CN108279667A - Robot charge path planing method, apparatus and system - Google Patents
Robot charge path planing method, apparatus and system Download PDFInfo
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- CN108279667A CN108279667A CN201810015501.5A CN201810015501A CN108279667A CN 108279667 A CN108279667 A CN 108279667A CN 201810015501 A CN201810015501 A CN 201810015501A CN 108279667 A CN108279667 A CN 108279667A
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- robot
- coordinate system
- charging
- world
- charging pile
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0005—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with arrangements to save energy
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
Abstract
The invention discloses robot charge path planing method, apparatus and system, obtain charging house robot local coordinate system and world coordinate system location information, in conjunction with robot local coordinate system pose, obtain robot world coordinate system pose；Charging pile is obtained in the location information of world coordinate system, in the pose of world coordinate system according to two such absolute location information is robot planning charge path in conjunction with robot.The absolute position planning automatic charging path that the present invention is presently according to charging pile and robot, will not be brought by accumulated error in robot driving process is influenced.Preferably, when charging pile more than one, the working condition of charging pile can be first inquired, obtains location information of the charging pile in world coordinate system of idle state, control robot, which drives at idle charging pile, to charge.
Description
Technical field
The present invention relates to Intelligent Mobile Robot, the technical field of intelligent inspection robot more particularly to robots to fill
Power path planing method, apparatus and system.
Background technology
It will appear accumulated error in robot driving process, which influences the positioning accuracy of robot, leads to robot
The case where position deviation is likely to occur when automatic charging can not charge normal.
Invention content
For overcome the deficiencies in the prior art, the purpose of the present invention is to provide robot charge path planing method, dresses
It sets and system, it is intended to solve the problems, such as that accumulated error influence charges normal in the robot driving process of the prior art.
The purpose of the present invention is realized using following technical scheme：
A kind of robot charge path planing method, including：
Charging house local coordinate obtaining step obtains robot and works as using the current coordinate system of robot as local coordinate system
Location information of the preceding collected charging house in local coordinate system；
Charging house world coordinates obtaining step obtains charging house in world coordinates using earth coordinates as world coordinate system
The location information of system；
Robot part pose obtaining step, pose of the acquisition robot in local coordinate system；
Robot world's pose obtaining step, according to robot in the pose of local coordinate system, combined charge room is in part
The location information of coordinate system and world coordinate system, pose (R, T) of the acquisition robot in world coordinate system；Wherein R is that part is sat
To the spin matrix of world coordinate system, T is translation matrix of the local coordinate system to world coordinate system for mark system；
Charging pile world coordinates obtaining step, location information of the acquisition charging pile in world coordinate system；
Charge path planning step, according to robot world coordinate system pose and charging pile in the position of world coordinate system
Confidence ceases, and is robot planning charge path.
On the basis of the above embodiments, it is preferred that when charging pile more than one, the charging pile world coordinates obtains
Step, specially：
Inquire the working condition of charging pile；The working condition includes that work neutralizes the free time；
Obtain location information of the charging pile in world coordinate system of idle state.
On the basis of above-mentioned any embodiment, it is preferred that further include：
Charge control step, according to the charge path planned, control robot, which drives at charging pile, to charge.
On the basis of above-mentioned any embodiment, it is preferred that in the charging house world coordinates obtaining step, charging house exists
The acquisition modes of the location information of world coordinate system obtain for off-line calibration；In the charging pile world coordinates obtaining step, fill
Electric stake is obtained in the acquisition modes of the location information of world coordinate system for off-line calibration.
A kind of robot charge path device for planning, including：
Charging house local coordinate acquisition module, for using the current coordinate system of robot as local coordinate system, obtaining machine
Current location information of the collected charging house in local coordinate system of people；
Charging house world coordinates acquisition module, for using earth coordinates as world coordinate system, obtaining charging house in the world
The location information of coordinate system；
Robot part pose acquisition module, for obtain robot local coordinate system pose；
Robot world's pose acquisition module, for, in the pose of local coordinate system, combined charge room to exist according to robot
The location information of local coordinate system and world coordinate system, pose (R, T) of the acquisition robot in world coordinate system；Wherein R is office
For portion's coordinate system to the spin matrix of world coordinate system, T is translation matrix of the local coordinate system to world coordinate system；
Charging pile world coordinates acquisition module, for obtain charging pile world coordinate system location information；
Charge path planning module, for according to robot world coordinate system pose and charging pile in world coordinate system
Location information, be robot planning charge path.
On the basis of the above embodiments, it is preferred that further include：
Charge control module, for according to the charge path planned, control robot, which drives at charging pile, to be filled
Electricity.
A kind of robot charge path planning system, including：
Robot charge path device for planning in any of the above-described embodiment；
Charging pile, for charging for robot；
Robot charges for being sailed at charging pile in the control downlink of described device.
On the basis of the above embodiments, it is preferred that robot is provided with wireless charging device；Being and not being is arranged in charging pile
The corresponding wireless discharging device of micro USB electric installation；
Robot drives at charging pile, when wireless charging device is less than preset distance at a distance from wireless discharging device
When, robot is charged by wireless charging device at wireless discharging device.
On the basis of the above embodiments, it is preferred that the preset distance is 0.1m.
On the basis of above-mentioned any embodiment, it is preferred that robot is provided with solar charging device.
Compared with prior art, the beneficial effects of the present invention are：
The invention discloses robot charge path planing method, apparatus and systems, obtain charging house in robot part
The location information of coordinate system and world coordinate system obtains robot and is sat in the world in conjunction with robot in the pose of local coordinate system
Mark the pose of system；Obtain charging pile world coordinate system location information, in conjunction with robot world coordinate system pose, according to
Two such absolute location information is robot planning charge path.The present invention is presently according to charging pile and robot
Automatic charging path is planned in absolute position, and will not be brought by accumulated error in robot driving process is influenced.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 shows a kind of flow diagram of robot charge path planing method provided in an embodiment of the present invention；
Fig. 2 shows a kind of structural schematic diagrams of robot charge path device for planning provided in an embodiment of the present invention；
Fig. 3 shows a kind of structural schematic diagram of robot charge path planning system provided in an embodiment of the present invention.
Specific implementation mode
In the following, in conjunction with attached drawing and specific implementation mode, the present invention is described further, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
Specific embodiment one
As shown in Figure 1, an embodiment of the present invention provides a kind of robot charge path planing methods, including：
Charging house local coordinate obtaining step S101 obtains machine using the current coordinate system of robot as local coordinate system
Current location information of the collected charging house in local coordinate system of people；
Charging house world coordinates obtaining step S102 obtains charging house in the world using earth coordinates as world coordinate system
The location information of coordinate system；
Robot part pose obtaining step S103, pose of the acquisition robot in local coordinate system；
Robot world pose obtaining step S104, according to robot in the pose of local coordinate system, combined charge room exists
The location information of local coordinate system and world coordinate system, pose (R, T) of the acquisition robot in world coordinate system；Wherein R is office
For portion's coordinate system to the spin matrix of world coordinate system, T is translation matrix of the local coordinate system to world coordinate system；
Charging pile world coordinates obtaining step S105, location information of the acquisition charging pile in world coordinate system；
Charge path planning step S106, according to robot world coordinate system pose and charging pile in world coordinate system
Location information, be robot planning charge path.
The embodiment of the present invention obtains charging house in the location information of robot local coordinate system and world coordinate system, bonding machine
Device people is in the pose of local coordinate system, pose of the acquisition robot in world coordinate system；Charging pile is obtained in world coordinate system
Location information is filled according to two such absolute location information for robot planning in conjunction with robot in the pose of world coordinate system
Power path.The absolute position planning automatic charging path that the embodiment of the present invention is presently according to charging pile and robot, will not
Being brought by accumulated error in robot driving process is influenced.
Preferably, when charging pile more than one, the charging pile world coordinates obtaining step S105, specially：Inquiry
The working condition of charging pile；The working condition includes that work neutralizes the free time；The charging pile of idle state is obtained in world coordinates
The location information of system.The advantage of doing so is that the charging pile of inquiry idle state, reduction robot are filled in charging pile waiting in advance
The situation of electricity.
Preferably, this method can also include：Charge control step S107, according to the charge path planned, control machine
Device people drives at charging pile and charges.The advantage of doing so is that the charge path control machine that can be planned according to this method
Device people drives at charging pile and charges.
Preferably, in the charging house world coordinates obtaining step S102, location information of the charging house in world coordinate system
Acquisition modes be off-line calibration obtain；In the charging pile world coordinates obtaining step S105, charging pile is in world coordinate system
Location information acquisition modes be off-line calibration obtain.The advantage of doing so is that can first pass through offline mode in advance obtains institute
The data needed improve the planning efficiency of charge path.
In above-mentioned specific embodiment one, robot charge path planing method, corresponding, this Shen are provided
Robot charge path device for planning is please also provided.Since device embodiment is substantially similar to embodiment of the method, so describing
Fairly simple, the relevent part can refer to the partial explaination of embodiments of method.Device embodiment described below is only to illustrate
Property.
Specific embodiment two
As shown in Fig. 2, an embodiment of the present invention provides a kind of robot charge path device for planning, including：
Charging house local coordinate acquisition module 201, for using the current coordinate system of robot as local coordinate system, obtaining machine
Current location information of the collected charging house in local coordinate system of device people；
Charging house world coordinates acquisition module 202, for using earth coordinates as world coordinate system, it is alive to obtain charging house
The location information of boundary's coordinate system；
Robot part pose acquisition module 203, for obtain robot local coordinate system pose；
Robot world's pose acquisition module 204 is used for according to robot in the pose of local coordinate system, combined charge room
In the location information of local coordinate system and world coordinate system, pose (R, T) of the acquisition robot in world coordinate system；Wherein R is
For local coordinate system to the spin matrix of world coordinate system, T is translation matrix of the local coordinate system to world coordinate system；
Charging pile world coordinates acquisition module 205, for obtain charging pile world coordinate system location information；
Charge path planning module 206, for being sat in the world in the pose and charging pile of world coordinate system according to robot
The location information of system is marked, is robot planning charge path.
Preferably, the present apparatus can also include：
Charge control module 207, for according to the charge path planned, control robot to drive at charging pile and carries out
Charging.
The embodiment of the present invention obtains charging house in the location information of robot local coordinate system and world coordinate system, bonding machine
Device people is in the pose of local coordinate system, pose of the acquisition robot in world coordinate system；Charging pile is obtained in world coordinate system
Location information is filled according to two such absolute location information for robot planning in conjunction with robot in the pose of world coordinate system
Power path.The absolute position planning automatic charging path that the embodiment of the present invention is presently according to charging pile and robot, will not
Being brought by accumulated error in robot driving process is influenced.
Specific embodiment three
As shown in figure 3, an embodiment of the present invention provides a kind of robot charge path planning systems, including：
Robot charge path device for planning 301 in specific embodiment two；
Charging pile 302, for charging for robot 303；
Robot 303 charges for being sailed at charging pile 302 in the control downlink of described device 301.
Preferably, robot 303 is provided with wireless charging device；Charging pile 302 is provided with corresponding to wireless charging device
Wireless discharging device；
Robot 303 drives at charging pile 302, makes a reservation for when wireless charging device is less than at a distance from wireless discharging device
Apart from when, robot 303 is charged by wireless charging device at wireless discharging device.
The embodiment of the present invention obtains charging house in the location information of robot local coordinate system and world coordinate system, bonding machine
Device people is in the pose of local coordinate system, pose of the acquisition robot in world coordinate system；Charging pile is obtained in world coordinate system
Location information is filled according to two such absolute location information for robot planning in conjunction with robot in the pose of world coordinate system
Power path.The absolute position planning automatic charging path that the embodiment of the present invention is presently according to charging pile and robot, will not
Being brought by accumulated error in robot driving process is influenced.
The embodiment of the present invention does not limit preset distance, it is preferred that the preset distance can be 0.1m.It does so
Benefit is that user can select the charging for having suitable preset distance according to itself demand to robot charging performance, cost
Stake.
Preferably, robot 303 can be provided with solar charging device.The advantage of doing so is that the sun can be used
This clean energy resource of energy, it is environmentally protective.
The present invention is from using in purpose, and in efficiency, the viewpoints such as progress and novelty are illustrated, the practicality progress having
Property, oneself meets the function that Patent Law emphasized and promotes and use important document, the explanation more than present invention and attached drawing, only of the invention
Preferred embodiment and oneself, the present invention is not limited to this, therefore, it is all constructed with the present invention, device such as waits levying at approximations, the thunder
With, i.e., all according to equivalent replacement or modification etc. made by present patent application range, the patent application that should all belong to the present invention is protected
Within the scope of shield.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.Although present invention has been a degree of descriptions, it will be apparent that, in the item for not departing from the spirit and scope of the present invention
Under part, the appropriate variation of each condition can be carried out.It is appreciated that the present invention is not limited to the embodiments, and it is attributed to right and wants
The range asked comprising the equivalent replacement of each factor.It will be apparent to those skilled in the art that can be as described above
Various other corresponding changes and deformation are made in technical solution and design, and all these change and deformation is all answered
This belongs within the protection domain of the claims in the present invention.
Claims (10)
1. a kind of robot charge path planing method, which is characterized in that including：
Charging house local coordinate obtaining step obtains robot and currently adopts using the current coordinate system of robot as local coordinate system
Location information of the charging house collected in local coordinate system；
Charging house world coordinates obtaining step obtains charging house in world coordinate system using earth coordinates as world coordinate system
Location information；
Robot part pose obtaining step, pose of the acquisition robot in local coordinate system；
Robot world's pose obtaining step, according to robot in the pose of local coordinate system, combined charge room is in local coordinate
The location information of system and world coordinate system, pose (R, T) of the acquisition robot in world coordinate system；Wherein R is local coordinate system
To the spin matrix of world coordinate system, T is translation matrix of the local coordinate system to world coordinate system；
Charging pile world coordinates obtaining step, location information of the acquisition charging pile in world coordinate system；
Charge path planning step is believed in the pose and charging pile of world coordinate system in the position of world coordinate system according to robot
Breath is robot planning charge path.
2. robot charge path planing method according to claim 1, which is characterized in that when charging pile more than one
When, the charging pile world coordinates obtaining step, specially：
Inquire the working condition of charging pile；The working condition includes that work neutralizes the free time；
Obtain location information of the charging pile in world coordinate system of idle state.
3. robot charge path planing method according to claim 1 or 2, which is characterized in that further include：
Charge control step, according to the charge path planned, control robot, which drives at charging pile, to charge.
4. robot charge path planing method according to claim 1 or 2, which is characterized in that the charging house world
In coordinate obtaining step, charging house is obtained in the acquisition modes of the location information of world coordinate system for off-line calibration；The charging
In stake world coordinates obtaining step, charging pile is obtained in the acquisition modes of the location information of world coordinate system for off-line calibration.
5. a kind of robot charge path device for planning, which is characterized in that including：
Charging house local coordinate acquisition module is worked as using the current coordinate system of robot as local coordinate system, obtaining robot
Location information of the preceding collected charging house in local coordinate system；
Charging house world coordinates acquisition module, for using earth coordinates as world coordinate system, obtaining charging house in world coordinates
The location information of system；
Robot part pose acquisition module, for obtain robot local coordinate system pose；
Robot world's pose acquisition module, for, in the pose of local coordinate system, combined charge room to be in part according to robot
The location information of coordinate system and world coordinate system, pose (R, T) of the acquisition robot in world coordinate system；Wherein R is that part is sat
To the spin matrix of world coordinate system, T is translation matrix of the local coordinate system to world coordinate system for mark system；
Charging pile world coordinates acquisition module, for obtain charging pile world coordinate system location information；
Charge path planning module, for according to robot world coordinate system pose and charging pile in the position of world coordinate system
Confidence ceases, and is robot planning charge path.
6. robot charge path device for planning according to claim 5, which is characterized in that further include：
Charge control module, for according to the charge path planned, control robot, which drives at charging pile, to charge.
7. a kind of robot charge path planning system, which is characterized in that including：
Robot charge path device for planning described in claim 5 or 6；
Charging pile, for charging for robot；
Robot charges for being sailed at charging pile in the control downlink of described device.
8. robot charge path planning system according to claim 7, which is characterized in that robot is provided with wireless charging
Electric installation；Charging pile is provided with wireless discharging device corresponding with wireless charging device；
Robot drives at charging pile, when wireless charging device is less than preset distance at a distance from wireless discharging device, machine
Device people is charged by wireless charging device at wireless discharging device.
9. robot charge path planning system according to claim 8, which is characterized in that the preset distance is
0.1m。
10. robot charge path planning system according to claim 7 or 8, which is characterized in that robot is provided with too
Positive energy charging unit.
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| CN201810015501.5A CN108279667A (en) | 2018-01-08 | 2018-01-08 | Robot charge path planing method, apparatus and system |
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| CN201810015501.5A CN108279667A (en) | 2018-01-08 | 2018-01-08 | Robot charge path planing method, apparatus and system |
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| CN109242338A (en) * | 2018-09-28 | 2019-01-18 | 广西电网有限责任公司电力科学研究院 | A kind of Intelligent Mobile Robot trans-regional deployment algorithm under centralized control |
| CN111061270A (en) * | 2019-12-18 | 2020-04-24 | 深圳拓邦股份有限公司 | Comprehensive coverage method and system and operation robot |
| WO2021103065A1 (en) * | 2019-11-29 | 2021-06-03 | 小狗电器互联网科技（北京）股份有限公司 | Charging pile positioning method and apparatus for sweeping robot |
| CN114179664A (en) * | 2021-12-30 | 2022-03-15 | 杭州蓝芯科技有限公司 | AMR (adaptive multi-rate) autonomous charging method, electronic equipment and computer storage medium |
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| CN109242338B (en) * | 2018-09-28 | 2022-06-21 | 广西电网有限责任公司电力科学研究院 | Transformer substation inspection robot cross-region allocation algorithm under centralized control |
| WO2021103065A1 (en) * | 2019-11-29 | 2021-06-03 | 小狗电器互联网科技（北京）股份有限公司 | Charging pile positioning method and apparatus for sweeping robot |
| CN111061270A (en) * | 2019-12-18 | 2020-04-24 | 深圳拓邦股份有限公司 | Comprehensive coverage method and system and operation robot |
| CN111061270B (en) * | 2019-12-18 | 2023-12-29 | 深圳拓邦股份有限公司 | Full coverage method, system and operation robot |
| CN114179664A (en) * | 2021-12-30 | 2022-03-15 | 杭州蓝芯科技有限公司 | AMR (adaptive multi-rate) autonomous charging method, electronic equipment and computer storage medium |
| CN114179664B (en) * | 2021-12-30 | 2024-04-19 | 杭州蓝芯科技有限公司 | AMR autonomous charging method, electronic equipment and computer storage medium |
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Application publication date: 20180713 |