CN106097341A - A kind of method and system of robot autonomous charging - Google Patents
A kind of method and system of robot autonomous charging Download PDFInfo
- Publication number
- CN106097341A CN106097341A CN201610414234.XA CN201610414234A CN106097341A CN 106097341 A CN106097341 A CN 106097341A CN 201610414234 A CN201610414234 A CN 201610414234A CN 106097341 A CN106097341 A CN 106097341A
- Authority
- CN
- China
- Prior art keywords
- robot
- charging pile
- vision localization
- charging
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The invention provides the method and system of a kind of robot autonomous charging, relate to robotics.The method includes: use the vision localization mark that the first video camera being arranged on robot head detects on charging pile in the range of activity of robot；When the vision localization mark detected on charging pile, calculate the charging pile azimuth information relative to described robot according to vision localization mark, and move to the dead ahead of charging pile according to azimuth information guided robot；When the dead ahead of robot motion to charging pile, use the vision localization mark being arranged on the second camera detection charging pile bottom robot, and the direction of motion of real time correction robot is identified according to vision localization, robot is made to keep straight line to move to described charging pile, until the charging slot on robot base and the charging contact Guan Bi on charging pile.The present invention can make robot position the position of charging pile accurately, it is ensured that being smoothed out of robot autonomous charging.
Description
Technical field
The invention belongs to the timely field of robot, particularly relate to the method and system of a kind of robot autonomous charging.
Background technology
The task that a lot of service types move robot is to perform cleaning, refuse collection, bag in home and office environments
Wrap up in delivery, cook, the affairs such as beverage and monitoring of providing and delivering, the mankind can be freed from onerous toil by they.These
Service type moves robot and is generally equipped with recharging system, and robot by recharging system can be the most automatically
Internal battery charges, it is thus possible to full automatic running is without manpower intervention.Existing mobile robot independently fills
Infrared sensor or sonar sensor that electricity system mainly by charging pile and is arranged in robot are constituted, wherein, and charging pile
Being fixed on and land on thing, charging time shift mobile robot finds the concrete position of charging pile by infrared sensor or sonar sensor
Put, to realize the automatic butt with charging pile, complete recharging.But, the charging effect of this recharging mode is the biggest
Infrared sensor or the detection range of sonar sensor and precision it is limited to, it is impossible to the side of accurate labelling charging pile in degree
Position, is required for repeatedly attempting finding charging pile every time, and is easy to during robot advances lose sensing during charging
Signal and cause and charge unsuccessfully.
Summary of the invention
The purpose of the embodiment of the present invention is to provide the method and system of a kind of robot autonomous charging, it is intended to solve existing
Robot autonomous charging modes can not the orientation of labelling charging pile accurately, be required for repeatedly attempting searching during charging every time and fill
Electricity stake, and be easy to during robot advances, lose transducing signal and cause the problem that charging is failed.
The embodiment of the present invention is achieved in that a kind of method of robot autonomous charging, including:
The first video camera being arranged on robot head is used to detect regarding on charging pile in the range of activity of robot
Feel that location identifies；
When the vision localization mark detected on described charging pile, calculate described charging according to described vision localization mark
Stake is relative to the azimuth information of described robot, and guides described robot motion to described charging pile according to described azimuth information
Dead ahead；
As described robot motion to the dead ahead of described charging pile, use and be arranged on second bottom described robot
Vision localization mark on charging pile described in camera detection, and according to robot described in described vision localization mark real time correction
The direction of motion, make described robot keep straight line move to described charging pile, until the charging on described robot base insert
Groove and the charging contact Guan Bi on described charging pile.
On the basis of technique scheme, described mark according to described vision localization calculates described charging pile relative to institute
The azimuth information stating robot specifically includes:
Based on principle of computer vision according to described vision localization mark calculate described first video camera rolling angle,
The initial point of yaw angle, luffing angle and the first camera coordinate system coordinate under vision localization mark coordinate system；
According to described rolling angle, described yaw angle, described luffing angle and described first camera coordinate system
Initial point coordinate under vision localization mark coordinate system calculates the described charging pile azimuth information relative to described robot.
On the basis of technique scheme, described vision localization is designated rectangle multilayer nest mark.
On the basis of technique scheme, described mark according to described vision localization based on principle of computer vision calculates
Go out the initial point of the rolling angle of described first video camera, yaw angle, luffing angle and the first camera coordinate system in vision
Coordinate under the mark coordinate system of location specifically includes:
According to homography matrix:Utilize described vision localization
In mark, four angle points of any layer calculate the rolling angle of described first video camera, yaw angle, luffing angle and
The initial point of one camera coordinate system coordinate under vision localization mark coordinate system；
Wherein, arbitrary angle point pixel in the image coordinate system of the first video camera during (x, y, 1) represents vision localization mark
The homogeneous coordinates of coordinate, (X, Y, Z, 1) represents described angle point homogeneous coordinates in vision localization mark coordinate system, chooses vision
Location identity planar is Z=0, the most described angle point described vision localization mark coordinate system in homogeneous coordinates be i.e. reduced to (X,
Y, 0,1), s is any dimension scale parameter introduced, and M is intrinsic parameters of the camera matrix, and r1, r2, r3 represent that vision is fixed respectively
Bit-identify coordinate system is translation vector relative to three column vectors in the spin matrix of camera coordinate system, t.
On the basis of technique scheme, as described robot motion to the dead ahead of described charging pile, employing sets
Put the vision localization mark on charging pile described in the second camera detection bottom described robot, and fixed according to described vision
The direction of motion of robot described in bit-identify real time correction, makes described robot keep straight line to move to described charging pile, until
Charging slot on described robot base closes with the charging contact on described charging pile and specifically includes:
As described robot motion to the dead ahead of described charging pile, use and be arranged on second bottom described robot
Vision localization mark on charging pile described in video camera captured in real-time, and utilize principle of computer vision according to described vision localization
Four angle points being positioned in the outermost layer nesting mark at described second camera field of view angle in mark calculate described charging pile
Relative to the azimuth information of described robot, then correct the direction of motion of described robot according to described azimuth information, make institute
Stating robot keeps straight line to move to described charging pile, until on the charging slot on described robot base and described charging pile
Charging contact Guan Bi.
The another object of the embodiment of the present invention is to provide the system of a kind of robot autonomous charging, including:
It is arranged on the first video camera of described robot head, for detecting charging pile in the range of activity of robot
Vision localization mark；
First guides module, for during when the vision localization mark detected on described charging pile, fixed according to described vision
Bit-identify calculates the described charging pile azimuth information relative to described robot, and guides described machine according to described azimuth information
People moves to the dead ahead of described charging pile；
Be arranged on the second video camera bottom described robot, for when described robot motion to described charging pile just
During front, continue the vision localization mark detecting on described charging pile；
Second guides module, for the direction of motion according to robot described in described vision localization mark real time correction, makes
Described robot keeps straight line to move to described charging pile, until the charging slot on described robot base and described charging pile
On charging contact Guan Bi.
On the basis of technique scheme, described first guide module specifically for:
Based on principle of computer vision according to described vision localization mark calculate described first video camera rolling angle,
The initial point of yaw angle, luffing angle and the first camera coordinate system coordinate under vision localization mark coordinate system；
According to described rolling angle, described yaw angle, described luffing angle and described first camera coordinate system
Initial point coordinate under vision localization mark coordinate system calculates the described charging pile azimuth information relative to described robot.
On the basis of technique scheme, described vision localization is designated rectangle multilayer nest mark.
On the basis of technique scheme, described first guide module specifically for:
According to homography matrix:Utilize described vision localization
In mark, four angle points of any layer calculate the rolling angle of described first video camera, yaw angle, luffing angle and
One camera coordinate system initial point coordinate under vision localization mark coordinate system；
Wherein, arbitrary angle point pixel in the image coordinate system of the first video camera during (x, y, 1) represents vision localization mark
The homogeneous coordinates of coordinate, (X, Y, Z, 1) represents described angle point homogeneous coordinates in vision localization mark coordinate system, chooses vision
Location identity planar is Z=0, the most described angle point described vision localization mark coordinate system in homogeneous coordinates be i.e. reduced to (X,
Y, 0,1), s is any dimension scale parameter introduced, and M is intrinsic parameters of the camera matrix, and r1, r2, r3 represent that vision is fixed respectively
Bit-identify coordinate system is translation vector relative to three column vectors in the spin matrix of camera coordinate system, t.
On the basis of technique scheme, described second guide module specifically for:
When the vision localization on charging pile described in described second video camera captured in real-time identifies, utilize computer vision former
Manage four in the outermost layer nesting mark being positioned at described second camera field of view angle according to described vision localization in identifying
Angle point calculates the described charging pile azimuth information relative to described robot, then corrects described machine according to described azimuth information
The direction of motion of people, makes described robot keep straight line to move to described charging pile, until the charging on described robot base
Slot and the charging contact Guan Bi on described charging pile.
The method and system implementing a kind of robot autonomous charging that the embodiment of the present invention provides have the advantages that
The embodiment of the present invention is due to initially with the first video camera movable model in robot being arranged on robot head
Enclose the vision localization mark on interior detection charging pile；When the vision localization mark detected on described charging pile, according to described
Vision localization mark calculates the described charging pile azimuth information relative to described robot, and guides institute according to described azimuth information
State robot motion's dead ahead to described charging pile；Then when described robot motion to the dead ahead of described charging pile,
Use the vision localization mark being arranged on charging pile described in the second camera detection bottom described robot again, and according to institute
State the direction of motion of robot described in vision localization mark real time correction, make described robot keep straight line to move to described charging pile
Dynamic, until the charging slot on described robot base and the charging contact Guan Bi on described charging pile, so that robot is smart
The position of true location charging pile, it is ensured that being smoothed out of robot autonomous charging.
Accompanying drawing explanation
Fig. 1 is the structural representation of robot in the embodiment of the present invention；
Fig. 2 is the structural representation of charging pile in the embodiment of the present invention；
Fig. 3 be the embodiment of the present invention provide a kind of robot autonomous charging method implement flow chart；
Fig. 4 is the structural representation of vision localization mark in the embodiment of the present invention；
Fig. 5 be the embodiment of the present invention provide a kind of robot autonomous charging method in step S302 implement stream
Cheng Tu；
Fig. 6 shows robot straight line angle of visual field of the second video camera in charging pile moving process in the embodiment of the present invention
And the schematic diagram of relative position relation between vision localization mark；
Fig. 7 is the structural representation of the system of a kind of robot autonomous charging that the embodiment of the present invention provides.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.
Fig. 1, Fig. 2 are robot and the structural representation of charging pile in the embodiment of the present invention respectively.The most only
Illustrate only the part relevant to the embodiment of the present invention.
Seeing shown in Fig. 1, Fig. 2, in the embodiment of the present invention, robot includes being separately positioned on the first of head and bottom and takes the photograph
Camera 11 and the second video camera 12, the bottom of described robot is additionally provided with charging slot 13, the floor stand of described charging pile
It is arranged above the charging contact 22 corresponding with the charging slot 13 in described robot, described, the dead ahead of charging pile
It is pasted with the vision localization mark 21 for positioning charging pile.
Fig. 3 be the embodiment of the present invention provide a kind of robot autonomous charging method implement flow chart.See
Shown in Fig. 3, the method for a kind of robot autonomous charging that the present embodiment provides, including:
In S301, use the first video camera 11 being arranged on robot head to detect in the range of activity of robot and fill
Vision localization mark 21 in electricity stake.
In the present embodiment, the head of robot can rotate, and when robot needs to carry out recharging, can be expert at
Make, by rotation head, the object that the first video camera 11 shoots on different directions during entering, reach to detect on charging pile
The purpose of vision localization mark 21.Wherein, described vision localization mark 21 positions mark for the rectangle nesting shown in Fig. 4.
It should be understood that the location of the rectangular row nesting in the present embodiment mark is only the one of the present invention and preferably realizes example, and
It is not used in the restriction present invention, the vision localization mark 21 of other shapes can also be used in other realize example.
In S302, when the vision localization detected on described charging pile identifies 21, identify according to described vision localization
21 calculate the described charging pile azimuth information relative to described robot, and guide described robot fortune according to described azimuth information
Move the dead ahead of described charging pile.
Shown in Figure 5, described according to described vision localization mark 21 calculating described charging piles relative to described robot
Azimuth information specifically include:
In S501, calculate described first video camera based on principle of computer vision according to described vision localization mark 21
The initial point of rolling angle, yaw angle, luffing angle and first camera coordinate system of 11 identifies coordinate system in vision localization
Under coordinate；
In S502, according to described rolling angle, described yaw angle, described luffing angle and described first video camera
The initial point of coordinate system coordinate under vision localization mark coordinate system calculates described charging pile relative to described robot
Azimuth information.
Further, in the present embodiment, step S201 specifically includes:
According to homography matrix:Utilize described vision localization
In mark 21 four angle points of any layer calculate the rolling angle of described first video camera 11, yaw angle, luffing angle with
And first camera coordinate system initial point vision localization mark coordinate system under coordinate；
Wherein, arbitrary angle point pixel in the image coordinate system of the first video camera during (x, y, 1) represents vision localization mark
The homogeneous coordinates of coordinate, (X, Y, Z, 1) represents described angle point homogeneous coordinates in vision localization mark coordinate system, chooses vision
Location identity planar is Z=0, the most described angle point described vision localization mark coordinate system in homogeneous coordinates be i.e. reduced to (X,
Y, 0,1), s is any dimension scale parameter introduced, and M is intrinsic parameters of the camera matrix, and r1, r2, r3 represent that vision is fixed respectively
Bit-identify coordinate system is translation vector relative to three column vectors in the spin matrix of camera coordinate system, t.
In S303, as described robot motion to the dead ahead of described charging pile, use and be arranged on described robot
Second video camera 12 of bottom detects the vision localization mark 21 on described charging pile, and real according to described vision localization mark 21
The direction of motion of robot described in Shi Jiaozheng, makes described robot keep straight line to move to described charging pile, until described machine
Charging slot 13 on people's base closes with the charging contact 22 on described charging pile.
Further, step S303 specifically includes:
As described robot motion to the dead ahead of described charging pile, use and be arranged on second bottom described robot
Vision localization mark 21 on charging pile described in video camera 12 captured in real-time, and utilize principle of computer vision according to described vision
Four angle points being positioned in the outermost layer nesting mark of described second video camera 12 angle of visual field in location mark 21 calculate institute
State the charging pile azimuth information relative to described robot, then correct the motion side of described robot according to described azimuth information
To, make described robot keep straight line to move to described charging pile, until the charging slot 13 on described robot base and institute
The charging contact 22 stated on charging pile closes.
Fig. 6 show in the present embodiment robot straight line in charging pile moving process the angle of visual field of the second video camera 12 with
The schematic diagram of the relative position relation between vision localization mark 21.Shown in Figure 6, in the present embodiment, when robot arrives
When reaching the dead ahead of charging pile, at robot straight line close to during charging pile, when robot far from charging pile very close to time, depending on
Feel that the nesting location of location mark 21 outer layers identifies outside the angle of visual field θ scope that then may be in the second video camera 12, now
Mark cannot be positioned according to the nesting of this layer charging pile is positioned, it is therefore desirable to use and be positioned at the second video camera 12 visual field
Internal layer nesting location mark in the range of the θ of angle carries out micro-location to charging pile, controls described robot the most again according to micro-fixed
Azimuth information correction of movement direction after Wei, arrives the position at described charging pile place accurately, smoothly completes recharging.
Above, it can be seen that the robot autonomous charging method of one that the present embodiment provides is due to initially with being arranged on machine
First video camera 11 of device head part detects the vision localization mark 21 on charging pile in the range of activity of robot；Work as detection
When vision localization on described charging pile identifies 21, according to the described vision localization mark 21 described charging pile of calculating relative to institute
State the azimuth information of robot, and guide described robot motion to the dead ahead of described charging pile according to described azimuth information；
Then when described robot motion to the dead ahead of described charging pile, then employing is arranged on second bottom described robot and takes the photograph
Camera 12 detects the vision localization mark 21 on described charging pile, and identifies machine described in 21 real time corrections according to described vision localization
The direction of motion of device people, makes described robot keep straight line to move to described charging pile, until filling on described robot base
Electrical slot 13 closes with the charging contact 22 on described charging pile, so that robot positions the position of charging pile accurately, protects
Demonstrate,prove being smoothed out of robot autonomous charging.
Fig. 7 is the structural representation of the system of a kind of robot autonomous charging that the embodiment of the present invention provides, this system position
In the robot described in the embodiment of the present invention, for running the method that embodiment illustrated in fig. 3 provides.The most only
Show part related to the present embodiment.
Shown in Figure 7, the system of a kind of robot autonomous charging that the present embodiment provides, including:
It is arranged on the first video camera 11 of described robot head, for detecting charging pile in the range of activity of robot
On vision localization mark 21；
First guides module 13, for when the vision localization detected on described charging pile identifies 21, regards according to described
Feel that location mark 21 calculates the described charging pile azimuth information relative to described robot, and guide institute according to described azimuth information
State robot motion's dead ahead to described charging pile；
It is arranged on the second video camera 12 bottom described robot, for when described robot motion is to described charging pile
During dead ahead, continue the vision localization mark 21 detecting on described charging pile；
Second guides module 14, for identifying the motion side of robot described in 21 real time corrections according to described vision localization
To, make described robot keep straight line to move to described charging pile, until the charging slot 13 on described robot base and institute
The charging contact 22 stated on charging pile closes.
Optionally, described first guide module 13 specifically for:
Calculate the rolling of described first video camera 11 according to described vision localization mark 21 based on principle of computer vision
The initial point of angle, yaw angle, luffing angle and the first camera coordinate system coordinate under vision localization mark coordinate system；
According to described rolling angle, described yaw angle, described luffing angle and described first camera coordinate system
Initial point coordinate under vision localization mark coordinate system calculates the described charging pile azimuth information relative to described robot.
Optionally, described vision localization mark 21 is rectangle multilayer nest mark.
Optionally, described first guide module 13 specifically for:
According to homography matrix:Utilize described vision localization
In mark 21 four angle points of any layer calculate the rolling angle of described first video camera 11, yaw angle, luffing angle with
And first camera coordinate system initial point vision localization mark coordinate system under coordinate；
Wherein, arbitrary angle point pixel in the image coordinate system of the first video camera during (x, y, 1) represents vision localization mark
The homogeneous coordinates of coordinate, (X, Y, Z, 1) represents described angle point homogeneous coordinates in vision localization mark coordinate system, chooses vision
Location identity planar is Z=0, the most described angle point described vision localization mark coordinate system in homogeneous coordinates be i.e. reduced to (X,
Y, 0,1), s is any dimension scale parameter introduced, and M is intrinsic parameters of the camera matrix, and r1, r2, r3 represent that vision is fixed respectively
Bit-identify coordinate system is translation vector relative to three column vectors in the spin matrix of camera coordinate system, t.
Optionally, described second guide module 14 specifically for:
When the vision localization on charging pile described in described second video camera 12 captured in real-time identifies 21, computer is utilized to regard
Feel that principle is according to the outermost layer nesting mark being positioned at described second video camera 12 angle of visual field in described vision localization mark 21
In four angle points calculate described charging piles relative to the azimuth information of described robot, then correct according to described azimuth information
The direction of motion of described robot, makes described robot keep straight line to move to described charging pile, until described robot base
On charging slot 13 close with the charging contact 22 on described charging pile.
It should be noted that modules in the said system of embodiment of the present invention offer, due to real with the inventive method
Executing example based on same design, its technique effect brought is identical with the inventive method embodiment, and particular content can be found in the present invention
Narration in embodiment of the method, here is omitted.
Therefore, it can be seen that the system of a kind of robot autonomous charging of the present embodiment offer can make robot essence equally
The position of true location charging pile, it is ensured that being smoothed out of robot autonomous charging.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (10)
1. the method for a robot autonomous charging, it is characterised in that including:
The first video camera being arranged on robot head is used to detect the vision on charging pile in the range of activity of robot fixed
Bit-identify；
When the vision localization mark detected on described charging pile, calculate described charging pile phase according to described vision localization mark
For the azimuth information of described robot, and to described charging pile just guiding described robot motion according to described azimuth information
Front；
As described robot motion to the dead ahead of described charging pile, use the second shooting being arranged on bottom described robot
Machine detects the vision localization mark on described charging pile, and according to the fortune of robot described in described vision localization mark real time correction
Dynamic direction, makes described robot keep straight line to move to described charging pile, until the charging slot on described robot base with
Charging contact Guan Bi on described charging pile.
Robot autonomous charging method the most as claimed in claim 1, it is characterised in that described identify according to described vision localization
Calculate described charging pile to specifically include relative to the azimuth information of described robot:
The rolling angle of described first video camera, driftage is calculated according to described vision localization mark based on principle of computer vision
The initial point of angle, luffing angle and the first camera coordinate system coordinate under vision localization mark coordinate system；
According to described rolling angle, described yaw angle, described luffing angle and the initial point of described first camera coordinate system
Coordinate under vision localization mark coordinate system calculates the described charging pile azimuth information relative to described robot.
Robot autonomous charging method the most as claimed in claim 2, it is characterised in that described vision localization is designated rectangle
Multilayer nest identifies.
Robot autonomous charging method the most as claimed in claim 3, it is characterised in that described based on principle of computer vision root
Calculate the rolling angle of described first video camera, yaw angle, luffing angle and first according to described vision localization mark to take the photograph
The initial point of camera coordinate system coordinate under vision localization mark coordinate system specifically includes:
According to homography matrix:Described vision localization is utilized to identify
Four angle points of middle any layer calculate the rolling angle of described first video camera, yaw angle, luffing angle and first and take the photograph
The initial point of camera coordinate system coordinate under vision localization mark coordinate system；
Wherein, arbitrary angle point pixel coordinate in the image coordinate system of the first video camera during (x, y, 1) represents vision localization mark
Homogeneous coordinates, (X, Y, Z, 1) represent described angle point vision localization mark coordinate system in homogeneous coordinates, choose vision localization
Identity planar is Z=0, the most described angle point described vision localization mark coordinate system in homogeneous coordinates be i.e. reduced to (X, Y, 0,
1), s is any dimension scale parameter introduced, and M is intrinsic parameters of the camera matrix, and r1, r2, r3 represent vision localization mark respectively
Knowing coordinate system is translation vector relative to three column vectors in the spin matrix of camera coordinate system, t.
Robot autonomous charging method the most as claimed in claim 4, it is characterised in that when described robot motion to described in fill
Electricity stake dead ahead time, use be arranged on the vision localization on charging pile described in the second camera detection bottom described robot
Mark, and according to the direction of motion of robot described in described vision localization mark real time correction, make described robot keep straight line
Move to described charging pile, until the charging slot on described robot base and the charging contact Guan Bi tool on described charging pile
Body includes:
As described robot motion to the dead ahead of described charging pile, use the second shooting being arranged on bottom described robot
Vision localization mark on charging pile described in machine captured in real-time, and utilize principle of computer vision to identify according to described vision localization
In be positioned in the outermost layer nesting mark at described second camera field of view angle four angle points to calculate described charging piles relative
In the azimuth information of described robot, then correct the direction of motion of described robot according to described azimuth information, make described machine
Device people keeps straight line to move to described charging pile, until the charging slot on described robot base and filling on described charging pile
Electrical contacts closed.
6. the system of a robot autonomous charging, it is characterised in that including:
It is arranged on the first video camera of described robot head, for detecting regarding on charging pile in the range of activity of robot
Feel that location identifies；
First guides module, for during when the vision localization mark detected on described charging pile, according to described vision localization mark
Know the azimuth information calculating described charging pile relative to described robot, and guide described robot fortune according to described azimuth information
Move the dead ahead of described charging pile；
It is arranged on the second video camera bottom described robot, for when described robot motion is to the dead ahead of described charging pile
Time, continue the vision localization mark detecting on described charging pile；
Second guides module, for the direction of motion according to robot described in described vision localization mark real time correction, makes described
Robot keeps straight line to move to described charging pile, until on the charging slot on described robot base and described charging pile
Charging contact closes.
Robot autonomous charging system the most as claimed in claim 6, it is characterised in that described first guides module specifically to use
In:
The rolling angle of described first video camera, driftage is calculated according to described vision localization mark based on principle of computer vision
The initial point of angle, luffing angle and the first camera coordinate system coordinate under vision localization mark coordinate system；
According to described rolling angle, described yaw angle, described luffing angle and the initial point of described first camera coordinate system
Coordinate under vision localization mark coordinate system calculates the described charging pile azimuth information relative to described robot.
Robot autonomous charging system the most as claimed in claim 7, it is characterised in that described vision localization is designated rectangle
Multilayer nest identifies.
Robot autonomous charging system the most as claimed in claim 8, it is characterised in that described first guides module specifically to use
In:
According to homography matrix:Described vision localization is utilized to identify
Four angle points of middle any layer calculate the rolling angle of described first video camera, yaw angle, luffing angle and first and take the photograph
The initial point of camera coordinate system coordinate under vision localization mark coordinate system；
Wherein, arbitrary angle point pixel coordinate in the image coordinate system of the first video camera during (x, y, 1) represents vision localization mark
Homogeneous coordinates, (X, Y, Z, 1) represent described angle point vision localization mark coordinate system in homogeneous coordinates, choose vision localization
Identity planar is Z=0, the most described angle point described vision localization mark coordinate system in homogeneous coordinates be i.e. reduced to (X, Y, 0,
1), s is any dimension scale parameter introduced, and M is intrinsic parameters of the camera matrix, and r1, r2, r3 represent vision localization mark respectively
Knowing coordinate system is translation vector relative to three column vectors in the spin matrix of camera coordinate system, t.
Robot autonomous charging system the most as claimed in claim 9, it is characterised in that described second guides module specifically to use
In:
When the vision localization on charging pile described in described second video camera captured in real-time identifies, utilize principle of computer vision root
Four angle points in the outermost layer nesting mark at described second camera field of view angle it are positioned at according to described vision localization in identifying
Calculate the described charging pile azimuth information relative to described robot, then correct described robot according to described azimuth information
The direction of motion, makes described robot keep straight line to move to described charging pile, until the charging slot on described robot base
Close with the charging contact on described charging pile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610414234.XA CN106097341A (en) | 2016-06-13 | 2016-06-13 | A kind of method and system of robot autonomous charging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610414234.XA CN106097341A (en) | 2016-06-13 | 2016-06-13 | A kind of method and system of robot autonomous charging |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106097341A true CN106097341A (en) | 2016-11-09 |
Family
ID=57845777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610414234.XA Pending CN106097341A (en) | 2016-06-13 | 2016-06-13 | A kind of method and system of robot autonomous charging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106097341A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106647747A (en) * | 2016-11-30 | 2017-05-10 | 北京智能管家科技有限公司 | Robot charging method and device |
| CN108255177A (en) * | 2018-01-17 | 2018-07-06 | 航天科工智能机器人有限责任公司 | Robot autonomous charging system |
| CN108521149A (en) * | 2018-04-17 | 2018-09-11 | 武汉斌果科技有限公司 | The intelligent charging spot system and method with robot lower coupling based on camera |
| CN108594822A (en) * | 2018-05-10 | 2018-09-28 | 哈工大机器人（昆山）有限公司 | Robot localization method, robot charging method based on Quick Response Code and system |
| CN109066861A (en) * | 2018-08-20 | 2018-12-21 | 四川超影科技有限公司 | Intelligent inspection robot charging controller method based on machine vision |
| CN109387187A (en) * | 2017-08-02 | 2019-02-26 | 珊口（上海）智能科技有限公司 | Sweeper localization method, system and the sweeping robot of view-based access control model characteristic point |
| CN109976324A (en) * | 2017-12-27 | 2019-07-05 | 深圳市优必选科技有限公司 | Control method, robot and the computer readable storage medium of robot charging |
| CN109974727A (en) * | 2017-12-28 | 2019-07-05 | 深圳市优必选科技有限公司 | A kind of robot charging method, device and robot |
| CN110515383A (en) * | 2019-08-30 | 2019-11-29 | 深圳飞科机器人有限公司 | The method and mobile robot of recharging |
| US10585437B1 (en) | 2018-09-25 | 2020-03-10 | NextVPU (Shanghai) Co., Ltd. | Auto-recharging of robot |
| CN111625005A (en) * | 2020-06-10 | 2020-09-04 | 浙江欣奕华智能科技有限公司 | Robot charging method, robot charging control device and storage medium |
| CN112000100A (en) * | 2020-08-26 | 2020-11-27 | 德鲁动力科技(海南)有限公司 | Charging system and method for robot |
| CN112189173A (en) * | 2018-05-22 | 2021-01-05 | 苏州宝时得电动工具有限公司 | Automatic working system and self-moving equipment control method |
| CN112886670A (en) * | 2021-03-04 | 2021-06-01 | 武汉联一合立技术有限公司 | Charging control method and device for robot, robot and storage medium |
| 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 |
| CN114475861A (en) * | 2022-01-26 | 2022-05-13 | 上海合时智能科技有限公司 | Robot and control method thereof |
| CN114815858A (en) * | 2022-06-29 | 2022-07-29 | 季华实验室 | Robot automatic charging method and device, electronic equipment and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001125641A (en) * | 1999-10-29 | 2001-05-11 | Sony Corp | Charging system for moving robot, method for searching for charging station, moving robot, connector, and electric connection structure |
| CN101840736A (en) * | 2010-05-07 | 2010-09-22 | 中国科学院自动化研究所 | Device and method for mounting optical glass under vision guide |
| CN101923352A (en) * | 2010-07-05 | 2010-12-22 | 东南大学 | Indoor security robot capable of automatically returning to charge base and method of returning indoor security robot to charge base |
| CN105335733A (en) * | 2015-11-23 | 2016-02-17 | 西安韦德沃德航空科技有限公司 | Autonomous landing visual positioning method and system for unmanned aerial vehicle |
| CN105515127A (en) * | 2016-02-03 | 2016-04-20 | 南京聚立工程技术有限公司 | Polar-region-robot charging bin system |
-
2016
- 2016-06-13 CN CN201610414234.XA patent/CN106097341A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001125641A (en) * | 1999-10-29 | 2001-05-11 | Sony Corp | Charging system for moving robot, method for searching for charging station, moving robot, connector, and electric connection structure |
| CN101840736A (en) * | 2010-05-07 | 2010-09-22 | 中国科学院自动化研究所 | Device and method for mounting optical glass under vision guide |
| CN101923352A (en) * | 2010-07-05 | 2010-12-22 | 东南大学 | Indoor security robot capable of automatically returning to charge base and method of returning indoor security robot to charge base |
| CN105335733A (en) * | 2015-11-23 | 2016-02-17 | 西安韦德沃德航空科技有限公司 | Autonomous landing visual positioning method and system for unmanned aerial vehicle |
| CN105515127A (en) * | 2016-02-03 | 2016-04-20 | 南京聚立工程技术有限公司 | Polar-region-robot charging bin system |
Non-Patent Citations (2)
| Title |
|---|
| 吴斌等: "视觉测量中基于单应性矩阵的平面靶标图像特征提取", 《光电子.激光》 * |
| 朱安文: "基于视觉导航及定位的地面移动机器人对接技术研究", 《中国优秀硕士学位论文全文数据库·信息科技辑》 * |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106647747B (en) * | 2016-11-30 | 2019-08-23 | 北京儒博科技有限公司 | A kind of robot charging method and device |
| CN106647747A (en) * | 2016-11-30 | 2017-05-10 | 北京智能管家科技有限公司 | Robot charging method and device |
| CN109387187A (en) * | 2017-08-02 | 2019-02-26 | 珊口（上海）智能科技有限公司 | Sweeper localization method, system and the sweeping robot of view-based access control model characteristic point |
| CN109387187B (en) * | 2017-08-02 | 2021-08-10 | 珊口（上海）智能科技有限公司 | Sweeper positioning method and system based on visual feature points and sweeping robot |
| CN109976324A (en) * | 2017-12-27 | 2019-07-05 | 深圳市优必选科技有限公司 | Control method, robot and the computer readable storage medium of robot charging |
| CN109976324B (en) * | 2017-12-27 | 2022-06-28 | 深圳市优必选科技有限公司 | Method for controlling robot charging, robot, and computer-readable storage medium |
| CN109974727A (en) * | 2017-12-28 | 2019-07-05 | 深圳市优必选科技有限公司 | A kind of robot charging method, device and robot |
| CN108255177A (en) * | 2018-01-17 | 2018-07-06 | 航天科工智能机器人有限责任公司 | Robot autonomous charging system |
| CN108521149A (en) * | 2018-04-17 | 2018-09-11 | 武汉斌果科技有限公司 | The intelligent charging spot system and method with robot lower coupling based on camera |
| CN108594822A (en) * | 2018-05-10 | 2018-09-28 | 哈工大机器人（昆山）有限公司 | Robot localization method, robot charging method based on Quick Response Code and system |
| CN112189173A (en) * | 2018-05-22 | 2021-01-05 | 苏州宝时得电动工具有限公司 | Automatic working system and self-moving equipment control method |
| CN109066861A (en) * | 2018-08-20 | 2018-12-21 | 四川超影科技有限公司 | Intelligent inspection robot charging controller method based on machine vision |
| US10585437B1 (en) | 2018-09-25 | 2020-03-10 | NextVPU (Shanghai) Co., Ltd. | Auto-recharging of robot |
| WO2020062835A1 (en) * | 2018-09-25 | 2020-04-02 | 上海肇观电子科技有限公司 | Robot and automatic recharging method and system therefor, electronic device and storage medium |
| CN110515383A (en) * | 2019-08-30 | 2019-11-29 | 深圳飞科机器人有限公司 | The method and mobile robot of recharging |
| CN111625005A (en) * | 2020-06-10 | 2020-09-04 | 浙江欣奕华智能科技有限公司 | Robot charging method, robot charging control device and storage medium |
| CN112000100A (en) * | 2020-08-26 | 2020-11-27 | 德鲁动力科技(海南)有限公司 | Charging system and method for robot |
| CN112886670A (en) * | 2021-03-04 | 2021-06-01 | 武汉联一合立技术有限公司 | Charging control method and device for robot, robot and storage medium |
| 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 |
| CN114475861A (en) * | 2022-01-26 | 2022-05-13 | 上海合时智能科技有限公司 | Robot and control method thereof |
| CN114815858A (en) * | 2022-06-29 | 2022-07-29 | 季华实验室 | Robot automatic charging method and device, electronic equipment and storage medium |
| CN114815858B (en) * | 2022-06-29 | 2022-11-08 | 季华实验室 | Robot automatic charging method and device, electronic equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106097341A (en) | A kind of method and system of robot autonomous charging | |
| CN106125724A (en) | A kind of method and system of robot autonomous charging | |
| US10754350B2 (en) | Sensor trajectory planning for a vehicle | |
| Fang et al. | Adaptive active visual servoing of nonholonomic mobile robots | |
| CN106020188B (en) | A kind of Intelligent Mobile Robot recharging method based on laser navigation | |
| CN104238557B (en) | The method of Unpiloted carrier vehicle and operation Unpiloted carrier vehicle | |
| CN108594822A (en) | Robot localization method, robot charging method based on Quick Response Code and system | |
| CN105209997A (en) | Apparatus for guiding an autonomous vehicle towards a docking station | |
| CN110632915B (en) | Robot recharging path planning method, robot and charging system | |
| CN100453966C (en) | Spatial three-dimensional position attitude measurement method for video camera | |
| Stückler et al. | Following human guidance to cooperatively carry a large object | |
| CN106647747A (en) | Robot charging method and device | |
| CN105486311A (en) | Indoor robot positioning navigation method and device | |
| CN110095786B (en) | Three-dimensional point cloud map generation method and system based on one-line laser radar | |
| CN108499054A (en) | A kind of vehicle-mounted mechanical arm based on SLAM picks up ball system and its ball picking method | |
| CN111679671A (en) | Method and system for automatic docking of robot and charging pile | |
| CN108767933A (en) | A kind of control method and its device, storage medium and charging equipment for charging | |
| CN111571618A (en) | Autonomous picking robot based on visual algorithm and picking method thereof | |
| CN110515383A (en) | The method and mobile robot of recharging | |
| CN110412584A (en) | A kind of mobile quick splicing system of underwater Forward-Looking Sonar | |
| CN107421538A (en) | Navigation system and air navigation aid | |
| CN106325278B (en) | A kind of robot localization air navigation aid based on Aleuroglyphus ovatus | |
| KR102275083B1 (en) | Robotic systems and a returning method of robot for automatic charging | |
| CN108927807A (en) | A kind of robot vision control method based on point feature | |
| KR20170020629A (en) | Apparatus for registration of cloud points |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161109 |
|
| RJ01 | Rejection of invention patent application after publication |