The invention discloses an automatic counterpoint method. The method comprises the following steps of detecting positions of reflective strips preset on two ends of an auxiliary positioning plate through using a laser radar sensor installed on a robot; obtaining a central posture of the auxiliary positioning plate according to the positions of the reflective strips at the two ends of the auxiliarypositioning plate; obtaining a current posture of the robot; and according to the central posture of the auxiliary positioning plate, through combining the current posture of the robot, making the robot arrive at a counterpoint target point position, and completing counterpoint. In addition, the invention also discloses an automatic counterpoint system. The system comprises the auxiliary positioning plate with the reflective strips at the two ends and the robot with the laser radar sensor. In the invention, under the condition that a single line laser radar is adopted and an extra expensive detection sensor is not added, high precision counterpoint is realized.

Automatic counterpoint method and system

The invention discloses a self-charging method for a lawn mower. The method comprises steps: through a navigation and positioning system, the lawn mower walks to a range near a charging pile; the surrounding environment information is collected, and the position of the charging pile is recognized; the information acquired by a laser radar is analyzed, and the lawn mower walks to a specified position right opposite to the center of the charging pile; whether the lawn mower right faces the center of the charging pile is judged, if not, attitude adjustment is needed, in-situ rotation with the self as an axis is carried out, and the lawn mower itself is made to right face the charging pile; and the laser radar acquires the information around the charging pile irregularly during the process ofwalking to the charging pile of the lawn mower, whether the lawn mower deviates relative to the center position of the charging pile is judged, if yes, slight attitude adjustment is carried out untilthe charging port of the lawn mower is inserted to the charging pile. The method disclosed in the invention is not easily disturbed by interference signals, the coverage range is wide, arrangement ofthe device is simple and convenient, and the lawn mower can be guided to accurately and quickly enter the charging pile for being charged.

Self-charging method for lawn mower

The invention provides an intelligent water supply and discharging floor cleaning robot system and a water supply and discharging control method thereof. The intelligent water supply and discharging floor cleaning robot system comprises a robot, a water supply and discharging device, a butt joint module and a water pumping and discharging module, wherein the butt joint module comprises a positionreturn system; the robot comprises a clear water structure and a sewage structure; the clear water structure comprises a clear water box and a clear water inlet opening; the sewage structure comprisesa sewage box and a sewage outlet opening; and the water supply and discharging device comprises a water supply pipe and a water discharging pipe. Particularly, the butt joint module also comprises afine adjustment system used for performing position fine adjustment on the robot after the robot enters a preset position; the water pumping and discharging module is connected with the butt joint module, and comprises a sewage liquid level sensor positioned in the sewage box and a clear water liquid level sensor positioned in the clear water box; the sewage liquid level sensor is coupled with a sewage outlet electromagnetic valve positioned in the position of the sewage outlet opening; and the clear water liquid level sensor is coupled with a clear water inlet electromagnetic valve positionedin the position of the water supply pipe. The intelligent water supply and discharging floor cleaning robot system and the water supply and discharging control method have the advantages that the work efficiency is high; and the butt joint effect is good, and the like.

Intelligent water supply and discharging floor cleaning robot system and water supply and discharging control method thereof

The invention belongs to the technical field of medical testing instruments, and discloses an integrated gynecological disinfection and inspection device as well as a usage method thereof. The integrated gynecological disinfection and inspection device is arranged with a base; the upper part of the base is connected with a motor via a bolt; a powder interface and a computer interface are arrangedon the surface of the lower part of the base; a transverse telescopic shaft is welded to the left side of the base, and is connected with a dilator shell via a longitudinal telescopic shaft; robotic arms and a vaginal dilator are connected with the left side of the dilator shell; the vaginal dilator is connected with a rotating hub via a telescopic rod; and the rotating hub is connected with a rotary block. The integrated gynecological disinfection and inspection device is capable of sequentially completing vagina cleaning and disinfecting work as well as vagina examination work with endoscopy. Moreover, the integrated gynecological disinfection and inspection device is also capable of receiving infrared signals from an external infrared remote-controller by an infrared receiver; and thus,intelligent control on the transverse telescopic shaft, the longitudinal telescopic shaft, a dilation motor and the telescopic rod is realized by a processor. The integrated gynecological disinfection and inspection device is simple to operate, and unnecessary for a doctor to clean a patient's body; moreover, the device is high in inspection efficiency, capable of reducing workload of doctors andsuitable for large-scale promotion.

Integrated gynecological disinfection and inspection device, and usage method thereof

The invention discloses a simplified laser positioning method based on fast graphics matching, comprising steps of installing at least three cylindrical reflectors in a structured scene space wilfully; initializing a reference map in a world coordinate system with triangles as recognition features; conducting fault-tolerance processing for the data when inputting the lidar data, storing the effective distance of the reflectors under the corresponding intensity and converting to a motion coordinate system; solving the position of each reflector by a fitting technique; graphically matching the triangles in the motion coordinate system with the triangles in the world coordinate system based on the fact that if the angle difference of the triangles is less than a set threshold, the matching issuccessful; respectively constructing a detection matrix and a reference matrix using the position of the reflector in the motion coordinate system and the successfully matched position of the reflector in the world coordinate system, then decomposing the matrixes and solving the poses. The simplified laser positioning method based on fast graphics matching has the advantages of high matching efficiency, high accuracy, less calculation, high real-time performance and high positioning precision.

Simplified laser positioning method based on fast graphics matching

The invention is applicable to the field of robots and provides an autonomous mobile robot and a control method and device for automatic docking thereof. The method comprises the steps of autonomouslynavigating to a preset distance in front of a robot service desk when automatic docking is needed, and controlling the surface, on which a laser scanning sensor is mounted, of an autonomous mobile robot to face towards the robot service desk; controlling the laser scanning sensor to scan the robot service desk and identifying a preset structure of the robot service desk through the reflected laser to identify the robot service desk indirectly, wherein the surface, with the preset structure, of the robot service desk faces towards the laser scanning sensor; calculating an automatic docking guidance route of the autonomous mobile robot to the robot service desk according to the position of the preset structure; and guiding the autonomous mobile robot to the robot service desk according to the automatic docking guidance route. According to the invention, accurate docking can be realized between the autonomous mobile robot and the robot service desk.

Autonomous mobile robot and control method and device for automatic docking thereof

The utility model provides a mechanism is changed to the battery, installs inside the automobile body, comprises frame, cell support, battery case, pivot, locking module and lock nut, frame, cell support articulate through the pivot, the battery case is installed on the cell support, can follow the cell support and impel and pull out, the installation of locking module is hugged closely in the battery case for the locking battery case, locking nut installed in on the frame for the locking cell support. Can be under the condition that does not influence the outward appearance, the change of low-cost completion battery. And simultaneously, the utility model also provides a cruiser automobile body and patrol machine people.

Battery is changed mechanism, cruiser automobile body and is gone on patrol machine people

The utility model provides a motor -drive circuit and robot, motor -drive circuit and direct current motor are connected, include: a power input end that is used for inserting all the way PWM drive signal, a just reversal control end that is used for inserting a steering control signal, a brake control end that is used for inserting a brake control signal, will PWM drive signal the steering control signal reaches brake control signal carries out power and disturbs the isolation module of exporting respectively after the isolation, PWM drive signal after the interference is kept apart accordingto power and the steering control signal output motor drive signal's after the power interference isolation logic control module, and basis motor drive signal and power disturb the brake control signal drive after keeping apart the drive module of direct current motor forward rotation, reverse rotation or brake. Through one way PWM signal to control the motor's rotational speed, saved MCU's interface resource, reduce MCU demand cost.

Motor -drive circuit and robot

The utility model relates to a technical field of connector provides a charging device, and it includes connecting axle, charging plug, retractable driving mechanism and elastic resetting element. Thecharging plug includes plug and socket and plug pole piece, and plug pole piece is fixed to be set up on the plug and socket, and the plug and socket uses the axis of connecting axle to install on the connecting axle as the axle with rotating. Retractable driving mechanism is connected and is used for driving the axial displacement of connecting axle along the connecting axle with the connectingaxle, lay a plurality of foretell elastic resetting element between plug and socket and connecting axle to it resists the rotatory elastic restoring force of plug and socket to produce the plug and socket when the plug and socket rotates for the connecting axle. Compared with the prior art, the utility model provides a charging device can ensure that charging device's plug pole piece and externalequipment's electrode dock fast and steadily, have improved the butt joint success rate to guarantee charge efficiency and charged the butt joint reliability. The utility model also provides a robot,it includes foretell charging device.

Charging device and robot

A mobile robot power supply management system comprises: a battery assembly which is provided with a battery pack and a battery management board which communicates with an industrial personal computerand provides feedback of the battery state, the battery management board being further used for controlling the battery pack to transmit a high-power direct-current power supply to a power assembly;a battery management assembly, wherein a voltage conversion circuit is used for providing a low-power direct-current power supply to a control assembly; an emergency protection assembly, which is usedfor controlling the high-power direct-current power supply and/or the low-power direct-current power supply to be powered off emergently to stop; and a contact on-off circuit which is used for controlling direct link on-off of charging contacts and the battery pack. The high-power and low-power power supplies are separately output and transmitted, so that a power supply system of a power mechanism and a power supply system of a control mechanism are relatively isolated, mutual interference is avoided, and stable output of the system power supply is ensured; a perfect annoyance emergency stopsafety mechanism is provided; the charging contacts are prevented from being charged to cause the possibility of discharging to people, static electricity is prevented from entering the control systemeasily, and the power management safety and reliability of the mobile robot are improved.

Mobile robot and power management system thereof

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