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CN-121987104-A - Intelligent cleaning robot applying laser sensing charging technology

CN121987104ACN 121987104 ACN121987104 ACN 121987104ACN-121987104-A

Abstract

The invention relates to the technical field of sweeping robots, and particularly discloses an intelligent sweeping robot applying a laser sensing charging technology, which comprises a robot body, a laser sensing module, a central controller, a driving chassis, a charging contact assembly and a self-adaptive docking adjusting mechanism, wherein the laser sensing module is arranged on the robot body; the robot is characterized in that a central controller is integrated inside the robot body and is electrically connected with the laser sensing module, the driving chassis and the charging contact assembly through data buses respectively. According to the invention, the laser sensing module is used for identifying the high-reflectivity positioning mark belt on the charging seat, the central controller is combined for pose calculation and track planning, and the pitch adjusting assembly, the transverse fine adjusting assembly and the contact pressure feedback unit are used for realizing micron-scale butting adjustment in the three-dimensional space, so that the problems of uneven ground, contact offset, ambient light interference and the like can be effectively overcome, and the precision, reliability and success rate of automatic charging are remarkably improved.

Inventors

  • ZHANG HUANLE
  • DU YANTAO
  • SUN SHUISHENG

Assignees

  • 江西工程学院

Dates

Publication Date
20260508
Application Date
20260407

Claims (10)

  1. 1. The intelligent cleaning robot using the laser sensing charging technology is characterized by comprising a robot body (1), a laser sensing module (2), a central controller (3), a driving chassis (4), a charging contact assembly (5), a self-adaptive butt joint adjusting mechanism (6) and a charging seat (7), wherein the central controller (3) is integrated inside the robot body (1), is electrically connected with the laser sensing module (2), the driving chassis (4) and the charging contact assembly (5) through a CAN bus respectively, the laser sensing module (2) is fixedly arranged in an upper shell at the front side of the robot body (1), the driving chassis (4) comprises a left travelling wheel (41), a right travelling wheel (42) and a universal supporting wheel (43), the left travelling wheel (41) and the right travelling wheel (42) are driven by independent servo motors respectively, the charging contact assembly (5) comprises an elastic conductive contact piece (51), the elastic conductive contact piece (51) is fixed at the rear side of the bottom of the robot body (1) through a conductive bracket (52) and is electrically connected with an internal power supply managing unit, and the self-adaptive butt joint adjusting mechanism (6) is arranged between the bottom of the robot body (1) and the robot body (5) and the charging contact assembly (61) comprises a pitching adjusting assembly And a lateral fine adjustment assembly (62) and a contact pressure feedback unit (63).
  2. 2. The intelligent cleaning robot applying the laser sensing charging technology according to claim 1, wherein the pitching adjusting assembly (61) comprises a mounting base (611), a pitching rotating shaft (612), a pitching driving motor (613), an angle encoder (614) and a mounting base plate (615), the mounting base (611) is located at the lower portion of the driving chassis (4), the pitching rotating shaft (612) is located at the bottom of the mounting base (611), two ends of the pitching rotating shaft (612) are rotatably connected with the mounting base (611), the pitching driving motor (613) is fixed on one side of the mounting base (611), an output shaft of the pitching driving motor is in transmission connection with one end of the pitching rotating shaft (612) through a reduction gear set, the angle encoder (614) is coaxially mounted at the other end of the pitching rotating shaft (612), a signal output end of the angle encoder is connected to the central controller (3), the middle portion of a conductive support (52) of the charging contact assembly (5) is fixedly connected with the pitching rotating shaft (612), and the mounting base plate (615) is located at the top of the mounting base (611).
  3. 3. The intelligent cleaning robot applying the laser sensing charging technology according to claim 1, wherein the transverse fine adjustment assembly (62) comprises a motor mounting plate (621), a stepping motor (622), a rotating shaft (623) and a bearing (624), the motor mounting plate (621) is located at the bottom of the robot body (1), the motor mounting plate (621) is in an L-shaped arrangement, the stepping motor (622) is located on the upper surface of the motor mounting plate (621), an output shaft of the stepping motor (622) is fixedly connected with the mounting base (611), the rotating shaft (623) is located at the top of the mounting base (611), the bearing (624) is sleeved at the top of the rotating shaft (623), and the rotating shaft (623) is rotatably connected with the bottom of the robot body (1) through the bearing (624).
  4. 4. The intelligent cleaning robot applying the laser sensing charging technology according to claim 1, wherein the contact pressure feedback unit (63) comprises a strain gauge sensor (631), a signal conditioning circuit (632) and an analog-to-digital conversion module (633), the strain gauge sensor (631) is adhered to the outer side surface of a root bending area of the elastic conductive contact piece (51), the signal conditioning circuit (632) is packaged in an inner cavity of the conductive support (52), the input end of the signal conditioning circuit is electrically connected with the strain gauge sensor (631) through a flexible lead, the analog-to-digital conversion module (633) is integrated at the output end of the signal conditioning circuit (632), and the signal output end of the signal conditioning module is connected to an ADC interface of the central controller (3).
  5. 5. The intelligent cleaning robot applying the laser sensing charging technology according to claim 1, wherein the laser sensing module (2) comprises a laser emitter (21), a rotary reflecting mirror (22), a photoelectric receiving array (23) and a synchronous control unit (24), wherein the laser emitter (21) emits continuous laser beams with the wavelength of 905nm, the continuous laser beams are periodically deflected through the rotary reflecting mirror (22) to form a sector scanning plane, the photoelectric receiving array (23) is formed by linearly arranging 64 PIN photodiodes, and the synchronous control unit (24) controls the angular speed of the rotary reflecting mirror (22) and is synchronous with the sampling time sequence of the photoelectric receiving array (23).
  6. 6. The intelligent cleaning robot applying the laser sensing charging technology as set forth in claim 1, wherein the charging seat (7) is located in a charging bin, the charging bin corresponds to the robot body (1), a high-reflectivity positioning mark belt (71) is arranged on the front face of the charging seat (7), the high-reflectivity positioning mark belt (71) is formed by distributing six circular reflective patches with the diameter of 10mm according to regular hexagonal vertexes, and a titanium dioxide composite coating with high reflectivity for 905nm wavelength laser is coated on the surface of the reflective patches.
  7. 7. The intelligent cleaning robot applying the laser sensing charging technology according to claim 1, wherein the central controller (3) is provided with a laser point cloud preprocessing module (31), a feature matching module (32), a pose resolving module (33) and a docking track planning module (34), the laser point cloud preprocessing module (31) executes median filtering, statistical outlier rejection and a RANSAC ground segmentation algorithm, the feature matching module (32) extracts a contour point set of a high-reflectivity positioning marker band (71) in a preprocessed point cloud and performs ICP geometric matching with a charging seat (7) standard model pre-stored in a ROM, the pose resolving module (33) calculates six-degree-of-freedom relative poses of the robot body (1) relative to the charging seat (7) according to matching results, and the docking track planning module (34) generates three-stage docking paths of a coarse alignment stage, a fine tuning stage and a final contact stage based on the relative poses.
  8. 8. The intelligent cleaning robot applying the laser sensing charging technology according to claim 1, wherein the universal supporting wheel (43) comprises a rubber wheel body (431), a spherical universal joint (432) and a damping spring (433), the rubber wheel body (431) is connected with the spherical universal joint (432) through a shaft pin, the upper end of the spherical universal joint (432) is connected to the bottom of the robot body (1) and is rotationally connected with the robot body (1), and the damping spring (433) is sleeved between the rubber wheel body and the bottom of the spherical universal joint (432) and has a spring stiffness of 8N/mm.
  9. 9. The intelligent cleaning robot applying the laser sensing charging technology as set forth in claim 1, wherein the elastic conductive contact piece (51) is formed by stamping a beryllium copper alloy strip with the thickness of 0.3mm, the free end of the elastic conductive contact piece is bent outwards to form a pre-tightening radian with the curvature radius of 25mm, and a polyimide insulating bushing is embedded in the conductive support (52).
  10. 10. The intelligent cleaning robot applying the laser sensing charging technology as set forth in claim 1, wherein the scanning plane of the laser sensing module (2) forms a fixed included angle of 15 degrees with the horizontal plane.

Description

Intelligent cleaning robot applying laser sensing charging technology Technical Field The invention relates to the technical field of sweeping robots, in particular to an intelligent sweeping robot applying a laser sensing charging technology. Background The intelligent cleaning robot is used as important equipment for household and commercial cleaning automation, is widely applied to indoor cleaning scenes by virtue of functions of path planning, autonomous obstacle avoidance, automatic recharging and the like, and has a core function dependent on stable energy supply and accurate positioning butt joint capability; In the existing automatic charging technology, an infrared or contact type sensing scheme is commonly adopted due to low cost and simple realization, and a laser sensing technology is gradually applied to a high-end machine type due to high-precision distance measurement and environment modeling capability. In the actual operation of the current charging docking system based on laser sensing, tolerance adaptability to the relative pose of a charging seat and a robot is limited, and docking precision and charging success rate can be affected when uneven ground, offset of charging contacts or interference of ambient light exist. Disclosure of Invention The invention aims to provide an intelligent cleaning robot applying a laser sensing charging technology so as to solve the problems in the background technology. The intelligent cleaning robot comprises a robot body, a laser sensing module, a central controller, a driving chassis, a charging contact assembly, a self-adaptive butt-joint adjusting mechanism and a charging seat, wherein the central controller is integrated in the robot body and is respectively and electrically connected with the laser sensing module, the driving chassis and the charging contact assembly through a data bus, the laser sensing module is arranged at the upper part of the front side of the robot body and is used for collecting space point cloud data around the charging seat in real time, the driving chassis comprises two independently driven travelling wheels and a universal supporting wheel, the travelling wheels are driven by a servo motor, control signals of the servo motor are output by the central controller, the charging contact assembly comprises a pair of elastic conductive contact pieces, the elastic conductive contact pieces are fixed at the rear side of the bottom of the robot body through a conductive bracket and are electrically connected with a power management unit in the robot, the self-adaptive butt-joint adjusting mechanism comprises a pitching adjusting assembly, a fine-tuning assembly and a contact pressure feedback unit, the pitching adjusting assembly is arranged between the bottom of the robot body and the charging assembly, and the charging contact pressure feedback unit is embedded in the conductive contact pads, and the fine-tuning assembly is arranged in the conductive contact pads. The pitch adjusting assembly comprises a mounting base, a pitch rotating shaft, a pitch driving motor, an angle encoder and a mounting base plate, wherein the mounting base is positioned at the lower part of the driving chassis, the pitch rotating shaft is positioned at the bottom of the mounting base, two ends of the pitch rotating shaft are rotationally connected with the mounting base, the pitch driving motor is fixed on one side of the mounting base, an output shaft of the pitch driving motor is in transmission connection with one end of the pitch rotating shaft through a reduction gear set, the angle encoder is coaxially arranged at the other end of the pitch rotating shaft, a signal output end of the angle encoder is connected to a central controller, the middle part of a conductive support of the charging contact assembly is fixedly connected with the pitch rotating shaft, and the mounting base plate is positioned at the top of the mounting base. The horizontal fine setting subassembly includes motor mounting panel, step motor, axis of rotation and bearing, the motor mounting panel is located robot body bottom, the motor mounting panel is L shape setting, step motor is located motor mounting panel upper surface, just step motor's output shaft and mounting base fixed connection, the axis of rotation is located the mounting base top, just the bearing has been cup jointed at the axis of rotation top, the axis of rotation passes through the bearing and rotates with robot body bottom and be connected. The contact pressure feedback unit comprises a strain gauge sensor, a signal conditioning circuit and an analog-to-digital conversion module, wherein the strain gauge sensor is adhered to a root bending area of the elastic conductive contact, the signal conditioning circuit is electrically connected with the strain gauge sensor and is used for amplifying and filtering original strain signals, and the analog-to-digital conversion module converts the analog signals into