CN109719728B - Method and device for adjusting charging pose of robot - Google Patents
Method and device for adjusting charging pose of robot Download PDFInfo
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- CN109719728B CN109719728B CN201910061971.XA CN201910061971A CN109719728B CN 109719728 B CN109719728 B CN 109719728B CN 201910061971 A CN201910061971 A CN 201910061971A CN 109719728 B CN109719728 B CN 109719728B
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Abstract
The invention is suitable for the technical field of machine control, and provides a method and a device for adjusting a charging pose of a robot, wherein the method comprises the following steps: judging whether the robot meets the positive charging condition under the current pose; if the robot does not meet the just-facing charging condition under the current pose, the robot is rotated to acquire the just-facing charging pose by combining the charging parameters; and controlling the robot to move to the position just opposite to the charging pose for charging. According to the robot, the charging pose is determined by combining the charging parameters and the rotation data, and compared with the traditional technology, the robot has higher charging connection precision, so that the charging efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of machine control, and particularly relates to a method and a device for adjusting a charging pose of a robot and a computer readable storage medium.
Background
The intelligence degree of modern home is higher and higher, and a plurality of intelligent household appliances similar to sweeping robots appear along with the intelligent household appliances. As an intelligent small household appliance for reducing the cleaning burden, the floor sweeping robot has humanized functions such as cleaning performance, reservation function and automatic recharging function, so that a user does not need to worry about home cleaning. The automatic recharging of the sweeping robot is that a signal is continuously sent out through the charging base, and then the receiver at the top of the robot receives the signal and is gradually close to the charging base after being successfully positioned. Currently, three mainstream technologies include infrared positioning, bluetooth positioning, and ultrasonic radar positioning.
Although the robot can complete the automatic recharging function through the three methods, the problem of poor connection precision between the robot and the charging base is caused due to the limitation of robot hardware or the influence of positioning errors and the like, and the charging efficiency is further influenced.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for adjusting a charging pose of a robot, so as to solve technical problems in the prior art that a connection accuracy between the robot and a charging stand is poor and charging efficiency is low.
A first aspect of an embodiment of the present invention provides a method for adjusting a charging pose of a robot, including:
judging whether the robot meets the positive charging condition under the current pose;
if the robot does not meet the just-facing charging condition under the current pose, the robot is rotated to acquire the just-facing charging pose by combining the charging parameters;
and controlling the robot to move to the position just opposite to the charging pose for charging.
A second aspect of the embodiments of the present invention provides a device for adjusting a charging pose of a robot, including:
the judging unit is used for judging whether the robot meets the positive charging condition under the current pose;
the acquisition unit is used for enabling the robot to rotate to acquire an opposite charging pose by combining a charging parameter if the robot does not meet the opposite charging condition under the current pose;
and the control unit is used for controlling the robot to move to the position just opposite to the charging pose for charging.
A third aspect of embodiments of the present invention provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of the first aspect when executing the computer program.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the steps of the method of the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: in the invention, the robot is controlled to rotate by combining the charging parameters to determine the opposite charging pose, and then the robot is controlled to move to the position shown by the opposite charging pose for charging.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive effort.
Fig. 1a is a schematic diagram of a robot charging contact pad connection according to an embodiment of the present invention;
FIG. 1b is a schematic diagram of another robot charging contact connection provided by an embodiment of the invention;
fig. 2 is a schematic flow chart of an implementation process of a method for adjusting a charging pose of a robot according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a specific implementation flow of S201 in a method for adjusting a charging pose of a robot according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of a specific implementation flow of S203 in the method for adjusting a charging pose of a robot according to the embodiment of the present invention;
fig. 5 is a schematic flow chart of an implementation of another method for adjusting a charging pose of a robot according to an embodiment of the present invention;
fig. 6 is a schematic diagram of an apparatus for adjusting a charging pose of a robot according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Because most robots have limited battery capacity, the robots need to automatically return to the charging base for charging when the power is low. The charging base is mostly connected with a charging contact for charging, in order to better explain the technical scheme of the invention, a contact charging base is selected for explanation, but the type of the charging base is not limited. When the robot receives a recharging instruction (the instruction includes an instruction triggered by the robot electric quantity being lower than a threshold value and/or a user control key, an instruction triggered by a sensor and/or a recharging instruction for receiving external equipment, etc.), the first mode may be: the controller of the robot sends signals to the infrared emitter, and the infrared emitter emits infrared rays to the periphery. The charging base is provided with an infrared sensor, and when receiving infrared rays emitted from the robot, the infrared sensor can emit feedback infrared rays to the robot. And the infrared sensor in the robot sends a signal to the controller after receiving the feedback infrared ray, and the controller controls the robot to search the charging base according to the direction of the feedback infrared ray. The positioning technology comprises infrared positioning, Bluetooth positioning, radar positioning and the like. The second method comprises the following steps: in the invention, the robot body is provided with a first charging contact piece, and the corresponding charging base is provided with a second charging contact piece, please refer to fig. 1a and 1b, and fig. 1a and 1b are schematic connection diagrams of the charging contact piece of the robot provided by the embodiment of the invention. As shown in fig. 1a and 1b, the AB section of the robot body is a first charging contact, the CD section of the charging base is a second charging contact, and the first charging contact and the second charging contact are in contact to charge. However, since the first charging contact is mostly arc-shaped and the first charging contact is linearly-shaped, the contact area of the first charging contact is small and the accuracy of positioning the charging base is limited, it is difficult for the robot to align the second charging contact on the charging base at one time for charging, and there are many cases where the contact is skewed as shown in fig. 1, which results in poor contact, thereby shortening the life of the battery and damaging the battery. In order to solve the technical problem of low contact accuracy between the robot and the charging base, the invention provides a method for adjusting a charging pose of the robot, and please refer to fig. 2, where fig. 2 is a schematic flow chart of an implementation of the method for adjusting the charging pose of the robot according to the embodiment of the invention. The method for adjusting the charging pose of the robot as shown in fig. 2 comprises the following steps:
s201, judging whether the robot meets the positive charging condition in the current pose.
The current pose is the pose when the robot charging contact piece and the charging base charging contact piece are initially contacted. As shown in fig. 1a or 1b, when the first charging contact and the second charging contact are initially contacted, there are two cases: the first charging contact piece is over against the second charging contact piece; and the two charging contact pieces are connected in a skew mode. When the first charging contact piece is aligned with the second charging contact piece, the charging efficiency is highest, the current pose does not need to be adjusted, and when the two charging contact pieces are connected in a skew mode, the charging efficiency is low, and the current charging pose needs to be adjusted, so that the charging efficiency is improved. Therefore, before the pose of the robot is adjusted, the charging parameters generated when the first charging contact piece and the second charging contact piece are in contact need to be judged, and then corresponding measures are taken. The robot comprises a robot which is not limited to smart homes and can realize an automatic recharging function in industrial production.
S202, if the robot does not meet the opposite charging condition under the current pose, the robot is rotated to acquire an opposite charging pose by combining the charging parameters.
In the case where the just-opposite charging condition is not satisfied, that is, the charging contact is in a skew contact state, as shown in fig. 1a or fig. 1b, since the first charging contact and the second contact are in a skew connection (contact with the straight line CD except the midpoint of the arc line AB may be defined as a skew connection) when the straight line AO is perpendicular to the straight line CD (as shown in fig. 1 a) and the straight line BO is perpendicular to the straight line CD (as shown in fig. 1 b), a problem that the charging parameter is too small is caused, and therefore, the robot needs to adjust the current charging attitude so that the robot just-opposite charges. When the robot is in skew contact, the robot can rotate towards different directions through the robot, the pose when each rotating direction reaches the fixed charging parameter is recorded by combining the charging parameters during rotation, and the pose when the robot rotates to the fixed charging parameter every time is obtained. The charging parameter refers to any parameter related to charging data, such as a charging voltage or a charging current, a charging resistance, and the like, and is not limited herein. For example: the robot respectively rotates to different directions until the charging voltage is zero, the pose information of the robot at the moment is recorded, the pose information comprises the rotation angle of the robot and the coordinates of a preset point of the robot body, and the opposite charging pose is calculated according to each return pose information.
And S203, controlling the robot to move to the position just facing the charging pose for charging.
And calculating an included angle between the positive charging pose obtained in the step 202 and the current pose, and rotating to the position shown by the positive charging pose according to the included angle to perform charging.
In the embodiment, the positive charging pose is obtained through combination of the charging parameter rotation, and then the current pose of the robot is adjusted, so that the robot and the charging base have higher connection precision, and the charging efficiency is improved.
Specifically, step 201 in the previous embodiment specifically includes steps 301 to 303, please refer to fig. 3, and fig. 3 is a schematic diagram of a specific implementation flow of S201 in the method for adjusting the charging pose of the robot according to the embodiment of the present invention. As shown in fig. 3, step 201 specifically includes:
s301, acquiring the charging parameters of the robot in the current pose.
When the charging contact piece of the robot is connected with the charging contact piece of the charging base, corresponding charging parameters can be generated no matter the charging contact piece is in positive connection or in inclined connection. The charging parameters under the current pose of the robot can be acquired, and then the connection condition of the robot and the charging base is judged.
And S302, comparing the charging parameter with the first threshold value.
The size of the first threshold is the size of a charging parameter generated when the robot is just charging (the first threshold can also be slightly smaller than the size of the charging parameter generated when the robot is just charging, and is determined according to actual calculation accuracy). Therefore, the charging parameter in the current pose of the robot can be compared with the first threshold value, and whether the charging contact of the robot and the charging contact of the charging base are over against charging or not can be judged.
And S303, if the charging parameter is larger than or equal to the first threshold value, the robot meets the just-charging condition in the current pose.
When the charging parameter is larger than or equal to a first threshold value, the current pose of the robot at the moment is just opposite to the charging pose.
Optionally, after step 303, the method further includes: and controlling the robot to keep the current pose for charging. When the charging parameter is larger than or equal to the first threshold value, the just-opposite charging condition is met, namely the robot charging contact piece is in just contact with the charging contact piece of the charging base at the moment, the charging at the current pose can be continuously kept, and the pose does not need to be adjusted.
S304, if the charging parameter is smaller than the first threshold value, the robot does not meet the just-charging condition in the current pose.
And if the charging parameter is smaller than the first threshold value, the situation that the first charging contact piece and the second charging contact piece are connected in a skew mode is represented. The current pose of the robot needs to be adjusted. This step corresponds to step 202.
In this embodiment, before the charging pose of the robot is adjusted, the charging parameter is compared with the first threshold, and after the comparison, whether to adjust the current charging pose of the robot is determined, so that an unnecessary pose adjustment process is avoided, and the pose adjustment efficiency is improved.
Specifically, step 203 in the previous embodiment specifically includes steps 401 to 403, please refer to fig. 4, and fig. 4 is a flowchart illustrating an implementation procedure of S203 in the method for adjusting the charging pose of the robot according to the embodiment of the present invention. As shown in fig. 4, step 203 specifically includes:
s401, controlling the robot to rotate along a first preset direction until the charging parameter reaches a second threshold value, and recording a first pose of the robot, wherein the second threshold value is smaller than the first threshold value.
When the charging contact piece of the robot is contacted with the charging contact piece of the charging base, the robot rotates in situ in a first preset direction by taking the current initial pose as a rotation reference point, and the first preset direction can be clockwise or anticlockwise. To better explain the scheme of the present embodiment, the present embodiment selects the charging parameter when the straight line AO is perpendicular to the straight line CD and the straight line BO is perpendicular to the straight line CD as shown in fig. 1a or fig. 1b as the second threshold. The second threshold value can be comprehensively evaluated according to the form of the actual charging contact piece and data such as a charging voltage value or a charging current value, and is not limited herein, and the first threshold value is the size of a charging parameter generated when the robot is just charging, so the second threshold value is smaller than the first threshold value. When the robot moves to the charging base to enable the first charging contact piece and the second charging contact piece to be in contact with each other and rotates according to a first preset direction until the charging parameter reaches a second threshold value, namely as shown in fig. 1a, when a straight line AO is perpendicular to a straight line CD, data of a first pose of the robot at the moment are recorded. The data of the first pose comprises data of the pose of the whole body of the robot or data of the pose of any position on the body (except the midpoint of the body, the smaller the data closer to the midpoint, the larger the corresponding calculation error). The pose includes, but is not limited to, coordinate values, deflection angles and the like, and the deflection angles can be measured by using a geomagnetic field through an electronic compass, the electronic compass is a sensor of the deflection angles relative to the direction of the geomagnetic field, an LR oscillating circuit is contained in a magnetic sensor, and when an included angle between the magnetic sensor and the direction parallel to the earth magnetic induction line changes, the magnetic induction coefficient of the LR oscillating circuit also changes. The drive chip can calculate the included angle between the magnetic sensor and the earth magnetic induction line through the change of the magnetic induction coefficient of the magnetic sensor, namely the deflection angle of the robot.
S402, controlling the robot to rotate from the first pose along a second preset direction until the charging parameter reaches a second threshold value, and recording the second pose of the robot.
When the robot is in the first pose, the robot continues to rotate in the direction opposite to the first preset direction, namely, the robot rotates in the second preset direction, the second preset direction can be clockwise or anticlockwise, when the first preset direction is clockwise, the second preset direction is anticlockwise, and vice versa. And (3) the robot rotates according to the second preset direction until the charging parameter reaches a second threshold value, namely when the straight line BO is perpendicular to the straight line CD as shown in fig. 1b, recording data of a second pose of the robot at the moment.
And S403, acquiring the just-facing charging pose according to the first pose and the second pose.
Specifically, the obtaining the right charging pose according to the first pose and the second pose includes:
and determining the middle point of the rotation of the robot in the range of the first pose and the second pose according to the first pose and the second pose, and taking the middle point as the just-facing charging pose.
Referring to fig. 1a or fig. 1b, if the first posture and the second posture are respectively the postures when the critical point A, B contacts with the CD, that is, the sector area formed by the arcs AB and O is the rotation range of the robot. Correspondingly, the middle point of the arc line AB is the contact point when the charging pose is just opposite to the middle point. And the midpoint may also be a midpoint between two points in the arc AB where the charging parameters are equal.
The middle point can adopt coordinate data and deflection angles to jointly mark pose data. The coordinate data is obtained by recording coordinates (X) of a preset point (which may be a geometric midpoint, a center of gravity, a center of mass or other positions of the first charging contact) of the first charging contact of the robot with the first position in a preset map plane coordinate system under the plane coordinate system1,Y1) And the coordinate values can also be selected from coordinate values of other positions of the fuselage (in the in-situ rotation process, the coordinate data of the midpoint of the fuselage is not changed, and the other positions do not include the midpoint of the fuselage). The rotation reference point is an initial connection point, and in this embodiment, the initial connection points of the first charging contact piece and the second charging contact piece are used as zero points (the left turn and the right turn are respectively recorded as a positive value and a negative value), so as to record the deflection angle θ of the first pose1。
According to a preset map plane coordinate system, the second position coordinate (X) of the preset point of the first charging contact piece of the robot in the second position2,Y2). And recording the deflection angle theta of the second pose2。
Obtaining third deflection angle data relative to a rotation reference point according to the first deflection angle data and the second deflection angle data; obtaining third position coordinate data according to the first position data and the second position data; and taking the third deflection angle data and the third position coordinate data as the just-facing charging pose.
Calculating to obtain the deflection angle of the charging pose according to the first deflection angle data and the second deflection angle data, wherein the deflection angle of the charging pose is as follows:
wherein positive and negative values of the deflection angle to the charging pose represent directions, for example: the initial contact point is set to be 0 degree, the clockwise rotation is set to be a positive value, the counterclockwise rotation is set to be a negative value, the first deflection angle data is 20 degrees of clockwise rotation, the second deflection angle data is 40 degrees of counterclockwise rotation, therefore, the deflection angle of the positive charging posture is-10 degrees, namely when the robot rotates 10 degrees of counterclockwise rotation on the basis of the posture of the initial contact point, the first charging contact piece is aligned with the second charging contact piece.
Calculating to obtain coordinate data of the third position according to the first position data and the second position data, wherein the coordinate value of the charging pose being aligned is as follows:
therefore, the positive charging pose is obtained as follows:
in the embodiment, the robot records the pose data of each time through clockwise rotation or anticlockwise rotation, and the positive charging pose is calculated according to the pose data of each time, so that the charging contact piece of the robot and the charging contact piece of the charging base have higher connection precision, and the charging efficiency is improved.
Optionally, after the pose of the robot is adjusted according to the just-opposite charging pose, the contact of the robot and the contact of the charging base cannot be guaranteed to be in the just-opposite contact due to external force or wheel slip and the like. In order to overcome the above defects, on the basis of the embodiment shown in fig. 2, the present embodiment provides another method for adjusting the charging pose of the robot. Here, taking an improvement based on the embodiment shown in fig. 2 as an example, please refer to fig. 5, fig. 5 is a schematic flow chart of another implementation of the method for adjusting the charging pose of the robot according to the embodiment of the present invention, and the embodiment shown in fig. 2 further includes steps 501 to 503 after step 203. In this embodiment, S201 to 203 are the same as S201 to 203 in the embodiment described in fig. 2, and specific reference is made to the description related to S201 to 203 in this embodiment, which is not repeated herein.
S201, judging whether the robot meets the positive charging condition in the current pose.
S202, if the robot does not meet the opposite charging condition under the current pose, the robot is rotated to acquire an opposite charging pose by combining the charging parameters.
And S203, controlling the robot to move to the position just facing the charging pose for charging.
S501, comparing the charging parameter when the robot is in the opposite charging pose with a first threshold value.
And when the robot is adjusted to the pose just opposite to the charging pose, acquiring the current charging parameters of the robot. And judging whether the charging contact piece is aligned or not when the robot is in the pose just opposite to the charging pose according to the charging parameters.
S502, if the charging parameter is larger than or equal to the first threshold value, the robot meets the just-facing charging condition under the just-facing charging pose, and the robot is controlled to keep the just-facing charging pose for charging.
When the charging parameter is larger than or equal to the first threshold value, the robot is indicated to be aligned with the charging contact piece in the current pose, and the current charging can be kept.
S503, if the charging parameter is smaller than the first threshold value, the robot still does not meet the just-facing charging condition in the just-facing charging pose.
And when the charging parameter is lower than the first threshold value, indicating that the charging contact is not aligned. And repeatedly executing the steps of rotating the robot to acquire the updated just-facing charging pose by combining the charging parameters and controlling the robot to move to the position shown by the updated just-facing charging pose to charge until the updated just-facing charging pose meets the just-facing charging condition.
In the embodiment, whether the robot is just charging or not is continuously judged after the charging pose is adjusted, so that the secondary charging skew condition caused by calculation errors or external force influence in the charging process is prevented, the robot has higher charging connection precision, and the charging efficiency is improved.
Fig. 6 shows a charging pose adjusting apparatus 6 for a robot according to the present invention, where fig. 6 is a schematic view of the charging pose adjusting apparatus for a robot according to the present invention, and the charging pose adjusting apparatus for a robot shown in fig. 6 includes:
the judging unit 61 is used for judging whether the robot meets the positive charging condition in the current pose;
the acquiring unit 62 is configured to, if the robot does not satisfy the right charging condition in the current pose, rotate the robot by combining the charging parameter to acquire a right charging pose;
and the control unit 63 is used for controlling the robot to move to the position just opposite to the charging pose for charging.
The judging unit is specifically configured to:
acquiring a charging parameter of the robot in the current pose;
comparing the charging parameter with a first threshold value;
if the charging parameter is larger than or equal to the first threshold, the robot meets the just-facing charging condition in the current pose;
and if the charging parameter is smaller than the first threshold value, the robot does not meet the just-charging condition under the current pose.
According to the device for adjusting the charging pose of the robot, the robot is controlled to rotate by combining the charging parameters to determine the opposite charging pose, and then the robot is controlled to move to the position opposite to the charging pose to be charged.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 7 is a schematic diagram of a robot according to an embodiment of the present invention. As shown in fig. 7, a robot 7 of this embodiment includes: a processor 70, a memory 71 and a computer program 72 stored in said memory 71 and executable on said processor 70, such as a program for a robot to adjust the charging pose. The processor 70, when executing the computer program 72, implements the steps in each of the above-described embodiments of the method for adjusting the charging pose of the robot, such as the steps S201 to S203 shown in fig. 2. Alternatively, the processor 70, when executing the computer program 72, implements the functions of the units in the above-described device embodiments, such as the functions of the units 61 to 63 shown in fig. 6.
Illustratively, the computer program 72 may be divided into one or more units, which are stored in the memory 71 and executed by the processor 70 to accomplish the present invention. The one or more units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 72 in the one robot 7. For example, the computer program 72 may be divided into an acquisition unit and a calculation unit, each unit having the following specific functions:
the judging unit is used for judging whether the robot meets the positive charging condition under the current pose;
the acquisition unit is used for enabling the robot to rotate to acquire an opposite charging pose by combining a charging parameter if the robot does not meet the opposite charging condition under the current pose;
and the control unit is used for controlling the robot to move to the position just opposite to the charging pose for charging.
The robot 7 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing device. The robot may include, but is not limited to, a processor 70, a memory 71. Those skilled in the art will appreciate that fig. 7 is merely an example of one type of robot 7 and does not constitute a limitation of one type of robot 7, and may include more or fewer components than shown, or some components in combination, or different components, e.g., the one type of robot may also include input output devices, network access devices, buses, etc.
The Processor 70 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may be an internal storage unit of the robot 7, such as a hard disk or a memory of the robot 7. The memory 71 may also be an external storage device of the robot 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the robot 7. Further, the memory 71 may also comprise both an internal memory unit and an external memory device of the one robot 7. The memory 71 is used for storing the computer program and other programs and data required for the one robot. The memory 71 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed terminal device and method may be implemented in other ways. For example, the above-described terminal device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical function division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (9)
1. A method for robot to adjust charging pose, the method comprising:
judging whether the robot meets the positive charging condition under the current charging pose; the current charging pose is the pose when the charging contact piece of the robot and the charging contact piece of the charging base initially contact;
if the robot does not meet the just-facing charging condition under the current charging pose, controlling the robot to rotate along a first preset direction until a charging parameter reaches a second threshold value, and recording the first pose of the robot, wherein the second threshold value is smaller than the first threshold value;
controlling the robot to rotate along a second preset direction from the first pose to the moment that the charging parameter reaches a second threshold value, and recording the second pose of the robot;
obtaining the just-facing charging pose according to the first pose and the second pose;
and controlling the robot to rotate to the position just opposite to the charging pose for charging.
2. The method of claim 1, wherein the determining whether the robot satisfies the positive charging condition in the current charging pose comprises:
acquiring a charging parameter of the robot in a current charging pose;
comparing the charging parameter with a first threshold value;
if the charging parameter is larger than or equal to the first threshold, the robot meets the just-facing charging condition in the current charging pose;
and if the charging parameter is smaller than the first threshold value, the robot does not meet the just-charging condition in the current charging pose.
3. The method of claim 2, wherein if the charging parameter is greater than or equal to the first threshold, after the robot satisfies the right charging condition in the current charging pose, further comprising:
and controlling the robot to keep the current charging pose for charging.
4. The method of claim 1, wherein said obtaining the facing charging pose from the first pose and the second pose comprises:
and determining the middle point of the rotation of the robot in the range of the first pose and the second pose according to the first pose and the second pose, and taking the middle point as the just-facing charging pose.
5. The method of claim 1, wherein said controlling said robot to rotate to said position in said charging pose for charging further comprises:
comparing the charging parameter when the robot is in the opposite charging pose with a first threshold value;
if the charging parameter is larger than or equal to the first threshold, the robot meets the just-facing charging condition under the just-facing charging pose, and the robot is controlled to keep the just-facing charging pose for charging;
if the charging parameter is smaller than the first threshold value, the robot still does not meet the just-facing charging condition under the just-facing charging pose, the step of enabling the robot to rotate to obtain the updated just-facing charging pose by combining the charging parameter and controlling the robot to move to the position shown by the updated just-facing charging pose to charge is repeatedly executed until the updated just-facing charging pose meets the just-facing charging condition.
6. A device for adjusting charging pose of a robot is characterized by comprising:
the judging unit is used for judging whether the robot meets the positive charging condition under the current charging pose; the current charging pose is the pose when the charging contact piece of the robot and the charging contact piece of the charging base initially contact;
the acquisition unit is used for controlling the robot to rotate along a first preset direction until a charging parameter reaches a second threshold value if the robot does not meet the positive charging condition under the current charging pose, and recording the first pose of the robot, wherein the second threshold value is smaller than the first threshold value;
controlling the robot to rotate along a second preset direction from the first pose to the moment that the charging parameter reaches a second threshold value, and recording the second pose of the robot;
obtaining the just-facing charging pose according to the first pose and the second pose;
and the control unit is used for controlling the robot to rotate to the position just opposite to the charging pose for charging.
7. The apparatus according to claim 6, wherein the determining unit is specifically configured to:
acquiring a charging parameter of the robot in the current pose;
comparing the charging parameter with a first threshold value;
if the charging parameter is larger than or equal to the first threshold, the robot meets the just-facing charging condition in the current pose;
and if the charging parameter is smaller than the first threshold value, the robot does not meet the just-charging condition under the current pose.
8. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method according to any of the claims 1 to 5 are implemented when the computer program is executed by the processor.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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| CN110842981B (en) * | 2019-10-23 | 2021-05-11 | 深圳乐动机器人有限公司 | Robot charging method and robot |
| CN110888433B (en) * | 2019-10-25 | 2023-05-02 | 北京京东乾石科技有限公司 | Control method and device for automatic alignment charging pile |
| CN111427361B (en) * | 2020-04-21 | 2023-08-08 | 浙江欣奕华智能科技有限公司 | Recharging method, recharging device and robot |
| CN111625005A (en) * | 2020-06-10 | 2020-09-04 | 浙江欣奕华智能科技有限公司 | Robot charging method, robot charging control device and storage medium |
| CN111657795B (en) * | 2020-06-17 | 2022-06-21 | 美智纵横科技有限责任公司 | Sweeper recharging system and method, sweeper and charging seat |
| CN112583069B (en) * | 2020-11-19 | 2023-08-08 | 深圳拓邦股份有限公司 | Robot charging protection method and device, robot and storage medium |
| CN113189981A (en) * | 2021-04-08 | 2021-07-30 | 深圳拓邦股份有限公司 | Charger robot transit point identification method and device and charger robot |
| CN115903837B (en) * | 2022-12-19 | 2023-09-29 | 湖州丽天智能科技有限公司 | Automatic charging method and system for vehicle-mounted photovoltaic robot |
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| CN100999078A (en) * | 2006-01-09 | 2007-07-18 | 田角峰 | Automatic charging method of robot and its automatic charging device |
| EP3027271B1 (en) * | 2013-07-29 | 2019-08-21 | Alfred E. Mann Foundation for Scientific Research | High efficiency magnetic link for implantable devices |
| CN103997082B (en) * | 2014-04-21 | 2016-01-13 | 伍小军 | Mobile robot's recharging device and recharging method thereof |
| US9586318B2 (en) * | 2015-02-27 | 2017-03-07 | Toyota Motor Engineering & Manufacturing North America, Inc. | Modular robot with smart device |
| CN106230049B (en) * | 2016-08-01 | 2020-02-14 | 安克创新科技股份有限公司 | Wireless charging device and method |
| CN205901399U (en) * | 2016-08-19 | 2017-01-18 | 北京兆维电子(集团)有限责任公司 | Automatic charging system that docks of robot |
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| CN107222040A (en) * | 2017-06-28 | 2017-09-29 | 温州市鹿城区中津先进科技研究院 | Wireless charging reminding method |
| CN107390685B (en) * | 2017-07-14 | 2020-10-16 | 深圳市优必选科技有限公司 | Robot recharging control method, robot and robot system |
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