CN109991969A - A kind of control method and device that the robot based on depth transducer makes a return voyage automatically - Google Patents
A kind of control method and device that the robot based on depth transducer makes a return voyage automatically Download PDFInfo
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- CN109991969A CN109991969A CN201711486123.0A CN201711486123A CN109991969A CN 109991969 A CN109991969 A CN 109991969A CN 201711486123 A CN201711486123 A CN 201711486123A CN 109991969 A CN109991969 A CN 109991969A
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- 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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Abstract
The present invention provides a kind of control method and device that the robot based on depth transducer makes a return voyage automatically, it is used for positioning of the robot in complex environment, improve robot make a return voyage charging accuracy rate and find robot cradle, and guided robot navigate back cradle realize automatic charging method, include: that i acquires specific pattern on recharging base during robot makes a return voyage, the relative position information between the recharging base and the robot is determined based on the specific pattern on recharging base；Posture of the ii based on the relative position information amendment robot during making a return voyage.The present invention is by means of depth transducer, robot can preferably position the position with recharging base, it improves robot to make a return voyage the accuracy rate of charging, charging of making a return voyage can be realized inside more complicated bigger place, function with the position of recharging base can preferably be positioned by realizing robot.The present invention is easy to use, operates conveniently, and has high commercial value.
Description
Technical field
The invention belongs to robot field, controlling party that especially a kind of robot based on depth transducer makes a return voyage automatically
Method and device.
Background technique
As the epoch constantly improve, the continuous development of society, existing robot machine people is maked a return voyage charging, on the market mainly
Fixed, bluetooth or radar fix using infrared ray.Type in sweeping robot field 70% or so is positioned using infrared ray.
But this form has many drawbacks: although infrared ray positioning precision is higher, due to being that this light can not penetrate object,
So that infrared ray is merely able to position in horizon range, just as the infrared ray of our TV remote controller, if there is
Thing, which blocks, just loses signal.For sweeper people, often in the environment of dust puff puff, some dust are broken for work for it
Bits are easy to generate the infrared receiver window on fuselage interference, and infrared ray is easy in transmission process by indoor fluorescent
Lamp interference, so will appear the case where sweeping robot can not find recharging base generation.
Another is positioned using ultrasonic wave to find recharging base, and ultrasonic wave is mainly determined by reflective ranging
Position object, calculates the distance of object and oneself similar to bat by triangulation location, and ultrasonic distance measurement is by multipath effect and non-
Line-of-sight propagation influence is very big, more demanding to the manufacturing cost of circuit, and current few machines are using this principle.
It is exactly Bluetooth technology there are also one kind, bluetooth is positioned by measuring the intensity of model, its power is relatively low, is led to
Cross bluetooth manufacture positioning system volume it is smaller, be very easy to be integrated in sweeper people's circuit, using this technology, it is not
Be easy influenced by sighting distance, even if that is, have barrier obstruction, positioning can be also realized in linear distance.But realize price
Expensive, positioning accuracy is low.
And there is no a kind of technologies maked a return voyage automatically using depth transducer control robot currently on the market, do not have especially
There are a kind of control method and device that the robot based on depth transducer makes a return voyage automatically.
Summary of the invention
For technological deficiency of the existing technology, the object of the present invention is to provide a kind of machines based on depth transducer
The control method and device that people is maked a return voyage automatically are used for positioning of the robot in complex environment, find robot cradle, with
And guided robot navigate back cradle realize automatic charging method, including:
A kind of control method that the robot based on depth transducer makes a return voyage automatically is used to improve robot and makes a return voyage charging
Accuracy rate, include the following steps:
I. the specific pattern on recharging base is acquired during robot makes a return voyage, based on described specific on recharging base
Pattern determines the relative position information between the recharging base and the robot；
Ii. the posture based on the relative position information amendment robot during making a return voyage.
Preferably, include the following steps: before the step c
A, the position of the robot and the recharging base in environmental map is determined；
B, robot is obtained to the guidance path of recharging base based on the environmental map and is based on the guidance path control
The robot is made to make a return voyage.
Preferably, before the step a, including step a ': robot probe's real time environment simultaneously generates the ring
Condition figure generates navigation algorithm based on the environmental map, and the navigation algorithm is for generating the guidance path.
Preferably, the robot passes through random or specific pathfinding logic detecting real time environment.
Preferably, the step a includes the following steps:
A1: the robot receives instruction of making a return voyage；
A2: the robot acquires the environmental data of multiple angles around the robot by depth transducer, and will
The environmental data carries out Integration obtaining and integrates information；
A3: by the information matches of integrating to the environmental map, determine the robot in the environmental map
Position.
Preferably, the navigation algorithm includes any one of following several algorithms:
A* algorithm；
Dijkstra's algorithm；Or
Jump point searching algorithm.
Preferably, include the following steps: after the step i
I1: the robot is constantly acquired the specific pattern and is obtained N number of during making a return voyage by depth transducer
Pattern-information obtains the distinctive information of N number of pattern-information；
Correspondingly, the step ii includes the following steps:
Ii1: appearance of robot during making a return voyage is corrected based on the relative position information and the distinctive information
State.
Preferably, the pattern-information includes colouring information and depth information.
Preferably, the distinctive information include multiple pattern-informations left-right deviation and multiple pattern-informations
Imaging angle.
Preferably, further include step c after step b: robot is maked a return voyage based on the posture during making a return voyage to charging base
Seat.
Preferably, further include step d after step c: being charged by the contact of recharging base to robot.
Preferably, the specific pattern is chequered with black and white pattern.
And given on one side in of the invention, a kind of control device that the robot based on depth transducer makes a return voyage automatically,
It makes a return voyage the accuracy rate of charging for cooperating the control method to improve robot characterized by comprising robot 1, charging base
Seat 2, in the charge state, robot connect the recharging base 2 by contact 21, wherein
The robot includes:
Depth transducer 11 is used to obtain the specific orientation of robot and obtains the pattern-information of specific pattern；
Central processing unit 12, be used to determine environmental map, reception make a return voyage instruction, integral data, planning guidance path,
Adjust robot pose.
Preferably, the depth transducer 1 includes such as any one of lower sensor:
Depth transducer based on flight time TOF；
Depth transducer based on structure light；Or
Depth transducer based on binocular measurement.
Preferably, specific pattern 22 is provided on the recharging base 2, the specific pattern is in chequered with black and white pattern.
Preferably, the specific pattern 22 is vertically arranged with ground.
The present invention provides a kind of depth transducer based on active light source, and by 3D sensor, realizing robot can be more
The position of good positioning and recharging base improves robot and makes a return voyage the accuracy rate of charging.It can be inside more complicated bigger place
Realization is maked a return voyage charging.The configuration of the present invention is simple, it is easy to use, there is high commercial value.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 shows a specific embodiment of the invention, what a kind of robot based on depth transducer maked a return voyage automatically
Control method schematic diagram；
Fig. 2 shows the first embodiment of the present invention, a kind of control that the robot based on depth transducer makes a return voyage automatically
Method flow schematic diagram processed；
Fig. 3 shows the second embodiment of the present invention, a kind of to be maked a return voyage based on the robot of depth transducer automatically
Schematic diagram is voluntarily positioned in journey；
Fig. 4 shows the third embodiment of the present invention, a kind of to be maked a return voyage based on the robot of depth transducer automatically
The flow diagram in recharging base orientation is determined in journey；
Fig. 5 shows another specific embodiment of the invention, and a kind of robot based on depth transducer is automatic
The module connection diagram of the control device to make a return voyage；And
Fig. 6 shows the sixth embodiment of the present invention, a kind of dress that the robot based on depth transducer makes a return voyage automatically
Set schematic diagram.
Specific embodiment
In order to preferably technical solution of the present invention be made clearly to show, the present invention is made into one with reference to the accompanying drawing
Walk explanation.
Fig. 1 shows a specific embodiment of the invention, what a kind of robot based on depth transducer maked a return voyage automatically
Control method schematic diagram, for the present invention by the control method of Fig. 1, position with recharging base can preferably be positioned by realizing robot
The function of setting improves robot and makes a return voyage the accuracy rate of charging.Specifically, as shown in Figure 1, including the following steps:
Firstly, entering step S101, the specific pattern on recharging base is acquired during robot makes a return voyage, based on charging
The specific pattern on pedestal determines the relative position information between the recharging base and the robot, art technology
Personnel understand, contain one or more camera in the robot, new environment is constantly explored in the robot
When, the camera will recorder people when exploring around image information, after complete environment is explored by the robot,
The camera will store image information all in entire environment, then be believed the image integrated by central processing unit
Breath is stored in central processing unit after being converted into two-dimentional point cloud chart.Further, it is determined in environment according to two-dimentional point cloud chart
Barrier orientation and recharging base orientation, then the recharging base specific pattern captured by the camera determine machine
The true bearing of people and recharging base.
And in a preferred embodiment, the recharging base is in front of the robot, but in the charging base
There is a barrier among seat and the robot, the robot camera can only receive the spy on the recharging base at this time
The a part for determining pattern, which includes following several situations, 1, it is filled if the camera in the robot receives
A part of image in the specific pattern left side on electric pedestal, and the pattern received is the one third of specific pattern, the then machine
People calculates current location by central processing unit and is in 120 ° of the recharging base right front；Its 2, if in the robot
The camera receive on recharging base a part of image on the right of specific pattern, and the pattern received is specific pattern
One third, then the robot calculates current location by central processing unit and is in the recharging base left front
120°.And in the case where a kind of special, the robot receives complete specific pattern in the blocking of not barrier
Case, then the robot is in 90 ° of positions immediately ahead of the recharging base.It will be appreciated by those skilled in the art that above-mentioned three kinds of situations
Only be intended merely to that preferably embodiment of the present invention is described, but this do not represent the robot can only be by upper
The confirmation that three kinds of modes carry out robot location is stated, for example, being specific pattern in the pattern-information that left side or right side receive
A quarter, 1/5th, in addition it is less, accordingly, it may be determined that robot one party in front of the recharging base
Angle on position, it will not be described here.
Further, the specific pattern is chequered with black and white pattern, it is preferable that chequered with black and white image is using infrared
The absorbability of light allows the camera to can recognize that typical characteristics of image, to be used to distinguish the recharging base and machine
Specific angle position between people.Preferably, the specific image can also be to be red and white, Lan Bai is alternate etc. face
Color, this does not affect a specific embodiment of the invention, and it will not be described here.
Then, S102 is entered step, the posture based on the relative position information amendment robot during making a return voyage, this
Field technical staff understanding, the angle formed between the available robot of S101 and the recharging base through the above steps
Degree.Further, the robot can constantly meet barrier during making a return voyage, and a barrier is often encountered by the robot
After hindering object, then the angle between the robot and the recharging base can be impacted, and the robot then needs constantly
Adjustment oneself where position and path, then with recharging base shape at an angle of 90 after, could straight forward.Preferably, on
State embodiment in step S101 it is stated that, if there is no barrier between the robot and the recharging base, the machine
People is in the front of the recharging base, if being 90 ° with the angle that the recharging base is formed, robot straight trip can be arrived
Up on the recharging base, charge.
Fig. 2 shows the first embodiment of the present invention, a kind of control that the robot based on depth transducer makes a return voyage automatically
Method flow schematic diagram processed, specifically, as follows:
Firstly, entering step S201, robot probe's real time environment simultaneously generates the environmental map, is based on the ring
Condition figure generates navigation algorithm, and the navigation algorithm is for generating the guidance path, it will be appreciated by those skilled in the art that passing through
Slam algorithm determines position of the robot in the environmental map, and the slam algorithm is mainly used for solving robot not
Location navigation and the problem of map structuring when being run in the environment known.Further, the slam algorithm generally includes following several
A part, feature extraction, data correlation, state estimation, state updates and feature updates etc..Further, the slam
Algorithm includes the part mentioned among the above, and the final purpose in these parts is to update the approximate location information of robot.
And in a preferred embodiment, since the robot location's information estimated by robot motion is usual
With biggish error, therefore, what we cannot be simple estimates robot location's information by robot motion.Using machine
After people's equation of motion obtains robot location's estimation, the ambient condition information corrigendum machine that distance measuring unit obtains is can be used in we
The position of people.Above-mentioned corrigendum process generally passes through extraction environment feature, then the position of observational characteristic again after robot motion
Set realization.The core of slam algorithm is EKF.EKF is used to that above- mentioned information to be combined to estimate robot accurate location.The spy of above-mentioned selection
Sign is commonly referred to as terrestrial reference.EKF estimates landmark locations in above-mentioned robot location and ambient enviroment for continual.And
As robot motion, position will change.At this point, extraction is seen according to the observation of robot location's sensor
Characteristic point in measurement information, then robot will observe position, the robot motion's distance, machine of characteristic point by EKF at present
It observes that the position of characteristic point be combined with each other before device people movement, robot current location and current context information is estimated.
And then, S202 is entered step, determines the position of the robot and the recharging base in environmental map, this
Field technical staff understands that robot probe's real time environment mode can seek for arc type pathfinding, straight line pathfinding and curve
Road, and detection mode can be preferably set as to the arc type pathfinding mode, the purpose is to can dexterously avoid the barrier in environment
Hinder object, when the robot is when detecting real time environment, encounter front obstacle, the robot then can auto-steering get around barrier
Object is hindered to continue to move ahead.In a preferred embodiment, real time environment in the robot probe house, at this time using bow word
Type pathfinding mode, have in house a large obstacle hinder robot continue move ahead detection, then the robot can with barrier
Turned left before hindering object to bump against and turned right twice again, barrier can be got around after turning right twice in succession, what is turned right twice
The size that barrier can also be calculated simultaneously converts real time environment after robot probe's completely a real time environment
For the two-dimentional point cloud chart after scale smaller, by the location of all barriers being collected into and barrier, proportional diminution
After be placed in two-dimentional point cloud chart, all image informations are corresponding with houseclearing in two-dimentional point cloud chart.
Then, S203 is entered step, guidance path and base based on environmental map acquisition robot to recharging base
It controls the robot in the guidance path to make a return voyage, it will be appreciated by those skilled in the art that by the robot in a certain environment
Interior continual movement after collecting location information all in the environment, then can obtain the ring by the slam algorithm
The real-time position information of the complete map structuring in border and robot in this context.Further, institute is placed in the environment
Recharging base is stated, the special pattern in the recharging base in depth transducer search environment carried by the robot
To determine that the robot to the distance between recharging base, further, is determining the robot and the recharging base
Distance after, the robot is then observed the environment, extract observation information in characteristic point, in conjunction with the spy observed
Sign point formulates guidance path, it is preferable that the guidance path can be the shortest straight path of point-to-point transmission, can also avoid for road conditions
The route of barrier.
And in a preferred embodiment, the robot detects in certain environment is equipped with many obstacles in the environment
Object, the environment can be common people's house, office department, also or meeting room.The barrier can be desk, chair, sofa, cabinet
Son etc furniture.The recharging base is placed in the environment, firstly, the robot probe is to the recharging base position
It sets, and then robot can determine whether that nearest return path, the robot can be potentially encountered blocking for furniture in the way of return,
The outlet of robot return is blocked, then robot can readjust path, avoid the barrier, smoothly return to recharging base.
Then, S204 is entered step, the specific pattern on recharging base is acquired during robot makes a return voyage, based on charging
The specific pattern on pedestal determines the relative position information between the recharging base and the robot.The reality of this step
Existing mode is specifically see step S101.
Then, S205 is entered step, the posture based on the relative position information amendment robot during making a return voyage, this
The implementation of step is specifically see step S102.
Then, S206 is entered step, robot is maked a return voyage based on the posture during making a return voyage to recharging base, art technology
Personnel understand that the robot is in the level with the specific image on the recharging base of having adjusted, vertical imaging angle
Afterwards, existing posture is kept, that is, may return to recharging base.
Finally, entering step S207, charged by the contact of recharging base to robot, described robot one end has
The charging jacks of multiple recess, and have the contact of multiple protrusions and the charging of one concave end of robot on the recharging base
Jack, which matches, to charge.And the number of contacts phase of the quantity of the charging jacks of the multiple recess and the multiple protrusion
Together.In a preferred embodiment, there are the charging jacks of recess in described robot one end, and quantity is 15, is equally divided into 3
Distance is adapted up and down for row, every row 5, and jack of each recess or so.And the bump contact on recharging base also will be with institute
The recess jack stated in robot matches, and is similarly 15, up and down distance be adapted, and in the robot insert
Hole matches.
Fig. 3 shows the second embodiment of the present invention, a kind of to be maked a return voyage based on the robot of depth transducer automatically
Schematic diagram is voluntarily positioned in journey, is preferably used for positioning of the robot when making a return voyage process in the environmental map, is had
Body, it is as follows:
Firstly, entering step S301, the robot receives instruction of making a return voyage, and the preferably described robot receives instruction of making a return voyage
The case where there are several types of, one after robot is explored, operator holds robot described in infrared remote-control operation and makes a return voyage,
Further, the robot is equipped with infrared induction system, while being equipped with IR remote controller, and operator presses on IR remote controller
Under make a return voyage after button, sending is maked a return voyage instruction, the robot receives make a return voyage instruction after, then can make a return voyage；Secondly machine can be increased
People's alarm program, the alarm program are preferably referred in robot electric quantity lower than 10%, and described robot itself can issue red
Color warning, when red warning triggering, the robot can then receive instruction of making a return voyage.
And then, S302 is entered step, the robot acquires multiple angles around the robot by depth transducer
The environmental data of degree, and environmental data progress Integration obtaining is integrated into information, the robot is obtained by depth transducer
It takes after different data and integrates and obtain complete environmental information, in a preferred embodiment, the depth transducer can be
The depth transducer of flight time TOF, that is, flight method 3D imaging, itself are rotated in place by the robot to different
Angle continuously transmits light pulse to the environment, and the light returned from the environmental objects is then received with sensor, passes through light arteries and veins
The flight two-way time of punching obtains objectives object distance, can obtain simultaneously later the entire environmental map relative to institute
State the depth information of robot.
In another preferred embodiment, the depth transducer may be based on the depth transducer of structure light, described
It is used for the mounting structure light projector in the robot to the depth transducer of structure light, then passes through robot itself original place
Rotation projects controllable photoelectricity, striation either smooth surface to the testee surface of different angle, and (is taken the photograph by imaging sensor
Camera, camera) image is obtained, in the geometrical relationship for passing through testee and the robot, calculated using triangle principle
Three-dimensional coordinate of the testee relative to the robot.Since robot can acquire the data of full angle, then can calculate
Three-dimensional coordinate of each testee relative to the robot out.
And in a change case, the depth transducer also can be the depth transducer of binocular measurement, and the purpose is to benefits
With the measuring principle of binocular stereo vision.Binocular camera is installed in the robot first, then the robot original place
Rotation acquires data to different directions different angle, if just acquisition data procedures are detecting the institute in the environmental map
Barrier either object is stated, then same object is imaged from different location for two identical video cameras, obtains the object
Stereo pairs, to calculate parallax, finally restore depth letter using the method for triangulation by matching corresponding picture point
Breath.The binocular camera is in the depth relative to the robot for measuring all objects in the environmental map later
Information.
Finally, entering step S303, by the information matches of integrating to the environmental map, determine the robot in institute
State the position in environmental map, in above-mentioned steps S101 it is stated that, slam algorithm its be used for the fortune of the robot in the environment
Entire environment can be established one after the environmental map has been explored by the robot by location navigation and map structuring when row
3 dimensional drawing, but the robot is in some plane in three-dimensional environment figure at this time, then it can be by entire plane
It is considered as a two dimensional image.
In a preferred implementation, robot will explore a certain office environment, after robot is explored, lead to
Slam algorithm is crossed, office is formed into a 3 dimensional drawing, then the robot is then in some in 3 dimensional drawing
Face, that is, the ground of office, the robot can measure the accurate number of the length, width and height of office after the completion of exploration
Value, such as the length, width and height of the office are respectively 400CM, 300CM, 350CM.The robot is in the ground of office at this time
Face, then ground can be divided into the small grid of 1CM*1CM by the central processing unit in the robot, form coordinate diagram.Then may be used
Office a corner is set as origin, the data of origin are (0.0) at this time, and the robot can will detect
Object in the environmental map reverts to two-dimensional surface and obtains corresponding coordinate, can survey the robot by depth transducer
With the object by a distance from, the coordinate that the robot is in plane is being calculated using trigonometric function, to obtain machine
Position of the people in the environmental map.
Further, it in the position for determining that the robot is in the environmental map, environmental map and described fills
After motor base, then plan the robot to the recharging base guidance path.And the method for determining the guidance path
There are following 3 kinds, A* algorithm, dijkstra's algorithm or jump point searching algorithm.The preferably described A* algorithm is a kind of static road network
Middle search shortest path most efficient method, the dijkstra's algorithm are the shortest paths from a vertex to remaining each vertex
Algorithm, the searched mode of expansion of the jump point searching algorithm actually A* algorithm.And in a preferred embodiment, the path
The A* algorithm of most convenient can be used in planning, sets function f (n) first, the f (n) is then the robot physical location to institute
State the cost estimation in recharging base path, g (n) is the robot physical location described in state space to the recharging base
The actual cost in path, h (n) is the robot to the estimate cost of the optimal path of the recharging base, in order to guarantee to look for
It is the selection of function f (n) to shortest path key, wherein formula expression can be f (n)=g (n)+h (n), be arranged at this time
Function d (n) expresses the robot to the distance of the recharging base, then the optimal selection situation of h (n) is h (n) < d (n),
The points of the robot search are more at this time, and range is big, can obtain optimal solution.
Fig. 4 shows the third embodiment of the present invention, a kind of to be maked a return voyage based on the robot of depth transducer automatically
The flow diagram in recharging base orientation is determined in journey, specifically, as follows:
Firstly, entering step S401, the step S401 is described in detail in the step S101, refuses herein
It repeats.
Then, S402 is entered step, the robot constantly acquires the spy by depth transducer during making a return voyage
Determine pattern and obtain N number of pattern-information, obtain the distinctive information of N number of pattern-information, the preferably described robot is making a return voyage
In the process, specific image is found by the camera being arranged in the robot, and during finding specific image,
Specific image may be blocked by barrier, cause the robot that can not detect entire specific image completely, then the machine
People can constantly capture specific image picture by the camera during making a return voyage, and collect N number of image information and carry out pair
Than by, closest to complete specific image, preferably image information, N number of pattern-information is compared in N number of image
It is right, and determine the true bearing between recharging base and robot, it will be appreciated by those skilled in the art that N number of described image is carried out
Comparison, the purpose is to select it is closest with complete specific pattern as selecting excellent ground image information, and preferably at one
The picture N with specific pattern information are detected in embodiment, in the way that the robot makes a return voyage again in total, wherein N1?
The specific pattern of one third, N have been detected on image2The specific pattern etc. of a quarter is detected on image, directly
The specific pattern that half has been detected on to N images, is analyzed by central processing module unit, obtains N
The entire specific pattern of specific image comparison opened on image is closest, and the position of robot can then be moved to N at this time
Position when image detection judges that the specific pattern information on the N picture detected is entire specific pattern again later
The left side of case or right side, come and determine robot location.If the specific pattern on the N picture determined is entire
Specific pattern left-half, then the robot is in recharging base right front, it is on the contrary then in left front.
And then, S403 is entered step, the step S403 is described in detail in the step S102, herein not
It gives and repeats
Finally, entering step S404, the robot is corrected based on the relative position information and the distinctive information and is existed
Posture during making a return voyage, it will be appreciated by those skilled in the art that the robot needs during returning to the recharging base
The imaging angle of continuous adjustment and specific pattern on the recharging base, when the imaging of the robot and the specific pattern
Angle is 90 ° of Shi Zeke straight forwards.
In a preferred embodiment, the robot is in described when filling 150 ° of recharging base left front, then described
Robot will return to the recharging base, then need constantly to right front slowly close to, thus constantly reduce with it is described
Upper specific pattern imaging angle between recharging base, when the robot is at the uniform velocity to right front close to the CPU in the robot is not
Disconnected calculating and the imaging angle of the specific pattern, after the imaging angle that CPU is calculated is 90 °, stopping continues to paste
It closes, is changed to straight ahead, and in another preferred embodiment, the robot can also be first to right translation and the charging
Specific pattern on pedestal is in 90 °, in straight ahead.
And in another change case, the imaging angle is not limited solely between the robot and the specific pattern
Horizontal imaging angle, will also adjust the robot imaging angle vertical with specific pattern on the recharging base, such as
The robot is not only flat ground, can have upper and lower low-angle slope on ground in some environment in the environment,
Then when the specific pattern level in the robot and the recharging base is in 90 °, pass of the vertical angle due to upper downslope
System causes vertical imaging angle to be more than or less than 90 °, this can all influence charging jacks and the charging base in the robot
Can completely is not bonded charging contact on seat, then to adjust the posture of the robot at this time, then the robot wants itself
It is compressed or is stretched, so that the robot is vertical with the specific pattern on the recharging base to be imaged as 90 °,
And then robot can then be walked with straight line, be charged.
Fig. 5 shows another specific embodiment of the invention, and a kind of robot based on depth transducer is automatic
The module connection diagram of the control device to make a return voyage, specifically includes: depth transducer 11, central processing unit 12.
Further, it will be appreciated by those skilled in the art that the depth transducer 11 is for obtaining on the recharging base
Specific pattern realizes the function that the robot makes a return voyage automatically by obtaining the specific pattern.
Further, the central processing unit 12 is realized by the s l am algorithm to unknown environment progress
Map structuring establishes Complete three-dimensional perspective view.By the way that infrared receiving system is arranged in central processing unit 12, the machine is realized
Device people can receive instruction of making a return voyage by infrared remote control, warning system can also be arranged in the central processing unit, when described
Robot electric quantity automatically initiates alarm less than 10%, issues instruction of making a return voyage.It, can will be described by the central processing unit 12
The pattern-information that depth transducer is collected is integrated, and is obtained the robot real time position, is then planned from the robot
To the optimal guidance path of the recharging base, along the way that guidance path returns to recharging base, central processing unit 12 can
The posture of the robot is constantly adjusted, is connect and is charged with the contact on the recharging base with most suitable posture.
Fig. 6 shows the sixth embodiment of the present invention, a kind of dress that the robot based on depth transducer makes a return voyage automatically
Set schematic diagram.Including: robot 1, recharging base 2, in the charge state, robot connect the charging by contact 21
Specific pattern 22 on pedestal 2 and recharging base.The robot 1 is detected on the recharging base by the camera
Specific pattern 22, after detecting specific pattern 22, depth transducer calculates the robot 1 and the specific pattern 22
Between depth, then calculate by central processing unit the best guidance path of robot 1 Yu the recharging base 2, then institute
Robot is stated during making a return voyage, constantly adjustment 1 posture of robot of central processing unit 12 charges until in the robot 1
Groove fits like a glove with 2 upper contact 21 of recharging base, to charge.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (16)
1. a kind of control method that the robot based on depth transducer makes a return voyage automatically, it is used to improve robot and makes a return voyage charging
Accuracy rate, which comprises the steps of:
I. the specific pattern on recharging base is acquired during robot makes a return voyage, based on the specific pattern on recharging base
Determine the relative position information between the recharging base and the robot；
Ii. the posture based on the relative position information amendment robot during making a return voyage.
2. control method according to claim 1, which is characterized in that include the following steps: before the step i
A, the position of the robot and the recharging base in environmental map is determined；
B, robot is obtained to the guidance path of recharging base and based on guidance path control institute based on the environmental map
Robot is stated to make a return voyage.
3. control method according to claim 2, which is characterized in that before the step a, including step a ': it is described
Robot probe's real time environment simultaneously generates the environmental map, generates navigation algorithm based on the environmental map, the navigation is calculated
Method is for generating the guidance path.
4. control method according to claim 3, which is characterized in that the robot is patrolled by random or specific pathfinding
Collect detection real time environment.
5. control method according to any one of claim 1 to 4, which is characterized in that the step a includes following step
It is rapid:
A1: the robot receives instruction of making a return voyage；
A2: the robot acquires the environmental data of multiple angles around the robot by depth transducer, and will be described
Environmental data carries out Integration obtaining and integrates information；
A3: by the information matches of integrating to the environmental map, position of the robot in the environmental map is determined.
6. control method according to claim 5, which is characterized in that the navigation algorithm includes in following several algorithms
It is any:
A* algorithm；
Dijkstra's algorithm；Or
Jump point searching algorithm.
7. control method according to any one of claim 1 to 6, which is characterized in that include as follows after the step i
Step:
I1: the robot constantly acquires the specific pattern and obtains N number of pattern during making a return voyage by depth transducer
Information obtains the distinctive information of N number of pattern-information；
Correspondingly, the step ii includes the following steps:
Ii1: posture of robot during making a return voyage is corrected based on the relative position information and the distinctive information.
8. control method according to claim 7, which is characterized in that the pattern-information includes colouring information and depth
Information.
9. control method according to claim 8, which is characterized in that the distinctive information includes multiple pattern-informations
Left-right deviation and multiple pattern-informations imaging angle.
10. according to claim 1 to any control method in 9, which is characterized in that further include step after step b
Rapid c: robot is maked a return voyage based on the posture during making a return voyage to recharging base.
11. control method according to claim 10, which is characterized in that further include step d: by filling after step c
It charges to robot the contact of electric pedestal.
12. control method described in any one of claims 1 to 11, which is characterized in that the specific pattern is chequered with black and white
Pattern.
13. a kind of control device that the robot based on depth transducer makes a return voyage automatically, for cooperating the control method to improve
Robot makes a return voyage the accuracy rate of charging characterized by comprising robot (1), recharging base (2), in the charge state, machine
Device people connects the recharging base (2) by contact (21), wherein
The robot includes:
Depth transducer (11) is used to obtain the specific orientation of robot and obtains the pattern-information of specific pattern；
Central processing unit (12) is used to determine environmental map, receives instruction of making a return voyage, integral data, planning guidance path, adjusts
Whole robot pose.
14. control device according to claim 13, which is characterized in that the depth transducer (1) includes following sensing
Any one of device:
Depth transducer based on flight time TOF；
Depth transducer based on structure light；Or
Depth transducer based on binocular measurement.
15. control device according to claim 14, which is characterized in that be provided with specific pattern on the recharging base (2)
Case (22), the specific pattern are in chequered with black and white pattern.
16. control device described in any one of 3 to 15 according to claim 1, which is characterized in that the specific pattern (22) is hung down
Directly it is arranged in ground.
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