CN106647747A - Robot charging method and device - Google Patents
Robot charging method and device Download PDFInfo
- Publication number
- CN106647747A CN106647747A CN201611081721.5A CN201611081721A CN106647747A CN 106647747 A CN106647747 A CN 106647747A CN 201611081721 A CN201611081721 A CN 201611081721A CN 106647747 A CN106647747 A CN 106647747A
- Authority
- CN
- China
- Prior art keywords
- robot
- coordinate system
- angle
- photographic head
- charging
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 239000011159 matrix material Substances 0.000 claims description 29
- 230000005611 electricity Effects 0.000 claims 2
- 238000005516 engineering process Methods 0.000 description 14
- 238000001514 detection method Methods 0.000 description 10
- 230000000007 visual effect Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000003032 molecular docking Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot charging method and device. The method includes performing image collection on a charge mark arranged on a charge pile through a camera of a robot; determining the position and attitude angle of the robot in an overall coordinate system according to the collected charge mark image; leading the robot to a preset guide position according to the position and attitude angle; controlling the robot to move from the guide position to the charge pile and charging the robot. The technical scheme provided by the invention improves robot charging efficiency.
Description
Technical field
The present embodiments relate to technical field of electronic equipment, more particularly to a kind of robot charging method and device.
Background technology
Existing robot automatic charging technology is realized using simple relying on by the way of infrared emission mostly, by multiple red
Outer generator, the region that comprehensive descision robot is located, guided robot automatic charging.
The main automatic charging of existing infrared emission technology mainly includes two parts, and Part I is guided robot to automatic
Charged area, Part II is automatic butt.However, simple dependence infrared sensor, judges robot region scope,
Guided robot accesses charging pile to charged area in charged area, realizes that automatic butt charges, time-consuming relatively long, leads
Cause current robot charge efficiency relatively low.
The content of the invention
The embodiment of the present invention provides a kind of robot charging method, to improve the charge efficiency of robot.
On the one hand, a kind of robot charging method is embodiments provided, including：
Image acquisition is carried out to the charging mark arranged on charging pile by the photographic head of robot；
Determine position and attitude angle of the robot in global coordinate system according to the charging identification image for collecting；
The robot is directed at default guide position point according to the position and attitude angle；
Control the robot and the charging pile is moved to by the guide position point, and charge for the robot.
On the other hand, the embodiment of the present invention additionally provides a kind of robot charging device, including：
Image capture module, adopts for carrying out image to the charging mark arranged on charging pile by the photographic head of robot
Collection；
Position determination module, for determining the robot in global coordinate system according to the charging identification image for collecting
Position and attitude angle；
Preliminary guiding module, for the robot to be directed to into default guide position according to the position and attitude angle
At point；
Charging module, the charging pile is moved to for controlling the robot by the guide position point, and for described
Robot charges.
Technical scheme provided in an embodiment of the present invention, during guided robot to charged area, by computer
Visual identification technology detects the relative position between robot and charging pile and relative attitude angle, and according to testing result just machine
Device people is first directed at guide position point, then is directed at charging pile by guide position point, is subsequently realized robot and is charged
The automatic butt of stake, and be robot charging by charging pile, only realized by infrared emission technology compared in prior art
Automatic charging, set up guide position point, robot be guided to charging pile by guide position point, allow the robot to accurately
Move to charge position, the efficiency that robot is directed to charge position is improve, so as to improve charge efficiency.
Description of the drawings
Fig. 1 a are a kind of flow chart of the robot charging method provided in the embodiment of the present invention one；
Fig. 1 b are a kind of schematic diagram of charging mark provided in the embodiment of the present invention one；
Fig. 2 a are a kind of flow chart of the robot charging method provided in the embodiment of the present invention two；
Fig. 2 b- Fig. 2 c are the schematic diagram of the robot and charging pile relative position provided in the embodiment of the present invention two；
Fig. 3 a are a kind of flow chart of the robot charging method provided in the embodiment of the present invention three；
Fig. 3 b- Fig. 3 i are the schematic diagram of the robot and charging pile relative position provided in the embodiment of the present invention three；
Fig. 4 is a kind of structure chart of the robot charging device provided in the embodiment of the present invention four.
Specific embodiment
With reference to the accompanying drawings and examples the present invention is described in further detail.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part related to the present invention rather than entire infrastructure are illustrate only in description, accompanying drawing.
Embodiment one
Fig. 1 a are a kind of flow chart of the robot charging method provided in the embodiment of the present invention one.The method of the present embodiment
Can be performed by robot charging device, the device can be realized by way of hardware and/or software.With reference to Fig. 1 a, this reality
Apply example offer robot charging method specifically can include it is as follows：
Step 11, the charging by the photographic head of robot to setting on charging pile are identified and carry out image acquisition.
Fig. 1 b are a kind of schematic diagram of charging mark provided in the embodiment of the present invention one, with reference to Fig. 1 b and figure in order to improve
The Detection results of the mark that charges, charging mark can be black-and-white two color and can be with table comprising n*n cell factory, i.e. charging mark
The matrix of 0 and 1 composition is shown as, wherein 0 represents black, 1 represents white.
Specifically, the photographic head for being arranged by robot carries out image acquisition to charging mark, can include：Obtain shooting
The image of head collection, and whether image is determined as follows comprising the mark that charges：1) candidate identification detection：Image is carried out
Line segment detection, the line segment in detection image, if line segment combination constitutes tetragon, it is determined that tetragon is candidate's charging mark；
2) candidate identification matrix is extracted：Candidate's charging mark is standardized by perspective transform, by Otsu threshold two-value
Method, based on binary map, extracts the corresponding candidate identification matrix of candidate's charging mark；3) mark matching：By candidate identification matrix with
Charging preset in robot identifies corresponding charging identity matrix and is matched, if the match is successful, then it is assumed that candidate charges
Mark is the mark that charges.Also, after identifying comprising charging in image is detected, also figure is carried out to charging mark by photographic head
As collection, i.e., photographic head collects charging identification image.
The charging identification image that step 12, foundation are collected determines position and appearance of the robot in global coordinate system
State angle.
Exemplary, step 12 can include：Coordinate is carried out to the charging identification image based on the global coordinate system
Conversion, obtains position and attitude angle of the robot in global coordinate system.
Wherein, with the central point of the mark that charges as zero, the charging mark is located the global coordinate system
The vertical plane of plane is xoy faces, and straight up direction is z-axis, and global coordinate system is used for description with the central point of the mark that charges
Set out the physical surroundings layout seen.
Exemplary, coordinate transform is carried out to the charging identification image based on the global coordinate system, obtain the machine
Position and attitude angle of the device people in global coordinate system can include：
A, the pixel coordinate according to the corresponding angle point of the charging mark in the charging identification image and the shooting
The device parameter of head, determines coordinate of the angle point in photographic head coordinate system.
Wherein, photographic head coordinate system is used for the physical surroundings layout that description is seen from photographic head visual angle.Specifically, lead to
Cross equation below and calculate coordinate (X of corresponding four angle points of mark in photographic head coordinate system that charge0,Y0,Z0),(X1,Y1,
Z1),(X2,Y2,Z2),(X3,Y3,Z3)：
Wherein, pixel coordinate (u of corresponding four angle points of the mark that charges in charging identification image0,v0), (u1,v1),
(u2,v2) and (u3,v3), photographic head to light shaft offset cx, cy, and the physics focal length f of photographic headx, fyIt is known quantity.
B, true coordinate and the angle point according to the angle point in the global coordinate system are in photographic head coordinate system
Coordinate, determine the spin matrix and translation matrix of the photographic head.
Specifically, the spin matrix R and translation matrix T of photographic head are determined by equation below：
Wherein, the true coordinate (x of four angle points0,y0,z0),(x1,y1,z1),(x2,y2,z2),(x3,y3,z3) it is known
Amount, the spin matrix R for trying to achieve is the matrix of 3*3, and translation matrix T is the matrix of 3*1.
C, according to the spin matrix and translation matrix of the photographic head, determine the photographic head in the global coordinate system
Position and attitude angle.
Specifically, according to translation matrixObtain position (x ', y ', z ') of the photographic head in global coordinate system.Take the photograph
As attitude angle of the head in global coordinate system includes deflection yaw ' of the photographic head in global coordinate system, angle of pitch pith ' with
And roll angle roll ', due to spin matrix R and deflection yaw ' of the photographic head in global coordinate system, angle of pitch pith ' and
Roll angle roll ' has following relation：R=Rx(roll′)*Ry(pith′)*Rz(yaw '), can obtain photographic head in global seat
Deflection yaw ', angle of pitch pith ' and roll angle roll ' in mark system, that is, obtain attitude of the photographic head in global coordinate system
Angle.
For the ease of being clearly understood from photographic head deflection yaw ' in global coordinate system, angle of pitch pith ' and rolling
Angle roll ', with XYZ photographic head coordinate system is represented, xyz represented and illustrated as a example by global coordinate system.Specifically, deflection yaw '
The X-axis for referring to photographic head coordinate system XYZ is projected and the x of global coordinate system xyz on the horizontal plane xoy of global coordinate system xyz
Angle between axle positive direction；Angle of pitch pith ' refers to the X-axis of photographic head coordinate system XYZ and the level of global coordinate system xyz
The angle of face xoy；Roll angle roll ' refers to the Z axis and the lead by the x-axis of global coordinate system xyz of photographic head coordinate system XYZ
Angle between vertical plane.
D, the position according to the photographic head in the global coordinate system and attitude angle, and the photographic head with it is described
Relative position and relative attitude angle between robot, determines position and attitude of the robot in the global coordinate system
Angle.
Specifically, between photographic head and robot relative position and relative attitude angle is known quantity, i.e. the peace of photographic head
Relative position d between holding position and the central point of robotx, dy, dz, and relative attitude angle dyaw, dpith, drollIt is known
Amount.Also, position and attitude angle of the photographic head in global coordinate system, position and attitude angle of the robot in global coordinate system
And same position relation specific as follows：
dx=x "-x ', dy=y "-y ', dz=z "-z ',
dyaw=yaw "-yaw ', dpith=pith "-pith ', droll=roll "-roll '
Can obtain position of the robot in global coordinate system (x ", y ", z ") and attitude angle (and yaw ", pith ",
roll″)。
For the ease of being clearly understood from robot deflection yaw in global coordinate system ", angle of pitch pith " and roll angle
Roll ", with X ' Y ' Z ' robot coordinate system is represented, xyz represented and illustrated as a example by global coordinate system, wherein robot coordinate system
Refer to for describing the physical surroundings layout seen from robot central point.Specifically, deflection yaw " refers to machine
X ' the axles of device people coordinate system X ' Y ' Z ' are projected with the x-axis of global coordinate system xyz just on the horizontal plane xoy of global coordinate system xyz
Angle between direction；Angle of pitch pith " refers to the X ' axles of robot coordinate system X ' Y ' Z ' and the level of global coordinate system xyz
The angle of face xoy；Roll angle roll " refers to the Z ' axles and the x-axis for passing through global coordinate system xyz of robot coordinate system X ' Y ' Z '
Vertical guide between angle.
Step 13, according to the position and attitude angle, the robot is directed at default guide position point.
Wherein, guide position point may be located at the dead ahead of the central point of charging pile, and such as guide position point is in world coordinatess
Coordinate in system is (0, y′,0).Before automatic butt, robot is guided to guide position point.
Step 14, control the robot charging pile is moved to by the guide position point, and for the robot
Charge.
Rotated by controlling robot head rotation and/or robot body, and robot body's movement, by robot
Charging pile, docking robot and charging pile are moved to by guide position point, and is robot charging by charging pile.
The technical scheme that the present embodiment is provided, during guided robot to charged area, by computer vision
Technology of identification detects the relative position between robot and charging pile and relative attitude angle, and according to testing result just robot
First it is directed at guide position point, then is directed at charging pile by guide position point, subsequently realizes robot with charging pile
Automatic butt, and be robot charging by charging pile, it is automatic compared to only being realized by infrared emission technology in prior art
Charge, robot is guided to charging pile by guide position point, allow the robot to be shifted exactly to charge position, improve
Robot is directed to the efficiency of charge position, so as to improve charge efficiency.
In order to lift the accuracy of charging label detection, and label detection still can be charged under dark situations,
Can be using infrared sensor as a kind of supplementary meanss.Exemplary, by the photographic head of robot to setting on charging pile
Charging mark is carried out before image acquisition, can also be included：If the ambient brightness of the charging pile is less than default luminance threshold,
And the distance between the charging pile and described robot are detected less than distance threshold by infrared detection technology, then by institute
State the light at the charging pile control charging pile mark to start.
Specifically, ambient brightness detection and distance detection can be carried out by robot or charging pile, if being entered by robot
Row detection, then when above-mentioned condition is met, robot to charging pile sends light enabled instruction, charging pile is started according to light
Light at instruction control charging mark starts；If being detected by charging pile, when above-mentioned condition is met, charging pile is direct
Control light starts.
Embodiment two
The present embodiment is on the basis of above-described embodiment one, there is provided a kind of new robot charging method.Fig. 2 a are this
A kind of flow chart of the robot charging method provided in inventive embodiments two.With reference to the robot that Fig. 2 a, the present embodiment are provided
Charging method specifically can include as follows：
Step 21, the charging by the photographic head of robot to setting on charging pile are identified and carry out image acquisition.
The charging identification image that step 22, foundation are collected determines position and appearance of the robot in global coordinate system
State angle.
Wherein, with the central point of the mark that charges as zero, the charging mark is located the global coordinate system
The vertical plane of plane is xoy faces, and straight up direction is z-axis.
Step 23, determine that the angular field of view of photographic head, whether more than default angular threshold of eye, if being more than, continues executing with step
Rapid 24- steps 26；Otherwise, execution step 27- step 29 is redirected.
Wherein, the span of angular threshold of eye can be 80 ° -100 °, and such as angular threshold of eye can be 90 °.If photographic head
Angular field of view is more than default angular threshold of eye, it is determined that the visual angle of photographic head is enough big, charges in robot current position and identifies
Can be present in camera view simultaneously with guide position point, thus subsequent step 24- steps 25 can directly by robot
Move at guide position point；Otherwise, it determines the vision of photographic head is less, charges in robot current position and identify and guiding
Location point can not be present in camera view because simultaneously and subsequent step 26- steps 28 can not directly be moved the robot into and drawn
Lead at location point.
Step 24, the position according to the robot in the global coordinate system and attitude angle, and it is default around barrier
Hinder object angle, determine the angular velocity of the robot.
With reference to Fig. 2 b, according to the rotational angle yaw of equation below calculating robotmargin：
yawmargin=yaw "-tan-1((y″-y′)/x″)-yawa
Wherein, yawaControl when representing that robot front detects barrier gets around the angle of barrier, and it is that setting is normal
Amount such as yawa90 ° can be taken.Position of the robot in global coordinate system for (x ", y ", z "), attitude angle for (yaw ", pith ",
Roll "), position (0, y of the guide position point in global coordinate system′,0)。
Also, determine the angular velocity w of robot according to equation below：
Wherein,For the control constant of setting.
Step 25, the position according to the robot in the global coordinate system and guide position point are described
Position in global coordinate system, controls the robot and moves at the guide position point according to the angular velocity for determining, and
Redirect execution step 29.
Specifically, displacement L of robot can be determined according to equation below：
L2=(y "-y′)*(y″-y′)+x″*x″；
By the displacement of the constant angular velocity and robot for updating robot, control the robot and move to
At the guide position point.
Specifically, it is also possible to determine the speed of robot according to equation below：
V=α | (y "-y′)*(y″-y′)+x " * x " |, α ＜ 1
Wherein, α is the control constant of setting.By the constant angular velocity w and speed v for updating robot, control machine
Device people is moved at guide position point.
Step 26, the position according to the robot in the global coordinate system and guide position point are described
Position in global coordinate system, determines crossover position point.
With reference to Fig. 2 c, the crossover position point is located in the y-axis of the global coordinate system, and from the robot to described
The bearing of trend of crossover position point is parallel with the x-axis of the global coordinate system, thus crossover position point is in global coordinate system
Position be (0, y ", 0).
Step 27, the deflection according to the robot in the global coordinate system determine the anglec of rotation of the robot
Spend, and control the robot and rotated according to the anglec of rotation.
Specifically, the anglec of rotation for determining robot is yaw, and "-pi/2, "-pi/2 makes robot to control revolute yaw
Direction be 90 degree directions, i.e. crossover position point positioned at photographic head shooting direction dead ahead.
Step 28, the robot according to the Angle ambiguity after rotation are moved at the crossover position point, and control is described
Robot vertical rotates, and moves to the guide position point by the crossover position point, continues thereafter with execution step 29.
Specifically, control robot and move to crossover position point, and 90 ° are rotated counterclockwise by controlling robot, make to draw
Lead location point and charging pile is located at the dead ahead of photographic head shooting direction.Subsequently, robot is moved to by crossover position point and is drawn
Lead location point so that the mark that charges and guide position point are in camera view.
Step 29, control the robot charging pile is moved to by the guide position point, and for the robot
Charge.
The technical scheme that the present embodiment is provided, robot if the visual range of photographic head is enough big, be directly directed to and drawn
Lead at location point；If the visual range of photographic head is not big enough, first robot is directed at crossover position point, then by transition position
It is directed at guide position point at putting, subsequently robot is moved to into charging pile by guide position point, and for robot charging,
Improve and robot is guided into efficiency to guide position point, so as to improve the efficiency of robot charging.
Embodiment three
The present embodiment is on the basis of above-described embodiment one and embodiment two, there is provided a kind of new charging side of robot
Method.Fig. 3 a are a kind of flow chart of the robot charging method provided in the embodiment of the present invention two.With reference to Fig. 3 a, the present embodiment is carried
For robot charging method specifically can include it is as follows：
Step 31, the charging by the photographic head of robot to setting on charging pile are identified and carry out image acquisition.
The charging identification image that step 32, foundation are collected determines position and appearance of the robot in global coordinate system
State angle.
Wherein, with the central point of the mark that charges as zero, the charging mark is located the global coordinate system
The vertical plane of plane is xoy faces, and straight up direction is z-axis.
Step 33, the robot is directed at default guide position point according to the position and attitude angle.
Step 34, the rotation angle of robot head is determined whether more than default anglec of rotation threshold value, if being more than, after
Continuous execution step 35- step 37；Otherwise, then step 38- step 311 is continued executing with.
Wherein, whether anglec of rotation threshold value refers to the shooting direction of photographic head can be with the direction of advance phase of robot body
Anti- marginal value.If the rotation angle of robot head is more than anglec of rotation threshold value, the shooting direction of photographic head can be with machine
The direction of advance of device human agent using Visual identification technology during robot body's rotation conversely, persistently can be carried out
Positioning；Otherwise, the limited angle between the shooting direction of photographic head and the direction of advance of robot body, i.e., in revolute
During may Visual identification technology failure.Wherein, anglec of rotation threshold value can be 180 °.
Step 35, the control robot head rotation are until shooting direction and the robot body of the photographic head
Direction of advance it is contrary.
With reference to Fig. 3 b and Fig. 3 c, control robot head rotation, until the shooting direction of photographic head is with robot body's
Robot head stops the rotation when direction of advance is contrary.
Step 36, control robot body rotate, until the direction of advance of the robot body with by the charging pile
To the robot body bearing of trend it is consistent when robot body stop operating.
With reference to Fig. 3 c and Fig. 3 d, control robot body rotate, in rotation process by photographic head charging is identified into
Row image acquisition, view-based access control model identification determines the relative direction between robot body and charging pile, until robot body's
Control robot body when direction of advance is consistent with the bearing of trend from charging pile to robot body to stop operating.
Step 37, the control robot body retreat to the charging pile, and charge for the robot.
With reference to Fig. 3 d and Fig. 3 e, retreated to charging pile by retreating instruction control robot body, docking robot with
Charging pile, and charge for robot.
Step 38, the control robot head rotate default fixed angle.
In order to reduce the mechanical vibration and friction of robot head rotary course, fixed angle can be acute angle, such as fixed
Angle can be 60 °.
With reference to Fig. 3 f, control robot head rotation fixed angle w0。
Step 39, control robot body rotate, until the shooting direction of the photographic head with from the photographic head to institute
The bearing of trend for stating charging pile is consistent.
With reference to Fig. 3 g, control robot body rotate, and the image of photographic head collection is obtained in rotation process, until being based on
Visual identification technology determines that the shooting direction of photographic head is from the photographic head to control machine during the bearing of trend of the charging pile
Device human agent stop operating.
Step 310, the control robot body rotate default rotational angle, until the advance of the robot body
Direction is consistent to the bearing of trend of the robot body with from the charging pile.
With reference to Fig. 3 h, control robot body rotates default rotational angle, wherein the rotational angle can be fixed
Angle is with 180 ° afterwards so that the direction of advance of robot body is contrary with the bearing of trend from robot to charging pile.
In above-mentioned steps 39 and step 310, in robot body's rotation process, first view-based access control model technology of identification is by machine
Human agent turns to makes the shooting direction of photographic head be bearing of trend from from the photographic head to the charging pile.Subsequently control again
Robot body is rotated further default rotational angle, solves and cannot be carried out by Visual identification technology during being rotated further
The problem of positioning, enabling make the direction of advance and the bearing of trend phase from robot to charging pile of robot body exactly
Instead.
Step 311, the control robot body retreat to the charging pile, and charge for the robot.
With reference to Fig. 3 h and 3i, retreated to charging pile by retreating instruction control robot body, dock robot and fill
Electric stake, and charge for robot.And can control robot head after the docking of robot and charging pile is completed to return just.
The technical scheme that the present embodiment is provided, according to the difference of the rotation angle of robot head, is respectively increased two kinds
Mode controls robot and moves to the charging pile by the guide position point, and charges for the robot.
Example IV
Present embodiments provide a kind of robot charging device.Fig. 4 is a kind of machine provided in the embodiment of the present invention four
The structure chart of people's charging device, as shown in figure 4, the robot charging device can include：
Image capture module 41, for carrying out image to the charging mark arranged on charging pile by the photographic head of robot
Collection；
Position determination module 42, for determining the robot in global coordinate system according to the charging identification image for collecting
In position and attitude angle；
Preliminary guiding module 43, for the robot to be directed to into default guiding position according to the position and attitude angle
At putting；
Charging module 44, the charging pile is moved to for controlling the robot by the guide position point, and for institute
State robot charging.
Exemplary, the position determination module 42 specifically can be used for：
Coordinate transform is carried out to the charging identification image based on the global coordinate system, the robot is obtained in the overall situation
Position and attitude angle in coordinate system；Wherein, the global coordinate system with it is described charge mark central point as zero, institute
The vertical plane for stating the mark place plane that charges is xoy faces, and straight up direction is z-axis.
Exemplary, the position determination module 42 specifically can be used for：
According to the pixel coordinate and the photographic head for charging and identifying corresponding angle point in the charging identification image
Device parameter, determine coordinate of the angle point in photographic head coordinate system；
True coordinate and the angle point according to the angle point in the global coordinate system is in photographic head coordinate system
Coordinate, determines the spin matrix and translation matrix of the photographic head；
According to the spin matrix and translation matrix of the photographic head, determine the photographic head in the global coordinate system
Position and attitude angle；
The position in the global coordinate system and attitude angle according to the photographic head, and the photographic head and the machine
Relative position and relative attitude angle between device people, determines position and attitude of the robot in the global coordinate system
Angle.
Exemplary, the preliminary guiding module 43 specifically can be used for：
If the angular field of view of the photographic head is more than default angular threshold of eye, according to the robot in the global seat
Position and attitude angle in mark system, and default obstacle object angle, determine the angular velocity of the robot；
Position and guide position point according to the robot in the global coordinate system is in the global seat
Position in mark system, controls the robot and moves at the guide position point according to the angular velocity for determining.
Exemplary, the preliminary guiding module 43 specifically can be used for：
If the angular field of view of the photographic head is equal to or less than default angular threshold of eye, according to the robot described
Position of the position and guide position point in global coordinate system in the global coordinate system, determines crossover position point；
Determine the anglec of rotation of the robot according to deflection of the robot in the global coordinate system, and control
Make the robot to be rotated according to the anglec of rotation；
The robot according to the Angle ambiguity after rotation is moved at the crossover position point, is controlled the robot and is hung down
Direct rotary turns, and moves to the guide position point by the crossover position point.
Exemplary, the charging module 44 specifically can be used for：
If the rotation angle of robot head is more than default anglec of rotation threshold value, the robot head rotation is controlled
Until the shooting direction of the photographic head is contrary with the direction of advance of the robot body；
Control robot body rotate, until the direction of advance of the robot body with from the charging pile to the machine
The bearing of trend of device human agent is consistent；
Control the robot body to retreat to the charging pile, and charge for the robot.
Exemplary, the charging module 44 specifically can be used for：
If the rotation angle of robot head is equal to or less than default anglec of rotation threshold value, the robot head is controlled
Portion rotates default fixed angle；
Control robot body rotate, until the shooting direction of the photographic head with from the photographic head to the charging pile
Bearing of trend it is consistent；
Control the robot body and rotate default rotational angle, until the direction of advance of the robot body with by
The charging pile is consistent to the bearing of trend of the robot body；Wherein, the rotational angle is according to the fixed angle
It is determined that；
Control the robot body to retreat to the charging pile, and charge for the robot.
The robot charging device that the present embodiment is provided, the robot charging method provided with any embodiment of the present invention
Belong to same inventive concept, can perform the robot charging method that any embodiment of the present invention is provided, possess execution robot
The corresponding functional module of charging method and beneficial effect.Ins and outs of detailed description in the present embodiment, not can be found in this
The robot charging method that bright any embodiment is provided.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although the present invention is carried out by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
More other Equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (14)
1. a kind of robot charging method, it is characterised in that include：
Image acquisition is carried out to the charging mark arranged on charging pile by the photographic head of robot；
Determine position and attitude angle of the robot in global coordinate system according to the charging identification image for collecting；
The robot is directed at default guide position point according to the position and attitude angle；
Control the robot and the charging pile is moved to by the guide position point, and charge for the robot.
2. method according to claim 1, it is characterised in that determine the machine according to the charging identification image for collecting
Position and attitude angle of the people in global coordinate system, including：
Coordinate transform is carried out to the charging identification image based on the global coordinate system, the robot is obtained in world coordinatess
Position and attitude angle in system；Wherein, the global coordinate system is described to fill with the central point of the mark that charges as zero
The vertical plane of electricity mark place plane is xoy faces, and straight up direction is z-axis.
3. method according to claim 2, it is characterised in that based on the global coordinate system to the charging identification image
Coordinate transform is carried out, position and attitude angle of the robot in global coordinate system is obtained, including：
According to setting for the pixel coordinate and the photographic head for charging and identifying corresponding angle point in the charging identification image
Standby parameter, determines coordinate of the angle point in photographic head coordinate system；
Coordinate of the true coordinate and the angle point according to the angle point in the global coordinate system in photographic head coordinate system,
Determine the spin matrix and translation matrix of the photographic head；
According to the spin matrix and translation matrix of the photographic head, position of the photographic head in the global coordinate system is determined
And attitude angle；
The position in the global coordinate system and attitude angle according to the photographic head, and the photographic head and the robot
Between relative position and relative attitude angle, determine position and attitude angle of the robot in the global coordinate system.
4. method according to claim 1, it is characterised in that guide in the robot according to the position and attitude angle
To at default guide position point, including：
If the angular field of view of the photographic head is more than default angular threshold of eye, according to the robot in the global coordinate system
In position and attitude angle, and default obstacle object angle, determine the angular velocity of the robot；
Position and guide position point according to the robot in the global coordinate system is in the global coordinate system
In position, control the robot and move at the guide position point according to the angular velocity for determining.
5. method according to claim 1, it is characterised in that guide in the robot according to the position and attitude angle
To at default guide position point, including：
If the angular field of view of the photographic head is equal to or less than default angular threshold of eye, according to the robot in the overall situation
Position of the position and guide position point in coordinate system in the global coordinate system, determines crossover position point；
Determine the anglec of rotation of the robot according to deflection of the robot in the global coordinate system, and control institute
State robot to be rotated according to the anglec of rotation；
The robot according to the Angle ambiguity after rotation is moved at the crossover position point, controls the robot vertical rotation
Turn, and the guide position point is moved to by the crossover position point.
6. method according to claim 1, it is characterised in that the control robot is moved to by the guide position point
The charging pile, and charge for the robot, including：
If the rotation angle of robot head is more than default anglec of rotation threshold value, control robot head rotation until
The shooting direction of the photographic head is contrary with the direction of advance of the robot body；
Control robot body rotate, until the direction of advance of the robot body with from the charging pile to the robot
The bearing of trend of main body is consistent；
Control the robot body to retreat to the charging pile, and charge for the robot.
7. method according to claim 1, it is characterised in that the control robot is moved to by the guide position point
The charging pile, and charge for the robot, including：
If the rotation angle of robot head is equal to or less than default anglec of rotation threshold value, the robot head rotation is controlled
Turn default fixed angle；
Control robot body rotate, until the shooting direction of the photographic head and prolonging from the photographic head to the charging pile
Stretch direction consistent；
Control the robot body and rotate default rotational angle, until the direction of advance of the robot body with by described
Charging pile is consistent to the bearing of trend of the robot body；Wherein, the rotational angle is determined according to the fixed angle
's；
Control the robot body to retreat to the charging pile, and charge for the robot.
8. a kind of robot charging device, it is characterised in that include：
Image capture module, for carrying out image acquisition to the charging mark arranged on charging pile by the photographic head of robot；
Position determination module, for determining position of the robot in global coordinate system according to the charging identification image for collecting
Put and attitude angle；
Preliminary guiding module, for the robot to be directed to into default guide position point according to the position and attitude angle
Place；
Charging module, the charging pile is moved to for controlling the robot by the guide position point, and for the machine
People charges.
9. device according to claim 8, it is characterised in that the position determination module specifically for：
Coordinate transform is carried out to the charging identification image based on the global coordinate system, the robot is obtained in world coordinatess
Position and attitude angle in system；Wherein, the global coordinate system is described to fill with the central point of the mark that charges as zero
The vertical plane of electricity mark place plane is xoy faces, and straight up direction is z-axis.
10. device according to claim 9, it is characterised in that the position determination module specifically for：
According to setting for the pixel coordinate and the photographic head for charging and identifying corresponding angle point in the charging identification image
Standby parameter, determines coordinate of the angle point in photographic head coordinate system；
Coordinate of the true coordinate and the angle point according to the angle point in the global coordinate system in photographic head coordinate system,
Determine the spin matrix and translation matrix of the photographic head；
According to the spin matrix and translation matrix of the photographic head, position of the photographic head in the global coordinate system is determined
And attitude angle；
The position in the global coordinate system and attitude angle according to the photographic head, and the photographic head and the robot
Between relative position and relative attitude angle, determine position and attitude angle of the robot in the global coordinate system.
11. devices according to claim 8, it is characterised in that the preliminary guiding module specifically for：
If the angular field of view of the photographic head is more than default angular threshold of eye, according to the robot in the global coordinate system
In position and attitude angle, and default obstacle object angle, determine the angular velocity of the robot；
Position and guide position point according to the robot in the global coordinate system is in the global coordinate system
In position, control the robot and move at the guide position point according to the angular velocity for determining.
12. devices according to claim 8, it is characterised in that the preliminary guiding module specifically for：
If the angular field of view of the photographic head is equal to or less than default angular threshold of eye, according to the robot in the overall situation
Position of the position and guide position point in coordinate system in the global coordinate system, determines crossover position point；
Determine the anglec of rotation of the robot according to deflection of the robot in the global coordinate system, and control institute
State robot to be rotated according to the anglec of rotation；
The robot according to the Angle ambiguity after rotation is moved at the crossover position point, controls the robot vertical rotation
Turn, and the guide position point is moved to by the crossover position point.
13. devices according to claim 8, it is characterised in that the charging module specifically for：If robot head
Rotation angle is more than default anglec of rotation threshold value, then control the robot head rotation until the shooting side of the photographic head
To contrary with the direction of advance of the robot body；
Control robot body rotate, until the direction of advance of the robot body with from the charging pile to the robot
The bearing of trend of main body is consistent；
Control the robot body to retreat to the charging pile, and charge for the robot.
14. devices according to claim 8, it is characterised in that the charging module specifically for：
If the rotation angle of robot head is equal to or less than default anglec of rotation threshold value, the robot head rotation is controlled
Turn default fixed angle；
Control robot body rotate, until the shooting direction of the photographic head and prolonging from the photographic head to the charging pile
Stretch direction consistent；
Control the robot body and rotate default rotational angle, until the direction of advance of the robot body with by described
Charging pile is consistent to the bearing of trend of the robot body；Wherein, the rotational angle is determined according to the fixed angle
's；
Control the robot body to retreat to the charging pile, and charge for the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611081721.5A CN106647747B (en) | 2016-11-30 | 2016-11-30 | A kind of robot charging method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611081721.5A CN106647747B (en) | 2016-11-30 | 2016-11-30 | A kind of robot charging method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106647747A true CN106647747A (en) | 2017-05-10 |
| CN106647747B CN106647747B (en) | 2019-08-23 |
Family
ID=58813482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611081721.5A Active CN106647747B (en) | 2016-11-30 | 2016-11-30 | A kind of robot charging method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106647747B (en) |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107577236A (en) * | 2017-09-27 | 2018-01-12 | 上海有个机器人有限公司 | Robot automatic homing charging method, robot, system and storage medium |
| CN108279667A (en) * | 2018-01-08 | 2018-07-13 | 浙江立石机器人技术有限公司 | Robot charge path planing method, apparatus and system |
| CN108508897A (en) * | 2018-04-20 | 2018-09-07 | 杭州蓝芯科技有限公司 | A kind of robot automatic charging alignment system and method for view-based access control model |
| CN108646727A (en) * | 2018-05-14 | 2018-10-12 | 珠海市微半导体有限公司 | A kind of vision cradle and its localization method and recharging method |
| CN108733084A (en) * | 2018-03-21 | 2018-11-02 | 北京猎户星空科技有限公司 | Control method, device, robot and the storage medium of revolute |
| CN108818529A (en) * | 2018-06-01 | 2018-11-16 | 重庆锐纳达自动化技术有限公司 | A kind of robot charging pile visual guide method |
| CN109040584A (en) * | 2018-07-27 | 2018-12-18 | 阿里巴巴集团控股有限公司 | A kind of method and apparatus of interaction shooting |
| 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 |
| CN109612469A (en) * | 2019-01-14 | 2019-04-12 | 深圳乐动机器人有限公司 | The method and robot of a kind of robot search recharging base position |
| CN109674402A (en) * | 2019-01-04 | 2019-04-26 | 云鲸智能科技（东莞）有限公司 | A kind of information processing method and relevant device |
| CN109683605A (en) * | 2018-09-25 | 2019-04-26 | 上海肇观电子科技有限公司 | Robot and its automatic recharging method, system, electronic equipment, storage medium |
| CN109991969A (en) * | 2017-12-29 | 2019-07-09 | 周秦娜 | A kind of control method and device that the robot based on depth transducer makes a return voyage automatically |
| WO2019174484A1 (en) * | 2018-03-12 | 2019-09-19 | 杭州萤石软件有限公司 | Charging base identification method and mobile 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 |
| CN110838144A (en) * | 2018-08-15 | 2020-02-25 | 杭州萤石软件有限公司 | Charging equipment identification method, mobile robot and charging equipment identification system |
| CN110989574A (en) * | 2019-11-08 | 2020-04-10 | 成都图灵时代科技有限公司 | Method for realizing automatic charging of mobile robot |
| CN111277767A (en) * | 2020-02-21 | 2020-06-12 | 北京猎户星空科技有限公司 | Method and device for determining infrared control point, electronic equipment and storage medium |
| CN111630465A (en) * | 2017-11-22 | 2020-09-04 | 轨迹机器人公司 | Docking positioning of robot charger |
| 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 |
| CN111917157A (en) * | 2020-07-28 | 2020-11-10 | 北京恒通智控机器人科技有限公司 | Automatic charging method, system, equipment and storage medium for inspection robot |
| CN112022025A (en) * | 2020-08-14 | 2020-12-04 | 深圳市大象机器人科技有限公司 | Automatic robot back flushing method and system based on visual positioning |
| CN112265463A (en) * | 2020-10-16 | 2021-01-26 | 北京猎户星空科技有限公司 | Control method and device of self-moving equipment, self-moving equipment and 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 |
| CN113534796A (en) * | 2021-07-07 | 2021-10-22 | 安徽淘云科技股份有限公司 | Control method for electric equipment, storage medium and electric equipment |
| CN114156970A (en) * | 2021-11-06 | 2022-03-08 | 中山嘉明电力有限公司 | Autonomous charging method based on quadruped robot |
| WO2022088313A1 (en) * | 2020-10-26 | 2022-05-05 | 苏州科瓴精密机械科技有限公司 | Method and system for robot automatic charging, robot, and storage medium |
| CN114442624A (en) * | 2022-01-21 | 2022-05-06 | 美的集团(上海)有限公司 | Robot recharging control method, device and system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4679152A (en) * | 1985-02-20 | 1987-07-07 | Heath Company | Navigation system and method for a mobile robot |
| US4777416A (en) * | 1986-05-16 | 1988-10-11 | Denning Mobile Robotics, Inc. | Recharge docking system for mobile robot |
| CN105375574A (en) * | 2015-12-01 | 2016-03-02 | 纳恩博（北京）科技有限公司 | Charging system and charging method |
| CN105739501A (en) * | 2016-04-01 | 2016-07-06 | 北京云迹科技有限公司 | Automatic charging method for intelligent robot |
| CN106097341A (en) * | 2016-06-13 | 2016-11-09 | 华讯方舟科技有限公司 | A kind of method and system of robot autonomous charging |
| CN106153059A (en) * | 2016-07-01 | 2016-11-23 | 北京云迹科技有限公司 | The method of view-based access control model mark docking charging device |
-
2016
- 2016-11-30 CN CN201611081721.5A patent/CN106647747B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4679152A (en) * | 1985-02-20 | 1987-07-07 | Heath Company | Navigation system and method for a mobile robot |
| US4777416A (en) * | 1986-05-16 | 1988-10-11 | Denning Mobile Robotics, Inc. | Recharge docking system for mobile robot |
| CN105375574A (en) * | 2015-12-01 | 2016-03-02 | 纳恩博（北京）科技有限公司 | Charging system and charging method |
| CN105739501A (en) * | 2016-04-01 | 2016-07-06 | 北京云迹科技有限公司 | Automatic charging method for intelligent robot |
| CN106097341A (en) * | 2016-06-13 | 2016-11-09 | 华讯方舟科技有限公司 | A kind of method and system of robot autonomous charging |
| CN106153059A (en) * | 2016-07-01 | 2016-11-23 | 北京云迹科技有限公司 | The method of view-based access control model mark docking charging device |
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107577236A (en) * | 2017-09-27 | 2018-01-12 | 上海有个机器人有限公司 | Robot automatic homing charging method, robot, system and storage medium |
| CN111630465A (en) * | 2017-11-22 | 2020-09-04 | 轨迹机器人公司 | Docking positioning of robot charger |
| CN109991969A (en) * | 2017-12-29 | 2019-07-09 | 周秦娜 | A kind of control method and device that the robot based on depth transducer makes a return voyage automatically |
| CN108279667A (en) * | 2018-01-08 | 2018-07-13 | 浙江立石机器人技术有限公司 | Robot charge path planing method, apparatus and system |
| CN110263601A (en) * | 2018-03-12 | 2019-09-20 | 杭州萤石软件有限公司 | A kind of cradle recognition methods and mobile robot |
| WO2019174484A1 (en) * | 2018-03-12 | 2019-09-19 | 杭州萤石软件有限公司 | Charging base identification method and mobile robot |
| CN108733084A (en) * | 2018-03-21 | 2018-11-02 | 北京猎户星空科技有限公司 | Control method, device, robot and the storage medium of revolute |
| WO2019179470A1 (en) * | 2018-03-21 | 2019-09-26 | 北京猎户星空科技有限公司 | Robot rotation control method and apparatus, and robot and storage medium |
| CN108508897A (en) * | 2018-04-20 | 2018-09-07 | 杭州蓝芯科技有限公司 | A kind of robot automatic charging alignment system and method for view-based access control model |
| CN108508897B (en) * | 2018-04-20 | 2021-03-05 | 杭州蓝芯科技有限公司 | Vision-based robot automatic charging alignment system and method |
| CN108646727A (en) * | 2018-05-14 | 2018-10-12 | 珠海市微半导体有限公司 | A kind of vision cradle and its localization method and recharging method |
| CN108818529A (en) * | 2018-06-01 | 2018-11-16 | 重庆锐纳达自动化技术有限公司 | A kind of robot charging pile visual guide method |
| CN109040584A (en) * | 2018-07-27 | 2018-12-18 | 阿里巴巴集团控股有限公司 | A kind of method and apparatus of interaction shooting |
| US11715293B2 (en) | 2018-08-15 | 2023-08-01 | Hangzhou Ezviz Software Co., Ltd. | Methods for identifying charging device, mobile robots and systems for identifying charging device |
| CN110838144A (en) * | 2018-08-15 | 2020-02-25 | 杭州萤石软件有限公司 | Charging equipment identification method, mobile robot and charging equipment identification 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 |
| CN109683605A (en) * | 2018-09-25 | 2019-04-26 | 上海肇观电子科技有限公司 | Robot and its automatic recharging method, system, electronic equipment, storage medium |
| 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 |
| CN109674402A (en) * | 2019-01-04 | 2019-04-26 | 云鲸智能科技（东莞）有限公司 | A kind of information processing method and relevant device |
| CN109674402B (en) * | 2019-01-04 | 2021-09-07 | 云鲸智能科技（东莞）有限公司 | Information processing method and related equipment |
| CN109612469A (en) * | 2019-01-14 | 2019-04-12 | 深圳乐动机器人有限公司 | The method and robot of a kind of robot search recharging base position |
| 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 |
| CN110989574A (en) * | 2019-11-08 | 2020-04-10 | 成都图灵时代科技有限公司 | Method for realizing automatic charging of mobile robot |
| CN111277767A (en) * | 2020-02-21 | 2020-06-12 | 北京猎户星空科技有限公司 | Method and device for determining infrared control point, electronic equipment and storage medium |
| CN111277767B (en) * | 2020-02-21 | 2021-07-20 | 北京猎户星空科技有限公司 | Method and device for determining infrared control point, electronic equipment and storage medium |
| 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 |
| CN111917157A (en) * | 2020-07-28 | 2020-11-10 | 北京恒通智控机器人科技有限公司 | Automatic charging method, system, equipment and storage medium for inspection robot |
| CN112022025A (en) * | 2020-08-14 | 2020-12-04 | 深圳市大象机器人科技有限公司 | Automatic robot back flushing method and system based on visual positioning |
| CN112265463A (en) * | 2020-10-16 | 2021-01-26 | 北京猎户星空科技有限公司 | Control method and device of self-moving equipment, self-moving equipment and medium |
| WO2022088313A1 (en) * | 2020-10-26 | 2022-05-05 | 苏州科瓴精密机械科技有限公司 | Method and system for robot automatic charging, 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 |
| CN113534796A (en) * | 2021-07-07 | 2021-10-22 | 安徽淘云科技股份有限公司 | Control method for electric equipment, storage medium and electric equipment |
| CN114156970A (en) * | 2021-11-06 | 2022-03-08 | 中山嘉明电力有限公司 | Autonomous charging method based on quadruped robot |
| CN114442624A (en) * | 2022-01-21 | 2022-05-06 | 美的集团(上海)有限公司 | Robot recharging control method, device and system |
| CN114442624B (en) * | 2022-01-21 | 2022-12-23 | 美的集团(上海)有限公司 | Robot recharging control method, device and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106647747B (en) | 2019-08-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106647747A (en) | Robot charging method and device | |
| CN108499054B (en) | A kind of vehicle-mounted mechanical arm based on SLAM picks up ball system and its ball picking method | |
| CN106125724A (en) | A kind of method and system of robot autonomous charging | |
| CN106494395B (en) | A kind of automatic parking control method and device based on data fusion | |
| CN109066861A (en) | Intelligent inspection robot charging controller method based on machine vision | |
| CN106097341A (en) | A kind of method and system of robot autonomous charging | |
| CN110246175A (en) | Intelligent Mobile Robot image detecting system and method for the panorama camera in conjunction with holder camera | |
| CN106227216B (en) | Home-services robot towards house old man | |
| CN104578285B (en) | A kind of positioner and method of automatic charging machine people | |
| CN114013307B (en) | Vehicle charging method and device and electronic equipment | |
| CN113124883B (en) | Off-line punctuation method based on 3D panoramic camera | |
| CN104469170B (en) | Binocular camera shooting device, image processing method and device | |
| CN112734765A (en) | Mobile robot positioning method, system and medium based on example segmentation and multi-sensor fusion | |
| US11747833B2 (en) | Method and device for estimating distance to target, and unmanned aerial vehicle | |
| CN110824997A (en) | Intelligent tracking device and method for cable reeling and unreeling vehicle for open-pit mine | |
| CN110378898A (en) | A kind of method, apparatus, storage medium and the equipment of beacon positioning | |
| JP6410231B2 (en) | Alignment apparatus, alignment method, and computer program for alignment | |
| CN101964054A (en) | Friendly track detection system based on visual processing | |
| KR20210070690A (en) | Robotic systems and a returning method of robot for automatic charging | |
| WO2023103145A1 (en) | Head pose truth value acquisition method, apparatus and device, and storage medium | |
| CN113435412B (en) | Cement distribution area detection method based on semantic segmentation | |
| CN113756815B (en) | Equipment position image recognition system | |
| Zhu et al. | Video/GIS registration system based on skyline matching method | |
| CN210821894U (en) | Safety type electric automobile charging connector visual identification and automatic charging system | |
| CN113223077A (en) | Method and device for automatic initial positioning based on vision-assisted laser |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 101500 Beijing City Economic Development Zone, West Road, No. 8 West of the town of Miyun, the town government office building, room 508, -598 Applicant after: Beijing Rubo Technology Co., Ltd. Address before: 101500 Beijing City Economic Development Zone, West Road, No. 8 West of the town of Miyun, the town government office building, room 508, -598 Applicant before: BEIJING INTELLIGENT HOUSEKEEPER TECHNOLOGY CO., LTD. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210820 Address after: 301-112, floor 3, building 2, No. 18, YANGFANGDIAN Road, Haidian District, Beijing 100038 Patentee after: Beijing Rubu Technology Co.,Ltd. Address before: Room 508-598, Xitian Gezhuang Town Government Office Building, No. 8 Xitong Road, Miyun County Economic Development Zone, Beijing 101500 Patentee before: BEIJING ROOBO TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |