligent charge base, finishes the command request of tele-robotic;
Communication module is mainly carried out information interaction mutually by wireless transmit/receive units with long-range security robot, long-range security robot sends to charging instruction after the intelligent charge base, intelligent charge base returns to the security robot with the detected security robot location of infrared detection module of its both sides, thereby guarantees that the security robot can turn back to intelligent charge base rapidly and finish charging;
Locating module comprises infrared detection module and arc-shaped guide rail two parts, and described arc-shaped guide rail is arranged on the front end of described intelligent charge base, is mainly used to eliminate mechanically the measuring error of infrared detection module;
The charging circuit module comprises current detection module and LED display module two parts, current detection module mainly is to judge the charging success or not by detecting having or not of electric current, the LED display module comprises LED light, mainly is to be used for the more directly display device people's of image charged state;
Power module comprises output electrode, for whole intelligent charge base provides various required voltages, has guaranteed finishing smoothly of charging process.
Also be provided with the USB camera module in the described security robot, be mainly used to pictures taken when security robot patrol state, be uploaded to Internet for remote client access and control by the Wi-Fi module then.
Described electrical compass module is made of signaling conversion circuit, sensor reset circuit, power module and micro controller module.
Described car body protect head module by Hookean spring, protect that first speed plate, car body protect head and the charging input electrode constitutes, described car body protects head and is arcwall face, guarantees the accurate aligning of output electrode and charging input electrode by the cooperation with described arc-shaped guide rail; Described charging input electrode is arranged on the arcwall face middle part that described car body protects head, is connected with the described first speed plate that protects by described Hookean spring, and described Hookean spring guarantees that output electrode contacts with charging the good of input electrode.
Above-mentioned indoor security robot returns the method for cradle automatically, comprises the steps:
When a, security robot detected battery electric quantity and be lower than the charging voltage reference value, the security robot sent charging instruction to intelligent charge base, and intelligent charge base is opened the infrared detection module, sends infrared detection signal, detected the security robot and whether entered the butt joint scope;
The electrical compass module of b, security robot detects the relative angle of security robot and default intelligent charge base by magnetoresistive transducer, and signaling conversion circuit is converted to level signal with detected angle signal and is uploaded to control module in the security robot;
Control module in c, the security robot is converted to angle signal with the level signal that obtains, and control differential driving motor is adjusted the direction of motion of security robot, makes the direction of motion of security robot and intelligent charge base be in parastate;
Rectilinear motion is done by d, security robot, simultaneously two infrared obstacle avoidance sensors of forward direction and about two infrared obstacle avoidance sensors carry out obstacle detection;
E, when in the sensing range of two infrared detection modules of security robot motion on intelligent charge base, micro controller module in the security robot according to two infrared detection modules detect complaint message, send order and control the move left and right of security robot, thereby security robot and intelligent charge base are on same the straight line;
Rectilinear motion is done by f, security robot, and up to contacting with the charging pedestal of intelligent charge base, the charging input electrode in the arc-shaped guide rail guiding security robot on the charging pedestal contacts fully with the output electrode on the charging pedestal;
Charging circuit on g, the intelligent charge base judges according to current detecting whether butt joint is finished; dock and successfully then light the LED lamp and show charged state; otherwise the microcontroller module in the security robot sends instruction control security robot slow astern set a distance; repeat e, the described content of f step, up to charging circuit detect charge successfully till.
The present invention compared with prior art, its beneficial effect is: (1) butt joint speed is fast: electronic compass+infrared detection that the present invention adopts is kept away the charging butt joint that the barrier sensor is realized, significantly reduce the time of robot searching charging pedestal with respect to traditional scheme that detects artificial mark of advancing at random, thereby guaranteed the success ratio that charging is finished; 2, cost is low: the infrared obstacle avoidance sensor has been adopted in location of the present invention, with respect to the localization by ultrasonic that is adopted in the tradition butt joint, has reduced the cost of system greatly; 3, structure of the present invention has redundancy design preferably, can eliminate positioning error to greatest extent, has reduced the positioning accuracy request to system.
Description of drawings
Fig. 1 is the modular structure synoptic diagram of intelligent charge base of the present invention;
Fig. 2 is intelligent charge base of the present invention and security robot physical construction synoptic diagram;
Fig. 3 is an intelligent charge base physical construction synoptic diagram of the present invention;
Fig. 4 protects a physical construction synoptic diagram for car body of the present invention;
Fig. 5 returns the process flow diagram of intelligent charge base method automatically for security of the present invention robot;
Wherein: 1, intelligent charge base, 2, car body protects head module, 3, the USB camera module, 4, electrical compass module, 5, the infrared obstacle avoidance module, 6, arc-shaped guide rail, 7, infrared detection module, 8, charging circuit module, 9, output electrode, 10, LED light, 11, Hookean spring, 12, protect the first speed plate, 13, car body protects head, 14, the charging input electrode.
Embodiment
Below in conjunction with accompanying drawing, most preferred embodiment is elaborated, but protection scope of the present invention is not limited to described embodiment.
Embodiment: a kind of have an indoor security robot that returns the cradle function automatically, comprises intelligent charge base 1 and security robot two parts.
Referring to accompanying drawing 1, intelligent charge base 1 mainly is made of control module, communication module, locating module, charging circuit module 8 and power module;
Control module is responsible for other each modules runnings on control and the coordination cradle as the control maincenter of whole intelligent charge base, finishes the command request of tele-robotic;
Communication module is mainly carried out information interaction mutually by wireless transmit/receive units with long-range security robot, long-range security robot sends to charging instruction after the intelligent charge base 1, intelligent charge base 1 returns to the security robot with the infrared detection module 7 detected security robot locations of its both sides, thereby guarantees that the security robot can turn back to intelligent charge base 1 rapidly and finish charging;
Locating module comprises infrared detection module 7 and arc-shaped guide rail 6 two parts, and described arc-shaped guide rail 6 is arranged on the front end of described intelligent charge base 1, is mainly used to eliminate mechanically the measuring error of infrared detection module 7;
Power module comprises output electrode 9, for whole intelligent charge base provides various required voltages, comprises 9V and 3.3V, has guaranteed finishing smoothly of charging process.
Referring to accompanying drawing 2, the security robot that returns intelligent charge base automatically mainly contains car body and protects head module 2, USB camera module 3, electrical compass module 4 and infrared obstacle avoidance module 5 formations.Intelligent charge base 1 is protected head module 2 with car body and has been mainly used to the charge function that security becomes robot; The USB camera module is mainly used to pictures taken when security robot patrol state, is uploaded to Internet for remote client access and control by the Wi-Fi module then; Electrical compass module 4 is mainly used to the relative angle information between detection machine people and the cradle; Infrared obstacle avoidance module 5 is mainly used to the obstacle detection when the robot motion, avoids the collision of robot.
Referring to accompanying drawing 3, the intelligent charge base front end is provided with arc-shaped guide rail 6, is mainly used to eliminate mechanically positioning error; An infrared detection module 7 respectively is equipped with in both sides, judges the position of security robot with respect to cradle by detecting having or not of obstacle in the time of closely; The afterbody of cradle is equipped with charging circuit module 8, output electrode 9 and LED light 10.
Referring to accompanying drawing 4, car body protects that head module comprises Hookean spring 11, protect first speed plate 12 and the car body that have that insulating material makes protects 13 and charging input electrode 14.Wherein Hookean spring 11 is mainly used to guarantee that output electrode 9 contacts with charging the good of input electrode 14, and car body protects 13 and guarantees the accurate aligning of output electrode 9 and charging input electrode 11 by the cooperation with arc-shaped guide rail 6.
Referring to accompanying drawing 5, the security robot returns the method for work of intelligent charge base automatically, comprises the steps:
The electric weight of the voltage detection module cycle detection battery in step 1, the security robot is when detecting battery electric quantity and be lower than default charging voltage reference value, by wireless communication module, send charging instruction to intelligent charge base 1;
Electrical compass module 4 in step 2, the security robot measure the security robots with and the relative angle of intelligent charge base, control module is adjusted robot according to testing result controlling and driving motor and is rotated corresponding angle;
After step 3, intelligent charge base 1 are received charging instruction, open the infrared detection module 7 of both sides, whether nearby to detect the security robot, at operating procedure 7 then, otherwise operating procedure 4;
Whether infrared obstacle avoidance module 5 cycle detection of step 4, security robot both sides exist obstacle, have then execution in step 5, otherwise execution in step 6;
Control module controlling and driving motor in step 5, the security robot is adjusted the move left and right of robot, avoids obstacle;
The straightaway campaign is done by step 6, security robot, detects obstacle, execution in step 3 up to the infrared obstacle avoidance module 5 of robot front end;
Step 7, security robot are according to the detection case of the infrared detection module 7 of intelligent charge base 1 both sides, and the controlling and driving motor is adjusted the move left and right of security robot;
The straightaway campaign is done by step 8, security robot, up to contacting fully with intelligent charge base;
Current detection circuit on step 9, the intelligent charge base detects charging current, execution in step 10, otherwise execution in step 3;
Infrared obstacle avoidance module 5 is closed in step 10, security robot fixed position, closes USB camera module 3;
Voltage detecting circuit cycle detection battery electric quantity in step 12, the security robot, when detecting battery electric quantity and be higher than the preset working voltage reference value, execution in step 13;
The personage who knows this area will understand, though described specific embodiment for the ease of explaining here, can make various changes under the situation that does not deviate from spirit and scope of the invention.Therefore, except claims, can not be used to limit the present invention.
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| CN2010102172875A CN101923352B (en) | 2010-07-05 | 2010-07-05 | Indoor security robot capable of automatically returning to charge base and method of returning indoor security robot to charge base |
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