Automatic obstacle avoidance device and method for orderly charging guide rail type robot for new energy automobile

Abstract

The invention discloses an automatic obstacle avoidance device of a new energy automobile orderly charging guide rail type robot. The automatic obstacle avoidance device comprises a control system, an ultrasonic detection module, a driving system and an obstacle avoidance system. The control system exchanges data with the ultrasonic detection module through a communication interface, and interacts with the driving system and the obstacle avoidance system through an I / O interface; the ultrasonic detection module is used for detecting obstacles in front of the robot; the obstacle avoidance system is used for giving out an obstacle avoidance prompt when an obstacle is detected, and the driving system is used for driving the robot to advance and retreat according to an instruction of the control system, so that the robot can be prevented from colliding with a vehicle which is abnormally parked below when walking on a track, and the safety is improved.

Description

Technical Field

[0001] The present invention relates to the field of new energy vehicle charging technology, and in particular to an automatic obstacle avoidance technology and implementation method of a rail-type charging robot. Background Art

[0002] With the popularity of new energy vehicles, the demand for charging is growing. Existing charging facilities often have problems such as insufficient number of charging piles and low charging efficiency. In order to improve charging efficiency and the utilization rate of charging piles, rail-type charging robots came into being. The charging robot is installed on a track in the air. It may encounter obstacles during walking, such as an open hatchback trunk tailgate, a vehicle whose height exceeds the robot's safe passage height, etc. This requires an effective obstacle avoidance technology to prevent the robot from hitting the abnormally parked vehicles below, and voice prompts the owner to move the car to avoid disputes. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present invention provides an automatic obstacle avoidance device and method for a rail-type charging robot for orderly charging of new energy vehicles. The purpose of the present invention is to provide an automatic obstacle avoidance technology and implementation method for a rail-type charging robot for orderly charging of new energy vehicles, so as to prevent the robot from colliding with abnormally parked vehicles below when walking on the track, thereby improving safety.

[0004] To achieve the above object, the present invention provides the following technical solutions: An automatic obstacle avoidance device for a rail-type robot for orderly charging of new energy vehicles comprises a control system, an ultrasonic detection module, a drive system and an obstacle avoidance system; the control system exchanges data with the ultrasonic detection module via a communication interface, and interacts with the drive system and the obstacle avoidance system via an I / O interface; the ultrasonic detection module is used for detecting obstacles in front of the robot; the obstacle avoidance system is used for issuing an obstacle avoidance prompt when an obstacle is detected, and the drive system is used for driving the robot to move forward or backward according to the instructions of the control system.

[0005] As a further solution of the present invention, the driving system is used to drive the walking mechanism, thereby driving the robot to move on the track.

[0006] As a further solution of the present invention, the control system is used to receive and send control signals through a communication interface and an I / O interface.

[0007] As a further solution of the present invention, the obstacle avoidance system issues an obstacle avoidance prompt through a voice speaker when an obstacle is detected.

[0008] As a further solution of the present invention, an ultrasonic detection module is used to continuously detect obstacles ahead. When the ultrasonic ranging is less than a set value, an obstacle avoidance prompt is issued and walking is stopped. The environment ahead is continuously evaluated until the obstacle is cleared, and then the charging task is continued.

[0009] The present invention also provides an automatic obstacle avoidance method for a rail-type robot for orderly charging of new energy vehicles, comprising the following steps: The following steps are involved: Step S1: The charging robot receives the instruction and starts to perform the task. The robot starts to move along the preset guide rail to the designated charging position; Step S2: The robot makes a "beep" sound to alert pedestrians or vehicles around it; Step S3: The robot uses an ultrasonic sensor to continuously detect whether there is an obstacle in front. If the ultrasonic sensor detects that the distance of the obstacle in front is less than the preset safety distance value, the process proceeds to the next step; if no obstacle is detected or the obstacle distance is greater than the safety distance value, the robot continues to walk; if an obstacle is detected, the robot will perform obstacle avoidance operations; Step S4: The robot immediately stops moving forward to avoid collision with obstacles, and issues a voice prompt of "please give way" to remind pedestrians or vehicles around to pay attention and take evasive measures; Step S5: The robot waits in a stopped state until the ultrasonic sensor detects that the obstacle in front has been cleared. After the obstacle is cleared, the robot restarts and continues to perform the charging task.

[0010] The present invention has the following beneficial effects: The present invention can realize automatic anti-collision parking. When the robot recognizes an obstacle in front of it during its walking process, it will automatically stop running to prevent collision. After the robot stops, it will play the voice prompt "Please avoid" intermittently in a loop to remind the owner to move the car or close the tailgate.

[0011] The present invention uses ultrasonic sensors as the core of the obstacle avoidance system, which is responsible for real-time monitoring of the distance to obstacles ahead; as well as voice prompts, which provide sound prompts at key nodes to enhance human-computer interaction and safety; automatic stop and start, which automatically stops when an obstacle is detected and automatically starts after the obstacle is cleared, ensuring the continuity and safety of the charging process.

[0012] In order to more clearly illustrate the structural features and effects of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a module schematic diagram of an automatic obstacle avoidance device for a rail-type robot for orderly charging of new energy vehicles mentioned in the present invention.

[0014] Figure 2 The present invention is a flowchart of an automatic obstacle avoidance method for a rail-type robot for orderly charging of new energy vehicles. DETAILED DESCRIPTION

[0015] The present invention will be further explained below in conjunction with the accompanying drawings and related knowledge, and described clearly and completely. Obviously, the described application is only a part of the embodiments of the present invention, rather than all the embodiments.

[0016] Reference Figure 1-Figure 2 As shown, the present invention provides an automatic obstacle avoidance device for a rail-type robot for orderly charging of new energy vehicles, including a control system, an ultrasonic detection module, a drive system and an obstacle avoidance system; the control system exchanges data with the ultrasonic detection module through a communication interface, and interacts with the drive system and the obstacle avoidance system through an I / O interface; the ultrasonic detection module is used to detect obstacles in front of the robot; the obstacle avoidance system is used to issue an obstacle avoidance prompt when an obstacle is detected, and the drive system is used to drive the robot forward and backward according to the instructions of the control system.

[0017] In the present invention, the control system, as the core part of the automatic obstacle avoidance device, undertakes the key tasks of data processing and command sending. On the one hand, it exchanges data with the ultrasonic detection module through the communication interface to obtain the distance, direction and other information collected by the ultrasonic detection module about the obstacle in front of the robot; on the other hand, it interacts with the drive system and obstacle avoidance system through the I / O interface, analyzes and processes the received information, sends control instructions to the drive system, determines whether the robot moves forward, backward or performs other actions, and sends instructions to the obstacle avoidance system to coordinate the timing and method of issuing obstacle avoidance prompts; The present invention uses the reflection principle of ultrasound to detect obstacles in front of the robot. When the ultrasonic signal is emitted, it will be reflected back when encountering an obstacle. The module receives the reflected signal and calculates the distance between the obstacle and the robot according to the propagation time and speed of the signal. The information such as these distance data is transmitted to the control system, providing a basis for the control system to determine whether there is an obstacle and the position of the obstacle. It has the advantages of low cost and insensitivity to ambient light. The driving system drives the robot to move forward, backward, etc. according to the instructions issued by the control system. When the control system determines that there is an obstacle in front that needs to be avoided, it will send corresponding instructions to the driving system. The driving system controls the operation of the robot's motor, adjusts the movement direction and speed of the robot, and realizes the obstacle avoidance action. The performance of the driving system directly affects the timeliness and accuracy of the robot's obstacle avoidance. For example, if the driving system has a fast response speed and stable power output, the robot can avoid obstacles more quickly and smoothly. Obstacle avoidance system: It is mainly responsible for issuing obstacle avoidance prompts when an obstacle is detected, reminding surrounding personnel or other equipment to pay attention to the robot's obstacle avoidance operation, and can also provide certain reference information for the robot operator. In addition, the obstacle avoidance system may also include some functions related to obstacle avoidance strategies, such as assisting the control system to determine the best obstacle avoidance plan based on the type, location and current state of the obstacle. The obstacle avoidance prompts issued can be sound prompts, light prompts, or prompt information sent to related equipment via wireless communication.

[0018] Reference Figure 1 As shown, the charging robot-automatic obstacle avoidance system consists of a control system. The charging robot is equipped with an advanced control system, including a communication interface and an I / O interface for receiving and sending control signals. Ultrasonic detection. The robot is equipped with an ultrasonic sensor for detecting obstacles ahead. Drive system. The robot's drive system can move forward and backward according to the instructions of the control system. Walking mechanism. The robot's walking mechanism can move smoothly along the guide rail. Obstacle avoidance prompt. The robot is equipped with a voice speaker for issuing obstacle avoidance prompts when obstacles are detected.

[0019] Reference Figure 2 As shown, an automatic obstacle avoidance method for a rail-type robot for orderly charging of a new energy vehicle comprises the following steps: Step S1: The charging robot receives the instruction and starts to perform the task. The robot starts to move along the preset guide rail to the designated charging position; Step S2: The robot emits a "tick-tick" sound to alert pedestrians or vehicles around it. The "tick-tick" sound emitted by the robot can alert pedestrians or vehicles around it in advance, play a certain preventive role, and reduce the possibility of accidents. Step S3: The robot uses an ultrasonic sensor to continuously detect whether there is an obstacle in front. If the ultrasonic sensor detects that the distance of the obstacle in front is less than the preset safety distance value, the process enters the next step; if no obstacle is detected or the obstacle distance is greater than the safety distance value, the robot continues to walk; if an obstacle is detected, the robot will perform obstacle avoidance operations, and use ultrasonic sensors to continuously detect obstacles in front, and obtain obstacle information in real time, providing a basis for subsequent decision-making; Step S4: The robot immediately stops moving forward to avoid collision with obstacles. The robot issues a voice prompt of "please give way" to remind pedestrians or vehicles around to pay attention and take evasive measures. When the robot detects that the obstacle distance is less than the safe distance, it immediately stops moving forward and issues a voice prompt, which can effectively avoid collision and ensure the safety of the robot, vehicles and pedestrians. Step S5: The robot waits in a stopped state until the ultrasonic sensor detects that the obstacle in front has been cleared. After the obstacle is cleared, the robot restarts and continues to perform the charging task.

[0020] Specifically include: Figure 2 Shown: Charging robot - automatic obstacle avoidance implementation method: The ultrasonic detection module continuously detects obstacles ahead. When the ultrasonic distance measurement is less than the set value, an obstacle avoidance prompt is issued and walking is stopped. The environment ahead is continuously evaluated until the obstacles are cleared, and then the charging task is continued.

[0021] Process description: 1. Get Started The charging robot received the instruction and started to perform the task.

[0022] 2. Robot walking The robot starts moving along the preset guide rail to the designated charging location.

[0023] 3. Voice prompt: beep The robot makes a "beeping" sound to alert pedestrians or vehicles around it.

[0024] 4. Ultrasonic obstacle recognition The robot uses ultrasonic sensors to continuously detect if there are any obstacles ahead.

[0025] If the ultrasonic sensor detects that the distance of the obstacle in front is less than the preset safety distance value, the process proceeds to the next step; if no obstacle is detected or the obstacle distance is greater than the safety distance value, the robot continues to walk; if an obstacle is detected, the robot will perform obstacle avoidance operations.

[0026] 5. Robot stops The robot immediately stops moving forward to avoid a collision with the obstacle.

[0027] 6. Voice prompt: Please give way The robot issues a voice prompt of "please give way" to remind pedestrians or vehicles around it to pay attention and take evasive measures.

[0028] 7. Wait for obstacles to be cleared The robot waits in a stopped state until the ultrasonic sensor detects that the obstacle in front has been cleared.

[0029] 8. Continue charging task After the obstacle is cleared, the robot restarts and continues the charging mission.

[0030] 9. End After completing this task, wait for the next task instruction.

[0031] The technical principle of the present invention is described above in combination with the specific embodiments, which are only preferred implementations of the present invention. The protection scope of the present invention is not limited to the above embodiments, and all technical solutions under the idea of ​​the present invention belong to the protection scope of the present invention. Those skilled in the art can think of other specific implementations of the present invention without creative work, and these methods will fall within the protection scope of the present invention.

Claims

1. An automatic obstacle avoidance device for a rail-type robot for orderly charging of new energy vehicles, characterized in that: It includes a control system, an ultrasonic detection module, a drive system and an obstacle avoidance system; the control system exchanges data with the ultrasonic detection module through a communication interface, and interacts with the drive system and the obstacle avoidance system through an I / O interface; the ultrasonic detection module is used to detect obstacles in front of the robot; the obstacle avoidance system is used to issue an obstacle avoidance prompt when an obstacle is detected, and the drive system is used to drive the robot forward and backward according to the instructions of the control system.

2. The automatic obstacle avoidance device of the rail-type robot for orderly charging of new energy vehicles as claimed in claim 1 is characterized in that: The driving system is used to drive the walking mechanism, thereby driving the robot to move on the track.

3. The automatic obstacle avoidance device of the rail-type robot for orderly charging of new energy vehicles as claimed in claim 2 is characterized in that: The control system is used to receive and send control signals through the communication interface and the I / O interface.

4. The automatic obstacle avoidance device of the rail-type robot for orderly charging of new energy vehicles as claimed in claim 3 is characterized in that: The obstacle avoidance system issues an obstacle avoidance prompt through a voice speaker when an obstacle is detected.

5. The automatic obstacle avoidance device of the rail-type robot for orderly charging of new energy vehicles as claimed in claim 3 is characterized in that: The ultrasonic detection module continuously detects obstacles ahead. When the ultrasonic distance measurement is less than the set value, an obstacle avoidance prompt is issued and walking is stopped. The environment ahead is continuously evaluated until the obstacles are cleared, and then the charging task is continued.

6. An automatic obstacle avoidance method for a rail-type robot for orderly charging of new energy vehicles, characterized in that: The following steps are involved: Step S1: The charging robot receives the instruction and starts to perform the task. The robot starts to move along the preset guide rail to the designated charging position; Step S2: The robot makes a "beep" sound to alert pedestrians or vehicles around it; Step S3: The robot uses an ultrasonic sensor to continuously detect whether there is an obstacle in front. If the ultrasonic sensor detects that the distance of the obstacle in front is less than the preset safety distance value, the process proceeds to the next step; if no obstacle is detected or the obstacle distance is greater than the safety distance value, the robot continues to walk; if an obstacle is detected, the robot will perform obstacle avoidance operations; Step S4: The robot immediately stops moving forward to avoid collision with obstacles, and issues a voice prompt of "please give way" to remind pedestrians or vehicles around to pay attention and take evasive measures; Step S5: The robot waits in a stopped state until the ultrasonic sensor detects that the obstacle in front has been cleared. After the obstacle is cleared, the robot restarts and continues to perform the charging task.

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