JPH07191755A - Connecting method for traveling robot to battery charger - Google Patents
Connecting method for traveling robot to battery chargerInfo
- Publication number
- JPH07191755A JPH07191755A JP5347696A JP34769693A JPH07191755A JP H07191755 A JPH07191755 A JP H07191755A JP 5347696 A JP5347696 A JP 5347696A JP 34769693 A JP34769693 A JP 34769693A JP H07191755 A JPH07191755 A JP H07191755A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- charger
- coordinates
- battery charger
- index
- 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 12
- 238000003384 imaging method Methods 0.000 claims 1
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、移動ロボットを充電器
の位置まで自動的に移動し、充電器に接続する移動ロボ
ットの充電器への接続方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for connecting a mobile robot to a charger, which automatically moves the mobile robot to the position of the charger and connects the charger to the charger.
【０００２】[0002]
【従来の技術】従来の移動ロボットは、一連の処理終了
後に電力供給をする場合、物理的な座標系の基に充電器
の手前の位置まで移動し、操作者が手動で充電器にロボ
ットを接続して充電作業を行っている。2. Description of the Related Art A conventional mobile robot moves to a position in front of a charger based on a physical coordinate system when power is supplied after a series of processes, and an operator manually moves the robot to the charger. I am connecting and charging.
【０００３】[0003]
【発明が解決しようとする課題】従来の前記ロボットの
場合、物理的な座標系を基に移動させているため、移動
中に物理的な座標との座標誤差，角度誤差が必ず生じ、
充電器に自動的に、かつ正確にロボットを接続すること
が困難であるという問題点がある。本発明は、前記の点
に留意し、充電器に自動的に、かつ正確にロボットを接
続する移動ロボットの充電器への接続方法を提供するこ
とを目的とする。In the case of the above-mentioned conventional robot, since it is moved based on the physical coordinate system, a coordinate error and an angle error with the physical coordinate always occur during the movement,
There is a problem that it is difficult to connect the robot to the charger automatically and accurately. The present invention has been made in view of the above points, and an object thereof is to provide a method for connecting a mobile robot to a charger, which automatically and accurately connects the robot to the charger.
【０００４】[0004]
【課題を解決するための手段】前記課題を解決するため
に、本発明の移動ロボットの充電器への接続方法は、充
電器に設置された第１指標と、第１指標の上方の後方に
設置された第２指標と、充電器の正面に着脱自在に接続
され充電される移動ロボットと、ロボットに設けられ両
指標を撮像するテレビカメラとを備え、ロボットが充電
器に接続された状態におけるテレビカメラによる両指標
の画像座標をそれぞれの接続座標とし、ロボットの充電
器の前方位置における両指標の画像座標をそれぞれの位
置座標とし、両接続座標と両位置座標とによりロボット
の充電器への進行角度及び移動量を求め、ロボットの角
度及び位置が充電器への接続可能範囲内にあることを確
認したのち、ロボットを充電器に接続するようにしたも
のである。In order to solve the above-mentioned problems, a method of connecting a mobile robot to a charger according to the present invention includes a first index installed on the charger and a rear part above the first index. In the state where the robot is connected to the charger, it is provided with the installed second index, a mobile robot which is detachably connected to the front of the charger and is charged, and a television camera which is provided on the robot and takes images of both indices. The image coordinates of both indexes by the TV camera are the respective connection coordinates, the image coordinates of both indexes in the front position of the robot charger are the respective position coordinates, and both the connection coordinates and the both position coordinates are used for the robot charger. The robot is connected to the charger after determining the traveling angle and the movement amount and confirming that the angle and the position of the robot are within the connectable range to the charger.
【０００５】[0005]
【作用】前記のように構成された本発明の移動ロボット
の充電器への接続方法は、充電器に第１指標と第２指標
を設置し、移動ロボットのテレビカメラにより、ロボッ
トが充電器に接続された状態において、両指標を撮像
し、その両指標の画像座標をそれぞれの接続座標とし、
さらに、ロボットが充電器の前方位置において、テレビ
カメラによる両指標の画像座標をそれぞれ位置座標と
し、これら両接続座標と両位置座標とにより、ロボット
の充電器への進行角度及び移動量を求め、ロボットの角
度及び位置が充電器への接続可能範囲内であるかを確認
し、確認後、ロボットを充電器に接続するようにしたた
め、簡単な構成でロボットが充電器に自動的に、かつ正
確に接続される。According to the method of connecting the mobile robot to the charger of the present invention configured as described above, the first index and the second index are installed in the charger, and the robot becomes the charger by the TV camera of the mobile robot. In the connected state, both indexes are imaged, and the image coordinates of both indexes are set as the respective connection coordinates,
Further, in the position in front of the charger, the robot uses the image coordinates of both indexes by the TV camera as position coordinates, and the connecting angle and the position coordinates determine the traveling angle and the amount of movement of the robot to the charger. The robot is connected to the charger after confirming that the angle and position of the robot are within the connectable range to the charger, and the robot is automatically and accurately connected to the charger with a simple configuration. Connected to.
【０００６】[0006]
【実施例】１実施例について図１ないし図７を参照して
説明する。それらの図において、１は充電器、２は充電
器１の前面上部に配設された受部、３は基部が充電器１
に固着され，後方に傾斜した立設体、４，５は発光ダイ
オード（以下ＬＥＤという）からなる第１指標，第２指
標であり、立設体３の下部及び上部に配置され、第２指
標５が第１指標４の上方の後方に位置している。６は移
動ロボット、７はロボット６の車輪、８はロボット６の
前面下部に突設され，受部２に着脱自在に接続される接
続部、９はロボット６に立設された支柱、１０は支柱９
の上端部に固着された支持板、１１は支持板１０に装着
されたテレビカメラであり、前方の両指標４，５を撮像
する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment will be described with reference to FIGS. In these figures, 1 is a charger, 2 is a receiving portion arranged on the upper front surface of the charger 1, and 3 is a charger 1 at the base.
A standing body fixed to the rear side and inclined rearward, 4 and 5 are a first index and a second index composed of a light emitting diode (hereinafter, referred to as an LED), which are arranged on the lower part and the upper part of the standing body 3, 5 is located above and behind the first index 4. 6 is a mobile robot, 7 is a wheel of the robot 6, 8 is a connecting portion which is provided on the lower front surface of the robot 6 so as to be detachably connected to the receiving portion 2, 9 is a support column which is erected on the robot 6, and 10 is Prop 9
A support plate fixedly attached to the upper end portion of 11 is a television camera mounted on the support plate 10, and images both front indicators 4 and 5.
【０００７】つぎに動作について説明する。まず、図１
に示すように充電器１にロボット６が接続された状態に
おいて、テレビカメラ１１により両指標４，５を撮像
し、図３に示す画像座標，即ち両指標４，５の中心点の
Ｐ１（Ｘ１，Ｙ１），Ｐ２（Ｘ１，Ｙ２）を求めてお
き、接続座標とする。そして、ロボット６，充電器１間
の距離が１０cmの時と４０cmの時のＸ軸，Ｙ軸のそれぞ
れの倍率を求めておく。Next, the operation will be described. First, Fig. 1
In the state where the robot 6 is connected to the charger 1 as shown in FIG. 3, the television camera 11 captures images of both the indexes 4 and 5, and the image coordinates shown in FIG. 3, that is, P1 (X1 , Y1) and P2 (X1, Y2) are obtained and used as connection coordinates. Then, the respective magnifications of the X axis and the Y axis when the distance between the robot 6 and the charger 1 is 10 cm and 40 cm are obtained.
【０００８】つぎに、ロボット本体６が一連の処理を行
い、その処理の終了後、充電行程に移る場合、図４ない
し図７に示すように、ロボット１を充電器１の約４０cm
手前に停止（Ｓ1 ）させ、テレビカメラ１１により両指
標４，５を撮像し、図６に示す画像座標，ｐ1 （ｘ1 ，
ｙ1 ），ｐ2 （ｘ2 ，ｙ2 ）を抽出し、位置座標とす
る。Next, when the robot main body 6 carries out a series of processes and after the completion of the process to move to the charging process, as shown in FIGS.
The front side is stopped (S 1 ), the television camera 11 captures images of both the indexes 4 and 5, and the image coordinates shown in FIG. 6, p 1 (x 1 ,
y 1 ) and p 2 (x 2 , y 2 ) are extracted and used as position coordinates.
【０００９】つぎに、接続座標Ｐ１（Ｘ１，Ｙ１），Ｐ
２（Ｘ１，Ｙ２）を用いて充電器１への進入角度の誤差
Δσ，進入方向の誤差Δｘ，進入距離Δｙをそれぞれ次
式より求める。ここで、前記１０cmの時の倍率をＢ
ｘ1 ，Ｂｙ1 とし、４０cmの時の倍率をＢｘ2 ，Ｂｙ2
とする。 進入角度の誤差 Δσ＝ｘ1 −ｘ2 ／ｙ1 −ｙ2 進入方向の誤差 Δｘ＝（Ｘ１−ｘ1 ）×Ｂｘ2 進入距離 Δｙ＝（Ｙ１−ｙ1 ）×Ｂｙ2 さらに、Δσを用いて進入角度σを次式より求める。 進入角度 σ＝現在角度＋Δσ（ｘ1 ＞ｘ2 ） σ＝現在角度−Δσ（ｘ1 ＜ｘ2 ）Next, connection coordinates P1 (X1, Y1), P
2 (X1, Y2) is used to calculate the error Δσ in the approach angle to the charger 1, the error Δx in the approach direction, and the approach distance Δy from the following equations. Here, the magnification at the time of 10 cm is B
x 1 and By 1 and the magnification at 40 cm is Bx 2 and By 2
And Error of approach angle Δσ = x 1 −x 2 / y 1 −y 2 Error of approach direction Δx = (X 1 −x 1 ) × Bx 2 Approach distance Δy = (Y 1 −y 1 ) × By 2 Further, Δσ is used. To obtain the approach angle σ from the following equation. Entry angle sigma = current angle + Δσ (x 1> x 2 ) σ = current angle -Δσ (x 1 <x 2)
【００１０】そして、Δσは、ロボット６と充電器１と
の対面角度を表わしており、角度が小さいほどロボット
６は充電器１の真正面に位置している。つぎにΔｘとΔ
ｙは、充電器１にロボット６を接続する時の移動量を表
わしており、接続座標Ｐ１（Ｘ１，Ｙ１）と、第１指標
４の位置座標ｐ1 （ｘ1 ，ｙ1 ）との差を求め、前記倍
率を掛けることにより充電器１までの距離が求まる。σ
は実際にロボット６を走行させる角度を表わしている。Further, Δσ represents the facing angle between the robot 6 and the charger 1, and the smaller the angle, the more the robot 6 is positioned directly in front of the charger 1. Next, Δx and Δ
y represents the amount of movement when the robot 6 is connected to the charger 1, and is the difference between the connection coordinate P1 (X1, Y1) and the position coordinate p 1 (x 1 , y 1 ) of the first index 4. And the distance to the charger 1 can be obtained by multiplying by. σ
Represents the angle at which the robot 6 is actually traveled.
【００１１】そして、Δｘ，Δｙを用いてロボット６の
現在座標を修正した後、ロボット６を現在座標のＸ座標
からΔｘ，Ｙ座標からΔｙを引いた座標を基準にし、進
入角度σで３０cm前進（Ｓ2 ）させて停止させる。即
ち、充電器１の１０cm手前で停止させる。Then, after correcting the current coordinates of the robot 6 by using Δx and Δy, the robot 6 is advanced by 30 cm at an approach angle σ with reference to the coordinates obtained by subtracting Δx from the X coordinate of the current coordinates and Δy from the Y coordinate. (S 2 ) and then stop. That is, it is stopped 10 cm before the charger 1.
【００１２】つぎに、テレビカメラ１１により両指標
４，５を撮像し、位置座標ｐ1 （ｘ1，ｙ1 ），ｐ
2 （ｘ2 ，ｙ2 ）を抽出し、４０cm時の倍率Ｂｘ2 ，Ｂ
ｙ2 を１０cm時の倍率Ｂｘ1 ，Ｂｙ1 に変更し、進入角
度の誤差Δσ，進入方向の誤差Δｘ，進入距離Δｙ，進
入角度σを計算し、ΔσとΔｘとが充電器１に接続可能
な許容範囲であるか否かを判別する（Ｓ3 ）。Next, the television camera 11 picks up images of both the indexes 4 and 5, and the position coordinates p 1 (x 1 , y 1 ) and p
2 (x 2 , y 2 ) is extracted and the magnification at 40 cm is Bx 2 , B
Change y 2 to magnifications Bx 1 and By 1 at 10 cm, calculate approach angle error Δσ, approach direction error Δx, approach distance Δy, approach angle σ, and connect Δσ and Δx to charger 1. It is determined whether or not it is within the allowable range (S 3 ).
【００１３】そして、許容範囲外であれば、ロボット６
を現在地からその姿勢のまま３０cm後退（Ｓ4 ）させ、
ロボット６を充電器１に接続可能な許容範囲になるまで
前記動作を繰り返し、許容範囲内であれば、ロボット１
を現在地からΔｙ直進させ、充電器１に接続（Ｓ5 ）す
る。なお、前記実施例では両指標４，５にＬＥＤを用い
たが、これに限らず、テレビカメラ１１により撮像でき
るものであればよい。If it is outside the allowable range, the robot 6
Retreat from the present position in that position for 30 cm (S 4 ),
The above operation is repeated until the robot 6 can be connected to the charger 1 within the allowable range.
Is moved straight from the current position by Δy and connected to the charger 1 (S 5 ). Although the LEDs are used for both the indicators 4 and 5 in the above-described embodiment, the present invention is not limited to this, and any LED that can be imaged by the television camera 11 may be used.
【００１４】[0014]
【発明の効果】本発明は、以上説明したように構成され
ているため、つぎに記載する効果を奏する。本発明の移
動ロボットの充電器への接続方法は、充電器１に第１指
標４と第２指標５を設置し、移動ロボット６のテレビカ
メラ１１により、ロボット６が充電器１に接続された状
態において、両指標４，５を撮像し、その両指標４，５
の画像座標をそれぞれの接続座標とし、さらに、ロボッ
ト６が充電器１の前方位置において、テレビカメラ１１
による両指標４，５の画像座標をそれぞれ位置座標と
し、これら両接続座標と両位置座標とにより、ロボット
６の充電器１への進行角度及び移動量を求め、ロボット
６の角度及び位置が充電器１への接続可能範囲内である
かを確認し、確認後、ロボット６を充電器１に接続する
ようにしたため、簡単な構成でロボット６を充電器１に
自動的に、かつ正確に接続することができる。Since the present invention is constructed as described above, it has the following effects. According to the method of connecting the mobile robot to the charger of the present invention, the first index 4 and the second index 5 are installed in the charger 1, and the robot 6 is connected to the charger 1 by the television camera 11 of the mobile robot 6. In this state, both indexes 4, 5 are imaged, and both indexes 4, 5 are taken.
Are used as the connection coordinates, and the robot 6 is set in front of the charger 1 at the television camera 11
The image coordinates of both indexes 4 and 5 are defined as position coordinates, and the advancing angle and the amount of movement of the robot 6 to the charger 1 are obtained from these connecting coordinates and both position coordinates, and the angle and position of the robot 6 are charged. The robot 6 is connected to the charger 1 after confirming whether it is within the connectable range to the charger 1, so that the robot 6 is automatically and accurately connected to the charger 1 with a simple configuration. can do.
【図１】本発明の１実施例の充電状態の側面図である。FIG. 1 is a side view of a charging state according to an embodiment of the present invention.
【図２】図１の一部の正面図である。2 is a front view of a part of FIG. 1. FIG.
【図３】図１のテレビカメラの撮像図である。FIG. 3 is an image pickup view of the television camera of FIG.
【図４】図１の他の状態の側面図である。FIG. 4 is a side view of another state of FIG.
【図５】図４の概略平面図である。5 is a schematic plan view of FIG.
【図６】図５のテレビカメラの撮像図である。FIG. 6 is an image pickup view of the television camera of FIG.
【図７】本発明の１実施例のフローチャートである。FIG. 7 is a flowchart of one embodiment of the present invention.
１ 充電器 ４ 第１指標 ５ 第２指標 ６ 移動ロボット １１ テレビカメラ 1 Charger 4 1st index 5 2nd index 6 Mobile robot 11 TV camera
Claims (1)
指標の上方の後方に設置された第２指標と、前記充電器
の正面に着脱自在に接続され充電される移動ロボット
と、該ロボットに設けられ前記両指標を撮像するテレビ
カメラとを備え、前記ロボットが前記充電器に接続され
た状態における前記テレビカメラによる前記両指標の画
像座標をそれぞれの接続座標とし、前記ロボットの前記
充電器の前方位置における前記両指標の画像座標をそれ
ぞれの位置座標とし、前記両接続座標と前記両位置座標
とにより前記ロボットの前記充電器への進行角度及び移
動量を求め、前記ロボットの角度及び位置が前記充電器
への接続可能範囲内にあることを確認したのち、前記ロ
ボットを前記充電器に接続する移動ロボットの充電器へ
の接続方法。1. A first indicator installed in a charger and the first indicator
A second robot installed on the rear side above the index, a mobile robot detachably connected to the front of the charger to be charged, and a television camera provided on the robot for imaging both the indexes, Image coordinates of the two indicators by the television camera in a state where the robot is connected to the charger are respective connection coordinates, and image coordinates of the two indicators at a front position of the charger of the robot are respective position coordinates. The traveling angle and the movement amount of the robot to the charger are obtained from the both connection coordinates and the both position coordinates, and it is confirmed that the angle and the position of the robot are within the connectable range to the charger. After that, a method of connecting the mobile robot to the charger, in which the robot is connected to the charger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5347696A JP2873157B2 (en) | 1993-12-25 | 1993-12-25 | How to connect the mobile robot to the charger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5347696A JP2873157B2 (en) | 1993-12-25 | 1993-12-25 | How to connect the mobile robot to the charger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07191755A true JPH07191755A (en) | 1995-07-28 |
| JP2873157B2 JP2873157B2 (en) | 1999-03-24 |
Family
ID=18391962
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5347696A Expired - Lifetime JP2873157B2 (en) | 1993-12-25 | 1993-12-25 | How to connect the mobile robot to the charger |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2873157B2 (en) |
Cited By (16)
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| JP2000250626A (en) * | 1999-02-25 | 2000-09-14 | Samsung Electronics Co Ltd | Method and device for correcting position of automated guided vehicle |
| JP2001125641A (en) * | 1999-10-29 | 2001-05-11 | Sony Corp | Charging system for moving robot, method for searching for charging station, moving robot, connector, and electric connection structure |
| JP2001325023A (en) * | 2000-05-16 | 2001-11-22 | Matsushita Electric Ind Co Ltd | Mobile working robot |
| FR2823869A1 (en) * | 2001-04-18 | 2002-10-25 | Samsung Kwangju Electronics Co | Floor cleaning robot with electrical battery charger has charge level sensor which when low informs controller which guides robot to external charger using memorized images of charger position |
| KR100437159B1 (en) * | 2001-08-06 | 2004-06-25 | 삼성광주전자 주식회사 | External charging apparatus and robot cleaner system employing and method of rejoining the same |
| KR100437362B1 (en) * | 2001-08-06 | 2004-06-25 | 삼성광주전자 주식회사 | External charging apparatus of robot cleaner and system employing the same |
| KR100468107B1 (en) * | 2002-10-31 | 2005-01-26 | 삼성광주전자 주식회사 | Robot cleaner system having external charging apparatus and method for docking with the same apparatus |
| KR100469960B1 (en) * | 2002-02-18 | 2005-02-02 | (주)로보옵틱스 | A method and apparatus for automatic movement of mobile robot |
| KR100645814B1 (en) * | 2005-06-07 | 2006-11-23 | 엘지전자 주식회사 | Automatic charging return system of moving robot and method for thereof |
| JP2007035031A (en) * | 2005-07-22 | 2007-02-08 | Lg Electronics Inc | Mobile body capable of video recognition, and mobile body guidance system including the same |
| JP2008210403A (en) * | 2008-04-30 | 2008-09-11 | Mitsubishi Heavy Ind Ltd | Method of guidance and control for autonomous moving type robot to specified position |
| WO2009090864A1 (en) * | 2008-01-15 | 2009-07-23 | Honda Motor Co., Ltd. | Robot |
| US8600603B2 (en) | 2008-12-17 | 2013-12-03 | Samsung Electronics Co., Ltd. | Apparatus and method of localization of mobile robot |
| CN105048533A (en) * | 2015-06-26 | 2015-11-11 | 南京衡创天伟无人机技术有限公司 | Small multi-rotor unmanned aerial vehicle automatic charging system |
| JP2016524214A (en) * | 2013-05-10 | 2016-08-12 | ダイソン・テクノロジー・リミテッド | Device for guiding a self-supporting vehicle to a docking station |
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1993
- 1993-12-25 JP JP5347696A patent/JP2873157B2/en not_active Expired - Lifetime
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| JP2000250626A (en) * | 1999-02-25 | 2000-09-14 | Samsung Electronics Co Ltd | Method and device for correcting position of automated guided vehicle |
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| JP2001325023A (en) * | 2000-05-16 | 2001-11-22 | Matsushita Electric Ind Co Ltd | Mobile working robot |
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| NL1020120C2 (en) * | 2001-04-18 | 2004-11-24 | Samsung Kwangju Electronics Co | Robot cleaner, system that uses it and method for reconnecting with external charger. |
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| KR100469960B1 (en) * | 2002-02-18 | 2005-02-02 | (주)로보옵틱스 | A method and apparatus for automatic movement of mobile robot |
| KR100468107B1 (en) * | 2002-10-31 | 2005-01-26 | 삼성광주전자 주식회사 | Robot cleaner system having external charging apparatus and method for docking with the same apparatus |
| KR100645814B1 (en) * | 2005-06-07 | 2006-11-23 | 엘지전자 주식회사 | Automatic charging return system of moving robot and method for thereof |
| JP2007035031A (en) * | 2005-07-22 | 2007-02-08 | Lg Electronics Inc | Mobile body capable of video recognition, and mobile body guidance system including the same |
| WO2009090864A1 (en) * | 2008-01-15 | 2009-07-23 | Honda Motor Co., Ltd. | Robot |
| JP2009166162A (en) * | 2008-01-15 | 2009-07-30 | Honda Motor Co Ltd | Robot |
| US8380348B2 (en) | 2008-01-15 | 2013-02-19 | Honda Motor Co., Ltd. | Robot |
| JP2008210403A (en) * | 2008-04-30 | 2008-09-11 | Mitsubishi Heavy Ind Ltd | Method of guidance and control for autonomous moving type robot to specified position |
| US8600603B2 (en) | 2008-12-17 | 2013-12-03 | Samsung Electronics Co., Ltd. | Apparatus and method of localization of mobile robot |
| JP2016524214A (en) * | 2013-05-10 | 2016-08-12 | ダイソン・テクノロジー・リミテッド | Device for guiding a self-supporting vehicle to a docking station |
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| CN105048533A (en) * | 2015-06-26 | 2015-11-11 | 南京衡创天伟无人机技术有限公司 | Small multi-rotor unmanned aerial vehicle automatic charging system |
| CN105048533B (en) * | 2015-06-26 | 2017-11-24 | 南京衡创天伟无人机技术有限公司 | Small-sized multi-rotor unmanned aerial vehicle automatic charging system |
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