CN112000100A - Charging system and method for robot - Google Patents
Charging system and method for robot Download PDFInfo
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- CN112000100A CN112000100A CN202010871078.6A CN202010871078A CN112000100A CN 112000100 A CN112000100 A CN 112000100A CN 202010871078 A CN202010871078 A CN 202010871078A CN 112000100 A CN112000100 A CN 112000100A
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- 238000004458 analytical method Methods 0.000 claims description 28
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
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Abstract
The invention discloses a charging method of a robot, which is characterized by comprising the following steps: s1, a robot receives a charging instruction and carries out primary positioning on a charging component to generate a primary positioning result; s2, the robot automatically moves to the charging component according to the preliminary positioning result; s3, the robot accurately positions the charging component and accurately moves the charging component to the position above the charging component; and S4, the robot is connected with the charging component for charging. Through using above-mentioned technical scheme, the robot carries out twice location to the part that charges, through tentatively decide to improve the robot to the positioning accuracy of the part that charges with accurate positioning to improve the robot stability of independently charging.
Description
Technical Field
The invention relates to the field of charging systems and charging methods, in particular to a charging system and method for a robot.
Background
In the current industrial manufacturing field, it has become a popular trend that a robot replaces the traditional manpower to perform repetitive work, and the construction and transformation of an unmanned chemical plant are not blocked. How to utilize the robot to improve the security, high efficiency, stability and the high intelligence of production process, it is harsher to compare with traditional robot. In the aforementioned industries, it is one of the very important indexes in the industries to have high intelligence and high stability, and ensuring the stability of energy and power in the application of the robot is the basis for ensuring the normal operation of the robot, so how to make the autonomous charging with high intelligence and stability in the use of the mobile robot is a problem to be solved urgently in the field of the existing robots.
The existing automatic charging mode of the robot is that the robot addresses a charging pile through infrared positioning, so that an infrared receiving and transmitting device needs to be installed on the robot, the robot can realize autonomous charging of the robot only in an infrared receiving range, the size of the infrared receiving and transmitting device is large, the internal space of the robot is occupied, and the stability of autonomous charging through an infrared receiving and transmitting method is poor, and the robot is inconvenient to use.
Disclosure of Invention
The invention aims to provide a robot charging system and a method, which can solve the defects in the existing mobile robot charging, in particular to a robot charging method, which is characterized by comprising the following steps: s1, a robot receives a charging instruction and carries out primary positioning on a charging component to generate a primary positioning result; s2, the robot automatically moves to the charging component according to the preliminary positioning result; s3, the robot accurately positions the charging component and accurately moves the charging component to the position above the charging component; and S4, the robot is connected with the charging component for charging.
According to an embodiment of the present invention, the step of S2 includes: s201, the robot moves to the charging component according to the primary positioning result; s202, determining the relative position of the robot and the charging component through a first image shot by a first shooting unit in the moving process of the robot; and S203, after the robot moves to the blind area of the first shooting unit, the robot moves to the position above the charging component according to the analysis result of the primary analysis module.
According to an embodiment of the present invention, the first photographing unit is a depth camera, and the robot adjusts a moving direction of the robot according to depth information in a first image photographed by the first photographing unit.
According to an embodiment of the present invention, the step of S3 includes: s301, the robot accurately positions the relative position of the robot and the charging component according to a second image shot by a second shooting unit located at the charging port of the robot.
According to an embodiment of the present invention, the second photographing unit transmits the photographed image to a precision analysis unit, which recognizes an identification of the charging member through a visual recognition algorithm and calculates a relative position between the robot and the charging member so as to guide the robot to move toward the charging post.
The invention also discloses a charging system of the foot type robot, which comprises a charging component and the robot, wherein the robot comprises: the receiving module is used for receiving a charging instruction; the primary positioning module is used for carrying out primary positioning on the charging component and generating a primary positioning result; a fine positioning module that performs fine positioning of the charging member and guides the robot to move above the charging member; and the charging connector is used for connecting the charging component.
According to an embodiment of the invention, the preliminary positioning module comprises: a first photographing unit that photographs a first image; and a preliminary analysis unit that receives and analyzes the first image to determine a relative position between the robot and the charging member.
According to an embodiment of the present invention, the first photographing unit is a depth camera, and the robot adjusts a moving direction of the robot according to depth information in a first image photographed by the first photographing unit.
According to an embodiment of the invention, the fine positioning module comprises: a second photographing unit for photographing a second image; and a precise analysis unit which receives and analyzes the second image to precisely position the relative position of the robot and the charging member.
According to the embodiment of the invention, the accurate analysis unit identifies the identifier of the charging component through a visual recognition algorithm and calculates the relative position between the robot and the charging component so as to guide the robot to move towards the charging pile.
By adopting the technical scheme, the invention mainly has the following technical effects:
1. the robot carries out twice positioning on the charging component, and the positioning precision of the robot on the charging component is improved through preliminary positioning and accurate positioning, so that the autonomous charging stability of the robot is improved;
2. the robot positions the charging component through visual information, an infrared positioning device is not required to be installed, the overall size of the robot is reduced, and therefore the running stability of the robot is improved;
3. after the robot moves to the visual field blind area of the first shooting unit, the robot moves to the upper side of the charging component according to the analysis result of the analysis module, and the robot is prevented from moving to the upper side of the charging component after the robot moves to the visual field blind area of the first shooting unit.
Drawings
Fig. 1 is a flowchart of a charging method of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of a robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a preliminary positioning module according to an embodiment of the invention;
FIG. 4 is a schematic diagram of a fine positioning module according to an embodiment of the present invention.
In the figure: 1. a receiving module; 2. a preliminary positioning module; 21. a first photographing unit; 22. a preliminary analysis unit; 3. a precise positioning module; 31. a second photographing unit; 32. a precision analysis unit; 4. and a charging connector.
Detailed Description
The following description of the embodiments of the present invention is provided in connection with the accompanying drawings.
Referring to fig. 1, the present invention discloses a charging method for a robot, which includes the following steps:
s1, a robot receives a charging instruction and carries out primary positioning on a charging component to generate a primary positioning result;
s2, the robot automatically moves to the charging component according to the preliminary positioning result;
s3, the robot accurately positions the charging component and accurately moves the charging component to the position above the charging component; and
and S4, the robot is connected with the charging component for charging.
The step S1, in which the receiving of the charging command by the robot means that the operator sends a charging command to the robot, the operator may send the charging command to the robot through a button on the robot, and the operator may also transmit the charging command to the robot through the mobile phone APP or the computer. The robot recognizes the charging member through image recognition to locate the position of the charging member using slam technology.
Specifically, the step S2 specifically includes: s201, the robot moves to the charging component according to the primary positioning result; s202, determining the relative position of the robot and the charging component through a first image shot by a first shooting unit 21 in the moving process of the robot; and S203, after the robot moves to the blind area of the first shooting unit 21, the robot moves to the position above the charging component according to the analysis result of the primary analysis module.
The robot constructs a route between the robot and the charging component in real time through the first image and the slam technology in the moving process. In the present embodiment, the first photographing unit 21 is a depth camera, and the robot adjusts the moving direction of the robot according to the depth information in the first image photographed by the first photographing unit 21 during the moving process, so that the robot and the charging part move linearly as much as possible. When the robot moves and the distance between the robot and the charging component is very short, the charging component enters the blind field area of the first shooting unit 21, and when the robot enters the blind field area of the first shooting unit 21, the preliminary analysis unit 22 obtains an analysis result by fusing depth information and odometer information through a Kalman filtering algorithm, so that the robot moves to the position above the charging table correctly.
S3 includes S301. the robot precisely locates the relative position of the robot and the charging member according to the second image photographed by the second photographing unit 31 located at the charging port of the robot.
The second photographing unit 31 transmits the photographed image to the precision analysis unit 32, and the precision analysis unit 32 recognizes the identification of the charging member through a visual recognition algorithm and calculates a relative position between the robot and the charging member so as to guide the robot to move toward the charging post. The second shooting unit 31 in this embodiment is a recognition camera disposed at a charging interface of the robot, a charging identifier is disposed on the charging component, and the second shooting unit 31 recognizes the charging identifier to accurately position a relative position between the robot and the charging component. The specific form of the charging identifier is not limited, the charging identifier can be a lamp strip with a specific color, the charging identifier in the embodiment is a two-dimensional code for improving the identification result, and the second shooting unit 31 identifies the position of the two-dimensional code to accurately position the charging component.
The charging method is specifically described below according to an application example, and when the robot is a wheeled robot, the charging process is as follows:
an operator sends a charging instruction, the wheeled robot enters an autonomous charging state, the wheeled robot plans a specific moving speed and a specific line of the robot through the slam technology, the linear speed of the robot is guaranteed to be 1m/s, the angular speed of the robot is guaranteed to be 10 degrees/s, and meanwhile the moving direction of the wheeled robot is guaranteed not to deviate in real time through a depth analysis result of the first shooting unit 21. When the robot enters the blind area of the field of view of the first photographing unit 21, the robot reaches above the charging member according to the analysis result of the preliminary analysis module. At this time, the second photographing unit 31 is turned on and recognizes the charging mark on the charging member, and at this time, the charging connector 4 of the wheeled robot is inserted into the charging member at a speed of 0.1 m/s.
When the robot is a foot robot, the relative position between the body of the foot robot and the charging component only needs to be calculated in the accurate positioning process, and the other processes are the same as those of the wheel robot.
Referring to fig. 2 to 4, the present invention also discloses a robot charging system capable of implementing the above charging method, which includes a charging component and a robot. The robot includes receiving module 1, preliminary orientation module 2, accurate positioning module 3 and the joint 4 that charges, and receiving module 1 is used for receiving the instruction of charging, and preliminary orientation module 2 is tentatively fixed a position and is generated preliminary location result to the part that charges, and accurate positioning module 3 carries out accurate positioning and guides the robot to remove to the top of the part that charges to the part that charges, and the joint 4 that charges is used for connecting the part that charges.
The preliminary positioning module 2 includes a first capturing unit 21 and a preliminary analyzing unit 22, the first capturing unit 21 is used for capturing a first image, and the preliminary analyzing unit 22 is used for receiving and analyzing the first image to determine the relative position between the legged robot and the charging component. The first shooting unit 21 in this embodiment is a camera, and the legged robot adjusts the moving direction of the legged robot according to the depth information in the first image shot by the first shooting unit 21.
The accurate positioning module 3 comprises a second shooting unit 31 and an accurate analysis unit 32, the second shooting unit 31 is used for shooting a second image, and the accurate analysis unit 32 receives and analyzes the second image to accurately position the relative position of the legged robot and the charging component.
The above embodiments are only for illustrating the invention and are not to be construed as limiting the invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention, therefore, all equivalent technical solutions also belong to the scope of the invention, and the scope of the invention is defined by the claims.
Claims (10)
1. A method of charging a robot, comprising the steps of:
s1, a robot receives a charging instruction and carries out primary positioning on a charging component to generate a primary positioning result;
s2, the robot automatically moves to the charging component according to the preliminary positioning result;
s3, the robot accurately positions the charging component and accurately moves the charging component to the position above the charging component; and
and S4, the robot is connected with the charging component for charging.
2. The charging method according to claim 1, characterized in that:
the step of S2 includes:
s201, the robot moves to the charging component according to the primary positioning result;
s202, determining the relative position of the robot and the charging component through a first image shot by a first shooting unit in the moving process of the robot; and
and S203, after the robot moves to the blind area of the first shooting unit, the robot moves to the position above the charging component according to the analysis result of the primary analysis module.
3. The charging method according to claim 2, characterized in that:
the first shooting unit is a depth camera, and the robot adjusts the motion direction of the robot according to depth information in a first image shot by the first shooting unit.
4. The charging method according to claim 1, characterized in that:
the step of S3 includes:
s301, the robot accurately positions the relative position of the robot and the charging component according to a second image shot by a second shooting unit located at the charging port of the robot.
5. The charging method according to claim 4, characterized in that:
the second shooting unit transmits the shot image to a precise analysis unit, and the precise analysis unit recognizes the identifier of the charging component through a visual recognition algorithm and calculates the relative position between the robot and the charging component so as to guide the robot to move towards the charging pile.
6. A charging system of a legged robot includes a charging member and a robot, characterized in that:
the robot includes:
the receiving module is used for receiving a charging instruction;
the primary positioning module is used for carrying out primary positioning on the charging component and generating a primary positioning result;
a fine positioning module that performs fine positioning of the charging member and guides the robot to move above the charging member; and
the charging connector is used for being connected with the charging component.
7. The charging system according to claim 6, wherein:
the preliminary positioning module includes:
a first photographing unit that photographs a first image; and
a preliminary analysis unit that receives and analyzes the first image to determine a relative position between the robot and the charging member.
8. The charging system according to claim 7, wherein:
the first shooting unit is a depth camera, and the robot adjusts the motion direction of the robot according to depth information in a first image shot by the first shooting unit.
9. The charging system according to claim 6, wherein:
the fine positioning module comprises:
a second photographing unit for photographing a second image; and
a precise analysis unit that receives and analyzes the second image to precisely locate a relative position of the robot and the charging member.
10. The charging system according to claim 9, wherein:
the accurate analysis unit identifies the identifier of the charging component through a visual recognition algorithm and calculates the relative position between the robot and the charging component so as to guide the robot to move towards the charging pile.
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| CN202010871078.6A CN112000100A (en) | 2020-08-26 | 2020-08-26 | Charging system and method for robot |
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| CN202010871078.6A CN112000100A (en) | 2020-08-26 | 2020-08-26 | Charging system and method for robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112578799A (en) * | 2021-02-25 | 2021-03-30 | 德鲁动力科技(成都)有限公司 | Autonomous charging method for four-foot robot and autonomous charging four-foot robot |
| CN113359712A (en) * | 2021-05-25 | 2021-09-07 | 深圳优地科技有限公司 | Charging docking method and device and charging pile |
| CN113370816A (en) * | 2021-02-25 | 2021-09-10 | 德鲁动力科技(成都)有限公司 | Quadruped robot charging pile and fine positioning method thereof |
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