CN107608358A - High-efficiency and low-cost based on outline identification technology recharges system and method automatically - Google Patents
High-efficiency and low-cost based on outline identification technology recharges system and method automatically Download PDFInfo
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- CN107608358A CN107608358A CN201710918417.XA CN201710918417A CN107608358A CN 107608358 A CN107608358 A CN 107608358A CN 201710918417 A CN201710918417 A CN 201710918417A CN 107608358 A CN107608358 A CN 107608358A
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- cradle
- travel mechanism
- reflecting plate
- laser radar
- mobile platform
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Abstract
The present invention discloses a kind of high-efficiency and low-cost based on outline identification technology and recharges system and method automatically, only need to set a characteristic module on cradle, laser radar and travel mechanism are provided with a mobile platform, the light beam of laser radar transmitting reflects when touching barrier, analyzed by each analytic unit in travel mechanism, so as to obtain the contour line of surrounding environment, mobile platform motion is controlled to be cleaned by travel mechanism, simultaneously, whether compare has the related line segment of characteristic module, the position of cradle where judging characteristic module, charged in order to be automatically returned to when needing mobile platform to be charged according to positional information on cradle.Total is simple, and control process method is also simple, and uses laser radar and radar reflection light analytic unit, compared to the influence that infra-red detection is not readily susceptible to dust etc., outline identification technology is used simultaneously, makes travel mechanism shift position more quick, accurately.
Description
Technical field
The present invention relates to Smart Home technical field, more particularly to it is a kind of sweep the floor automatic recharge system and method.
Background technology
Automatically recharge technology to be widely used in sweeping robot and dust catcher, typically can all be equipped with one recharges automatically
Device, the automatic recharging device are also referred to as " recharging seat ".
Automatic recharge of sweeping robot refers to that recharging base constantly sends signal, what the recipient in robot received
Signal, the road of " going home " is eventually found, the charging technique that makes a return voyage has various ways, such as infrared confirming orientation technology, bluetooth positioning skill
Art and radar fix technology etc., 70% type is all to use infrared confirming orientation technology on the market, but this form has a lot
Drawback, although infrared ray positioning precision it is higher, because this light can not penetrate object so that infrared ray be merely able to regarding
Positioned away from the range of, just the infrared ray of TV remote controller is the same, signal is just lost if thing blocks, for sweeping
For floor-washing robot, during sweeping the floor, certain grieshoch is had, and when grieshoch is excessive, dust chip is easily to infrared ray
Receive and produce interference, cause sweeping robot can not find the situation of recharging base.And use and recharge dress made of said structure
Force the electronic hardware, it is necessary to complicated, maintenance cost height.
The content of the invention
For weak point present in above-mentioned technology, it is low that the present invention provides a kind of high efficiency based on outline identification technology
Cost recharges system and method automatically, by simple structure and simple processing mode, using the detection of laser radar, obtains
The contour of object of surrounding, so as to control the mobile route of travel mechanism and judge the position of cradle.
In order to achieve the above object, the present invention discloses a kind of high-efficiency and low-cost based on outline identification technology and recharged automatically
System, including cradle and mobile platform, characteristic module is provided with the cradle, laser is provided with the mobile platform
Radar and travel mechanism, mobile platform leave cradle and swept, finished cleaning, and mobile platform automatically returns to charging seat
Put and charged, be provided with the characteristic module it is a series of have length rule, can reflection laser radar light source reflecting plate
It is interrupted the identification device combined, laser radar sends out countless light beams, and when light beam is beaten when on reflecting plate, light reflects
To mobile platform, travel mechanism receives the reflected light that feedback comes, and judges the position of cradle, automatically returns to cradle position
On, the first charging contact is provided with cradle, and second with the first charging contact pad charging is provided with mobile platform
Charge contact, and when mobile platform is revert on cradle, the first charging contact is connected charging with the second charging contact.
Wherein, point source solving unit described in point source solving unit is provided with the travel mechanism and obtains laser radar transmitting
Light beam touch the distance of point source on object and the angle of the central beam light relative to laser radar transmitting.
Wherein, line extracting unit is provided with the travel mechanism, the line extracting unit is according to point source resolving Algorithm
Several straightways and split point drawn.
Wherein, relation extraction unit is additionally provided with the travel mechanism, the relation extraction unit passes through lines detection
The straight line and split point that unit obtains, calculate the length and slope of every section of straight line, are obtained by straight length and slope rule
Go out the location and shape profile of barrier, while judge the line segment consistent with the reflecting plate arrangement position on characteristic module, so as to
Judge the position of cradle.
Wherein, the length of the reflecting plate is more than the spacing between two neighboring reflecting plate, and reflecting plate and reflecting plate it
Between in straight line set.
Invention additionally discloses a kind of automatic recharging method of the high-efficiency and low-cost based on outline identification technology, including:
Be provided with characteristic module on cradle it is a series of have length rule, can reflection laser radar light source it is anti-
Penetrate the identification device that plate interruption combines；
Laser radar and travel mechanism are set on a mobile platform, laser radar and travel mechanism's connecting communication；
Laser radar sends out countless light beams；
When light beam is beaten when on reflecting plate, light reflexes to mobile platform, and travel mechanism receives the reflected light that feedback comes,
Judge the position of cradle, automatically return to and charged on cradle position.
Wherein, the travel mechanism receive after feedback beam by point source resolving Algorithm obtain point source position coordinates, relative to
The angle of central light beam and the distance of point source.
Wherein, after point source resolving Algorithm draws the coordinate information, angle information and distance of point source, obtained by lines detection method
The straightway being made up of point source, and judge the split point of two adjacent straightways.
Wherein, after obtaining straightway and split point, by relation extraction unit obtain the length of every straightway with
And slope, so as to draw the profile of surrounding environment, and judge whether there is the interval line segment for meeting characteristic module successively, so as to look for
To the position of cradle.
Wherein, the interval between reflecting plate and reflecting plate is less than the length of single reflecting plate, and multiple reflecting plates are linear
Set, the interval information and length information of reflecting plate are stored in travel mechanism.
The beneficial effects of the invention are as follows：
Compared with prior art, the high-efficiency and low-cost disclosed by the invention based on outline identification technology recharges system automatically
And method, it is used primarily on sweeping robot, and mobile platform is the body of sweeping robot, structure of the invention is without complicated
Structure, it is only necessary on cradle set a characteristic module, be provided with laser radar and travel mechanism on a mobile platform,
The light beam of laser radar transmitting reflects when touching barrier, is divided by each analytic unit in travel mechanism
Analysis, so as to obtain the contour line of surrounding environment, mobile platform motion is controlled to be cleaned by travel mechanism, meanwhile, comparison is
The no related line segment for having characteristic module, the position of the cradle where judging characteristic module, in order to need mobile platform to carry out
Automatically returned to according to positional information when charging and charged on cradle.Total is simple, and control process method is also simple
It is single, and laser radar and radar reflection light analytic unit are used, compared to the shadow that infra-red detection is not readily susceptible to dust etc.
Ring, while use outline identification technology, make travel mechanism shift position more quick, accurately.
Brief description of the drawings
Fig. 1 is characteristic module structural representation of the embodiment of the present invention；
Fig. 2 is cradle of the embodiment of the present invention and mobile platform annexation figure；
Fig. 3 is Laser emission route schematic diagram of the embodiment of the present invention；
Fig. 4 is Laser emission point source coordinate schematic diagram of the embodiment of the present invention；
Fig. 5 is split point structural representation of the embodiment of the present invention；
Fig. 6 is the automatic recharging method flow chart of the embodiment of the present invention；
Fig. 7 is charging socket structure schematic diagram of the embodiment of the present invention；
Fig. 8 is mobile platform structural representation of the embodiment of the present invention.
Main element symbol description
1st, cradle 2, mobile platform
11st, characteristic module 21, laser radar
22nd, travel mechanism 111, reflecting plate.
Embodiment
In order to more clearly state the present invention, the present invention is further described below in conjunction with the accompanying drawings.
Refering to Fig. 1-Fig. 3 and Fig. 7 and Fig. 8, the present invention discloses a kind of high-efficiency and low-cost based on outline identification technology
Automatically system, including cradle 1 and mobile platform 2 are recharged, is provided with characteristic module 11 on the cradle 1, the movement is put down
Laser radar 21 and travel mechanism 22 are provided with platform 2, mobile platform 21 leaves cradle 1 and swept, after finished cleaning,
Mobile platform 2 automatically returns to the position of cradle 1 and charged.In the present embodiment, it is provided with one on the characteristic module 11
Series have length rule, can the reflecting plate 111 of reflection laser radar light source be interrupted the identification device that combines, including reflection
Plate 111 and spacer region 112, laser radar 21 send out countless light beams, and when light beam is beaten when on reflecting plate 111, light reflects
To mobile platform 2, travel mechanism 21 on mobile platform 2 receives the reflected light that feedback comes, by the analysis to reflected light,
Judge the outline of straight line line segment of surrounding objects, by prefabricated characteristic module straight-segment profile, judge the position of cradle 1, from
Dynamic return on cradle 1 is charged, and is referred to Fig. 7 and Fig. 8, in the present embodiment, the first charging is provided with cradle 1 and is touched
Piece 12, and the second charging contact 23 that charging is contacted with the first charging contact 12 is provided with mobile platform 2, when mobile platform 2
When reverting on cradle 1, the first charging contact 12 is connected charging with the second charging contact 23.
The detectable surrounding environment of laser radar uses relative to its range information and azimuth information, in the present invention we
Two-dimentional radar as example, by being filtered to the data of two dimension, process of fitting treatment, can obtain in environment in laser thunder
Up to all object informations with straight line strafed on face, when laser radar point source is beaten in feature, deposited in the data returned
Combined with length, slope, combination rule with the straightway of characteristic matching, straight line is extracted by carrying out processing to data
Section, then by combinations of features alignment algorithm, cradle is judged whether, and judge the position of cradle.
Referring to Fig. 6, above-mentioned implementation, specifically, being provided with point source solving unit in travel mechanism 22, straight line carries
Unit and relation extraction unit are taken, point source computation is built-in with point source solving unit, line extracting unit is built-in with straight line
Extraction algorithm, relation extraction unit are built-in with relation extraction algorithm.Being provided with characteristic module on cradle a series of has
Length rule, can reflection laser radar light source the identification device that combines of reflecting plate interruption；
Laser radar 21 and travel mechanism 22 are arranged on mobile platform 2, and laser radar 21 is connected logical with travel mechanism 22
News；
Laser radar 21 sends out countless light beams；
When light beam is beaten when on reflecting plate 111, light reflexes to mobile platform 2, and travel mechanism 22 receives what feedback came
Reflected light, judge the position of cradle 1, automatically return to and charged on cradle position.
Referring to Fig. 4, when travel mechanism 22 has received LIDAR, by point source solving unit to LIDAR
Returning beam is analyzed, and draws the coordinate information, angle information and distance of point source, and concrete mode is：The work of laser radar
Principle is in one plane, to launch a large amount of light beams, and light beam returns after encountering object, and the point that we encounter light beam on object is referred to as
Point source, laser radar can obtain the range information and an angle information relative to laser radar itself of point source,
Plane coordinate system is established as x-axis using the central beam light of laser radar, is apparent from the distance L of point source and the angle relative to this x-axis
θ, the coordinate in this coordinate system of each point source can be obtained accordingly, according to：
X=L*sin (θ)
Y=L*cos (θ)
The coordinate of point source, and distance L can be drawn.
Referring to Fig. 5, after point source resolving Algorithm draws the coordinate information, angle information and distance of point source, pass through lines detection
Method obtains the straightway being made up of point source, and judges the split point of two adjacent straightways.After point source coordinate is calculated, need
Extracting wherein has the point set for forming linear relation, and disintegrating method is a kind of lines detection method, end to end for two
Adjacent straight intersection point of line segments is both split point, and preceding straight line terminates to this point, rear straight line from this point, such as Fig. 5,
A points are straightway ab, ac split point.Maximum in the distance of a points to bc for Δ abc, we judge split point accordingly.
Straight line is formed with subsequent point successively since first point, then by the distance of a little being asked with straight line in head and the tail point range, if
The distance of this straight line is arrived a little all in the range of threshold value is formed, then changes tail point into subsequent point, it is illegal until occurring
Point, it is exactly split point that this point from straight line solstics is then found in all points.Next is searched by starting point of split point directly
Line segment.
In the present embodiment, after obtaining straightway and split point, every straightway is obtained by relation extraction unit
Length and slope, found out by straight length and slope rule in a series of straight lines and meet the straight of the two constraintss
Line segment, so as to draw the profile of surrounding environment, judge whether it matches completely with cradle feature after combining in order, so as to look for
To the position of cradle.
In the present embodiment, the length of the reflecting plate 111 on characteristic module is more than the spacing between two neighboring reflecting plate,
And set between reflecting plate 111 and reflecting plate 111 in straight line, wherein, the interval between reflecting plate and reflecting plate is less than single
The length of individual reflecting plate, and multiple reflecting plates are linearly set, the interval information and length information of reflecting plate are stored in moving machine
In structure, when the profile that travel mechanism 2 detects there are the data as characteristic module 11, judge position that the point source is formed to fill
The position of electric seat 1.
Advantage of the invention is that：
1) structure of the invention is without complicated structure, it is only necessary to a characteristic module is set on cradle, in movement
Laser radar and travel mechanism are provided with platform, the light beam of laser radar transmitting reflects when touching barrier,
Analyzed by each analytic unit in travel mechanism, so as to obtain the contour line of surrounding environment, controlled by travel mechanism
Mobile platform motion is cleaned；
2) whether have the related line segment of characteristic module, the position of the cradle where judging characteristic module if simultaneously, comparing, with
Being easy to needs mobile platform to be automatically returned to when charging according to positional information is charged on cradle；
3) total is simple, and control process method is also simple, and single using laser radar and the analysis of radar reflection light
Member, compared to the influence that infra-red detection is not readily susceptible to dust etc., while outline identification technology is used, move travel mechanism
Position is more quick, accurately；
4) laser radar outline identification is used, the use of sensor is reduced, makes structure simpler, parts are less；
5) identification module is only provided with cradle, it is not necessary to do feedback mechanism, so make structure simpler, also cradle
Extraneous and barrier influence is not readily susceptible to mobile platform communication, control mode is simpler, and movement is more rapidly, accurately.
Disclosed above is only several specific embodiments of the present invention, but the present invention is not limited to this, any ability
What the technical staff in domain can think change should all fall into protection scope of the present invention.
Claims (10)
1. a kind of high-efficiency and low-cost based on outline identification technology recharges system automatically, it is characterised in that including cradle and
Mobile platform, characteristic module is provided with the cradle, laser radar and travel mechanism are provided with the mobile platform, move
Moving platform leaves cradle and swept, finished cleaning, and mobile platform automatically returns to cradle position and charged, the spy
Be provided with sign module it is a series of have length rule, can reflection laser radar light source the identification that combines of reflecting plate interruption
Device, laser radar send out countless light beams, and when light beam is beaten when on reflecting plate, light reflexes to mobile platform, moving machine
Structure receives the reflected light that comes of feedback, judges the position of cradle, automatically returns on cradle position, and the is provided with cradle
One charging contact, and the second charging contact with the first charging contact pad charging is provided with mobile platform, work as mobile platform
When reverting on cradle, the first charging contact is connected charging with the second charging contact.
2. the high-efficiency and low-cost according to claim 1 based on outline identification technology recharges system automatically, its feature exists
In the light beam that point source solving unit acquisition laser radar transmitting described in point source solving unit is provided with the travel mechanism is touched
The angle of the distance of point source on to object and the central beam light launched relative to laser radar.
3. the high-efficiency and low-cost according to claim 2 based on outline identification technology recharges system automatically, its feature exists
In being provided with line extracting unit in the travel mechanism, the line extracting unit draws some according to point source resolving Algorithm
Individual straightway and split point.
4. the high-efficiency and low-cost according to claim 3 based on outline identification technology recharges system automatically, its feature exists
In, relation extraction unit is additionally provided with the travel mechanism, what the relation extraction unit was obtained by line extracting unit
Straight line and split point, calculate the length and slope of every section of straight line, and barrier is drawn by straight length and slope rule
Location and shape profile, while judge the line segment consistent with the reflecting plate arrangement position on characteristic module, so as to judge cradle
Position.
5. the high-efficiency and low-cost according to claim 1 based on outline identification technology recharges system automatically, its feature exists
In the length of the reflecting plate is more than the spacing between two neighboring reflecting plate, and straight in one between reflecting plate and reflecting plate
Line is set.
A kind of 6. automatic recharging method of high-efficiency and low-cost based on outline identification technology, it is characterised in that including:
Be provided with characteristic module on cradle it is a series of have length rule, can reflection laser radar light source reflecting plate
It is interrupted the identification device combined；
Laser radar and travel mechanism are set on a mobile platform, laser radar and travel mechanism's connecting communication；Laser radar to
Countless light beams are sent outside；
When light beam is beaten when on reflecting plate, light reflexes to mobile platform, and travel mechanism receives the reflected light that feedback comes, and judges
The position of cradle, automatically return to and charged on cradle position.
7. the automatic recharging method of the high-efficiency and low-cost according to claim 6 based on outline identification technology, its feature exist
In by the position coordinates of point source resolving Algorithm acquisition point source, relative to central light beam after travel mechanism's reception feedback beam
The distance of angle and point source.
8. the automatic recharging method of the high-efficiency and low-cost according to claim 7 based on outline identification technology, its feature exist
After, point source resolving Algorithm draws the coordinate information, angle information and distance of point source, obtained by lines detection method and be made up of point source
Straightway, and judge the split point of two adjacent straightways.
9. the automatic recharging method of the high-efficiency and low-cost according to claim 8 based on outline identification technology, its feature exist
In, after obtaining straightway and split point, the length and slope of every straightway are obtained by relation extraction method, so as to
Go out the profile of surrounding environment, and judge whether there is the interval line segment for meeting characteristic module successively, so as to find the position of cradle
Put.
10. the automatic recharging method of the high-efficiency and low-cost according to claim 8 based on outline identification technology, its feature exist
In the interval between reflecting plate and reflecting plate is less than the length of single reflecting plate, and multiple reflecting plates are linearly set, reflecting plate
Interval information and length information be stored in travel mechanism.
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| CN201710918417.XA CN107608358A (en) | 2017-09-30 | 2017-09-30 | High-efficiency and low-cost based on outline identification technology recharges system and method automatically |
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| CN108398947A (en) * | 2018-02-09 | 2018-08-14 | 弗徕威智能机器人科技（上海）有限公司 | A kind of cradle recognition methods |
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| CN109656253A (en) * | 2019-01-02 | 2019-04-19 | 浙江孚宝智能科技有限公司 | A kind of robot recharges system and method automatically |
| CN110109450A (en) * | 2019-04-01 | 2019-08-09 | 深圳市女娲机器人科技有限公司 | A kind of automatic recharging method of robot, device and terminal device |
| 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 |
| CN110275547A (en) * | 2018-03-16 | 2019-09-24 | 杭州钱江称重技术有限公司 | A kind of hot-metal bottle tracking alignment system |
| CN110370266A (en) * | 2018-04-13 | 2019-10-25 | 深圳市神州云海智能科技有限公司 | A kind of localization method and robot of robot charging pile |
| CN110389341A (en) * | 2018-04-18 | 2019-10-29 | 深圳市优必选科技有限公司 | Charging pile recognition methods, device, robot and computer readable storage medium |
| JP2019192206A (en) * | 2018-04-27 | 2019-10-31 | 深セン市優必選科技股▲ふん▼有限公司Ｕｂｔｅｃｈ Ｐｏｂｏｔｉｃｓｃｏｒｐ Ｌｔｄ | Charging stand recognition method, apparatus therefor, and robot |
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| CN110928296A (en) * | 2019-10-18 | 2020-03-27 | 深圳市银星智能科技股份有限公司 | Method for avoiding charging seat by robot and robot thereof |
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| CN113031620A (en) * | 2021-03-19 | 2021-06-25 | 成都河狸智能科技有限责任公司 | Robot complex environment positioning method |
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| CN109491382A (en) * | 2018-11-07 | 2019-03-19 | 深圳乐动机器人有限公司 | A kind of robot charging method, device, storage medium and robot |
| CN109491382B (en) * | 2018-11-07 | 2021-09-24 | 深圳乐动机器人有限公司 | Robot charging method and device, storage medium and robot |
| CN109656253A (en) * | 2019-01-02 | 2019-04-19 | 浙江孚宝智能科技有限公司 | A kind of robot recharges system and method automatically |
| CN111481112A (en) * | 2019-01-29 | 2020-08-04 | 北京奇虎科技有限公司 | Recharging alignment method and device of sweeper and sweeper |
| CN110109450A (en) * | 2019-04-01 | 2019-08-09 | 深圳市女娲机器人科技有限公司 | A kind of automatic recharging method of robot, device and terminal device |
| CN110928296A (en) * | 2019-10-18 | 2020-03-27 | 深圳市银星智能科技股份有限公司 | Method for avoiding charging seat by robot and robot thereof |
| CN113031620A (en) * | 2021-03-19 | 2021-06-25 | 成都河狸智能科技有限责任公司 | Robot complex environment positioning method |
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