A dual-guided robot autonomous charging method

Abstract

A dual-booting robot self-charging method comprises the following steps: a robot is guided to enter an infrared emission region; the direction of the robot is adjusted until a first infrared receiver and a second infrared receiver receive an infrared emission signal simultaneously, and then the robot moves forward; the direction of the robot continues to be adjusted to enable the first infrared receiver and the second infrared receiver to simultaneously receive a butt-joint infrared signal emitted by a butt-joint infrared emission tube; the robot uses a first ultrasonic geminate transistor and a second ultrasonic geminate transistor to measure the position at the minimum distance from a charging station so as to complete longitudinal location; whether the distances measured by the first ultrasonic geminate transistor and the second ultrasonic geminate transistor are the same is judged; if the distances measured by the first ultrasonic geminate transistor and the second ultrasonic geminate transistor are not the same, the current heading direction of the robot is taken as the longitudinal reference, the minimum sonar distance is kept unchanged, and the robot is transversely moved until the distances are the same; and if the distances are the same, the robot moves forward until the charging station completes charging. By adopting the dual-booting robot self-charging method of the invention, the time and algorithm for butt joint when the charging station is positioned on electrodes is reduced, and the efficiency of butt joint is improved.

Description

technical field [0001] The invention belongs to the field of robot autonomous charging, and in particular relates to a dual-guided robot autonomous charging method. Background technique [0002] The automatic charging function of the mobile robot can extend the autonomy time of the robot, increase its range of activities, and realize continuous task actions. The automatic charging technology requires that the robot can quickly find the charging station, there is a high power transmission efficiency between the robot and the charging station, and the charging is safe and fast. [0003] The traditional contact charging method has the following problems: [0004] From the physical aspect: the charging connection parts are metal conductors exposed to the outside, and sparks are likely to be generated during electrical connection, which is very dangerous for flammable and explosive occasions; if there is dirt, it will lead to poor contact or electrical connection failure. [00...

AI Technical Summary

Problems solved by technology

[0004] From the physical aspect: the charging connection part is a metal conductor exposed to the outside, and sparks are easy to be generated during electrical connection, which is very dangerous for flammable and explosive occasions; if there is dirt, it will lead to poor contact or electrical connection failure

[0005] From a mechanical point of view, the traditional charging connection parts adopt the direct plug-in method to complete the docking charging. The mechanical damage of the connector after multiple plugging and unplugging will cause contact loosening, resulting in poor contact or power transmission decline.

[0006] Moreover, the traditional contact-type infrared guided charging needs to adjust the angle of the robot many times to accurately find the location of the charging station, which takes a long time and is inefficient

Images