CN106826821A - The method and system that robot auto-returned based on image vision guiding charges - Google Patents
The method and system that robot auto-returned based on image vision guiding charges Download PDFInfo
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- CN106826821A CN106826821A CN201710033873.6A CN201710033873A CN106826821A CN 106826821 A CN106826821 A CN 106826821A CN 201710033873 A CN201710033873 A CN 201710033873A CN 106826821 A CN106826821 A CN 106826821A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to the method and system that a kind of robot auto-returned based on image vision guiding charges, wherein, the system includes：Charging pile and robot；The robot and charging pile wireless connection, robot sends charging instruction to charging pile, charging pile starts infrared light supply and sends infrared signal, robot is searched for by thermal camera, found, the infrared signal of identification charging pile, and moved from trend charging pile by image vision guided robot, complete the charging to robot.The present invention is searched for by the thermal camera of robot, finds the infrared signal that identification charging pile is launched, and judge the position of charging pile, guided robot is moved to charging pile, when reaching apart from 0.5 meter of charging pile, charging pile enables transmitting coding module, robot is fallen into the range of short range infrared signal, and guided robot is walked along Z paths, recharging is rapidly completed, the present invention greatly improves the success rate that robot is docked, and efficiency is greatly promoted.
Description
Technical field
The present invention relates to automatic charging system technical field, more particularly to a kind of robot based on image vision guiding is certainly
It is dynamic to return to the method and system for charging.
Background technology
With continuing to develop for science and technology, robot is progressed into human lives and serves positive effect.Electricity
Source technology is the key technology of robot, is the guarantee for realizing the long-term autonomous work of robot.Because there is capacity in portable power source
Limitation, it is often necessary to which artificial for robot is charged, at present, the main thought for solving the problems, such as robot power supply is independently to return
Electricity is recharged, the most frequently used technological means is to return to cradle based on infrared signal guided robot to carry out docking charging.
Domestic patent CN104626204A discloses a kind of robot autonomous charging docking system and method, the system and side
Method is made up of infrared transmission module, infrared receiving module, motion-control module.Its operation principle is：By by some infrared
Infrared pulse signal is launched at the infrared transmission module interval of the fan-shaped infrared emission array of transmitting tube composition in turn, then by including DSP
The infrared receiving module of control module, collects the infrared pulse signal, and according to the infrared pulse signal is parsed
Robot is currently located region, and motion-control module controls the motor of the robot according to the region of the robot,
The motor drives the robot adjustment direct of travel, makes the robot near charging station.Although the method and system energy
Realize it is robot autonomous recharge electricity, but infrared sensor launch angle is small, transmitting encoded signal distance is short, somewhat have screening
Gear, infrared signal cannot shape completely penetrating, if at this moment using the space prolate of robot, robot is according to zigzag road
Footpath is walked, while walking frontier inspection survey infrared this time of guiding signal just becomes very long, it is more likely that robot occurs cannot be returned
To pedestal, electricity exhausts the stranded situation in the way.
Domestic patent CN104298234A provides a kind of robot autonomous charging method of dual boot formula, and the patent is infrared
The method that the quick orientation direction of ultrasonic wave is added on the basis of encoded signal guiding, it is described to enter infrared hair including guided robot
Penetrate region；The direction of the adjustment robot, until the first infrared remote receiver and the second infrared remote receiver are while receive infrared
Moved ahead after transmission signal；The robot continues adjustment direction, makes the first infrared remote receiver with the second infrared remote receiver while connecing
Receive the docking infrared signal that the docking infrared transmitting tube sends；The robot is using the first ultrasonic wave to managing and the second surpassing
Sound wave measures pipe the minimum distance position of charging station, completes longitudinal register；The first ultrasonic wave of the judgement is to pipe and second
Whether the distance that ultrasonic wave is measured pipe is identical；If it is different, be longitudinal benchmark with current robot course, keep minimum sonar away from
From constant, transverse shifting robot, until untill equal；If identical, robot advances up to complete to charge with charging station.
This method is combined guidance mode using infrared sensor and ultrasonic wave, and the short robot of infrared sensor inherently range will
Infrared signal is searched for blanket type, this has made robot consume many dump energies in itself, using two pairs of ultrasonic waves to pipe
It is to determine whether robot is to face charging by comparing two errors of ultrasonic ranging when quickly being guided again
Stake, but ultrasonic wave is very accurate device, robot ambulation control is bad just to be occurred and always compares apart from unequal feelings
Condition, last robot compares electricity and exhausts the way for being parked in and recharging there repeatedly.
Therefore, prior art needs to improve.
The content of the invention
The invention discloses the method and system that a kind of robot auto-returned based on image vision guiding charges, it is used to
Improve efficiency and auto-returned charging success rate that mobile robot auto-returned charges.
On the one hand, the side that a kind of robot auto-returned based on image vision guiding provided in an embodiment of the present invention charges
Method, including：
The power detecting equipment of robot detects robot power supply electricity less than given threshold, and robot enters charging mould
Formula, and send charging signals to charging pile；
Charging pile is received after the charging signals that robot sends, and the infrared lamp light source module of charging pile starts, infrared
Light source is by the outside radiated infrared optical signal of diffusion mode everywhere, it is ensured that any orientation of charging pile surrounding can have infrared light to believe
Number, the infrared signal of the infrared light supply transmitting includes remote infrared signal and short range infrared signal, and the infrared light supply is
The waveband infrared sources of 940nm；
The remote infrared signal that robot is searched for by thermal camera, finds and recognize charging pile, the robot exists
The rotation of 360 degree of original place, gradually catches intensity, the quality of remote infrared signal, is drawn using image vision by infrared pick-up machine
Guiding method, search, discovery remote infrared signal, and recognize remote infrared signal, judge the position of infrared light supply；
To charging pile automatically walk, and near charging pile, robot reaches distance and fills remote infrared signal guided robot
Stop at 0.5 meter of electric stake, robot sends closing remote infrared signal instruction to charging pile, and the position that robot stops is by infrared
Light video camera is judged using image vision bootstrap technique；
Charging pile is received after the closing remote infrared signal instruction that robot sends, and closes remote infrared signal, together
Shi Qiyong launches coding module, and robot enters the short range infrared signal of charging pile under the guiding of charging pile transmitting coding module
Region, and walked along Z paths, it is rapidly completed recharging.
In another reality for the method charged based on the above-mentioned robot auto-returned based on image vision guiding of the present invention
Apply in example, the robot is included by thermal camera search, the remote infrared signal for finding and recognizing charging pile：
Robot receives beginning detection image order, and starts infrared camera scan image, and the thermal camera is adopted
It is 940nm wave band infrared signal images to integrate image；
Thermal camera is opened environment and is judged, carries out scene analysis, by calculating the brightness histogram information of image, calculates
The weighted mean of brightness of image, judges that robot is presently in environmental condition；
Judge the weighted mean for calculating brightness of image whether less than preset reference value；
If weighted mean is more than preset reference value, robot local environment does not reach testing conditions, robot original place
Rotation direction, proceeds environment judgement, until electricity exhausts；
If weighted mean is less than preset reference value, the image to infrared camera scan carries out Dynamic Binarization, carries
Take infrared light spot；
Floor projection is carried out to infrared light spot, burr interference is eliminated and is obtained rectangle；
CANNY conversion is carried out to rectangle and obtains rectangular profile；
The rectangular profile that conversion is obtained is searched, judges whether to find multiple rectangular profiles；
If it find that multiple rectangular profiles, then robot does not find charging pile, robot original place rotation direction, continue into
Row environment judges, until electricity exhausts；
If it find that a rectangular profile, illustrates that robot finds charging pile, it is necessary to be identified, in calculating rectangular profile
Heart coordinate, robot sends chassis control order, controls revolute, until centre coordinate is in the image of camera acquisition
It is middle.
In another reality for the method charged based on the above-mentioned robot auto-returned based on image vision guiding of the present invention
Apply in example, the Dynamic Binarization is：
Note display foreground is t with the segmentation threshold of background, and prospect points account for image scaled for w0, average gray is u0；Background
Points account for image scaled for w1, average gray is u1, then the overall average gray scale of image be：
U=w0*u0+w1*u1；
T is traveled through from minimum gradation value to maximum gradation value, when the value of t meets following condition：
G=w0*(u0-u)2+w1*(u1-u)2When maximum, t is the optimal threshold of segmentation.
In another reality for the method charged based on the above-mentioned robot auto-returned based on image vision guiding of the present invention
In applying example, it is described CANNY conversion carried out to rectangle obtain rectangular profile be：
Dual threashold value-based algorithm detection is carried out to rectangle, note high threshold is Hth, Low threshold is Lth, the high threshold HthSelection
Chosen by the corresponding histogram of the image gradient value for calculating；
The ratio accounted in total figure is as pixel number that non-edge is counted out is expressed as Hratio, according to image gradient value pair
The histogram answered adds up, when accumulated amount reaches total pixel number purpose HratioWhen, then corresponding image gradient value is Hth；
Low threshold LthSelection pass through Lth=Lratio*HthObtain；
It is attached by the mark and Domain relation to marginal point and obtains last edge detection graph.
In another reality for the method charged based on the above-mentioned robot auto-returned based on image vision guiding of the present invention
Apply in example, the remote infrared signal guided robot reaches charging pile 0.5 to charging pile automatically walk, and near charging pile
Stopping includes at rice：
Robot detects oneself state, and the robot oneself state includes：Pose that robot is presently in, calculate and work as
The distance and bearing angle of preceding pose and robot reference's world coordinate system origin；
Robot, to charging pile straight line moving, is close to charging pile according to the guiding of remote infrared signal；
The distance of thermal camera real-time detection robot and charging pile, and the near of charging pile is searched for by infrared sensor
Journey infrared signal；
When reaching at 0.5 meter of infrared light supply, infrared sensor senses the short range infrared signal of charging pile, and robot stops
Only, and send close remote infrared signal instruction；
The remote infrared signal-off of charging pile, while starting transmitting coding module, sends short range infrared signal and guides machine
Device people advances.
The system that a kind of robot auto-returned based on image vision guiding that the embodiment of the present invention is also provided charges, bag
Include：Charging pile and robot；
The robot and charging pile wireless connection, the robot wirelessly send charging and refer to charging pile
Order, charging pile starts infrared light supply and sends infrared signal, and robot is searched for by thermal camera, finds, recognizes charging pile
Infrared signal, and moved from trend charging pile by image vision guided robot, complete the charging to robot.
In another reality for the system charged based on the above-mentioned robot auto-returned based on image vision guiding of the present invention
Apply in example, the charging pile includes：Charging pile processor module, infrared lamp light source module, transmitting coding module, charging pile communication
Module；
The charging pile processor module is used to receive the instruction of charging pile communication module forwarding, control transmitting coding module
With the work of infrared lamp light source module；
The infrared lamp light source module launches infrared light under the control of charging pile processor module, and by infrared guldance
Robot；
The transmitting coding module is connected with charging pile processor module, by the infrared emission to infrared lamp light source module
Pipe is encoded, and coded excitation is gone out by infrared optical carrier, is realized to robot control, and guided robot is transported
It is dynamic；
The charging pile communication module is connected with charging pile processor module, described to fill for being communicated with robot
Electric stake communication module is ZigBee communication module；
The charging pile processor module and the infrared lamp light source module, transmitting coding module, charging pile communication module
Connection.
In another reality for the system charged based on the above-mentioned robot auto-returned based on image vision guiding of the present invention
Apply in example, the infrared lamp light source module includes infrared lamp, the infrared lamp is a 60mm high, diameter 50mm cylinders, bag
Include：LED infrared tubes, speculum, convex lens；
The convex lens are located at the cylindrical structural top of infrared light supply, and the LED infrared tubes include：First LED is infrared
Pipe, the 2nd LED infrared tubes, the 3rd LED infrared tubes, the 4th LED infrared tubes, the LED infrared tubes transmitting infrared signal include
Short range infrared signal and remote infrared signal；
The LED infrared tubes are 4 LED infrared tubes of 940nm wave bands, to be spaced 20 millimeters of 2 × 2 cells arranged in matrix
In cylindrical structural bottom, LED infrared tubes light irradiate upwards, and the speculum is located at cylindrical structural top, when LED is infrared
The infrared light that pipe is launched is scattered and by top convex lens by after the reflection of speculum, infrared light outwards dissipates injection.
Be encoded to for LED infrared tubes by the transmitting coding module：It is infrared that first LED infrared tubes are encoded to 0x01, the 2nd LED
Pipe is encoded to 0x02, the 3rd LED infrared tubes and is encoded to 0x03, and the transmitting coding module is to a LED infrared tubes, the 2nd LED
The infrared signal launched after infrared tube, the 3rd LED infrared tubes coding is short range infrared signal, and the transmitting coding module will be encoded
Information is sent to charging pile processor module, and is docked with the short range infrared sensor of robot.
In another reality for the system charged based on the above-mentioned robot auto-returned based on image vision guiding of the present invention
Apply in example, the robot includes：Robot control module, receive coding module, picture recognition module, travelling control module,
Robot communication module；
The robot control module is the infrared signal for controlling robot searches, discovery, identification charging pile to send, control
Image recognition to infrared signal, control robot ambulation and the center communicated with control charging pile, the robot control mould
Block includes MT6735M process chips；
The reception coding module be used for robot apart from 0.5 meter of charging pile apart from when, receive the coding letter of charging pile
Breath, and coding information is decoded, identification information content；
The reception coding module includes that the first infrared receiver sensor, the second infrared receiver sensor, the 3rd infrared connect
Sensor is received, the first infrared receiver sensor, the second infrared receiver sensor, the 3rd infrared receiver sensor are arranged on machine
It is spaced 45 degree between the front of device people bottom, it is the first infrared receiver sensor, the second infrared receiver sensor, the 3rd red
The short range infrared signal that the outer infrared light supply for receiving the reference numeral that sensor receives charging pile respectively is launched, described first is infrared
Sensor, the second infrared receiver sensor, the short range infrared signal of the 3rd infrared receiver sensor reception is received to send to machine
People's control module is decoded；
Described image identification module obtains image by thermal camera, and judges that current environment starts picture recognition module
Algorithm, driven machine people rotates in place the remote infrared signal that search charging pile sends；
The travelling control module is used to control the track route and walking states of robot, the travelling control module bag
Include motor drive module and robot searches charging station algoritic module；
The robot communication module is used for the communication of robot and charging pile, and the robot communication module is ZigBee
Communication module；
The robot control module is connected with coding module, picture recognition module, travelling control module is received, the machine
Device people communication module is connected with travelling control module.
In another reality for the system charged based on the above-mentioned robot auto-returned based on image vision guiding of the present invention
Apply in example, described image identification module is thermal camera, including：Narrow band pass filter, camera lens, COMS imageing sensors；
The narrow band pass filter is used to will be seen that light is filtered completely that the infrared light for only allowing centre frequency to be 940nm to pass through,
So as to be the infrared optical transport of 940nm to camera lens by centre frequency；
The focal length of the camera lens is 6mm, it is ensured that camera lens finds the infrared light above charging pile first within 6 meters；
The cmos image sensor is used to receive the infrared light of camera lens transmission.
Compared with prior art, the present invention includes advantages below：
The method and system that robot auto-returned based on image vision guiding of the invention charges, by robot
Thermal camera search, the infrared signal of identification charging pile transmitting is found, and judge the position of charging pile, guided robot is to filling
Electric stake campaign, when reaching apart from 0.5 meter of charging pile, robot stop motion, charging pile enables transmitting coding module, and transmitting is near
Journey infrared signal, makes robot fall into the range of short range infrared signal, and guided robot is walked along Z paths, is rapidly completed certainly
Main charging, the method for the present invention and system cause that the deployment of charging pile is more prone to, it is only necessary to which charging pile is placed on into corner or side
Edge position, it is possible to which guided robot is docked and charged, image vision control robot proposed by the present invention charges, this
So that robot uses the success rate of simpler convenience, robot docking to greatly improve, and efficiency can also be greatly promoted.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used in technology description to do one simply to introduce.
Fig. 1 is the one embodiment for the system that the robot auto-returned based on image vision guiding of the invention charges
Structural representation；
Fig. 2 is the one embodiment for the method that the robot auto-returned based on image vision guiding of the invention charges
Flow chart；
Fig. 3 is another embodiment for the method that the robot auto-returned based on image vision guiding of the invention charges
Flow chart；
Fig. 4 is the further embodiment of the method that the robot auto-returned based on image vision guiding of the invention charges
Flow chart.
In figure：1 charging pile, 11 charging pile processor modules, 12 infrared lamp light source modules, 13 transmitting coding modules, 14 are filled
Electric stake communication module, 2 robots, 21 robot control modules, 22 receive coding module, 23 picture recognition modules, 24 walking controls
Molding block, 25 robot communication modules.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
Only it is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Fig. 1 is the one embodiment for the system that the robot auto-returned based on image vision guiding of the invention charges
Structural representation, as shown in figure 1, the system that the robot auto-returned based on image vision guiding charges includes：Charge
Stake 1 and robot 2；
The robot 1 and the wireless connection of charging pile 2, the robot 2 wirelessly send charging to charging pile 1
Instruction, charging pile 1 starts infrared light supply and sends infrared signal, and robot 2 is searched for by thermal camera, found, identification is charged
The infrared signal of stake 1, and moved from trend charging pile 1 by image vision guided robot 2, complete the charging to robot 2.
The charging pile 1 includes：Charging pile processor module 11, infrared lamp light source module 12, transmitting coding module 13, fill
Electric stake communication module 14；
The charging pile processor module 11 is used to receive the instruction of the forwarding of charging pile communication module 14, control transmitting coding
The work of module 13 and infrared lamp light source module 12；
The infrared lamp light source module 12 launches infrared light under the control of charging pile processor module 11, and by infrared light
Guided robot 2；
The transmitting coding module 13 is connected with charging pile processor module 11, by the red of infrared lamp light source module 12
Emission pipe is encoded, and coded excitation is gone out by infrared optical carrier, and realization is controlled robot 2, and is guided
Robot 2 is moved；
The charging pile communication module 14 is connected with charging pile processor module 11, for being communicated with robot 2；
The charging pile processor module 11 leads to the infrared lamp light source module 12, transmitting coding module 13, charging pile
News module 14 is connected.
Usually infrared lamp light source module 12 does not work, and when 2 electricity as little as given threshold of robot, robot 2 enters
Charge mode, robot 2 will send unlatching infrared lamp light source module 12 and instruct to charging pile processor module 11.
The infrared lamp light source module 12 include infrared lamp, the infrared lamp be a 60mm high, diameter 50mm cylinders,
Including：LED infrared tubes, speculum, convex lens；
The convex lens are located at the cylindrical structural top of infrared light supply, and the LED infrared tubes include：First LED is infrared
Pipe, the 2nd LED infrared tubes, the 3rd LED infrared tubes, the 4th LED infrared tubes, the LED infrared tubes transmitting infrared signal include
Short range infrared signal and remote infrared signal；
The LED infrared tubes are 4 LED infrared tubes of 940nm wave bands, to be spaced 20 millimeters of 2 × 2 cells arranged in matrix
In cylindrical structural bottom, LED infrared tubes light irradiate upwards, and the speculum is located at cylindrical structural top, when LED is infrared
The infrared light that pipe is launched is scattered and by top convex lens by after the reflection of speculum, infrared light outwards dissipates injection.
The irradiating angle of the LED infrared tubes be 30 degree, more than 10 years life-span, LED infrared tubes work time-frequency spectral migration it is small
In 1%, i.e. 940nm ± 10nm.
The speculum is aluminum reflector, is manufactured using ion beam deposition mode, and its surface roughness is less than Ra0.1nm
Low scattered substrate requirement is reached, determining reflectivity using CR (Cavity Ring-Down) method is up to 99.999%, when LED infrared tubes
When the light launched reflects by top convex lens, infrared light to all the winds dissipates, in the absence of infrared ray dead angle.
The transmitting coding module 13 excites LED infrared tubes to send by charging pile processor module 11 and amplifying circuit
The infrared signal of 38KHz, the transmitting coding module 13 sets a volume to each LED infrared tube of infrared lamp light source module 12
Be encoded to for LED infrared tubes by code, the transmitting coding module 13：First LED infrared tubes are encoded to 0x01, the 2nd LED infrared tubes
It is encoded to 0x02, the 3rd LED infrared tubes and is encoded to 0x03, is then encoded according to certain regular programming realization, by 38KHz's
Carrier signal launches coding information, transmitting coding module 13 pair the LED infrared tubes, the 2nd LED infrared tubes, the
The infrared signal launched after three LED infrared tubes coding is short range infrared signal, and the transmitting coding module 13 sends out coding information
Charging pile processor module 11 is delivered to, and is docked with the short range infrared sensor of robot 2.
The charging pile communication module 14 is ZigBee communication module.ZigBee communication be it is a kind of closely, low complex degree,
Low-power consumption, low rate, the bidirectional wireless communication technology of low cost, are mainly used in apart from short, low in energy consumption and transmission rate is not high
Carry out data transmission between various electronic equipments and typically have periodic data, intermittent data and low reaction time data
The application of transmission.
The robot 2 includes：Robot control module 21, reception coding module 22, picture recognition module 23, walking control
Molding block 24, robot communication module 25；
The robot control module 21 is that control robot 2 is searched for, found, recognizing the infrared signal that charging pile 1 sends,
Control the image recognition to infrared signal, the center that control robot 2 walks and communicated with control charging pile 1；
The reception coding module 22 be used for robot 2 apart from 0.5 meter of charging pile apart from when, receive the volume of charging pile 1
Code information, and coding information is decoded, identification information content；
Described image identification module 23 obtains image by thermal camera, and judges that current environment starts image recognition mould
Block algorithm, driven machine people 2 rotates in place the remote infrared signal that search charging pile 1 sends；
The travelling control module 24 is used to control the track route and walking states of robot 2；
The robot communication module 25 is used for the communication of robot 2 and charging pile 1；
The robot control module 21 connects with coding module 22, picture recognition module 23, travelling control module 24 is received
Connect, the robot communication module 25 is connected with travelling control module 24.
The robot control module 21 includes MT6735M process chips.The CPU part of MT6735M process chips is used
The four Cortex-A53 architecture designs of core 64, dominant frequency 1.3-1.5GHz；GPU parts are integrated with the positioning low and middle-end from ARM
Product Mali-T720, at most can integrated 8 cores, L2 cache 64-256KB, under 28nm HPM techniques, its most high frequency
Rate is 695MHz, most outputs per second 6.95 hundred million triangles, 5,600,000,000 pixels.
The reception coding module 22 includes the first infrared receiver sensor, the second infrared receiver sensor, the 3rd infrared
Sensor is received, the first infrared receiver sensor, the second infrared receiver sensor, the 3rd infrared receiver sensor are arranged on
45 degree, the first infrared receiver sensor, the second infrared receiver sensor, the are spaced between the front of the bottom of robot 2
Three infrared receiver sensors receive the short range infrared signal of the infrared light supply transmitting of the reference numeral of charging pile 1 respectively；
It is near that the first infrared receiver sensor, the second infrared receiver sensor, the 3rd infrared receiver sensor are received
Journey infrared signal sends to robot control module 21 and is decoded.
Described image identification module, when remote needs are returned and charged, starts picture recognition module and calculates at robot 2
Method judges current environment, rotates in place the 940nm infrared signals that the search charging pile 1 of robot 2 sends, and robot 2 passes through machine
Device people control module 21 records the direction for itself currently being faced, and the direction that picture recognition module 23 is aligned is exactly court of robot
To.
Described image identification module 23 is thermal camera, including：Narrow band pass filter, camera lens, COMS imageing sensors；
The narrow band pass filter is used to will be seen that light is filtered completely that the infrared light for only allowing centre frequency to be 940nm to pass through,
So as to be the infrared optical transport of 940nm to camera lens by centre frequency；
The focal length of the camera lens is 6mm, it is ensured that camera lens finds the infrared light above charging pile 1 first within 6 meters；
The cmos image sensor is used to receive the infrared light of camera lens transmission.
The travelling control module 24 includes motor drive module and robot searches charging station algoritic module；
The motor drive module is instructed for receiving robot control module 21, and driven machine people 2 is according to command request
Motion, motor drive module is driven by GPIO mouthfuls and driving IC of robot control module 21, by motor drive module
Drive GPIO mouthfuls and be configured to PWM mode.
The robot searches charging station algoritic module is calculated by receiving the infrared signal of charging pile 1 using long-range search
Method, short range infrared reconnaissance algorithm, short range fine setting searching algorithm are processed the motion of robot 2.
The robot communication module 25 is ZigBee communication module.
Fig. 2 is the one embodiment for the method that the robot auto-returned based on image vision guiding of the invention charges
Flow chart, as shown in Fig. 2 the method that the robot auto-returned based on image vision guiding charges includes：
100, the power detecting equipment of robot 2 detects the electric quantity of power supply of robot 2 less than given threshold, and robot 2 enters
Enter charge mode, and charging signals are sent to charging pile 1；
200, charging pile 1 is received after the charging signals that robot 2 sends, the infrared lamp light source module 12 of charging pile 1
Start, infrared light supply is by the outside radiated infrared optical signal of diffusion mode everywhere, it is ensured that any orientation of the surrounding of charging pile 1 can
The infrared signal for having infrared signal, the infrared light supply transmitting includes remote infrared signal and short range infrared signal；
300, the remote infrared signal that robot 2 is searched for by thermal camera, finds and recognize charging pile 1, the machine
2 in situ 360 degree of rotations of device people, gradually catch intensity, the quality of remote infrared signal, and image is used by infrared pick-up machine
Visual guide method, search, discovery remote infrared signal, and recognize remote infrared signal, judge the position of infrared light supply；
400, to the automatically walk of charging pile 1, and near charging pile 1, robot 2 is arrived remote infrared signal guided robot 2
Stop up at 0.5 meter of charging pile, robot 2 sends closing remote infrared signal instruction to charging pile 1, robot 2 stops
Position by infrared pick-up machine using image vision bootstrap technique judge；
500, charging pile 1 is received after the closing remote infrared signal instruction that robot 2 sends, and closes remote infrared letter
Number, while enabling transmitting coding module 13, robot enters the near of charging pile under the guiding of the transmitting coding module 13 of charging pile 1
Journey infrared signal region, and walked along Z paths, it is rapidly completed recharging.
The infrared light supply is the waveband infrared sources of 940nm, and the infrared light supply is cylindrical structure, including：LED is infrared
Pipe, speculum, convex lens；
The convex lens are located at the cylindrical structural top of infrared light supply, and the LED infrared tubes are 4 940nm wave bands
LED infrared tubes, be spaced 20 millimeters 2 × 2 cells arranged in matrix in cylindrical structural bottom, LED infrared tubes upwards light shine
Penetrate, the speculum is located at cylindrical structural top, when the infrared light that LED infrared tubes are launched is scattered simultaneously by top convex lens
By after the reflection of speculum, infrared light outwards dissipates injection.The speculum is aluminum reflector, using ion beam deposition side
Formula is manufactured, and its surface roughness reaches low scattered substrate requirement less than Ra0.1nm, is determined using CR (Cavity Ring-Down) method
Reflectivity is up to 99.999%, and when the light that LED infrared tubes are launched reflects by top convex lens, infrared light is to all the winds
Diverging, in the absence of infrared ray dead angle.
Fig. 3 is another embodiment for the method that the robot auto-returned based on image vision guiding of the invention charges
Flow chart, as shown in figure 3, the robot 2 searched for by thermal camera, the remote infrared that finds and recognize charging pile 1
Signal includes：
301, robot 2 receives beginning detection image order, and starts infrared camera scan image, the infrared photography
Machine collection image is 940nm wave band infrared signal images；
302, thermal camera is opened environment and is judged, carries out scene analysis, by calculating the brightness histogram information of image,
The weighted mean of brightness of image is calculated, weighted mean is compared with preset reference value, judge that robot 2 is presently in environment bar
Part；
303, judge to calculate the weighted mean of brightness of image whether less than preset reference value；
304, if weighted mean is more than preset reference value, the local environment of robot 2 does not reach testing conditions, robot
2 original place rotation directions, proceed environment judgement, until electricity exhausts；
305, if weighted mean is less than preset reference value, the image to infrared camera scan enters Mobile state two-value
Change, extract infrared light spot；
306, floor projection is carried out to infrared light spot, eliminate burr interference and obtain rectangle；
307, CANNY conversion is carried out to rectangle and obtains rectangular profile；
308, the rectangular profile that conversion is obtained is searched, judge whether to find multiple rectangular profiles；
310, if it find that a rectangular profile, illustrates that robot 2 finds charging pile 1, it is necessary to be identified, calculate rectangle
Profile centre coordinate, robot 2 sends chassis control order, and control robot 2 is rotated, until centre coordinate is adopted in video camera
In the middle of the image of collection.
304, if it find that multiple rectangular profile, then robot 2 does not find charging pile 1, original place rotation side of robot 2
To, proceed environment judgement, until electricity exhausts；
The weighted mean of histogram luminance existence is that the histogram of original graph is transformed to equally distributed form, is so increased by
The dynamic range of pixel gray value, so as to reach the effect of enhancing image overall contrast.
If gray scale of the original image at (x, y) place is f, and the image after changing is g, then the method to image enhaucament can table
It is that the gray scale f at (x, y) place is mapped as into g to state, and the mapping function to image in the treatment of grey level histogram weighted mean can be determined
Justice is：G=EQ (f).
Dynamic Binarization is carried out in the above-mentioned image to infrared camera scan, in extraction infrared light spot, the dynamic two
Value is：
Note display foreground is t with the segmentation threshold of background, and prospect points account for image scaled for w0, average gray is u0；Background
Points account for image scaled for w1, average gray is u1, then the overall average gray scale of image be：
U=w0*u0+w1*u1；
T is traveled through from minimum gradation value to maximum gradation value, when the value of t meets following condition：
G=w0*(u0-u)2+w1*(u1-u)2When maximum, t is the optimal threshold of segmentation.
It is described CANNY conversion is carried out to rectangle to obtain rectangular profile and be：
Dual threashold value-based algorithm detection is carried out to rectangle, note high threshold is Hth, Low threshold is Lth, the high threshold HthSelection
Chosen by the corresponding histogram of the image gradient value for calculating；
The ratio accounted in total figure is as pixel number that non-edge is counted out is expressed as Hratio, according to image gradient value pair
The histogram answered adds up, when accumulated amount reaches total pixel number purpose HratioWhen, then corresponding image gradient value is Hth；
Low threshold LthSelection pass through Lth=Lratio*HthObtain；
It is attached by the mark and Domain relation to marginal point and obtains last edge detection graph.
Fig. 4 is the further embodiment of the method that the robot auto-returned based on image vision guiding of the invention charges
Flow chart, as shown in figure 4, the remote infrared signal guided robot 2 is to the automatically walk of charging pile 1, and near charging pile
1, reaching stopping at 0.5 meter of charging pile includes：
401, the detection oneself state of robot 2, the oneself state of the robot 2 includes：The position that robot 2 is presently in
Appearance, the distance and bearing angle for calculating current pose and the reference world coordinate system origin of robot 2；
402, robot 2, to the straight line moving of charging pile 1, is close to charging pile 1 according to the guiding of remote infrared signal；
403, the distance of thermal camera real-time detection robot 2 and charging pile 1, and searched for by infrared sensor and charge
The short range infrared signal of stake 1；
404, when reaching at 0.5 meter of infrared light supply, infrared sensor senses the short range infrared signal of charging pile 1, machine
Device people 2 stops, and sends the instruction for closing remote infrared signal；
405, the remote infrared signal-off of charging pile 1, while starting transmitting coding module 13, sends short range infrared signal
Robot is guided to advance.
The method that is charged to a kind of robot auto-returned based on image vision guiding provided by the present invention above and
System is described in detail, and specific case used herein is set forth to principle of the invention and implementation method, with
The explanation of upper embodiment is only intended to help and understands the method for the present invention and its core concept；Simultaneously for the general of this area
Technical staff, according to thought of the invention, will change in specific embodiments and applications, in sum,
This specification content should not be construed as limiting the invention.
Finally it should be noted that：The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention,
Although being described in detail to the present invention with reference to the foregoing embodiments, for a person skilled in the art, it still may be used
Modified with to the technical scheme described in foregoing embodiments, or equivalent carried out to which part technical characteristic,
All any modification, equivalent substitution and improvements within the spirit and principles in the present invention, made etc., should be included in of the invention
Within protection domain.
Claims (10)
1. a kind of method that robot auto-returned based on image vision guiding charges, it is characterised in that including：
The power detecting equipment of robot detects robot power supply electricity less than given threshold, and robot enters charge mode,
And send charging signals to charging pile；
Charging pile is received after the charging signals that robot sends, and the infrared lamp light source module of charging pile starts, infrared light supply
By the outside radiated infrared optical signal of diffusion mode everywhere, it is ensured that any orientation of charging pile surrounding can have infrared signal,
The infrared signal of the infrared light supply transmitting includes remote infrared signal and short range infrared signal, and the infrared light supply is
The waveband infrared sources of 940nm；
The remote infrared signal that robot is searched for by thermal camera, finds and recognize charging pile, the robot is in situ
360 degree of rotations, gradually catch intensity, the quality of remote infrared signal, and image vision guiding side is used by infrared pick-up machine
Method, search, discovery remote infrared signal, and recognize remote infrared signal, judge the position of infrared light supply；
To charging pile automatically walk, and near charging pile, robot is reached apart from charging pile remote infrared signal guided robot
Stop at 0.5 meter, robot sends closing remote infrared signal instruction to charging pile, the position that robot stops is taken the photograph by infrared light
Camera is judged using image vision bootstrap technique；
Charging pile is received after the closing remote infrared signal instruction that robot sends, and remote infrared signal is closed, while opening
With transmitting coding module, robot is under the guiding of charging pile transmitting coding module into the short range infrared signal area of charging pile
Domain, and walked along Z paths, it is rapidly completed recharging.
2. method according to claim 1, it is characterised in that the robot is searched for by thermal camera, found simultaneously
Recognizing the remote infrared signal of charging pile includes：
Robot receives beginning detection image order, and starts infrared camera scan image, the infrared camera scan figure
As being 940nm wave band infrared signal images；
Thermal camera is opened environment and is judged, carries out scene analysis, by calculating the brightness histogram information of image, calculates image
The weighted mean of brightness, judges that robot is presently in environmental condition；
Judge the weighted mean for calculating brightness of image whether less than preset reference value；
If weighted mean is more than preset reference value, robot local environment does not reach testing conditions, and robot original place rotates
Direction, proceeds environment judgement, until electricity exhausts；
If weighted mean is less than preset reference value, the image to infrared camera scan carries out Dynamic Binarization, extracts red
Outer hot spot；
Floor projection is carried out to infrared light spot, burr interference is eliminated and is obtained rectangle；
CANNY conversion is carried out to rectangle and obtains rectangular profile；
The rectangular profile that conversion is obtained is searched, judges whether to find multiple rectangular profiles；
If it find that multiple rectangular profiles, then robot does not find charging pile, and robot original place rotation direction proceeds ring
Border judges, until electricity exhausts；
If it find that a rectangular profile, illustrates that robot finds charging pile, it is necessary to be identified, calculate rectangular profile center and sit
Mark, robot sends chassis control order, controls revolute, until centre coordinate is in the image of camera acquisition
Between.
3. method according to claim 2, it is characterised in that the Dynamic Binarization is：
Note display foreground is t with the segmentation threshold of background, and prospect points account for image scaled for w0, average gray is u0；Background is counted
Image scaled is accounted for for w1, average gray is u1, then the overall average gray scale of image be：
U=w0*u0+w1*u1；
T is traveled through from minimum gradation value to maximum gradation value, when the value of t meets following condition：
G=w0*(u0-u)2+w1*(u1-u)2When maximum, t is the optimal threshold of segmentation.
4. method according to claim 2, it is characterised in that described CANNY conversion is carried out to rectangle to obtain rectangular profile
For：
Dual threashold value-based algorithm detection is carried out to rectangle, note high threshold is Hth, Low threshold is Lth, the high threshold HthSelection pass through
The corresponding histogram of image gradient value for calculating is chosen；
The ratio accounted in total figure is as pixel number that non-edge is counted out is expressed as Hratio, it is corresponding according to image gradient value
Histogram adds up, when accumulated amount reaches total pixel number purpose HratioWhen, then corresponding image gradient value is Hth；
Low threshold LthSelection pass through Lth=Lratio*HthObtain；
It is attached by the mark and Domain relation to marginal point and obtains last edge detection graph.
5. method according to claim 1, it is characterised in that the remote infrared signal guided robot to charging pile from
Dynamic walking, and near charging pile, reaching stopping at 0.5 meter of charging pile includes：
Robot detects oneself state, and the robot oneself state includes：Pose, calculating present bit that robot is presently in
The distance and bearing angle of appearance and robot reference's world coordinate system origin；
Robot, to charging pile straight line moving, is close to charging pile according to the guiding of remote infrared signal；
The distance of thermal camera real-time detection robot and charging pile, and it is red by the short range of infrared sensor search charging pile
External signal；
When reaching at 0.5 meter of infrared light supply, infrared sensor senses the short range infrared signal of charging pile, and robot stops,
And send the instruction for closing remote infrared signal；
The remote infrared signal-off of charging pile, while starting transmitting coding module, sends short range infrared signal and guides robot
Advance.
6. the system that a kind of robot auto-returned based on image vision guiding charges, it is characterised in that including：Charging pile and
Robot；
The robot and charging pile wireless connection, the robot wirelessly send charging instruction, fill to charging pile
Electric stake starts infrared light supply and sends infrared signal, and robot is searched for by thermal camera, found, the infrared letter of identification charging pile
Number, and moved from trend charging pile by image vision guided robot, complete the charging to robot.
7. system according to claim 6, it is characterised in that the charging pile includes：It is charging pile processor module, infrared
Light source module, transmitting coding module, charging pile communication module；
The charging pile processor module is used to receive the instruction of charging pile communication module forwarding, control transmitting coding module and red
The work of outer light source module；
The infrared lamp light source module launches infrared light under the control of charging pile processor module, and by infrared guldance machine
People；
The transmitting coding module is connected with charging pile processor module, is entered by the infrared transmitting tube to infrared lamp light source module
Row coding, and coded excitation is gone out by infrared optical carrier, realize to robot control, and guided robot is moved；
The charging pile communication module is connected with charging pile processor module, for being communicated with robot, the charging pile
Communication module is ZigBee communication module；
The charging pile processor module is connected with the infrared lamp light source module, transmitting coding module, charging pile communication module.
8. system according to claim 7, it is characterised in that the infrared lamp light source module includes infrared lamp, described red
Outer lamp be a 60mm high, diameter 50mm cylinders, including：LED infrared tubes, speculum, convex lens；
The convex lens are located at the cylindrical structural top of infrared light supply, and the LED infrared tubes include：First LED infrared tubes,
Two LED infrared tubes, the 3rd LED infrared tubes, the 4th LED infrared tubes, the LED infrared tubes transmitting infrared signal include that short range is red
External signal and remote infrared signal；
The LED infrared tubes are 4 LED infrared tubes of 940nm wave bands, be spaced 20 millimeters 2 × 2 cells arranged in matrix in circle
Column construction bottom, LED infrared tubes light irradiate upwards, and the speculum is located at cylindrical structural top, when LED infrared tubes hair
The infrared light of injection is scattered and by top convex lens by after the reflection of speculum, infrared light outwards dissipates injection.
Be encoded to for LED infrared tubes by the transmitting coding module：First LED infrared tubes are encoded to 0x01, the 2nd LED infrared tubes and compile
Code is 0x02, the 3rd LED infrared tubes are encoded to 0x03, and the transmitting coding module is infrared to a LED infrared tubes, the 2nd LED
The infrared signal launched after pipe, the 3rd LED infrared tubes coding is short range infrared signal, and the transmitting coding module is by coding information
Send to charging pile processor module, and docked with the short range infrared sensor of robot.
9. system according to claim 6, it is characterised in that the robot includes：Robot control module, reception are compiled
Code module, picture recognition module, travelling control module, robot communication module；
The robot control module is the infrared signal for controlling robot searches, discovery, identification charging pile to send, and is controlled to red
The image recognition of external signal, control robot ambulation and the center communicated with control charging pile, robot control module's bag
Include MT6735M process chips；
The reception coding module be used for robot apart from 0.5 meter of charging pile apart from when, receive the coding information of charging pile, and
Coding information is decoded, identification information content；
The reception coding module includes that the first infrared receiver sensor, the second infrared receiver sensor, the 3rd infrared receiver are passed
Sensor, the first infrared receiver sensor, the second infrared receiver sensor, the 3rd infrared receiver sensor are arranged on robot
45 degree are spaced between the front of bottom, the first infrared receiver sensor, the second infrared receiver sensor, the 3rd infrared connect
Receive the short range infrared signal that the infrared light supply of the reference numeral that sensor receives charging pile respectively is launched, first infrared receiver
The short range infrared signal that sensor, the second infrared receiver sensor, the 3rd infrared receiver sensor are received is sent to robot control
Molding block is decoded；
Described image identification module obtains image by thermal camera, and judges that current environment starts picture recognition module and calculates
Method, driven machine people rotates in place the remote infrared signal that search charging pile sends；
The travelling control module is used to control the track route and walking states of robot, and the travelling control module includes electricity
Machine drive module and robot searches charging station algoritic module；
The robot communication module is used for the communication of robot and charging pile, and the robot communication module is ZigBee communication
Module；
The robot control module is connected with coding module, picture recognition module, travelling control module is received, the robot
Communication module is connected with travelling control module.
10. system according to claim 9, it is characterised in that described image identification module is thermal camera, including：
Narrow band pass filter, camera lens, COMS imageing sensors；
The narrow band pass filter is used to will be seen that light is filtered completely that the infrared light for only allowing centre frequency to be 940nm to pass through, so that
It is the infrared optical transport of 940nm to camera lens by centre frequency；
The focal length of the camera lens is 6mm, it is ensured that camera lens finds the infrared light above charging pile first within 6 meters；
The cmos image sensor is used to receive the infrared light of camera lens transmission.
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