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ROS-based high-efficiency wireless charging intelligent trolley with laser navigation function and control method

A technology of wireless charging and laser navigation, applied in two-dimensional position/channel control, non-electric variable control, battery/fuel cell control device and other directions, which can solve problems such as service quality degradation, abnormal operation of smart cars, service interruption, etc.

Active Publication Date: 2020-08-21
JIANGSU UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Today’s common ROS-based mobile robots are mostly powered by on-board batteries. If the robot needs to work for a long time, it is extremely inconvenient for the staff to load and unload the battery. Often, the smart car does not work normally due to undervoltage, resulting in a decline in service quality. Even service interruption
In addition, the existing lithium battery wireless charging modules on the market generally have the defect of low efficiency conversion

Method used

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  • ROS-based high-efficiency wireless charging intelligent trolley with laser navigation function and control method
  • ROS-based high-efficiency wireless charging intelligent trolley with laser navigation function and control method
  • ROS-based high-efficiency wireless charging intelligent trolley with laser navigation function and control method

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Embodiment 1

[0098] Such as figure 1 As shown, the overall structure of a wireless charging smart car with laser navigation function based on ROS system, including aluminum alloy disc*3, driving wheel*2, universal wheel*1, JGA25-370 motor*2, wireless charging module, 12V lithium battery pack, power conversion module, power supply voltage detection module, STM32 processor system, OLED display, TB6612 motor drive module, laser radar, Raspberry Pi 3B+, host computer.

[0099] Specifically, the STM32 processor system, power conversion module, OLED display, motor drive module, motor, drive wheel and universal wheel, lithium battery pack, wireless charging module, and power supply voltage detection module are all installed on the lower chassis. The receiving coil generates current by inductively setting the sending coil at the charging point. The wireless charging circuit with the XKT-801 chip as the core is used to charge the lithium battery pack through the receiving circuit, and the output cu...

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Abstract

The invention discloses an ROS-based high-efficiency wireless charging intelligent trolley with a laser navigation function and a control method. The ROS-based high-efficiency wireless charging intelligent trolley is mainly composed of a flyback power supply module, a wireless charging module, a motor driving and bottom layer control system and an environment detection and algorithm implementationsystem. Firstly, a wireless charging device charges a battery, a laser radar is used for collecting information of the surrounding environment after the trolley departs, an improved Gmapping algorithm is realized on an ROS platform in Raspberry Pi through odometer calibration and motion distortion removal in combination with odometer information provided by a motor encoder so as to realize functions of real-time positioning and map creation in an unknown environment, and then an autonomous navigation function is realized by calling a navigation function packet. When a power supply voltage detection module detects that the battery voltage is insufficient, the charging point is set as a navigation target, the function of automatically returning to the charging point for charging is achieved, and the automation level and the service quality of a mobile robot are greatly improved.

Description

technical field [0001] The invention relates to the field of ROS smart cars, and in particular provides a smart car based on the ROS system, which has a laser navigation function and can realize automatic high-efficiency wireless charging. Background technique [0002] Nowadays, artificial intelligence and wireless charging technology are becoming more and more popular. With the development of global energy-saving, clean and intelligent trends, the market potential of driverless cars and wireless charging cars is even greater. Nowadays, most of the common ROS-based mobile robots are powered by on-board batteries. If the robot needs to work for a long time, it is extremely inconvenient for the staff to load and unload the battery, and often the smart car does not work normally due to undervoltage, resulting in a decline in service quality. Even Service interruption. In addition, the existing lithium battery wireless charging modules on the market generally have the defect of...

Claims

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Application Information

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IPC IPC(8): B60L53/12B60L58/10H02J50/12G05D1/02
CPCB60L53/12B60L58/10H02J50/12G05D1/0212G05D1/0257Y02T90/16
Inventor 李伊莎李怀龙沈跃周柏涛
Owner JIANGSU UNIV
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