CN108733048B - A kind of indoor mobile robot recharges control method, apparatus and system - Google Patents
A kind of indoor mobile robot recharges control method, apparatus and system Download PDFInfo
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- CN108733048B CN108733048B CN201810306844.7A CN201810306844A CN108733048B CN 108733048 B CN108733048 B CN 108733048B CN 201810306844 A CN201810306844 A CN 201810306844A CN 108733048 B CN108733048 B CN 108733048B
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- seat
- recharges
- mobile robot
- electric machine
- laser ranging
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
- G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
- G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
- G06K19/06018—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking one-dimensional coding
- G06K19/06028—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking one-dimensional coding using bar codes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
Abstract
What the present invention provided a kind of indoor mobile robot recharges control method.A kind of indoor mobile robot recharges control method, comprising: reaches predeterminated position according to the path of planning according to the instruction control mobile robot that recharges received；After reaching predeterminated position, improve the sampling angle resolution ratio of laser ranging mechanism with acquire calculate recharge the position of seat and recharge seat towards required data；The position of seat is recharged according to data calculating and recharges the direction of seat；According to the movement velocity and direction of the position for recharging seat and the direction control mobile robot for recharging seat.Also provide a kind of indoor mobile robot recharges control device and system.The present invention is after robot reaches predetermined position, by way of improving the sampling angle resolution ratio of laser ranging mechanism, it may make laser ranging mechanism when carrying out identification scanning to the bar code recharged on seat, it is available to arrive more data, while can increase and recharge the distance that seat is observed.
Description
Technical field
The present invention relates to robots to recharge control field, recharges controlling party more particularly to a kind of indoor mobile robot
Method, apparatus and system.
Background technique
Currently, with the continuous development of science and technology, the type for being presented in the mobile robot at the moment of common people is also more next
It is more, such as unmanned vehicle, unmanned aerial vehicle, underwater robot and sweeper.Mobile robot is equipped with multiple sensors, to reach
It positions, build the functions such as figure and navigation.However, commonly using bar code shape when using laser radar as the detection sensor for recharging seat
Identification feature of the feature of formula as device.But the sample rate due to being limited to sensor (i.e. turn around by inner sensor rotation in one second
The collected data amount check of institute), the bar width for recharging seat can be made limited, bar code is at this moment just needed to be made wider, or
When machine lean on it is closer when, can just distinguish, can thus reduce resolution when robot is scanned at a distance
Rate, and also will increase the occupied area for recharging seat and production recharges the cost of seat.
Summary of the invention
Based on this, it is necessary to resolution ratio is low when scanning at a distance for mobile robot, the cost of manufacture that recharges seat is higher,
And the problem that occupied area is larger, provide a kind of indoor mobile robot recharges control method, apparatus and system.
A kind of indoor mobile robot recharges control method, comprising:
Predeterminated position is reached according to the path of planning according to the instruction control mobile robot that recharges received；
After reaching predeterminated position, the sampling angle resolution ratio of laser ranging mechanism is improved to acquire and calculate the position for recharging seat
With recharge seat towards required data；
The position of seat is recharged according to data calculating and recharges the direction of seat；
According to the movement velocity and direction of the position for recharging seat and the direction control mobile robot for recharging seat.
The step of sampling angle resolution ratio for improving laser ranging mechanism in one of the embodiments, comprising:
The rotation speed of rotating electric machine is reduced to improve the sampling angle resolution ratio of laser ranging mechanism；Or
The sample rate of laser ranging mechanism is improved to improve the sampling angle resolution ratio of laser ranging mechanism；Or
It reduces the rotation speed of rotating electric machine and reduces the sample rate of laser ranging mechanism to improve laser ranging mechanism
Sampling angle resolution ratio.
In one of the embodiments, it is described calculate recharge seat position and recharge seat towards required data include institute
It states robot and recharges the distance between seat information, set on the bar code information recharged on seat with described.
A kind of indoor mobile robot recharges control device, for executing such as the indoor mobile robot as described in aforementioned
Recharge control method.
Described device is set in robot body in one of the embodiments,.
Described device is also used to set the target rotational speed of the rotating electric machine and defeated in one of the embodiments,
Rotating electric machine speed adjustment signal out.
A kind of indoor mobile robot recharges control system, including scanning sensor, recharges seat and built-in just like preceding
State the robot body for recharging control device of the indoor mobile robot；
The robot body further includes pedestal and the shell that couples with the pedestal；
The scanning sensor is rotatablely arranged at outside the shell, and the scanning sensor is recharged for acquiring to calculate
The position of seat and recharge seat towards required data；
The scanning sensor includes rotating mechanism and laser ranging mechanism；The rotating mechanism includes for providing rotation
The rotating electric machine of required power, the rotary shaft of the rotating electric machine is perpendicular to the pedestal；The laser ranging mechanism is set to institute
It states on rotating mechanism, the laser ranging mechanism is acquired to calculate by rotary shaft drive and recharges the position of seat and recharge seat
Towards required data；
The seat that recharges is equipped with bar code for scanning sensor identification, and the seat that recharges is for for the machine
People provides charge function；
The bar code includes plane pattern and/or spatial configuration.
The scanning sensor further includes rate controlling unit in one of the embodiments, is connect with the rotating electric machine, institute
Rate controlling unit is stated for receiving the rotating electric machine speed adjustment signal, institute is adjusted according to the rotating electric machine speed adjustment signal
State the rotation speed of rotating electric machine.
Also provide a kind of indoor mobile robot recharges control method, recharges control based on a kind of indoor mobile robot
System processed, the system comprises: robot body, scanning sensor and recharge seat；The scanning sensor can be along rotary shaft
Continuous rotation；The seat that recharges is equipped with for scanning sensor knowledge another characteristic；
The described method includes:
It is recharged according to the instruction control robot body is recharged；
After meeting preset condition, the rotation speed of rotating electric machine is reduced to scan the characteristic information recharged on seat；
According to the characteristic information scanned, the robot body is controlled to described and recharges seat movement.
Rotation speed after the rotating electric machine reduces in one of the embodiments, which is less than under non-refill conditions, to be rotated
The 90% of motor rotation speed.
Above-mentioned indoor mobile robot recharges control method, apparatus and system, recharges instruction by the basis received
After controlling mobile robot arrival predetermined position, reduces the revolving speed of rotating electric machine or improve the sample rate or drop of laser ranging mechanism
The rotation speed of the low rotating electric machine and mode of sample rate for reducing laser ranging mechanism improves the sampling of laser ranging mechanism
Angular resolution may make laser ranging mechanism when carrying out identification scanning to the bar code recharged on seat, available to more
More data, while can to recharge seat the distance that can be observed and be improved, further increase detection efficiency.More into one
Step ground, may make the area for recharging seat and bar code that can be made small as far as possible, save space, reduce manufacturing cost.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
The attached drawing of other embodiments is obtained according to these attached drawings.
Fig. 1 recharges control method flow chart for the indoor mobile robot in an embodiment；
Fig. 2 recharges control system architecture schematic diagram for the indoor mobile robot in an embodiment；
Fig. 3 is the scanning sensor structural schematic diagram in an embodiment；
Fig. 4 is the scanning sensor structural schematic diagram in another embodiment；
Fig. 5 a is the composed structure schematic diagram of the bar code in an embodiment；
Fig. 5 b is the composed structure schematic diagram of the bar code in another embodiment.
Specific embodiment
The application in order to facilitate understanding is described more fully the application below with reference to relevant drawings.In attached drawing
Give the preferred embodiment of the application.But the application can realize in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is keeps the understanding to disclosure of this application more thorough
Comprehensively.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, the skill of all technical and scientific terms used herein and the technical field for belonging to invention
The normally understood meaning of art personnel is identical.It is specific that description is intended merely in the term used in the description of invention herein
The purpose of embodiment, it is not intended that limitation the application.Term as used herein "and/or" includes one or more relevant institutes
Any and all combinations of list of items.
Fig. 1 is please referred to, recharges control method flow chart for the indoor mobile robot in an example.A kind of indoor moving
Robot recharges control method, comprising:
Step S100 reaches pre-determined bit according to the path of planning according to the instruction control mobile robot that recharges received
It sets.
Specifically, robot can recharge instruction by what mobile terminal issued according to user come according to the road planned in advance
Diameter reaches predetermined position.It is also possible to be issued according to the charge condition of robot current residual.Wherein, recharging path is basis
The map of environment is planned in advance where robot, is also possible to robot itself and is cooked up the path come in real time.This and map
Environment is related to the position that robot is presently in.
Step S200, after reaching predetermined position, the sampling angle resolution ratio for improving laser ranging mechanism is calculated back with acquiring
Fill the position of seat and recharge seat towards required data.
Specifically, after robot is according to instruction arrival predetermined position is recharged, control mobile robot, which is in, revolves at a slow speed
Turn, then improve the sampling angle resolution ratio of laser ranging mechanism, the definition of sampling angle resolution ratio is laser ranging mechanism one
(360 °) the collected data amount check of institute that turns around in second divided by corresponding rotating electric machine revolving speed per second is sampling angle resolution
Rate, for example, the data of laser ranging mechanism acquisition in one second are 2000, while the rotation speed of rotating electric machine is 10 turns per second, that
Sampling angle resolution ratio is just 200 each circles of point.Sampling angle resolution ratio for improving laser ranging mechanism can lead to
Cross following manner:
Mode one: the rotation speed of rotating electric machine is reduced to improve the sampling angle resolution ratio of laser ranging mechanism.Here
The rotation speed for reducing rotating electric machine can be understood as applying a PWM wave or different voltage to rotating electric machine, lead to electricity
Machine slow its rotation.Meanwhile the sample rate of laser ranging mechanism can be kept while the rotation speed of rotating electric machine reduces.It adopts
Sample rate means laser ranging mechanism collected data amount check of institute in one second.For example, the sample rate of laser ranging mechanism
There are the upper limits, and such as most fast 2000 points per second, if the revolving speed of rotating electric machine is 10 turns per second, every circle (360 °) is just
Have 200 sampled points.If that revolving speed is reduced to 5 turns, while keeping the sample rate of laser ranging mechanism, then every circle is just
400 sampled points can be obtained, the sampling angle resolution ratio of laser ranging mechanism can be improved in this way.
Mode two: the sample rate of laser ranging mechanism is improved to improve the sampling angle resolution ratio of laser ranging mechanism.One
As laser ranging mechanism sample rate be all it is adjustable, can make when most beginning to use laser range finder structure not according to
Upper limit sample rate is sampled, but needs to make corresponding adjustment according to practical operation, it is to be understood that, specific selection can
With specifically selecting according to those skilled in the art.For example, for a upper limit sample rate in 2000 points per second
Laser ranging mechanism, first adjustment laser ranging mechanism sample rate be 1500, then can in the method in accordance with the invention, select
The sample rate of the raising laser ranging mechanism of selecting property, while the rotation speed of rotating electric machine should be kept.
Mode three: reducing the rotation speed of rotating electric machine and reduces the sample rate of laser ranging mechanism to improve Laser Measuring
The sampling angle resolution ratio of spacing mechanism.Reduce rotating electric machine rotation speed can be to rotating electric machine apply a PWM wave or
The different voltage of person, leads to motor slow its rotation, while reducing the sample rate of laser ranging mechanism, illustratively, laser ranging
The sample rate of mechanism drops to 1800 by highest 2000, and the rotation speed of rotating electric machine is changed into 4 turns of each second for per second 10,
The sampling angle resolution ratio that still can so obtain 450 points of every circle, relative to it is original (sample rate 2000 points per second/
10 turns of rotation speed) 200 every circles of point, and improve the sampling angle resolution ratio of laser ranging mechanism, the purpose done so
It is the direction for guaranteeing to have enough data to calculate the position for recharging seat He recharge seat.Meter is acquired by taking this mode
Calculate the position for recharging seat and recharge seat towards required data.Wherein, calculate recharge the position of seat and recharge seat towards institute
The data needed may include robot and recharge the distance between seat information and set on the bar code information recharged on seat.
Step S300 recharges the position of seat according to data calculating and recharges the direction of seat.
Specifically, the position of seat is recharged according to the collected data calculating of laser ranging mechanism and recharges the direction of seat.Please
Referring to Fig.2, finding the schematic diagram for recharging seat for robot.The robot for recharging control device 20 including indoor mobile robot
Ontology 10 includes that bar code 30 recharges seat (figure do not indicate), scanning sensor 40 and rotary shaft 401.Laser range finder
The data of structure acquisition include robot and recharge the distance between seat information and set on the bar code information recharged on seat.Its
In, calculating recharges the position of seat and the principle for the direction for recharging seat is: being adjusted the distance information by range information and acquisition system
Calculate it is known that some point data robot where, so that mapping calculation goes out one that robot is seen
The data of cradle bar code shape.According to this data, so that it may obtain the center of cradle, and be exactly to charge at center
The position of seat.And the direction for recharging seat is the perpendicular bisector of available cradle according to bar code shape data, recharges seat
Be towards robot that side angle cradle the direction for recharging seat, the direction of arrow is to recharge the court of seat in Fig. 2
To.Meanwhile in general robot, scanning sensor 40 is formed in accommodating cavity by the way that the support pillar of robot is arranged in.
So forming accommodating cavity using support column mode for robot to accommodate scanning sensor, scanning sensor is counted
When according to acquisition and processing, the data that can eliminate support column in the following ways recharge the position of seat for calculating and recharge
The influence that the direction of seat generates.
Mode one: processing is removed to the collected data.
Because in general robot, scanning sensor is to form accommodating cavity by the way that the support pillar of robot is arranged in
It is interior.So can be comprising the data of support post part, so recharging seat calculating in the collected data of scanning sensor
Position and recharge seat towards when, the data of post part can will be supported to remove, recharge seat with remaining data to calculate
Position and recharge the direction of seat, the position for recharging seat calculated in this way and the direction for recharging seat are more accurate.
Mode two: processing is overlapped to the collected data.
This mode is then to be overlapped a little collected data of frame scan sensor, can after then being rotated
To eliminate the influence that the data of support post part generate the direction that calculating recharges the position of seat and recharges seat, this mode
The position for recharging seat calculated and the direction for recharging seat can be made more accurate.
Mode three: being removed the collected data and superposition processing.
This mode handled but also was overlapped processing i other words being not only removed for collected data, i other words for
The data of a part of support column take removal to handle, and the data of a part of support column take superposition processing.Certainly, for specific
Which partial data takes any mode, and the present invention is not particularly limited, and can be selected according to practical operation, this mode phase
It is more accurate compared with the calculated result obtained for first two mode.
Step S400, according to the position for recharging seat and recharge seat direction control mobile robot movement velocity and
Direction.
After calculating the position for recharging seat and the direction for recharging seat according to the collected data of laser ranging mechanism, pass through
The movement velocity and direction for controlling mobile robot be aligned recharging with seat is recharged.
Above-described embodiment reduces after recharging instruction control mobile robot arrival predetermined position by the basis received
The revolving speed of rotating electric machine improves the sample rate of laser ranging mechanism or reduces the rotation speed of rotating electric machine and reduce Laser Measuring
The mode of the sample rate of spacing mechanism improves the sampling angle resolution ratio of laser ranging mechanism, may make laser ranging mechanism right
It is available to arrive more data when recharging the bar code on seat and carrying out identification scanning, while can to recharge seat and can be seen
The distance measured is improved, and further increases detection efficiency.Further, it may make that the area for recharging seat and bar code can
To be made small as far as possible, space is saved, reduces manufacturing cost.
In one embodiment, also provide a kind of indoor mobile robot recharges control device.A kind of indoor moving machine
Device people's recharges control device, recharges control method for execute the indoor mobile robot as described in previous embodiment.
Wherein, the control device that recharges of indoor mobile robot is built in robot body, is connect with robot body.In order to make machine
Device human body 10 (referring to fig. 2) can move according to the instruction that recharges received according to the path planned in advance, indoor shifting
Mobile robot recharge control device can also be used to realize build figure, positioning, navigation and motion planning etc.；Indoor moving machine simultaneously
The control device that recharges of device people can also be used to set the target rotational speed of rotating electric machine and export the adjustment of rotating electric machine speed
Signal.The target rotational speed of the rotating electric machine of setting can be configured manually by external staff, can also pass through interior
The control device that recharges of mobile robot is set according to the needs oneself for building figure, positioning, navigation and motion planning.Indoor shifting
Recharging control device and can also connecting with router communication for mobile robot, passes through router and external the Internet and/or movement
Terminal communicates with each other, so that robot 10 (referring to fig. 2) can be interacted with outside.It is appreciated that interior here
The control device that recharges of mobile robot can be processor, microcontroller, CPU etc..As long as it is appreciated that can execute as before
The processor for stating the description for recharging control method and the present embodiment of indoor mobile robot described in embodiment can be made
Control device is recharged for indoor mobile robot, when selection processor, can be carried out according to practical operation needs
Change, the present invention is not further qualified this.
Referring to figure 2., control system architecture figure is recharged for the indoor mobile robot in an embodiment, referring concurrently to figure
3, a kind of indoor mobile robot recharges control system, including being built-in with indoor mobile robot described in previous embodiment
Recharge the robot body 10 of control device 20, scanning sensor 40 includes that bar code 30 recharges seat (figure does not indicate).Its
In, recharge control device 20 for according to receive recharge instruction control mobile robot according to planning path reach preset
Position；Control device 20 is recharged for reducing the rotation speed of rotating electric machine to improve laser ranging after reaching predeterminated position
The sampling angle resolution ratio of mechanism with acquire calculate recharge the position of seat and recharge seat towards required data；Recharge control dress
20 are set for recharging the position of seat according to data calculating and recharging the direction of seat；Control device 20 is recharged for according to recharging
The position of seat and the direction for recharging seat control movement velocity and the direction of mobile robot；Wherein, robot body 10 further includes
Pedestal 110 and the shell 120 coupled with pedestal 110, scanning sensor 40 are rotatablely arranged on shell 120, scanning sensing
Device 40 be used to acquire calculate recharge seat (figure do not indicate) position with recharge seat towards required data.Recharge seat (figure does not indicate)
For providing electric energy for robot.Scanning sensor 40 includes rotating mechanism 410 and laser ranging mechanism 420.Rotating mechanism 410
Including for providing the rotating electric machine 412 for rotating required power, the rotary shaft 401 of rotating electric machine 412 is perpendicular to pedestal 110.Swash
Flash ranging spacing mechanism 420 is set on rotating mechanism 410, and laser ranging mechanism 420 is driven by rotary shaft 401 and recharges seat to acquire
(figure do not indicate) position and recharge seat towards required data.It recharges seat (figure does not indicate) and is equipped with bar code 30, bar code
30 can be used as feature identification is used cooperatively with the laser ranging mechanism in robot, bar code 30 can by plane pattern or
Spatial configuration or existing plane pattern are also made of spatial configuration.
In one embodiment, the quantity of scanning sensor 40 can be multiple, such as two, three etc., scanning sensing
Device 40 can be radar, and scanning sensor 40 itself can rotate.Such as rotary laser range radar, optical radar etc.,
Scanning sensor 40 acquire the position for recharging seat and recharge seat towards required data include robot and recharge seat and (scheme not mark
Show) the distance between information, set on the bar code information recharged on seat (figure do not indicate), scanning sensor 40 can be along rotary shaft
401 continuous rotations scan to obtain information required for establishing map, while can also identify and recharge seat.Scanning sensor 40 can
At a distance from robot, three-dimensional feature can be identified according to the combination of different distance according to the peripheral obstacle measured
Code, scanning sensor 40 can also obtain receiving light intensity value according to the color of barrier, therefore can be according to color or material
Difference obtains different reception light intensity values, identifies the condition code of different colours or material combination.It is passed relative to single scanning
Sensor 40 can reduce the blind area of the measurement of robot body 10 using multiple scanning sensors 40.In the present embodiment, exemplary
Ground lists the situation of a scanning sensor 40.It is appreciated that the quantity of scanning sensor 40 can be according to practical operation need
It is selected.The measurement parameter of scanning sensor 40 is equal, in other embodiments, the measurement parameter of scanning sensor 40
Can not be identical, in use, can be selected according to the demand of measurement range, measured so as to expand robot body 10
Range can also reduce the measurement blind area of scanning sensor 40.
Specifically, referring to figure 3., it is the structural schematic diagram of the scanning sensor in an embodiment, may include: Laser Measuring
Spacing mechanism 410, rotating mechanism 420.Wherein, rotating mechanism 420 includes seat ontology 421, rotating electric machine 422 and turntable 423.It can be with
Understand, rotating electric machine 422 can be set in robot body 10, the rotary shaft 401 of rotating electric machine 422 perpendicular to pedestal 110,
It is rotatablely connected as shown in Fig. 2, then the rotary shaft 401 of rotating electric machine 422 extends out with turntable 423, rotating electric machine 422
Rotary shaft 401 rotates turntable 423 relative to seat ontology 421 by belt transmission, it will be understood that is not limited to belt transmission here
Mode, can also be the kind of drive of other mechanical structure classes, while turntable 423 is rotationally connected on an ontology 421, laser
Ranging mechanism 410 is set on turntable 423, drives turntable 423 to be rotated by rotary shaft 401 to acquire to calculate and recharge seat (figure
Do not show) position and recharge seat towards required data.A (not shown) is recharged equipped with bar code 30 (referring to fig. 2).Laser
The quantity of ranging mechanism 410 can be to be multiple, such as two, three etc., the acquisition of laser ranging mechanism 410 recharges a (not shown)
Position and recharge seat towards required data include light intensity data and range data.
Above-described embodiment can be obtained more in such a way that scanning sensor to be arranged in the top of mobile robot
Data are got, and do not have blind area, while indoor mobile robot in control system is recharged by indoor mobile robot
The control device that recharges the speed of the rotating electric machine of scanning sensor is controlled, laser ranging in scanning sensor can be improved
The sampling angle resolution ratio of mechanism guarantees the result calculated so that the distance that recharges seat and can be observed is improved
Accuracy further increases detection efficiency.Further, it may make the area for recharging seat and bar code that can be made as far as possible
It is small, save space, reduce manufacturing cost.
Specifically, referring to figure 4., it is the structural schematic diagram of the scanning sensor in another embodiment, may include: laser
Ranging mechanism 410, rotating mechanism 420, rate controlling unit 430.Wherein, rate controlling unit 430 is connect with rotating electric machine 422, for connecing
Rotating electric machine speed adjustment signal is received, the rotation speed of rotating electric machine 422 is adjusted according to rotating electric machine speed adjustment signal, here
It can be and a PWM wave or different voltage are applied to rotating electric machine, lead to motor slow its rotation.It is appreciated that whirler
The description of structure 420 and laser ranging mechanism 410 is referred to the description of aforementioned scanning sensor embodiment, herein just not after
It repeats more.And thus the scanning sensor and robot body of embodiment, recharge seat composition indoor mobile robot return
The robot body that fills in control system, the description for recharging seat are also referred to the description in preceding embodiment, here also no longer
Excessively repeat.It is appreciated that the control device that recharges of rate controlling unit 430 and indoor mobile robot is electrically connected, so as to
It realizes the transmission of signal and is swept by the control device that recharges of the indoor mobile robot in robot body to indirectly control
Retouch the rotating electric machine in sensor.
Above-described embodiment can be obtained more in such a way that scanning sensor to be arranged in the top of mobile robot
Data are got, and do not have blind area, while indoor mobile robot in control system is recharged by indoor mobile robot
Recharge control device in scanning sensor rate controlling unit set target rotational speed, thus by rate controlling unit control rotation
The speed of rotating motor, can reduce indoor mobile robot recharges the processing load of control device, and scanning may make to sense
The sampling angle resolution ratio of device improves, so that the distance that recharges seat and can be observed is improved, guarantees the result calculated
Accuracy, further increase detection efficiency.Further, it may make the area for recharging seat and bar code can be made to the greatest extent may be used
Small, the saving space of energy, reduction manufacturing cost.
In one embodiment, control system is recharged based on above-mentioned indoor mobile robot, comprising:
Robot body 10, scanning sensor 40 recharge seat (figure does not indicate).Wherein, scanning sensor 40 can be along rotation
Axis continuous rotation recharges seat (figure does not indicate) and is equipped with and knows another characteristic for scanning sensor 40, and feature can be bar code, example
Such as bar code 30, bar code 30 can also have spatial configuration group by plane pattern or spatial configuration or existing plane pattern
At.
Also provide a kind of indoor mobile robot recharges control method, comprising steps of
Step S102 is recharged according to the instruction control robot body is recharged.
In one embodiment, it recharges instruction and can be and issued by mobile terminal according to user, be also possible to basis
The charge condition of robot body current residual issues.Robot carries out recharging movement according to the instruction that recharges of sending.
Step S104 reduces the rotation speed of rotating electric machine after meeting preset condition to scan described recharge on seat
Characteristic information.
In one embodiment, meeting preset condition can be the preset position of arrival, be also possible to receive instruction
Directly start to execute afterwards and recharge instruction, and directly reduce the revolving speed of rotating electric machine, reduces the rotation speed of rotating electric machine to mention
The sampling angle resolution ratio of high laser ranging mechanism.Here the rotation speed for reducing rotating electric machine can be understood as to rotating electric machine
Apply a PWM wave or different voltage, leads to motor slow its rotation.The rotation speed of reduction rotating electric machine is different surely to be mentioned
The angular samples resolution ratio of high laser ranging mechanism, but data can be acquired come auxiliary laser ranging mechanism using the method.
Illustratively, 90% of rotation speed less than non-refill conditions lower rotating electrical machine rotation speed after rotating electric machine reduces, it is non-
Recharge state i other words, robot is under cleaning mode, is needed to carry out building figure to the environment of surrounding, is at this time just needed to scan
Data needed for figure is built in sensor acquisition, rotation speed at this moment is the rotation speed of the rotating electric machine under non-refill conditions.
For example, can be the 70% of non-refill conditions lower rotating electrical machine rotation speed, the revolving speed under cleaning mode be in for robot
Be 6 revolutions per seconds, then when changing under the state of recharging, so that it may by apply PWM wave reduce after rotating electric machine revolving speed be 4 turns/
Second, it will be understood that how much specific reduce can be selected according to practical operation.
Step S106 controls the robot body to described and recharges seat movement according to the characteristic information scanned.
In one embodiment, the characteristic information scanned according to previous step, such as the characteristic information on bar code come
Control robot body is mobile to the position where recharging seat, recharges to complete alignment.
Above-described embodiment, by the way that when robot execution recharges instruction, the revolving speed for reducing rotating electric machine recharges seat to acquire
On characteristic information, it is available to arrive more data, while can to recharge seat the distance that can be observed and be improved,
Further increase detection efficiency.Further, it may make the area for recharging seat and bar code that can be made small as far as possible, save
About space reduces manufacturing cost.
It is more detailed in order to describe the present invention, it is the composite structural diagram of bar code please continue to refer to Fig. 5 a, Fig. 5 b.
Bar code 30 (referring to fig. 2) can be the bar code 300 of plane, be also possible to the bar code 310 of space pattern.Bar code can be with
With the material of different color or different reflection coefficients.Wherein, bar code 300 is a flat shape.It can be seen that bar code
What 300 rectangles identical, of different size by muti-piece length formed, certainly, the shape of bar code 300 can also be square
Shape.And still chequered with black and white arrangement.It is appreciated that the width of each piece of bar code 300 can be needed according to practical operation into
Row selection.Here without limitation.Bar code 300 can be painted on by the way of spraying and be recharged on seat, can also be passed through
Printing machine is pasted onto after printing and recharges on seat.Bar code 310 is a three-dimensional shape.It can be seen that bar code 310
It is to be combined to be formed by muti-piece plane pattern and space pattern.Wherein, the width of each piece of bar code 310 can be according to practical behaviour
Work is selected.Here without limitation.Bar code with data can be set on plane pattern, also can be set vertical
On body pattern.Preferably, solid is arranged in shape in the bar code with data.Bar code 300 and bar code 310 can
Be separately positioned on it is different recharge on seat, can also use combination mode same recharge on seat to represent difference is set
Data.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of indoor mobile robot recharges control method characterized by comprising
Predeterminated position is reached according to the path of planning according to the instruction control mobile robot that recharges received；
After reaching predeterminated position, the sampling angle resolution ratio of laser ranging mechanism is improved to acquire and calculate the position for recharging seat and return
Fill seat towards required data；
The position of seat is recharged according to data calculating and recharges the direction of seat；
According to the movement velocity and direction of the position for recharging seat and the direction control mobile robot for recharging seat.
2. indoor mobile robot according to claim 1 recharges control method, which is characterized in that the raising laser
The step of sampling angle resolution ratio of ranging mechanism, comprising:
The rotation speed of rotating electric machine is reduced to improve the sampling angle resolution ratio of laser ranging mechanism；Or
The sample rate of laser ranging mechanism is improved to improve the sampling angle resolution ratio of laser ranging mechanism；Or
It reduces the rotation speed of rotating electric machine and reduces the sample rate of laser ranging mechanism to improve the sampling of laser ranging mechanism
Angular resolution.
3. indoor mobile robot according to claim 1 recharges control method, which is characterized in that the calculating recharges
The position of seat and recharge seat to include the robot towards required data recharge the distance between seat information, be set to described
The bar code information recharged on seat.
4. a kind of indoor mobile robot recharges control device, which is characterized in that the indoor mobile robot recharges control
What device processed was used to execute indoor mobile robot as claimed in claim 2 recharges control method.
5. indoor mobile robot according to claim 4 recharges control device, which is characterized in that described device setting
In in robot body.
6. indoor mobile robot according to claim 4 recharges control device, which is characterized in that described device is also used
In the target rotational speed for setting the rotating electric machine and export rotating electric machine speed adjustment signal.
7. a kind of indoor mobile robot recharges control system, which is characterized in that the indoor mobile robot recharges control
System processed includes scanning sensor, recharges seat and built-in just like the described in any item indoor mobile robots of claim 4~6
The robot body for recharging control device；
The robot body further includes pedestal and the shell that couples with the pedestal；
The scanning sensor is rotatablely arranged at outside the shell, and the scanning sensor recharges seat for acquiring calculating
Position and recharge seat towards required data；
The scanning sensor includes rotating mechanism and laser ranging mechanism；
The rotating mechanism include for provide rotate needed for power rotating electric machine, the rotary shaft of the rotating electric machine perpendicular to
The pedestal；
The laser ranging mechanism is set on the rotating mechanism, and the laser ranging mechanism is driven by the rotary shaft to adopt
Collection calculate the position for recharging seat and recharge seat towards required data；
The seat that recharges is equipped with bar code for scanning sensor identification, and the seat that recharges is for mentioning for the robot
For charge function；
The bar code includes plane pattern and/or spatial configuration.
8. indoor mobile robot according to claim 7 recharges control system, which is characterized in that the scanning sensing
Device further includes rate controlling unit, is connect with the rotating electric machine, and the rate controlling unit is for receiving the rotating electric machine speed adjustment
Signal adjusts the rotation speed of the rotating electric machine according to the rotating electric machine speed adjustment signal.
9. a kind of indoor mobile robot recharges control method, control system is recharged based on a kind of indoor mobile robot,
The system comprises: robot body, scanning sensor and recharge seat；The scanning sensor can continuously be revolved along rotary shaft
Turn；The seat that recharges is equipped with for scanning sensor knowledge another characteristic；
The described method includes:
It is recharged according to the instruction control robot body is recharged；
After meeting preset condition, the rotation speed of rotating electric machine is reduced to scan the characteristic information recharged on seat；
According to the characteristic information scanned, the robot body is controlled to described and recharges seat movement.
10. indoor mobile robot according to claim 9 recharges control method, which is characterized in that the electric rotating
Rotation speed after machine reduces is less than the 90% of non-refill conditions lower rotating electrical machine rotation speed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810306844.7A CN108733048B (en) | 2018-04-08 | 2018-04-08 | A kind of indoor mobile robot recharges control method, apparatus and system |
| PCT/CN2018/121479 WO2019196487A1 (en) | 2018-04-08 | 2018-12-17 | Recharging control method, device and system for indoor mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810306844.7A CN108733048B (en) | 2018-04-08 | 2018-04-08 | A kind of indoor mobile robot recharges control method, apparatus and system |
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| CN108733048A CN108733048A (en) | 2018-11-02 |
| CN108733048B true CN108733048B (en) | 2019-08-09 |
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| WO (1) | WO2019196487A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108733048B (en) * | 2018-04-08 | 2019-08-09 | 深圳乐动机器人有限公司 | A kind of indoor mobile robot recharges control method, apparatus and system |
| CN109586360B (en) * | 2018-11-09 | 2020-09-22 | 深圳市银星智能科技股份有限公司 | Robot automatic charging method and device, charging pile and robot |
| CN111481112B (en) * | 2019-01-29 | 2022-04-29 | 北京奇虎科技有限公司 | Recharging alignment method and device of sweeper and sweeper |
| CN111697637B (en) * | 2019-03-11 | 2024-04-16 | 北京奇虎科技有限公司 | Charging control method and device for sweeping robot |
| CN111743450B (en) * | 2019-03-26 | 2021-06-08 | 速感科技（北京）有限公司 | Recharging method for movable device and movable device |
| CN109901590B (en) * | 2019-03-30 | 2020-06-05 | 珠海市一微半导体有限公司 | Recharging control method of desktop robot |
| CN109991981A (en) * | 2019-04-04 | 2019-07-09 | 尚科宁家(中国)科技有限公司 | A kind of sweeping robot recharging method |
| CN110162047A (en) * | 2019-05-21 | 2019-08-23 | 福建天泉教育科技有限公司 | Robot automatic charging bootstrap technique and its system |
| CN110153987A (en) * | 2019-06-26 | 2019-08-23 | 东北大学秦皇岛分校 | A kind of intelligent recognition transfer robot and its control method |
| CN110477808A (en) * | 2019-08-20 | 2019-11-22 | 深圳乐动机器人有限公司 | A kind of robot |
| CN112748725B (en) * | 2019-10-31 | 2022-04-01 | 珠海一微半导体股份有限公司 | Robot universal recharging control method, chip and robot |
| CN111969697A (en) * | 2020-09-18 | 2020-11-20 | 奇弩(中国)有限公司 | Automatic aligning device that charges of robot |
| CN115969287B (en) * | 2023-03-21 | 2023-09-26 | 科大讯飞股份有限公司 | Cleaning robot and electric quantity management method and device thereof and storage medium |
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| US7332890B2 (en) * | 2004-01-21 | 2008-02-19 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
| CN203882195U (en) * | 2014-06-13 | 2014-10-15 | 常州智宝机器人科技有限公司 | Service robot based on multi-sensor fusion and charging socket thereof |
| CN105259918B (en) * | 2015-09-18 | 2018-12-04 | 莱克电气股份有限公司 | The method that robot cleaner automatic charging returns |
| CN106020188B (en) * | 2016-05-17 | 2018-10-30 | 杭州申昊科技股份有限公司 | A kind of Intelligent Mobile Robot recharging method based on laser navigation |
| KR20180021595A (en) * | 2016-08-22 | 2018-03-05 | 엘지전자 주식회사 | Moving Robot and controlling method |
| CN106227218A (en) * | 2016-09-27 | 2016-12-14 | 深圳乐行天下科技有限公司 | The navigation barrier-avoiding method of a kind of Intelligent mobile equipment and device |
| CN106383519B (en) * | 2016-11-17 | 2023-04-18 | 西安科技大学 | Robot autonomous positioning charging system and method |
| CN106931528A (en) * | 2017-03-08 | 2017-07-07 | 苏州立瓷智能电器有限公司 | A kind of Intellectual air cleaner device people |
| CN107092264A (en) * | 2017-06-21 | 2017-08-25 | 北京理工大学 | Towards the service robot autonomous navigation and automatic recharging method of bank's hall environment |
| CN108733048B (en) * | 2018-04-08 | 2019-08-09 | 深圳乐动机器人有限公司 | A kind of indoor mobile robot recharges control method, apparatus and system |
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- 2018-04-08 CN CN201810306844.7A patent/CN108733048B/en active Active
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| WO2019196487A1 (en) | 2019-10-17 |
| CN108733048A (en) | 2018-11-02 |
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Address after: 518000 room 1601, building 2, Vanke Cloud City phase 6, Tongfa South Road, Xili community, Xili street, Nanshan District, Shenzhen City, Guangdong Province (16th floor, block a, building 6, Shenzhen International Innovation Valley) Patentee after: Shenzhen Ledong robot Co.,Ltd. Address before: 518051 16th floor, building B1, Nanshan wisdom garden, 1001 Xueyuan Avenue, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN LD ROBOT Co.,Ltd. |
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