轮式移动机器人自主充电电源自动对接装置研究与设计

机器人自主充电技术是一项具有广泛应用前景的技术。在进行原理分析和实验验证的基础上,提出了一种新型实用的电源自动对接方法。所提方法类比人获取电源插头和插接电源的行为,当机器人回到舱位准备充电时,装设在机器人上的电源对接控制器首先控制机器人的机械手水平向后伸出,接着通过无线电信号遥控装设在机器人舱位中的馈电装置带动电源线及特制电源插座进行靠近机械手方向的水平横向移动,在电源线和机械手接触后,进一步控制电源线横向移动以实现特制电源插座在机械手上的高度调节。这种方法实现了特制电源插座在空间三维坐标中的准确定位。从而,只要轮式机器人停泊在指定区域,尽管存在停泊偏差以及轮胎气压变化引起的机械手离地面高度偏差,机械手均能实现特制电源插座抓取和插拔的准确控制。

Research and Design of Autonomous Rechargeable Power Automatic Docking System of Wheeled Mobile Robot

Autonomous robots charging technology has a wildly applied prospect. Under the foundation of basic principles of analysis and experimental verification, this paper proposes a new practical power automatic docking methods. The method analogy human behavior that getting power plug and plugging the power, When the robot ready to charge, the power docking controller conducts mechanical hand horizontally extending backwards firstly, then via radio signals cable and special power outlet are controlled remotely to move laterally approaching mechanical hand, after the touching of cable and mechanical hand, controlling cable moving lateral movement in order to get a adjusting height of the special outlet . This method realizes accurate positioning of the special power outlets in three-dimensional space. Thus, as long as the wheeled robot is parked in designated areas, although there are moored deviation and tire pressure changes caused by variation of mechanical hand in height from the ground, the robot can achieve precise control of the special power outlet. In this paper, a method is described in detail.