CN111625005A - Robot charging method, robot charging control device and storage medium - Google Patents
Robot charging method, robot charging control device and storage medium Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The embodiment of the invention provides a robot charging method, a robot charging control device and a storage medium, wherein an image of an identification area containing charging equipment is acquired through image acquisition equipment, and the relative pose between a robot and the charging equipment is determined according to coordinate information of the identification area in the image; determining the current pose state of the robot according to the relative pose and the area position of the identified area in the image; if the current pose state of the robot is determined not to meet the charging condition, determining an adjusting mode corresponding to the current pose state of the robot according to the corresponding relation between the pose state and the adjusting mode; and after the pose is adjusted according to the determined adjusting mode, the robot is electrically connected with the charging equipment and is charged until the current pose state of the robot is determined to meet the charging condition according to the collected image again. Therefore, the method for automatically charging the robot is realized, the robot is more intelligent and convenient to charge, and the charging success rate of the robot is improved.
Description
Technical Field
The present invention relates to the field of robot technology, and more particularly, to a robot charging method, a robot charging control apparatus, and a storage medium.
Background
With the vigorous development of the robot field, various robots are applied to various fields, but the robots all face a critical problem, namely how to charge the robots. If this problem is not solved effectively, the development and application of the robot are limited.
At present, in a method for charging a robot, a technician is mainly used for controlling the robot to reach a determined charging position and controlling the robot to be in butt joint with a charging device to complete charging. The method needs to consume more energy and time, errors may exist between positions where the robot is manually controlled and target charging positions, the robot is finally failed to be charged, and the charging success rate is low.
In summary, how to charge the robot more intelligently and conveniently becomes a technical problem to be solved urgently.
Disclosure of Invention
The embodiment of the invention provides a robot charging method, a robot charging control device and a storage medium, which are used for realizing more intelligent and convenient charging of a robot.
In a first aspect, an embodiment of the present invention provides a robot charging method, including:
acquiring an image of an identification area containing charging equipment through image acquisition equipment, and determining a relative pose between a robot and the charging equipment according to coordinate information of the identification area in the image;
determining the current pose state of the robot according to the relative pose and the area position of the identified area in the image;
if the current pose state of the robot is determined not to meet the charging condition, determining an adjusting mode corresponding to the current pose state of the robot according to the corresponding relation between the pose state and the adjusting mode;
and after the pose is adjusted according to the determined adjusting mode, acquiring the image of the identification area containing the charging equipment again until the current pose state of the robot is determined to meet the charging condition according to the acquired image, and electrically connecting the robot and the charging equipment and charging.
Optionally, the relative pose comprises a rotation matrix and a translation vector;
and adjusting the pose according to the determined adjusting mode, comprising the following steps:
if the determined adjustment mode comprises adjustment of the angle of the robot relative to the charging equipment, determining a rotation angle to be adjusted according to a rotation matrix in the relative pose between the robot and the charging equipment, and adjusting the robot according to the determined rotation angle and an adjustment direction corresponding to the adjustment mode;
and if the determined adjustment mode comprises the step of adjusting the distance between the robot and the charging equipment, determining the distance to be adjusted according to a rotation matrix and a translation vector in the relative pose between the robot and the charging equipment, and adjusting the robot according to the determined distance.
Optionally, the charging condition is that the robot is located on an extension line of a charging contact of the charging device, and a plane where a charging port of the robot is located faces the charging device;
after determining that the current pose state of the robot meets the charging condition, the method further comprises the following steps:
and controlling the robot to keep the current angle between the robot and the charging equipment and move towards the charging equipment until the charging port of the robot is electrically connected with the charging contact of the charging equipment.
Optionally, the determining the relative pose between the robot and the charging device according to the coordinate information of the identification area in the image includes:
determining the relative pose between the image acquisition equipment and the charging equipment according to the coordinate information of the identification area in the image and the world coordinate information corresponding to the identification area;
and determining the relative pose between the robot and the charging equipment according to the relative pose between the image acquisition equipment and the charging equipment and the relative pose between the image acquisition equipment and the preset position of the robot.
Optionally, the determining, according to the coordinate information of the identified region in the image and the world coordinate information corresponding to the identified region, the relative pose between the image capturing device and the charging device includes:
acquiring internal parameters of the image acquisition equipment;
generating a three-dimensional coordinate of the identification area in a coordinate system corresponding to the image acquisition equipment according to the internal parameters and the coordinate information of the identification area in the image;
and determining the relative pose between the image acquisition equipment and the charging equipment according to the three-dimensional coordinates and the world coordinate information corresponding to the identification area.
In a second aspect, an embodiment of the present invention provides a control apparatus for robot charging, including:
the acquisition module is used for acquiring an image of an identification area containing charging equipment through image acquisition equipment and determining the relative pose between the robot and the charging equipment according to the coordinate information of the identification area in the image;
a determining module, configured to determine a current pose state of the robot according to the relative pose and a region position of the identified region in the image;
the judging module is used for determining an adjusting mode corresponding to the current pose state of the robot according to the corresponding relation between the pose state and the adjusting mode if the current pose state of the robot is determined not to meet the charging condition;
and the adjusting module is used for adjusting the pose according to the determined adjusting mode, and establishing electric connection between the robot and the charging equipment and charging after determining that the current pose state of the robot meets the charging condition according to the re-acquired image.
Optionally, the relative pose comprises a rotation matrix and a translation vector;
the adjustment module is specifically configured to:
if the determined adjustment mode comprises adjustment of the angle of the robot relative to the charging equipment, determining a rotation angle to be adjusted according to a rotation matrix in the relative pose between the robot and the charging equipment, and adjusting the robot according to the determined rotation angle and an adjustment direction corresponding to the adjustment mode;
and if the determined adjustment mode comprises the step of adjusting the distance between the robot and the charging equipment, determining the distance to be adjusted according to a rotation matrix and a translation vector in the relative pose between the robot and the charging equipment, and adjusting the robot according to the determined distance.
Optionally, the charging condition is that the robot is located on an extension line of a charging contact of the charging device, and a plane where a charging port of the robot is located faces the charging device;
the adjustment module is further configured to:
after the current pose state of the robot is determined to meet the charging condition, the robot is controlled to keep the current angle between the robot and the charging equipment, and the robot is controlled to move towards the charging equipment until a charging port of the robot is electrically connected with a charging contact of the charging equipment.
Optionally, the acquisition module is specifically configured to:
determining the relative pose between the image acquisition equipment and the charging equipment according to the coordinate information of the identification area in the image and the world coordinate information corresponding to the identification area;
and determining the relative pose between the robot and the charging equipment according to the relative pose between the image acquisition equipment and the charging equipment and the relative pose between the image acquisition equipment and the preset position of the robot.
Optionally, the acquisition module is specifically configured to:
acquiring internal parameters of the image acquisition equipment;
generating a three-dimensional coordinate of the identification area in a coordinate system corresponding to the image acquisition equipment according to the internal parameters and the coordinate information of the identification area in the image;
and determining the relative pose between the image acquisition equipment and the charging equipment according to the three-dimensional coordinates and the world coordinate information corresponding to the identification area.
In a third aspect, an embodiment of the present invention provides a control apparatus for robot charging, including: a memory, a processor;
the memory stores instructions executable by the processor;
the processor implements the robot charging method according to any one of the first aspect of the embodiments of the present invention by executing the instructions stored in the memory.
In a fourth aspect, an embodiment of the present application provides a computer storage medium, which includes a computer program, and when the computer program is executed on a processor, the computer program implements the steps of the method according to the first aspect.
The invention has the following beneficial effects:
in the robot charging method provided by the embodiment of the invention, the charging device is provided with the identification area for identifying the charging device in advance, the robot can automatically identify the charging device after acquiring the image of the identification area containing the charging device through the image acquisition device, so that the robot is not required to be charged through manual control, after the identification area is identified, the relative pose between the robot and the charging device can be determined according to the coordinate information of the identification area in the image, the current pose state of the robot can be determined according to the relative pose and the area position of the identification area in the image, when the charging condition is determined not to be met, the corresponding adjusting mode is determined according to the pose state, the pose of the robot is adjusted according to the determined adjusting mode until the pose state of the robot is determined to meet the charging condition, the robot is electrically connected with the charging equipment and is charged, so that the method for automatically charging the robot is realized, the robot is more intelligent and convenient to charge, and the charging success rate is improved.
In addition, the robot charging method provided by the embodiment of the invention collects the image containing the charging equipment identification area according to the existing image collection equipment on the robot, so that additional equipment does not need to be reconfigured, and the cost is lower.
Drawings
Fig. 1 is a flowchart of a robot charging method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an aryl marker provided in an embodiment of the present invention;
fig. 3 is a schematic diagram of a charging apparatus according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating an error between a pixel coordinate of an image center and a pixel coordinate of an origin of a coordinate system of a physical imaging plane according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a coordinate system provided in an embodiment of the present invention;
fig. 6 is a schematic diagram of a relative position relationship between a first robot and a charging device according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a relative position relationship between a second robot and a charging device according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a relative position relationship between a third robot and a charging device provided in the embodiment of the present invention;
fig. 9 is a schematic structural diagram of a control device for robot charging according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of another robot charging control device provided in the embodiment of the present invention.
Detailed Description
Embodiments of a robot charging method, a robot charging device, and a robot according to embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. 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.
At present, in a method for charging a robot, a technician is mainly used for controlling the robot to reach a determined charging position and controlling the robot to be in butt joint with a charging device to complete charging. The method needs to consume much energy and time, and the position reached by the manual control robot may have an error with the target charging position, and finally the robot fails to charge.
In view of the above problem, an embodiment of the present invention provides a robot charging method, as shown in fig. 1, including:
s101, acquiring an image of an identification area containing charging equipment through image acquisition equipment, and determining a relative pose between a robot and the charging equipment according to coordinate information of the identification area in the image;
s102, determining the current pose state of the robot according to the relative pose and the area position of the identification area in the image;
step S103, if the current pose state of the robot is determined not to meet the charging condition, determining an adjusting mode corresponding to the current pose state of the robot according to the corresponding relation between the pose state and the adjusting mode;
and S104, after the pose is adjusted according to the determined adjusting mode, acquiring the image of the identification area containing the charging equipment again until the current pose state of the robot is determined to meet the charging condition according to the acquired image, and electrically connecting the robot and the charging equipment and charging.
It should be noted that, in the embodiment of the present invention, the robot may implement the robot charging method to implement the charging process of the robot, or a third-party control device may implement the robot charging method to control the robot to complete the charging process;
the image acquisition equipment can be camera equipment which is arranged on the robot in advance; the following description will be given taking an image capturing apparatus as an example of a camera.
In the embodiment of the present invention, as shown in fig. 2, the identification area of the charging device may be an amuco marker preset on the charging device.
The robot charging method provided by the embodiment of the invention is described in detail below by taking an identification area of the charging device as an arcing marker and an image acquisition device as a camera preset on a robot as an example:
in the implementation, after the robot collects an image of an arto marker containing charging equipment through a camera, identifying the arto marker corner points in the image and acquiring pixel coordinates of all the corner points;
after the pixel coordinates of the corner points are obtained, the relative pose between the robot and the charging equipment is determined according to the pixel coordinates and the world coordinates of the corner points.
Specifically, the robot determines a relative pose between a camera and charging equipment according to the acquired pixel coordinates and world coordinates corresponding to the corner points;
as shown in fig. 3, the charging device may be a charging device that is provided in advance and includes a charging contact.
It should be noted here that the world coordinates corresponding to the corner points are preset by those skilled in the art after measurement.
In the implementation, the robot acquires internal parameters of the camera, and generates three-dimensional coordinates of the corner points in a coordinate system corresponding to the camera according to the internal parameters and pixel coordinates of the corner points in the image;
here, it should be noted that the coordinate system corresponding to the camera is established in the camera in advance.
Wherein the internal parameters of the camera include: the focal length of the camera, the number of horizontal pixels of the difference between the central pixel coordinate of the image and the origin pixel coordinate of the physical imaging plane coordinate system, and the number of vertical pixels of the difference between the central pixel coordinate of the image and the origin pixel coordinate of the physical imaging plane coordinate system.
Specifically, an error exists between the pixel coordinate of the image center and the origin pixel coordinate of the physical imaging plane coordinate system; as shown in FIG. 4, wherein O1Is the origin pixel coordinate of the physical imaging plane coordinate system, O0The pixel coordinates of the acquired corner point in a coordinate system with the image center as an origin point need to be converted into coordinates in a physical imaging plane coordinate system, and a specific conversion formula is as follows:
wherein u represents the horizontal axis pixel coordinate of the acquired corner point in a coordinate system with the image center as the origin, v represents the vertical axis pixel coordinate of the acquired corner point in the coordinate system with the image center as the origin, and cxNumber of transverse pixels representing a phase difference between the central pixel coordinate of the image and the origin pixel coordinate of the coordinate system of the physical imaging plane, cyThe number of vertical pixels representing a phase difference between a center pixel coordinate of the image and an origin pixel coordinate of the physical imaging plane coordinate system, X 'represents a horizontal-axis coordinate of the corner in the physical imaging plane coordinate system, Y' represents a vertical-axis coordinate of the corner in the physical imaging plane coordinate system, α represents a multiple of scaling of the obtained horizontal-axis pixel coordinate of the corner in the coordinate system with the center of the image as the origin compared to the horizontal-axis coordinate in the corner physical imaging plane coordinate system, and β represents a multiple of scaling of the obtained vertical-axis pixel coordinate of the corner in the coordinate system with the center of the image as the origin compared to the vertical-axis coordinate in the corner physical imaging plane coordinate system.
After obtaining the coordinates of the corner points in the physical imaging plane coordinate system, according to the obtained internal parameters, generating the three-dimensional coordinates of the corner points in the coordinate system corresponding to the camera by the following formula:
wherein, X 'represents the horizontal axis coordinate of the corner point in the physical imaging plane coordinate system, Y' represents the longitudinal axis coordinate of the corner point in the physical imaging plane coordinate system, f represents the focal length of the camera, Z represents the Z axis coordinate of the three-dimensional coordinate of the corner point in the coordinate system corresponding to the camera, X represents the X axis coordinate of the three-dimensional coordinate of the corner point in the coordinate system corresponding to the camera, and Y represents the Y axis coordinate of the three-dimensional coordinate of the corner point in the coordinate system corresponding to the camera.
By combining the above conversion formula, the conversion relationship for converting the pixel coordinates of the acquired corner points into three-dimensional coordinates in the coordinate system corresponding to the camera is finally obtained as follows:
in matrix form, can be represented as:
wherein Z represents a Z-axis coordinate of a three-dimensional coordinate of the corner point in a coordinate system corresponding to the camera, X represents an X-axis coordinate of the three-dimensional coordinate of the corner point in the coordinate system corresponding to the camera, Y represents a Y-axis coordinate of the three-dimensional coordinate of the corner point in the coordinate system corresponding to the camera, u represents a horizontal-axis pixel coordinate of the acquired corner point in the coordinate system with the image center as an origin, v represents a vertical-axis pixel coordinate of the acquired corner point in the coordinate system with the image center as the origin, and c represents a vertical-axis pixel coordinate of the acquired corner point in the coordinatexNumber of transverse pixels representing a phase difference between the central pixel coordinate of the image and the origin pixel coordinate of the coordinate system of the physical imaging plane, cyNumber of vertical pixels representing a phase difference between the center pixel coordinate of the image and the origin pixel coordinate of the coordinate system of the physical imaging plane, fxDenotes the focal length of the camera in the direction of the transverse axis, fyRepresenting the focal length of the camera in the direction of the longitudinal axis.
And after generating the three-dimensional coordinates of the corner points in the coordinate system corresponding to the camera, the robot determines second position and posture information according to the three-dimensional coordinates and the world coordinates of the corner points.
In implementation, the second pose information may be determined by a conversion relationship between the three-dimensional coordinates and the world coordinates as follows:
z represents the Z-axis coordinate of the three-dimensional coordinate of the corner point in the coordinate system corresponding to the camera, X represents the X-axis coordinate of the three-dimensional coordinate of the corner point in the coordinate system corresponding to the camera, Y represents the Y-axis coordinate of the three-dimensional coordinate of the corner point in the coordinate system corresponding to the camera, and Z represents the Z-axis coordinate of the three-dimensional coordinate of the corner point in the coordinate system corresponding to the camerawRepresenting the Z-axis coordinate, X, of the corner point in the world coordinate systemwRepresenting the X-axis coordinate, Y, of the corner point in the world coordinate systemwAnd representing the Y-axis coordinate of the corner point in a world coordinate system, R representing a rotation matrix, and T representing a translation matrix.
The relative pose between the camera and the charging equipment comprises a translation vector and a rotation matrix which are used for representing the relative position relation between the camera and the charging equipment.
After the relative pose between the camera and the charging equipment is obtained, the relative pose between the robot and the charging equipment is determined according to the relative pose between the camera and the charging equipment and the relative pose between the camera and the preset position of the robot.
In the embodiment of the invention, the preset position of the robot can be the central point of the robot; the relative pose between the camera and the preset position of the robot is calibrated and set in advance by a person skilled in the art.
The relative pose between the camera and the preset position of the robot comprises a rotation matrix and a translation vector which are used for representing the relative position relation between the camera and the preset position of the robot.
In implementation, according to the relative pose between the camera and the charging device and the relative pose between the camera and the preset position of the robot, the relative pose between the robot and the charging device is determined by the following formula:
Tbrrepresenting the relative pose between the robot and the charging device，TbcRepresenting the relative pose, T, between the camera and the charging devicercRepresenting the relative pose between the camera and the preset position of the robot, RbcRepresenting a rotation matrix between the camera and the charging device, RrcRepresenting a rotation matrix between the camera and a preset position of the robot, tbcRepresenting a translation vector between the camera and the charging device, trcRepresenting a translation vector between the camera and the preset position of the robot.
The relative pose between the robot and the charging equipment comprises a rotation matrix and a translation vector which are used for representing the relative position relation between the robot and the charging equipment.
After the relative pose between the robot and the charging equipment is obtained, pose adjustment needs to be carried out on the robot, and the process from the initial position to the successful butt joint of the charging equipment by the robot is completed.
Since the robot moves on a plane, the whole moving plane can be regarded as a coordinate system. As shown in fig. 5, where the origin of coordinates is set as the center of the charging contact, the x-axis is a direction parallel to the charging device, and the z-axis is a direction perpendicular to the charging device, the pose of the robot on the plane can be represented by the set of variables (x, z, θ), where x and z are coordinates of the center of the body; θ is the orientation of the robot (which can be understood as the angle between the robot and the charging device), and when the robot is facing the charging device, θ is 0 as shown in fig. 6; the robot orientation shown in fig. 7 defines the robot orientation to the left of the charging device as θ >0, and the robot orientation shown in fig. 8 defines the robot orientation to the right as θ < 0. Therefore, the pose adjustment is targeted to { x ═ 0, and θ ═ 0}, and then the charging device can be docked in a straight line. The overall adjustment strategy is to adjust the robot to move to the extension line L of the charging contact, then adjust the angle of the robot to enable the robot to face the charging equipment, and finally carry out straight-going butt joint.
After the overall concept of adjusting the pose of the robot according to the embodiment of the present invention is introduced, the following details are provided to describe the pose adjustment process of the robot according to the embodiment of the present invention:
determining the current pose state of the robot according to the relative pose between the robot and the charging equipment and the region position of the recognition region in the acquired image;
the region position of the identification region in the image can be an edge region or a middle region;
it should be noted that the edge position of the embodiment of the present invention is the left edge or the right edge of the image.
In implementation, the area position of the identification area in the image can be judged according to the pixel coordinates of the corner points of the identification area in the image and the width of the image;
for example, assuming that the pixel coordinate x of the corner of the identified region in the image is x0 and the width of the image is w, when x0/w < a, the region position of the identified region in the image is determined as the left edge region; when x0/w > b, determining the area position of the identification area in the image as a right edge area, otherwise, determining the area position of the identification area in the image as a middle area; wherein, a can take the value of 1/5, and b can take the value of 4/5.
It should be noted that, when determining the region position of the identified region in the image, the embodiment of the present invention determines according to the corner point of the identified region closest to the edge of the image.
The embodiment of the invention divides the pose of the robot into a plurality of states in advance;
for example, state 1: the robot is arranged on the left side of the charging equipment, and the identification area is located in the middle area of the image;
state 2: the robot is arranged on the left side of the charging equipment, and the identification area is located in the image edge area;
state 3: the robot is arranged on the right side of the charging equipment, and the identification area is located in the middle area of the image;
and 4: the robot is arranged on the right side of the charging equipment, and the identification area is located in the image edge area;
and state 5: the robot is on the extension line L of the charging contact and faces the right side of the charging device;
and 6: the robot is on the extension line L of the charging contact and faces to the left side of the charging device;
and state 7: the robot is on the extension line L of the charging contacts and faces the charging device.
It should be noted that, the robot-oriented charging device in the embodiment of the present invention refers to a charging device that is oriented toward the front of the robot; and, the front of the robot can be the plane that the robot charges the port and is located.
Aiming at different pose states of the robot, the embodiment of the invention presets an adjusting mode corresponding to the robot in each pose state; the corresponding adjustment mode of the robot comprises adjustment of the angle of the robot relative to the charging equipment and/or adjustment of the distance of the robot relative to the charging equipment.
For example, the adjustment mode corresponding to the state 1 is that the robot turns right;
the corresponding adjustment mode of the state 2 is that the robot moves to the extension line L of the charging contact;
the corresponding adjusting mode of the state 3 is that the robot turns left;
the corresponding adjustment mode of the state 4 is that the robot moves to the extension line L of the charging contact;
the corresponding adjusting mode of the state 5 is that the robot turns left;
the corresponding adjustment mode of the state 6 is that the robot turns right;
the adjustment mode corresponding to the state 7 is that the robot moves straight and is in butt joint with the charging equipment.
After determining the corresponding adjustment mode of the robot in the current pose state, determining the rotation angle and the adjustment distance of the robot in the adjustment mode;
specifically, if the determined adjustment mode includes adjusting the angle of the robot relative to the charging device, determining a rotation angle to be adjusted according to a rotation matrix in the relative pose between the robot and the charging device, and adjusting the robot according to the determined rotation angle and the adjustment direction corresponding to the adjustment mode;
and if the determined adjustment mode comprises the step of adjusting the distance between the robot and the charging equipment, determining the distance to be adjusted according to a rotation matrix and a translation vector in the relative pose between the robot and the charging equipment, and adjusting the robot according to the determined distance.
After the robot is adjusted according to the determined adjusting mode, images containing the identification areas are collected again, the collected images are analyzed again, the relative pose between the adjusted robot and the charging equipment is determined, the current pose state of the robot is determined again, whether the current pose state of the robot meets the charging condition or not is judged, and if the pose state of the robot meets the charging condition, the robot and the charging equipment are controlled to be electrically connected and charged; and if the charging condition is determined not to be met, determining an adjusting mode according to the currently determined pose state, and continuously adjusting the pose of the robot until the pose state of the robot meets the charging condition.
The charging condition of the embodiment of the invention can be that the robot is positioned on an extension line of a charging contact of the charging equipment, and a plane where a charging port of the robot is positioned faces the charging equipment;
it should be noted that, when determining that the pose state of the robot is the state 7, the embodiment of the present invention determines that the pose state of the robot satisfies the charging condition.
In addition, after the pose state of the robot is determined to meet the charging condition, when the robot is located on an extension line of a charging contact of charging equipment, x is 0; and the plane of the charging port of the robot faces the charging device, θ is 0. At the moment, the robot is at a certain distance from the charging contact on the extension line of the charging contact, the robot needs to be controlled to keep the current angle between the robot and the charging equipment and move towards the charging equipment until the charging port of the robot is electrically connected with the charging contact of the charging equipment.
The following describes a process of adjusting the pose of the robot according to an embodiment of the present invention by way of an example:
1. acquiring an image of an identification area containing charging equipment, and determining that the current pose state of the robot is a state 1 according to the acquired image;
the manner of determining the current pose state of the robot according to the acquired image is described above, and is not described in detail here.
2. And determining a rotation angle theta 1 needing to be adjusted rightwards according to a rotation matrix in the relative pose between the robot and the charging equipment, and rotating the robot rightwards by theta 1.
3. Acquiring an image of the identification area containing the charging equipment again, and determining that the current pose state of the robot is state 2 according to the acquired image;
4. determining the distance of the robot to be adjusted through trigonometric function operation according to a rotation matrix and a translation vector in the relative pose between the robot and the charging equipment, and enabling the robot to be in a straight line for determining the distance;
in practice, 80% of the distance may be determined by means of odometer detection, and then the remaining 20% may be adjusted precisely by means of real-time detection of the x coordinate until x is 0.
5. Acquiring an image of the identification area containing the charging equipment again, and determining that the current pose state of the robot is a state 5 according to the acquired image;
6. determining a rotation angle theta 2 required to be adjusted leftwards according to a rotation matrix in the relative pose between the robot and the charging equipment, and rotating the robot leftwards by theta 2;
it should be noted that, in the process of rotating the robot to the left by θ 2, the robot may be rotated by 80% of the θ 2 size by means of odometer detection, and then the remaining 20% may be precisely adjusted by means of real-time detection of the θ size until θ is equal to 0.
At this time, it can be determined that the pose state of the robot is state 7, and if the charging condition is met, the robot is controlled to keep the current angle between the robot and the charging device, and move towards the charging device until the charging port of the robot is electrically connected with the charging contact of the charging device.
In the actual adjustment process, the problem of over-adjustment may occur, and under such a condition, timely correction needs to be made to obtain the pose of the current robot, and then the process is repeated with the current pose as the initial pose. If the docking is successful, the robot receives a charging signal, the recharging program is closed, and the recharging is successful; if the butt joint fails, the robot waits for a period of time and does not receive a charging signal, secondary recharging is carried out, the robot backs for a certain distance, and then the whole recharging process is repeated until the recharging is successful.
Based on the same inventive concept, embodiments of the present invention provide a robot charging control device, an implementation principle of the robot charging control device is similar to that of the robot charging method, and specific embodiments may refer to the embodiments of the robot charging method, and repeated details are omitted.
Specifically, as shown in fig. 9, the control device for robot charging according to an embodiment of the present invention may include:
the acquisition module 901 is configured to acquire an image of an identification area containing charging equipment through image acquisition equipment, and determine a relative pose between the robot and the charging equipment according to coordinate information of the identification area in the image;
a determining module 902, configured to determine a current pose state of the robot according to the relative pose and a region position of the identified region in the image;
a determining module 903, configured to determine, if it is determined that the current pose state of the robot does not meet the charging condition, an adjustment mode corresponding to the current pose state of the robot according to a correspondence between the pose state and the adjustment mode;
and the adjusting module 904 is configured to perform pose adjustment according to the determined adjusting manner, and after it is determined that the current pose state of the robot meets the charging condition according to the re-acquired image, the robot is electrically connected with the charging device and is charged.
Optionally, the relative pose comprises a rotation matrix and a translation vector;
the adjusting module 904 is specifically configured to:
if the determined adjustment mode comprises adjustment of the angle of the robot relative to the charging equipment, determining a rotation angle to be adjusted according to a rotation matrix in the relative pose between the robot and the charging equipment, and adjusting the robot according to the determined rotation angle and an adjustment direction corresponding to the adjustment mode;
and if the determined adjustment mode comprises the step of adjusting the distance between the robot and the charging equipment, determining the distance to be adjusted according to a rotation matrix and a translation vector in the relative pose between the robot and the charging equipment, and adjusting the robot according to the determined distance.
Optionally, the charging condition is that the robot is located on an extension line of a charging contact of the charging device, and a plane where a charging port of the robot is located faces the charging device;
the adjustment module 904 is further configured to:
after the current pose state of the robot is determined to meet the charging condition, the robot is controlled to keep the current angle between the robot and the charging equipment, and the robot is controlled to move towards the charging equipment until a charging port of the robot is electrically connected with a charging contact of the charging equipment.
Optionally, the acquisition module 901 is specifically configured to:
determining the relative pose between the image acquisition equipment and the charging equipment according to the coordinate information of the identification area in the image and the world coordinate information corresponding to the identification area;
and determining the relative pose between the robot and the charging equipment according to the relative pose between the image acquisition equipment and the charging equipment and the relative pose between the image acquisition equipment and the preset position of the robot.
Optionally, the acquisition module 901 is specifically configured to:
acquiring internal parameters of the image acquisition equipment;
generating a three-dimensional coordinate of the identification area in a coordinate system corresponding to the image acquisition equipment according to the internal parameters and the coordinate information of the identification area in the image;
and determining the relative pose between the image acquisition equipment and the charging equipment according to the three-dimensional coordinates and the world coordinate information corresponding to the identification area.
Based on the same inventive concept, an embodiment of the present invention further provides a control apparatus 1000 for robot charging, as shown in fig. 10, including: a memory 1001, a processor 1002;
the memory 1001 stores instructions executable by the processor 1002;
the processor 1002 executes the instructions stored in the memory 1001 to implement the robot charging method according to the embodiment of the present invention.
An embodiment of the present invention provides a computer storage medium, which stores a computer program, and when the computer program is executed by a processor, the robot charging method is implemented.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (12)
1. A robot charging method, comprising:
acquiring an image of an identification area containing charging equipment through image acquisition equipment, and determining a relative pose between a robot and the charging equipment according to coordinate information of the identification area in the image;
determining the current pose state of the robot according to the relative pose and the area position of the identified area in the image;
if the current pose state of the robot is determined not to meet the charging condition, determining an adjusting mode corresponding to the current pose state of the robot according to the corresponding relation between the pose state and the adjusting mode;
and after the pose is adjusted according to the determined adjusting mode, acquiring the image of the identification area containing the charging equipment again until the current pose state of the robot is determined to meet the charging condition according to the acquired image, and electrically connecting the robot and the charging equipment and charging.
2. The method of claim 1, wherein the relative pose comprises a rotation matrix and a translation vector;
and adjusting the pose according to the determined adjusting mode, comprising the following steps:
if the determined adjustment mode comprises adjustment of the angle of the robot relative to the charging equipment, determining a rotation angle to be adjusted according to a rotation matrix in the relative pose between the robot and the charging equipment, and adjusting the robot according to the determined rotation angle and an adjustment direction corresponding to the adjustment mode;
and if the determined adjustment mode comprises the step of adjusting the distance between the robot and the charging equipment, determining the distance to be adjusted according to a rotation matrix and a translation vector in the relative pose between the robot and the charging equipment, and adjusting the robot according to the determined distance.
3. The method of claim 1, wherein the charging condition is that the robot is located on an extension line of a charging contact of the charging device, and a charging port of the robot is located in a plane facing the charging device;
after determining that the current pose state of the robot meets the charging condition, the method further comprises the following steps:
and controlling the robot to keep the current angle between the robot and the charging equipment and move towards the charging equipment until the charging port of the robot is electrically connected with the charging contact of the charging equipment.
4. The method of claim 1, wherein determining the relative pose between the robot and the charging device from the coordinate information of the identified region in the image comprises:
determining the relative pose between the image acquisition equipment and the charging equipment according to the coordinate information of the identification area in the image and the world coordinate information corresponding to the identification area;
and determining the relative pose between the robot and the charging equipment according to the relative pose between the image acquisition equipment and the charging equipment and the relative pose between the image acquisition equipment and the preset position of the robot.
5. The method of claim 4, wherein determining the relative pose between the image capture device and the charging device based on the coordinate information of the identified region in the image and the world coordinate information corresponding to the identified region comprises:
acquiring internal parameters of the image acquisition equipment;
generating a three-dimensional coordinate of the identification area in a coordinate system corresponding to the image acquisition equipment according to the internal parameters and the coordinate information of the identification area in the image;
and determining the relative pose between the image acquisition equipment and the charging equipment according to the three-dimensional coordinates and the world coordinate information corresponding to the identification area.
6. A control device for robot charging, comprising:
the acquisition module is used for acquiring an image of an identification area containing charging equipment through image acquisition equipment and determining the relative pose between the robot and the charging equipment according to the coordinate information of the identification area in the image;
a determining module, configured to determine a current pose state of the robot according to the relative pose and a region position of the identified region in the image;
the judging module is used for determining an adjusting mode corresponding to the current pose state of the robot according to the corresponding relation between the pose state and the adjusting mode if the current pose state of the robot is determined not to meet the charging condition;
and the adjusting module is used for adjusting the pose according to the determined adjusting mode, and establishing electric connection between the robot and the charging equipment and charging after determining that the current pose state of the robot meets the charging condition according to the re-acquired image.
7. The apparatus of claim 6, in which the relative pose comprises a rotation matrix and a translation vector;
the adjustment module is specifically configured to:
if the determined adjustment mode comprises adjustment of the angle of the robot relative to the charging equipment, determining a rotation angle to be adjusted according to a rotation matrix in the relative pose between the robot and the charging equipment, and adjusting the robot according to the determined rotation angle and an adjustment direction corresponding to the adjustment mode;
and if the determined adjustment mode comprises the step of adjusting the distance between the robot and the charging equipment, determining the distance to be adjusted according to a rotation matrix and a translation vector in the relative pose between the robot and the charging equipment, and adjusting the robot according to the determined distance.
8. The apparatus of claim 6, wherein the charging condition is that the robot is located on an extension line of a charging contact of the charging device, and a charging port of the robot is located on a plane facing the charging device;
the adjustment module is further configured to:
after the current pose state of the robot is determined to meet the charging condition, the robot is controlled to keep the current angle between the robot and the charging equipment, and the robot is controlled to move towards the charging equipment until a charging port of the robot is electrically connected with a charging contact of the charging equipment.
9. The apparatus of claim 6, wherein the acquisition module is specifically configured to:
determining the relative pose between the image acquisition equipment and the charging equipment according to the coordinate information of the identification area in the image and the world coordinate information corresponding to the identification area;
and determining the relative pose between the robot and the charging equipment according to the relative pose between the image acquisition equipment and the charging equipment and the relative pose between the image acquisition equipment and the preset position of the robot.
10. The apparatus of claim 9, wherein the acquisition module is specifically configured to:
acquiring internal parameters of the image acquisition equipment;
generating a three-dimensional coordinate of the identification area in a coordinate system corresponding to the image acquisition equipment according to the internal parameters and the coordinate information of the identification area in the image;
and determining the relative pose between the image acquisition equipment and the charging equipment according to the three-dimensional coordinates and the world coordinate information corresponding to the identification area.
11. A control device for robot charging, comprising: a memory, a processor;
the memory stores instructions executable by the processor;
the processor implements the method of any of claims 1-5 by executing the memory-stored instructions.
12. A computer storage medium having a computer program stored thereon, the program, when executed by a processor, implementing the steps of the method according to any one of claims 1 to 5.
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