CN108983761B - Method and system for searching charging device by robot and robot - Google Patents
Method and system for searching charging device by robot and robot Download PDFInfo
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- CN108983761B CN108983761B CN201710406210.4A CN201710406210A CN108983761B CN 108983761 B CN108983761 B CN 108983761B CN 201710406210 A CN201710406210 A CN 201710406210A CN 108983761 B CN108983761 B CN 108983761B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
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- Acoustics & Sound (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a robot system, which comprises a robot and a charging pile, wherein the robot is provided with a mobile device, a feature recognition device for recognizing the features of the charging pile, an environment information acquisition device for acquiring surrounding barrier information, a storage device for storing an electronic map of a mobile area and a processor; the electric pile that fills includes: the robot is firstly searched from the historical position where the charging pile is placed, and the charging pile is searched on the electronic map according to a preset strategy when the charging pile is not found at the historical position. The invention has the following advantages: the robot can quickly find the charging pile.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a control method and a control system of a robot and the robot.
Background
The mobile robot needs to be charged when no electricity exists, the intelligent degree of the machine is improved through automatic recharging, and user experience is optimized. An important technical difficulty in automatic recharging is finding out the position of the charging pile. At present, charging piles on the market are designed to contain signal transmitting devices, and corresponding signal transmitting and receiving modules are required to be added in the robot and the charging piles, so that the cost is increased. If only a sensor for observing information on the robot is added to the charging pile, and a feature capable of detecting a difference by the sensor is added, the cost can be reduced, and further, the volume of the charging pile can be reduced. The existing charging pile searching method generally starts from the charging pile position, the robot records the charging pile position, or the robot automatically recharges at a preset position, historical information is not analyzed, and the recharging failure of the charging pile position information is frequently lost. When the position of a charging pile is unknown, the robot needs to search the charging pile, and the current method for searching the charging pile by the robot blindly searches the charging pile along the vicinity of an obstacle in a certain area, and does not set corresponding searching rules according to the possibility of the charging pile, so that the searching efficiency is low; and the robot only searches a certain area, does not perform global searching according to the map, and has low success rate of finding the charging pile.
Disclosure of Invention
The present invention aims to solve at least one of the above technical problems.
Therefore, the invention aims to provide a robot system which can enable a robot to quickly find a charging pile.
To achieve the above object, an embodiment of the present invention discloses a robot system including: a robot provided with: a moving device for moving the robot; the characteristic recognition device is used for recognizing the characteristics of the charging pile on the charging pile; an environmental information acquisition device for acquiring obstacle information around the robot; the storage device is used for storing the electronic map of the robot moving area; the processor is respectively connected with the mobile device, the feature recognition device, the environment information acquisition device and the storage device, and is used for acquiring obstacle information around the robot and recognizing the characteristics of the charging pile through the feature recognition device, and controlling the robot to move to a preset position through the mobile device; the charging pile comprises: the power supply is used for charging the robot; the anti-skid device is used for increasing the friction force of the supporting surface of the charging pile; and the charging pile features are used for being identified by a feature identification device on the robot.
Further, the storage device also stores the historical position of the charging pile in the electronic map.
Further, the processor is further configured to control the robot to move near the historical position, identify the charging pile feature, and simultaneously obtain relative position information between the charging pile and the robot.
Further, the processor is further used for controlling the robot to move to the charging pile for charging according to the relative position information of the charging pile and the robot.
Further, the history positions are multiple.
Further, the processor is further configured to automatically search the electronic map for the charging stake when the charging stake is not found in all historical locations.
Further, in the process of automatically searching the charging pile, the processor is further configured to: controlling and recording the record of the position of the charging pile searched by the robot; controlling the robot to search the positions which are not repeatedly removed; calculating an area which is not searched in the electronic map; calculating the possibility that charging piles exist in different areas of the areas which are not searched, and controlling the robot to preferentially go to the area blocks with high possibility to search the charging piles; and controlling the robot to gradually move to each area for searching until the charging pile is found or all areas of the electronic map are searched.
Further, the power supply is also used for converting alternating current commercial power into direct current so as to charge the robot through the direct current.
According to the robot system provided by the embodiment of the invention, the robot firstly searches the charging piles from the historical positions, and when the historical positions are multiple, the charging piles are needed to be found at the historical positions in sequence, and when the charging piles are not found at the historical positions, the robot automatically searches, and when the charging piles are automatically searched, an automatic searching strategy is set, so that the robot can quickly find the charging piles.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a block diagram of a robot system according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
These and other aspects of embodiments of the invention will be apparent from and elucidated with reference to the description and drawings described hereinafter. In the description and drawings, particular implementations of embodiments of the invention are disclosed in detail as being indicative of some of the ways in which the principles of embodiments of the invention may be employed, but it is understood that the scope of the embodiments of the invention is not limited correspondingly. On the contrary, the embodiments of the invention include all alternatives, modifications and equivalents as may be included within the spirit and scope of the appended claims.
The invention is described below with reference to the accompanying drawings.
Fig. 1 is a block diagram of a robot system according to an embodiment of the present invention. As shown in fig. 1, the robot system according to the embodiment of the present invention includes a robot 100 and a charging stake 200. The robot 100 is provided with a moving device 110, a feature recognition device 120, an environmental information acquisition device 130, a storage device 140, and a processor 150. The charging stake 200 includes a power source 210, an anti-slip device 220, and a charging stake feature 230. The power supply 210 is used for charging the robot
The moving device 110 is used to move the robot 100. In one example of the present invention, the moving means includes a driving motor, a driving part, and a roller at the bottom of the robot, the driving motor driving the roller through the driving part to move the robot.
The feature recognition device 120 is used to recognize the charging pile features 230 on the charging pile 200.
Specifically, the charging pile 200 may be provided in a structure of a different face of the concavity and convexity, for example, may be made into a structure similar to a bar code; different reflective/absorptive film materials are attached to different sides. The front concave-convex design can enable the robot to obtain bar code characteristics of different distances of the charging pile 200 through measurement data of a ranging sensor, wherein the ranging sensor can be a laser radar, a depth camera and the like. The light reflecting/absorbing film pasting material can enable the measured data of the light intensity sensor to obtain bar code characteristics of different light intensities or confidence degrees of the charging pile 200, and the light intensity sensor can also be a laser radar, a depth camera, an infrared camera and the like for sensing light intensity. The light absorbing material may cause the "intensity"/"confidence" of the data measured by the lidar to be low, and if it is a highly reflective (diffuse) material, the light absorbing material may cause the "intensity"/"confidence" of the data measured by the lidar to be high. The surface structure can be made into an inclined plane, a specular reflection material is attached to the inclined plane, so that light emitted by the laser radar to the specular material is reflected to another angle, no light returns to a receiving module of the laser radar, and the light intensity/confidence degree of data measured by the laser radar is low, even 0, or the ranging is not detected, and the value is 0.
The environment information acquiring means 130 is for acquiring obstacle information around the robot. In one embodiment of the present invention, the environmental information acquiring device 130 is a single or multiple sensors such as a laser radar, a depth camera, an infrared range finder, an ultrasonic wave, an IMU, an odometer, etc., for example, the external shape and size of an obstacle can be obtained through the infrared range finder and the odometer, and the characteristic information of the surface of the obstacle can be obtained through the laser radar to acquire the obstacle information around the robot 100.
The storage device 140 is used for storing an electronic map of the moving area of the robot 100. Specifically, the electronic map may be generated by a robot through a preset method or may be externally imported, and the user generates the electronic map according to the electronic layout of the room and the setting position of the common furniture, and imports the electronic map to the robot, so that the robot can purposefully find the possible position of the charging pile 200 according to the electronic map.
The processor 150 is connected to the mobile device 110, the feature recognition device 120, the environment information acquisition device 130, and the storage device 140, respectively, the processor 150 is used for processing according to obstacle information around the robot, the processor 150 is further used for recognizing the charging pile feature 230 through the feature recognition device 120, and the processor is further used for controlling the robot to move to a predetermined position through the mobile device.
In an embodiment of the present invention, the storage device 140 further stores the historical position of the charging post 200 in the electronic map, and the processor 500 calculates the route from the current position to the historical position of the robot 100 according to the electronic map, and controls the robot 100 to move according to the calculated route, so that the probability of finding the charging post 200 can be improved, and the searching time can be shortened.
In one embodiment of the invention, the processor 150 is further configured to control the robot 100 to move near the historic location, identify the charging stake features 230, and calculate the relative positional information between the charging stake 200 and the robot 100.
Specifically, since the number of sampling points for one rotation of the lidar is constant, the number of sampling points when measuring objects placed at different distances is different, and the more the distance is, the less sampling points acquire the less characteristic information of the charging stake 200. When the robot 100 is finding the charging stake 200, if it is far from the charging stake 200, few data points are represented in the radar data, and thus the information of the feature code of the charging stake 200 cannot be fully represented. The peripheral profile can be preliminary representative of the characteristics of the charging stake 200. Thus, when searching for the charging pile 200 to perform feature matching, different feature matching sub-sets are set according to the distance. In one example of the invention: strict bar code features A are used when the distance is smaller than a first distance threshold, possible feature code sets B are calculated according to probability when the distance is larger than the first distance threshold and smaller than a second distance threshold, possible feature code sets C are calculated according to probability when the distance is larger than the second distance threshold), and the like, more distance level setting feature sets can be set. The method can accelerate the searching efficiency when the charging pile 200 is searched in a long distance. And when the charging pile 200 is searched, the charging pile is matched with different feature code sets according to the distance data, if the charging pile is matched with one feature code set, the robot 100 is controlled to be further close to the possible position, and the characteristics are matched according to the distance and the feature code sets until the charging pile 200 is found.
In one embodiment of the present invention, the processor 500 is further configured to calculate a route between the robot 100 and the charging post 200 according to the electronic map according to the relative position information of the charging post 200 and the robot 100, and control the robot 100 to move onto the charging post 200 for charging.
In one embodiment of the present invention, when the history positions are plural, the processor 150 is further configured to control the robot 100 to move to the most recent history position, calculate the probability that the charging stake 200 exists near the remaining history positions in time sequence and history frequency if the charging stake 200 is not found at the most recent history position, and control the robot 100 to move according to the probability that the charging stake 200 exists near the remaining history positions.
In one example of the present invention, the robot records a total of five history positions of the charging pile 200, and records a corresponding number of times of placement and time of placement for each history position. For example Table 1
Table 1 charging pile 200 history table
The robot 100 is closest to the kitchen corner and first goes to the kitchen corner to find the charging stake 200. If the charging stake 200 is not found at the kitchen corner, the charging stake 200 is found from the southeast corner of the living room, the southwest corner of the balcony, the north wall of the A bedroom, and the south wall of the B bedroom in sequence.
In one embodiment of the invention, the processor is further configured to automatically search the electronic map for a charging stake when no charging stake 200 is found at all historical locations. Since the charging pile 200 is not found at the historic position, the obstacle information around the robot is collected at this time, the characteristic recognition is performed according to the collected obstacle, and the robot 100 is controlled to move according to the structure of the characteristic recognition.
In one embodiment of the invention, the obstacle having the predetermined feature includes a plurality of obstacles having a predetermined shape, for example, including obstacles having an elongated shape (e.g., walls, sofas, cabinets, etc.), obstacles having corner features (e.g., corners, furniture having an arc-shaped structure (e.g., round tables, corner cabinets)), and obstacles having other features. The robot sequentially searches for the charging piles 200 in the vicinity of a plurality of obstacles of a preset shape according to a preset search order.
Because the charging post 200 is typically of a smaller width, the effect of the charging post 200 on the line characteristics of the wall can be eliminated by downsampling or filtering when the charging post 200 is placed against the wall. If the robot stores the electronic map in the corresponding space, the robot moves to the nearest wall (abbreviated as X wall, hereinafter the same) according to the electronic map, searches for the charging post 200 around the X wall, and then sequentially moves to the other walls according to the electronic map to search for the charging post 200. If the electronic map in the corresponding space is not stored, the robot searches for the nearby long-strip-shaped obstacle according to the characteristics of the surrounding obstacle when searching for the charging pile 200, and in the moving process, acquires the information of the surrounding obstacle at all times, generates a map of the corresponding space according to a preset mapping algorithm when acquiring enough obstacle information, and searches for the charging pile 200 according to the newly generated map.
In one example of the invention, the current position of the robot is a, a wall is detected at a position B in the north-east direction of the robot, a round table is detected at a position C in the south-west direction of the robot, and the distance between the position B and the robot is smaller than the distance between the position C and the robot, and the priority of the straight wall is higher than the priority of the round table according to the preset search rule, so that the feature matching degree for the position B is higher than the feature matching degree at the position C. At this time, the control robot moves in the direction of the position B. In the process that the robot moves towards the direction of the position B, other obstacles meeting preset rules may appear, the robot judges surrounding obstacle information in real time, and the action direction of the robot is determined according to the characteristic matching degree until the charging pile 200 is found.
In one embodiment of the present invention, during the automatic search for a charging stake, the processor 150 is further configured to:
controlling a recording robot to find a record of the position of the charging pile 200;
the robot is controlled to search the positions which are not repeatedly removed;
calculating an area which is not searched in the electronic map;
calculating the possibility that charging piles 200 exist in different areas of the areas which are not searched, and controlling a robot to preferentially go to an area block with high possibility to search the charging piles;
the robot is controlled to gradually move to each area for searching until the charging pile 200 is found or all areas of the electronic map are searched.
Specifically, the position of the robot 100 in the electronic map may be located according to the electronic map through a preset location algorithm. According to the record of the robot 100 looking up the charging stake 200, the area that the robot has looked for is recorded. The robot is controlled to find the area without going to find the area, repeated finding can be avoided, and finding efficiency is quickened.
Further, the regions not searched by the electronic map calculation robot 100 may be divided into small region blocks, may be divided into blocks of the same size, may be divided according to obstacles, and may be set into region blocks of different sizes. And calculating the possibility that the charging pile 200 exists in each small area block of the unsearched area according to the characteristics of the obstacle on the map and the preset characteristic matching rule of the obstacle in the previous step. According to the probability ranking, the regions with high probability are preferentially removed. When the charging pile 200 is likely to exist in the calculation region block, a distance parameter is introduced, and a region having a high likelihood of being close to the robot 100 is preferentially removed. The robot 100 moves stepwise to each area for searching. After searching for an area, the area is recorded as a searched area, and the robot 100 is controlled to go to the remaining non-searched area. And repeating the steps until the charging pile 200 or no unsearched area is found in the electronic map.
In one embodiment of the present invention, if the robot 100 prompts the status display device, the processor 150 is further configured to control sending a reminding message to seek for manual intervention, for example, status reminding by the status display device, such as voice broadcasting, a display screen, etc., or communication to a preset terminal by the terminal communication device, sending status information that the charging pile 200 is not found, and the terminal reading the information to remind, such as APP reminding.
According to the robot system provided by the embodiment of the invention, the unknown charging pile position and the remote charging pile searching can be dealt with, and the efficiency of searching the charging pile by the mobile robot can be accelerated.
In addition, other configurations and functions of the robot system according to the embodiments of the present invention are known to those skilled in the art, and are not described in detail for reducing redundancy.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. A robotic system, comprising:
a robot provided with:
a moving device for moving the robot;
the characteristic recognition device is used for recognizing the characteristics of the charging pile on the charging pile;
an environmental information acquisition device for acquiring obstacle information around the robot;
the storage device is used for storing the electronic map of the robot moving area;
the processor is respectively connected with the mobile device, the feature recognition device, the environment information acquisition device and the storage device, and is used for acquiring obstacle information around the robot and recognizing the characteristics of the charging pile through the feature recognition device, and controlling the robot to move to a preset position through the mobile device;
the charging pile includes:
the power supply is used for charging the robot;
the anti-skid device is used for increasing the friction force of the supporting surface of the charging pile;
the charging pile features are used for being identified by a feature identification device on the robot;
the storage device also stores the historical position of the charging pile in the electronic map;
the processor is also used for controlling the robot to move to the vicinity of the historical position, identifying the characteristics of the charging pile and simultaneously acquiring the relative position information between the charging pile and the robot;
and when the historical positions are multiple, the processor is further used for controlling the robot to move to the latest historical position, if the charging pile is not found in the latest historical position, calculating the probability of the existence of the charging pile near the residual historical position according to the time sequence and the historical record frequency, and controlling the robot to move according to the probability of the existence of the charging pile near the residual historical position.
2. The robotic system of claim 1, wherein the processor is further configured to control the robot to move onto the charging stake for charging based on relative positional information of the charging stake and the robot.
3. The robotic system of claim 1, wherein the processor is further configured to automatically search the electronic map for the charging stake when the charging stake is not found in all historical locations.
4. A robotic system as claimed in claim 3, wherein in automatically searching for the charging pile, the processor is further configured to:
controlling and recording the record of the position of the charging device searched by the robot;
controlling the robot to search the positions which are not repeatedly removed;
calculating an area which is not searched in the electronic map;
calculating the possibility that different areas of the unsearched areas have the charging devices, and controlling the robot to preferentially go to the area blocks with high possibility to search the charging piles;
and controlling the robot to gradually move to each area for searching until the charging device is found or all areas of the electronic map are searched.
5. The robotic system of claim 1, wherein the power source is further configured to convert ac mains power to dc power for charging the robot via the dc power.
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| CN201710406210.4A CN108983761B (en) | 2017-06-01 | 2017-06-01 | Method and system for searching charging device by robot and robot |
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| CN111481107B (en) * | 2019-01-28 | 2023-02-17 | 北京奇虎科技有限公司 | Positioning method and device of charging seat of sweeper, computing equipment and storage medium |
| CN111481106B (en) * | 2019-01-28 | 2023-07-28 | 北京奇虎科技有限公司 | Detection method and device for charging seat of sweeper, computing equipment and storage medium |
| CN110032196B (en) * | 2019-05-06 | 2022-03-29 | 北京云迹科技股份有限公司 | Robot recharging method and device |
| 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 |
| CN110801181A (en) * | 2019-11-07 | 2020-02-18 | 珠海格力电器股份有限公司 | Sweeping robot system, sweeping robot control method and sweeping robot control device |
| CN116222561A (en) * | 2021-12-06 | 2023-06-06 | 追觅创新科技(苏州)有限公司 | Map data processing method and system based on map navigation and self-moving robot |
| CN116009560A (en) * | 2023-03-24 | 2023-04-25 | 科大讯飞股份有限公司 | Robot and pile searching method and device thereof and storage medium |
| CN116009561B (en) * | 2023-03-24 | 2023-07-25 | 科大讯飞股份有限公司 | Robot and pile searching method and device thereof and storage medium |
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