CN107037807A - Self-movement robot pose calibration system and method - Google Patents
Self-movement robot pose calibration system and method Download PDFInfo
- Publication number
- CN107037807A CN107037807A CN201610079681.4A CN201610079681A CN107037807A CN 107037807 A CN107037807 A CN 107037807A CN 201610079681 A CN201610079681 A CN 201610079681A CN 107037807 A CN107037807 A CN 107037807A
- Authority
- CN
- China
- Prior art keywords
- robot
- pedestal
- switch
- pose
- calibration
- 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 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 105
- 238000003032 molecular docking Methods 0.000 claims abstract description 35
- 230000003287 optical effect Effects 0.000 claims description 24
- 238000002347 injection Methods 0.000 claims 1
- 239000007924 injection Substances 0.000 claims 1
- 238000009434 installation Methods 0.000 description 7
- 238000009825 accumulation Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 4
- 230000001186 cumulative effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
A kind of self-movement robot pose calibration system and method, the system includes robot and pedestal (10), robot is provided with Position and attitude sensor and control centre, robot is provided with mode of operation and calibration mode, when the robot working time reaching that the travel distance of preset time or work reaches pre-determined distance, start calibration mode, after control centre control machine people is correctly docked with pedestal, control the Position and attitude sensor of calibration machine people.During using relative coordinate system system, the present invention is docked by reaching that the travel distance of preset time or work reaches pre-determined distance as premise using the working time of robot in the calibration mode, and by least three docking reference points to complete robot with the correct of pedestal；Reasonable adjustment robot pose, it is ensured that robot is docked accurately with pedestal, installing component is simple, cost-effective, accuracy rate is high and easy to use.
Description
Technical field
The present invention relates to a kind of self-movement robot pose calibration system and method, belong to small household appliances
Manufacturing technology field.
Background technology
Existing planning type self-movement robot is general using absolute when carrying out location navigation work
Two kinds of alignment systems of coordinate system and relative coordinate system.Using the alignment system of absolute coordinate system, than
Such as, self-movement robot captures the station location marker image set on ceiling by ccd video camera,
And the current location of robot itself is correspondingly detected according to the image captured.Due to this
Localization method requires that system quickly handles mass data, cost can be caused higher.And use relative
The alignment system of coordinate system, such as, self-movement robot by an operating range sensor and
One angular transducer is calculated the relative position of itself, and gyroscope is used as angular transducer,
Generally there is 5%-10% detecting error, with the repetition spinning movement of self-movement robot, by
In the accumulation of detecting error, the path walking that robot can not accurately according to schedule, therefore,
Need often to calibrate it, certain trouble is brought to user.
Existing calibration is typically accumulative to a certain extent for judgement with the amount of spin of angular transducer
Standard, to determine the need for calibrating it.Such as：Can be every with set angle sensor
It is rotated by 360 ° or 720 ° is calibrated once, by that analogy.But because robot may every time
The operation in different working environments, in some working environments, may be led due to path complexity
Robot is caused to rotate repeatedly, the working time is very short to be accomplished by being calibrated, and is excessively frequently calibrated
Obviously machine task efficiency can have been influenceed.And in some flat unobstructed working environments
In, after the cumulative activation some time, the angular transducer of robot, which may carry on as before, to be so not reaching to
The default accumulative anglec of rotation and can not calibrate, when calibrating again, cumulative errors are big,
Influence accuracy.
In addition, Fig. 1 is prior art CN1330274C structural representation.As shown in figure 1,
The prior art discloses a kind of robot cleaner of use coordinates compensation method, make it can be with
Effectively travel direction according to schedule is travelled.When it is determined that the angle of accumulation exceedes predetermined level
When, robot cleaner stops given work, and returns to charging station.Robot cleaner
Changing coordinates are calibrated with the reference coordinate of charging station, and robot cleaner is moved to it and returned
Previous place where before charging station, and the given work of continuation at stopping.But, it please join
Examine shown in Fig. 1, it on robot cleaner 10 by setting multiple equidistant sensors 32
And apart from d1 and d2 come school according to the detecting plate 130 of these equidistant sensors to charging station
Accurate its returns to the pose of charging station.The mode cost of this alignment pose is higher and can not be flat
Row is in the adjustment of the direction Shang Zuo positions of detecting plate 130 so that return to the pose adjustment of initial point
It is inaccurate, it is possible to the charging electrode being correspondingly arranged on charging station and robot cleaner can be caused
Docking can not be aligned.And such a mode robot only returned to it is parallel with cradle origin
Position, the angle to the gyroscope of robot is reset, without the operating range (step to robot
Number) reset, there is certain error in the calibration accuracy rate of this mode.
The content of the invention
The technical problems to be solved by the invention are that there is provided one kind in view of the shortcomings of the prior art
Self-movement robot pose calibration system and method, during using relative coordinate system system, the present invention
By reached in the calibration mode with the working time of robot the walking of preset time or work away from
Robot is completed from reaching pre-determined distance as premise, and by least three docking reference points
Correct with pedestal is docked；Reasonable adjustment robot pose, it is ensured that robot docks standard with pedestal
Really, installing component is simple, cost-effective, accuracy rate is high and easy to use.
The technical problems to be solved by the invention are achieved by the following technical solution：
A kind of self-movement robot pose calibration system, including robot and pedestal, the machine
People is provided with Position and attitude sensor and control centre, and the robot is provided with mode of operation and calibrating die
Formula, reaches that the travel distance of preset time or work reaches pre-determined distance when the robot working time
When, start calibration mode, after control centre's control machine people is correctly docked with the pedestal,
Control the Position and attitude sensor of calibration machine people.
Above Position and attitude sensor is generally using angular transducer or gyroscope etc..
Under normal circumstances, the robot is provided with roller, and the pose calibration system is additionally provided with
First pose calibration switch, the second pose calibration switch and at least one first contact terminal D；Institute
State docking point of the robot on pedestal, robot and the first pose calibration switch, the
Two pose calibration switch and at least one first contact terminal D are docked, the control centre according to
First pose calibration switch, the second pose calibration switch and at least one the first contact terminal D
Signal feeds back, control roller adjustment robot pose, is correctly docked with the pedestal.
As needed, the first pose calibration switch and the second pose calibration switch can be used
Different structures realizes that in one embodiment of the invention, first pose calibration is opened
Close and the second pose calibration switch is that first be separately positioned on the bottom plate of the pedestal touches out
Close A and the second touch-switch B, the first touch-switch A and the second touch-switch B setting
Scroll wheel positions after position is aligned with the bottom plate that the robot enters the pedestal are corresponding.
In another embodiment of the invention, the first pose calibration switch and the second pose school
Quasi- switch is the optical signal launcher or light signal receiving being separately positioned on the pedestal,
The set location of optical signal launcher or light signal receiving on the pedestal and the machine
Device people enter the pedestal bottom plate align after docking point position it is corresponding.
In addition to above-mentioned roller, when the first pose calibration switch and the calibration of the second pose
Switch to be separately positioned on the optical signal launcher or light signal receiving on the pedestal
When, the docking point in the robot is then correspondingly arranged as the light signal receiving in robot
Or optical signal launcher.
The need for according to difference, optical signal launcher or optical signal on the pedestal receive dress
Put and be arranged on the bottom plate of pedestal, backboard or top plate.Optical signal in the robot receives dress
Put or optical signal launcher is then correspondingly arranged at robot bottom, side or top.
In addition, in order to cost-effective, making full use of existing structure of the robot with, setting
Light signal receiving or optical signal launcher in the robot bottom can pass for lower regard
Sensor.
In order to ensure that it is right on the active position of pedestal bottom plate, the bottom plate of the pedestal that robot is in
Answer the position of roller and be respectively equipped with two stop sections in the side direction of the backboard close to pedestal.
In order to improve precision, the system also includes the second contact terminal being arranged on the base.
As needed, guiding signal launch point C is additionally provided with the robot, for vectoring aircraft
Device people moves to pedestal, the guiding signal launch point C, the first contact terminal D and the second contact
A transmitting encoded signal among terminal E three.
The present invention also provides a kind of calibration method of the Position and attitude sensor for self-movement robot,
Characterized in that, comprising the following steps：
Step 100：Robot performs work in given area；
Step 200：When the time that robot works reach the walking of preset time or work away from
During from reaching pre-determined distance, suspend the work that is carrying out, auto-returned pedestal and with pedestal just
Really docking；
Step 300：The Position and attitude sensor being arranged in robot is calibrated.
Further, in addition to step 400：Robot completes the school to the Position and attitude sensor
After standard, break-off position of the automatically walk into given area continues executing with work.It is real
In the work of border, if returning before pedestal calibration, work has been completed, then after the completion of pedestal calibration,
The front position that need not be returned to, directly performs other tasks.Specifically, the step 200
Specifically include：
Step 201：The roller and docking point of robot respectively with the first pose calibration switch,
Any two docking in two pose calibration switch and at least one first contact terminal D three；
Step 202：Robot adjusts pose under the encoded signal that pedestal is launched, and makes above-mentioned
Three is docked completely, is completed robot and is docked with the correct of the pedestal.
When in summary, using relative coordinate system system, the present invention by the calibration mode with
The working time of robot reaches that the travel distance of preset time or work reaches pre-determined distance conduct
Premise, and docked by least three docking reference points to complete robot with the correct of pedestal；
Reasonable adjustment robot pose, it is ensured that robot is docked accurately with pedestal, installing component is simple,
Cost-effective, accuracy rate is high and easy to use.
Below in conjunction with the accompanying drawings and specific embodiment, technical scheme is carried out in detail
It is bright.
Brief description of the drawings
Fig. 1 is prior art CN1330274C structural representation；
Fig. 2 is the structural representation of the embodiment of the present invention one；
Fig. 3 is the structural representation of the embodiment of the present invention two.
Embodiment
In the introduction it has been already mentioned that existing self-movement robot is due in operation process
Action change, the detecting error of angle and distance in its coordinate system can be caused to accumulate gradually, by
Gradually increase, thus need to return to calibrating installation calibration, usually pedestal, is cradle mostly.Institute
Meaning calibration, after referring to that robot is docked successfully with pedestal, so that with standard side determined by pedestal
To or coordinate make with reference to come calibration machine people sensor, for example, the angle sensor in robot
Device (angle) is started from scratch with range sensor (step number) to be recalculated.Complete calibration
Afterwards, the fixing point for the working region that robot is moved again to before returning to pedestal, works on.
For example, such as：One sweeping robot performs cleaning in working region, works as work
The predetermined time is reached, such as 10 minutes, system control machine device people stopped cleaning, and holds
Row returns to the work of pedestal, and position now is A points, then stops at A points, now, A points
As fixing point, for expressing the parameter of A points position for angle, θ and apart from H, such as：(θ, H)=
, due to gyroscope multiple rotary, there is the accumulation of error in (90 °, 50m), therefore the position is to exist to miss
Difference, robot is returned after pedestal calibration, and according to record before, it is (θ, H) that parameter is found again
The position of=(90 °, 50m), the physical location where the parameter may be on B points, and B points are therewith
There may be the error of very little between the A points of preceding record, but the error substantially will not be to machine
The cleaning works of people is impacted.But if not doing periodic calibration, the accumulation of gyroscope angular error
It is increasing, cause the precision of robot localization more and more lower, cleaning that will be to robot
Work is impacted.
The present invention just there is provided a kind of self-movement robot pose calibration system and method, pass through
Reach that preset time or travel distance reach in the calibration mode with the working time of robot default
Distance completes robot and pedestal just as premise, and by least three docking reference points
Really docking；Reasonable adjustment robot pose, it is ensured that robot is docked accurately with pedestal, installation portion
Part is simple, cost-effective, accuracy rate is high and easy to use.
Specifically, self-movement robot pose calibration system provided by the present invention, including machine
Device people and pedestal, the robot are provided with control centre and roller, at least three docking references
Point includes the first pose calibration switch, the second pose calibration switch and at least one first tip side
Sub- D.First pose calibration switch therein and the second pose calibration switch can include multiple types
Type, such as：Can be the first touch-switch A and being separately positioned on the pedestal bottom plate
Two touch-switch B, its set location enters the rolling after the pedestal bottom plate is aligned with the robot
Take turns position corresponding；It can also be the optical signal launch dress being correspondingly arranged at respectively on the pedestal
Put or light signal receiving.Meanwhile, optical signal launcher or light signal receiving are in base
Set location on seat can also have multiple choices mode, such as：The bottom of pedestal can be arranged on
On plate, backboard or top plate.
Corresponding, the docking point in robot can also include polytype, such as：Can be with
It is two rollers of robot；It can also be two light signal receivings or the light in robot
Sender unit.Similarly, in the robot two light signal receivings or light letter
Number emitter can be arranged on robot bottom or side, top.
In order that installing component is simple, cost-effective, self-movement robot pose school is effectively utilized
Existing device in Barebone, the optical signal launcher or optical signal of the robot bottom connect
Receiving apparatus can be lower view sensor.In addition, in order to ensure that robot is in having for pedestal bottom plate
Imitate on position, the position of roller is corresponded on the pedestal bottom plate and one of the backboard close to pedestal
Side is to being respectively equipped with two stop sections.
In addition at least three above-mentioned docking reference points, in order to improve precision, the system
The second contact terminal E being arranged on the base, now, calibrating installation (base can also be included
Seat or cradle) on the docking reference point that sets be four, and the first touch-switch A and second
Touch-switch B, the first contact terminal D and the second contact terminal E are respectively relative to the base of pedestal
Center line is symmetrical arranged.
As needed, guiding signal launch point C is additionally provided with the robot, guiding can be launched
Signal carrys out guided robot and moved to pedestal, and guiding signal launch point C, the first contact terminal D
Can launch encoded signal with any of the second contact terminal E help robot adjust pose with
Pedestal is correctly docked.It is of course also possible to utilize other emitters transmitting coding letter on pedestal
Number come help robot adjust pose correctly docked with pedestal.
The Integral Thought of technical solution of the present invention is described above, below then by specific
Embodiment, technical scheme is described in detail.
Embodiment one
Fig. 2 is the structural representation of the embodiment of the present invention one.As shown in Fig. 2 in the present embodiment
In, in calibrating installation, i.e.,：First touch-switch A and are set on the bottom plate 20 of pedestal 10
Two touch-switch B, the first contact terminal D and the second contact terminal E, robot draws pedestal
The front that calibrating installation is returned under signal is led, when entering calibrating installation, robot is (in figure
It is not shown) on docking point, i.e.,：Pair of rollers connects the first touch-switch A and second and touched out
Close B, and to connecting the first contact terminal D and/or the second contact terminal E after, then robot
With pedestal complete it is correct dock, Position and attitude sensor that can further to being arranged in robot
Calibrated.Described Position and attitude sensor is generally using angular transducer or gyroscope etc..
Further, the first touch-switch A and the second touch-switch B correspondence front, i.e.,：
Side direction position close to the backboard 30 of pedestal 10 sets two stop sections 40.The stop section
After 40 for preventing that the roller of robot is aligned with the first touch-switch A and the second touch-switch B,
Continue to be carried forward, with spacing and auxiliary positioning effect, make it into active position.
More specifically, understand as described above, robot is when entering calibrating installation, the two of robot
Individual roller can touch the first touch-switch A and the second touch-switch B, if two rollers and first
After touch-switch A and the second touch-switch B are to connecting, then it is assumed that dock successfully.Need
Illustrate, default robot has been docked with least contact terminal on pedestal herein.If
Only only have the first touch-switch A and the second touch-switch B to be docked with robot, and pedestal 10
On contact terminal do not docked with robot, robot can still have inclined situation, i.e. machine
People has not been completed docks with the correct of pedestal 10.
But due to systematic error, robot with the first touch-switch A and the second touch-switch B
During docking, it is possible to following four situation occurs：
The first situation：
Left side roller is to connecting the first touch-switch A, but right roller is not to connecting, now
At guiding signal launch point C, the first contact terminal D and the second contact terminal E on bottom plate 20
Any of can inform robot with the as transmitter of the transmitting encoded signal to robot
One touch-switch A is to connecting, and robot can obtain steering mode according to the signal, to robot
Pose be finely adjusted, that is, need to turn right docking B.Specifically, guiding signal transmitting
Point C, the first contact terminal D and the second contact terminal E can be returned with transmission signal in robot
Return before pedestal, the C transmittings of guiding signal launch point are guiding signals.In left and right side roller
Only one of which be aligned and another when being also not aligned with, transmitting is no longer guiding signal, but
Encoded signal.Such as：Left side roller is aligned with the first touch-switch A, and right roller does not have also
Have to connecting, it is that the 1, second touch-switch B is 0 now to record the first touch-switch A, guide
One in signal launch point C, the first contact terminal D and the second contact terminal E is made anti-to this
Should.For another example：Transmitting feux rouges or green glow inform that robot, to this progress steering adjustment, also may be used
To be that the first touch-switch A, the second touch-switch B and which are judged by launching different light intensity
Pair of rollers is connected, with which roller also not to connecting, and adjustment robot is turned to accordingly.
Certainly, in actual applications, nor is it necessary that can only using guide signal launch point C,
The signal of first contact terminal D and the second contact terminal E transmittings, under normal circumstances, as long as
Be arranged on pedestal it is any can transmission signal, the position that robot can be received can be used.
Second of situation：
Right roller is to connecting the second touch-switch B, but left side roller is not to connecting, now
In guiding signal launch point C, the first contact terminal D and the second contact terminal E on base 20
Any one can launch encoded signal to robot, tell robot to connecting B, robot can root
Steering mode is obtained according to the signal, that is, needs the docking A that turns left.
For first two situation, if one of two rollers are to connecting, separately
One not to connecting, it is now motionless to the roller connected, and another roller pedestal raise
It is whole.
The third situation：
First touch-switch A and the second touch-switch B are accurately docked, i.e. docking is completed.
4th kind of situation：
On first touch-switch A and the second touch-switch B are undocked, then robot need from
Exited on pedestal 10, according to the guiding of guiding signal, and reenter pedestal 10 and dock.
In the present embodiment, in order to save resource, it is generally the case that the first contact terminal and second
Contact terminal is generally using the charging contact on pedestal.And use two rollers in robot to make
It is aligned for docking point with pedestal, it is not necessary to increase extra sensor in robot and carry out assisted calibration,
Reduce cost；And the contact surface very little of roller and pedestal, be conducive to robot correctly right with pedestal
Connect, further reduce the situation that robot tilts docking pedestal.
It is further to note that four kinds of above-mentioned situations are only with default robot and pedestal
On premised at least a contact terminal has been docked, the first touch-switch A and are then judged again
Whether two touch-switch B correctly dock, if it is, docking action is completed, if it is not, then
Robot posture adjustment is aligned, is docked so as to complete robot with the correct of pedestal.Robot with
In the actual docking operation of cradle, included situation is various, in fact, light for first
For tactile switch A and the second touch-switch B, the first contact terminal D and the second contact terminal E,
In most cases, four it can complete while aligning；But also occur that first touches
Point terminal D and the second contact terminal E is first aligned, and first is completed by robot posture adjustment and is touched
Switch A and the second touch-switch B is aligned；Or, the first touch-switch A and the first tip side
Sub- D is first aligned, and the second touch-switch B and the second contact terminal E are completed by robot posture adjustment
Other a variety of situations aligned.No matter which kind of situation, the process that robot posture adjustment is aligned all with it is upper
State four kinds of situations similar, will not be repeated here.
Embodiment two
Fig. 3 is the structural representation of the embodiment of the present invention two.As shown in figure 3, the present embodiment with
The difference of above-described embodiment one is, is by optical signal calibration machine people's pose, that is, to exist
Set on pedestal 10 and descend the corresponding signal of view sensor in itself with robot (not shown)
Alignment pose.
Specifically, under the robot bottom two apparent place place of putting setting two can be corresponded on pedestal 10
Individual signal transmitting (or reception) device A ' and B '.When robot is entered on pedestal 10,
Transmitting (or reception) function of two lower view sensors in robot is closed, only opens and connects
Receive or (transmitting) function, now, two of lower view sensor receive to receive the two of pedestal
The signal of individual emitter transmitting；Two transmittings of either lower view sensor are used for transmission signal,
Two transmission signals are received under correspondence on pedestal 10 at two positions of view sensor, if,
Two positions all receive optical signal and to connecting the first contact terminal D and/or the second contact terminal
After E, illustrate that robot is aligned with pedestal.It should be noted that pedestal 10 or machine
It may be selected to set emitter and reception device on people, as long as both correspondences, i.e.,：If
Emitter is provided that on pedestal 10, then utilizes the reception work(of view sensor under robot bottom
Energy, vice versa.Further, since the optical signal of transmitting is sector, light area coverage
It is larger, error is easily caused, and hence it is also possible to further set retention device, one is blocked
Light splitting, ensure as far as possible transmitting for light beam, accurate alignment.
If only while receiving optical signal, similar embodiment one can be using guiding signal hair
Any of exit point C, the first contact terminal D and second contact terminal E transmitting encoded signal are informed
Which side of robot has been aligned, adjustment direction, goes to be directed at another side, if being all not aligned with,
Retrogressing is realigned.
This mode can also be in the front end of robot, and side or top set transmitting or receive sensing
Device, the position of correspondence pedestal, which is set, to be received or emission sensor, and both are to connecting, it is believed that docking
Success.That is, being two light by being arranged on pedestal base in the present embodiment
Signal transmitting or reception device simultaneously coordinate at least one contact terminal, by way of 3 points are calibrated；
Or, coordinate two contact terminals, realized by way of 4 points are aligned to robot and base
The correct docking of seat.
In the present embodiment use optical signal calibrating mode, make use of robot with it is original on pedestal
Lower view sensor signal reaches the purpose docked mutually, and without setting, unnecessary part, is saved into
Originally it is, easy to use.
In summary, the present invention provides a kind of self-movement robot pose calibration system and method,
During using relative coordinate system system, the present invention by the calibration mode with the work of robot when
Between reach that the travel distance of preset time or work reaches pre-determined distance as premise, and by extremely
Few three docking reference point docks to complete robot with the correct of pedestal；Reasonable adjustment robot
Pose, it is ensured that robot is docked accurately with pedestal, and installing component is simple, cost-effective, accurate
Rate is high and easy to use.
Claims (14)
1. a kind of self-movement robot pose calibration system, including robot and pedestal (10),
The robot is provided with Position and attitude sensor and control centre, it is characterised in that the robot
Provided with mode of operation and calibration mode, preset time or work are reached when the robot working time
When travel distance reaches pre-determined distance, start calibration mode, control centre's control machine people
After correctly being docked with the pedestal, the Position and attitude sensor of calibration machine people is controlled.
2. self-movement robot pose calibration system as claimed in claim 1, it is characterised in that
The robot be provided with roller, the pose calibration system be additionally provided with the first pose calibration switch,
Second pose calibration switch and at least one first contact terminal (D)；
Docking point of the robot on pedestal, robot is opened with first pose calibration
Close, the second pose calibration switch and at least one first contact terminal (D) are docked, the control
Center is according to the first pose calibration switch, the second pose calibration switch and at least one first contact
The signal feedback of terminal (D), control roller adjustment robot pose is correctly right with the pedestal
Connect.
3. self-movement robot pose calibration system as claimed in claim 2, it is characterised in that
The first pose calibration switch and the second pose calibration switch are to be separately positioned on the pedestal
(10) the first touch-switch (A) and the second touch-switch (B) on bottom plate (20), institute
State the set location and the robot of the first touch-switch (A) and the second touch-switch (B)
Into the pedestal bottom plate align after scroll wheel positions it is corresponding.
4. self-movement robot pose calibration system as claimed in claim 2, it is characterised in that
The first pose calibration switch and the second pose calibration switch are to be separately positioned on the pedestal
(10) the optical signal hair on optical signal launcher or light signal receiving on, the pedestal
The set location of injection device or light signal receiving enters the bottom of the pedestal with the robot
Plate align after docking point position it is corresponding.
5. self-movement robot pose calibration system as claimed in claim 4, it is characterised in that
Docking point in the robot is the light signal receiving in robot or optical signal launch dress
Put.
6. self-movement robot pose calibration system as claimed in claim 4, it is characterised in that
Optical signal launcher or light signal receiving on the pedestal are arranged on pedestal (10)
On bottom plate (20), backboard (30) or top plate.
7. self-movement robot pose calibration system as claimed in claim 6, it is characterised in that
Light signal receiving or optical signal launcher in the robot are correspondingly arranged at robot
Bottom, side or top.
8. self-movement robot pose calibration system as claimed in claim 7, it is characterised in that
The light signal receiving or optical signal launcher of the robot bottom is arranged on to pass for lower regard
Sensor.
9. self-movement robot pose calibration system as claimed in claim 2, it is characterised in that
The position of roller is corresponded on the bottom plate (20) of the pedestal (10) and in the back of the body close to pedestal
The side direction of plate (30) is respectively equipped with two stop sections (40).
10. self-movement robot pose calibration system as claimed in claim 2, it is characterised in that
The system also includes the second contact terminal (E) being arranged on the base (20).
11. self-movement robot pose calibration system as claimed in claim 10, it is characterised in that
Guiding signal launch point (C) is additionally provided with the robot, for guided robot to pedestal (10)
It is mobile, the guiding signal launch point (C), the first contact terminal (D) and the second contact terminal
(E) a transmitting encoded signal among three.
12. a kind of calibration method of Position and attitude sensor for self-movement robot, its feature exists
In comprising the following steps：
Step 100：Robot performs work in given area；
Step 200：When the time that robot works reach the walking of preset time or work away from
During from reaching pre-determined distance, suspend the work that is carrying out, auto-returned pedestal and with pedestal just
Really docking；
Step 300：The Position and attitude sensor being arranged in robot is calibrated.
13. calibration method as claimed in claim 12, it is characterised in that also include：Step
400：After robot is completed to the calibration of the Position and attitude sensor, automatically walk to given area
In break-off position, continue executing with work.
14. calibration method as claimed in claim 13, it is characterised in that the step 200
Specifically include：
Step 201：The roller and docking point of robot respectively with the first pose calibration switch,
Any two docking in two pose calibration switch and at least one the first contact terminal (D) three；
Step 202：Robot adjusts pose under the encoded signal that pedestal is launched, and makes above-mentioned
Three is docked completely, completes correct the docking of robot and the pedestal (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610079681.4A CN107037807B (en) | 2016-02-04 | 2016-02-04 | Self-moving robot pose calibration system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610079681.4A CN107037807B (en) | 2016-02-04 | 2016-02-04 | Self-moving robot pose calibration system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107037807A true CN107037807A (en) | 2017-08-11 |
| CN107037807B CN107037807B (en) | 2020-05-19 |
Family
ID=59532586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610079681.4A Active CN107037807B (en) | 2016-02-04 | 2016-02-04 | Self-moving robot pose calibration system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107037807B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108879809A (en) * | 2017-09-25 | 2018-11-23 | 北京石头世纪科技有限公司 | Automatic cleaning equipment and its method of charging |
| WO2019237434A1 (en) * | 2018-06-14 | 2019-12-19 | 深圳市沃特沃德股份有限公司 | Sweeping robot position calibration method and system |
| CN111481115A (en) * | 2019-01-29 | 2020-08-04 | 北京奇虎科技有限公司 | Recharging alignment method and device of sweeper and sweeper |
| CN113619980A (en) * | 2021-08-12 | 2021-11-09 | 上海擎朗智能科技有限公司 | Object transportation method, device, computer equipment, storage medium and system |
Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02239830A (en) * | 1989-03-14 | 1990-09-21 | Matsushita Electric Ind Co Ltd | Robot for moving work |
| CN1284177A (en) * | 1997-11-27 | 2001-02-14 | 阳光及自动化公司 | Improvements to mobile robots and their control system |
| CN1759797A (en) * | 2004-10-12 | 2006-04-19 | 三星光州电子株式会社 | Robot cleaner coordinates compensation method and a robot cleaner system using the same |
| EP1721279A2 (en) * | 2004-02-03 | 2006-11-15 | F. Robotics Aquisitions Ltd. | Robot docking station and robot for use therewith |
| EP1706797B1 (en) * | 2004-01-21 | 2008-07-02 | IRobot Corporation | Method of docking an autonomous robot |
| CN101923352A (en) * | 2010-07-05 | 2010-12-22 | 东南大学 | Indoor security robot capable of automatically returning to charge base and method of returning indoor security robot to charge base |
| CN102545275A (en) * | 2010-12-07 | 2012-07-04 | 上海新世纪机器人有限公司 | Robot automatic charging device and robot automatic charging method |
| CN102545284A (en) * | 2010-12-20 | 2012-07-04 | 苏州宝时得电动工具有限公司 | Docking system |
| CN103251355A (en) * | 2012-02-16 | 2013-08-21 | 恩斯迈电子(深圳)有限公司 | Sweeping robot and charging system |
| CN203747440U (en) * | 2013-12-18 | 2014-07-30 | 国网宁夏电力公司宁东供电公司 | Transformer station inspection tour robot charging device |
| CN203885445U (en) * | 2014-05-04 | 2014-10-22 | 科沃斯机器人有限公司 | Self-moving robot and self-moving robot system |
| CN104188598A (en) * | 2014-09-15 | 2014-12-10 | 湖南格兰博智能科技有限责任公司 | Automatic ground cleaning robot |
| CN104485710A (en) * | 2014-12-17 | 2015-04-01 | 常州智宝机器人科技有限公司 | Light guide structure, charging seat and automatic charging system of automatic charge guiding device |
| CN104586320A (en) * | 2013-10-31 | 2015-05-06 | Lg电子株式会社 | mobile robot, charging apparatus for the mobile robot, and mobile robot system |
| CN104834309A (en) * | 2015-04-10 | 2015-08-12 | 浙江工业大学 | Single mobile robot optimal itineration control method based on target tracking control strategy |
| CN105119338A (en) * | 2015-09-10 | 2015-12-02 | 珠海市一微半导体有限公司 | Mobile robot charging control system and method |
| CN105209997A (en) * | 2013-05-10 | 2015-12-30 | 戴森技术有限公司 | Apparatus for guiding an autonomous vehicle towards a docking station |
| CN105242674A (en) * | 2015-11-20 | 2016-01-13 | 江苏美的清洁电器股份有限公司 | Sweeping robot back charging system and back charging control method thereof |
| CN105262186A (en) * | 2015-11-27 | 2016-01-20 | 苏州铭冠软件科技有限公司 | Wireless robot charging device |
-
2016
- 2016-02-04 CN CN201610079681.4A patent/CN107037807B/en active Active
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02239830A (en) * | 1989-03-14 | 1990-09-21 | Matsushita Electric Ind Co Ltd | Robot for moving work |
| CN1284177A (en) * | 1997-11-27 | 2001-02-14 | 阳光及自动化公司 | Improvements to mobile robots and their control system |
| EP1172719A1 (en) * | 1997-11-27 | 2002-01-16 | Solar & Robotics | Improvements to mobile robots and their control system |
| EP1706797B1 (en) * | 2004-01-21 | 2008-07-02 | IRobot Corporation | Method of docking an autonomous robot |
| EP1721279A2 (en) * | 2004-02-03 | 2006-11-15 | F. Robotics Aquisitions Ltd. | Robot docking station and robot for use therewith |
| CN1759797A (en) * | 2004-10-12 | 2006-04-19 | 三星光州电子株式会社 | Robot cleaner coordinates compensation method and a robot cleaner system using the same |
| CN101923352A (en) * | 2010-07-05 | 2010-12-22 | 东南大学 | Indoor security robot capable of automatically returning to charge base and method of returning indoor security robot to charge base |
| CN102545275A (en) * | 2010-12-07 | 2012-07-04 | 上海新世纪机器人有限公司 | Robot automatic charging device and robot automatic charging method |
| CN102545284A (en) * | 2010-12-20 | 2012-07-04 | 苏州宝时得电动工具有限公司 | Docking system |
| CN103251355A (en) * | 2012-02-16 | 2013-08-21 | 恩斯迈电子(深圳)有限公司 | Sweeping robot and charging system |
| CN105209997A (en) * | 2013-05-10 | 2015-12-30 | 戴森技术有限公司 | Apparatus for guiding an autonomous vehicle towards a docking station |
| CN104586320A (en) * | 2013-10-31 | 2015-05-06 | Lg电子株式会社 | mobile robot, charging apparatus for the mobile robot, and mobile robot system |
| CN203747440U (en) * | 2013-12-18 | 2014-07-30 | 国网宁夏电力公司宁东供电公司 | Transformer station inspection tour robot charging device |
| CN203885445U (en) * | 2014-05-04 | 2014-10-22 | 科沃斯机器人有限公司 | Self-moving robot and self-moving robot system |
| CN104188598A (en) * | 2014-09-15 | 2014-12-10 | 湖南格兰博智能科技有限责任公司 | Automatic ground cleaning robot |
| CN104485710A (en) * | 2014-12-17 | 2015-04-01 | 常州智宝机器人科技有限公司 | Light guide structure, charging seat and automatic charging system of automatic charge guiding device |
| CN104834309A (en) * | 2015-04-10 | 2015-08-12 | 浙江工业大学 | Single mobile robot optimal itineration control method based on target tracking control strategy |
| CN105119338A (en) * | 2015-09-10 | 2015-12-02 | 珠海市一微半导体有限公司 | Mobile robot charging control system and method |
| CN105242674A (en) * | 2015-11-20 | 2016-01-13 | 江苏美的清洁电器股份有限公司 | Sweeping robot back charging system and back charging control method thereof |
| CN105262186A (en) * | 2015-11-27 | 2016-01-20 | 苏州铭冠软件科技有限公司 | Wireless robot charging device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108879809A (en) * | 2017-09-25 | 2018-11-23 | 北京石头世纪科技有限公司 | Automatic cleaning equipment and its method of charging |
| CN108879809B (en) * | 2017-09-25 | 2021-12-24 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment and charging method thereof |
| WO2019237434A1 (en) * | 2018-06-14 | 2019-12-19 | 深圳市沃特沃德股份有限公司 | Sweeping robot position calibration method and system |
| CN111481115A (en) * | 2019-01-29 | 2020-08-04 | 北京奇虎科技有限公司 | Recharging alignment method and device of sweeper and sweeper |
| CN113619980A (en) * | 2021-08-12 | 2021-11-09 | 上海擎朗智能科技有限公司 | Object transportation method, device, computer equipment, storage medium and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107037807B (en) | 2020-05-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107037807A (en) | Self-movement robot pose calibration system and method | |
| CN105912147B (en) | Active capacitive pen, inclination angle detection method thereof, capacitive touch screen and touch system | |
| CN110632915B (en) | Robot recharging path planning method, robot and charging system | |
| JP3938581B2 (en) | robot | |
| US8972060B2 (en) | Control method for cleaning robots | |
| US20190018422A1 (en) | Robot recharge control method, robot and robot system | |
| CN103777204B (en) | Based on distance measuring equipment and the method for photoelectric intelligent aware platform target following identification | |
| CN102441277B (en) | Multi-purpose game controller, system and method with posture sensing function | |
| CN107765683A (en) | Instant navigation method of mobile robot | |
| CN110928307B (en) | Automatic recharging method and system based on infrared laser, robot and charging dock | |
| US20190012002A1 (en) | Projection Cursor Control Method and Device and Remote Controller | |
| CN101896108A (en) | Detecting apparatus and method of robot cleaner | |
| TWI724977B (en) | Calibration apparatus and calibration method for coordinate system of robotic arm | |
| CN108767933A (en) | A kind of control method and its device, storage medium and charging equipment for charging | |
| US11554501B2 (en) | Robot system and control method | |
| WO2015074532A1 (en) | Self-moving robot with correction apparatus, and correction method therefor | |
| CN114310868B (en) | Coordinate system correction device and method for robot arm | |
| TWI444645B (en) | Positioning method and positioning device | |
| US10736480B2 (en) | Automatic charging method and cleaning robot | |
| JP2019219319A (en) | Vertical measurement system and reference point tracing method | |
| CN113552589A (en) | Obstacle detection method, robot, and storage medium | |
| US20230286399A1 (en) | Charging station, charging station system, method and apparatus for returning to station and lawnmowing robot | |
| CN104111663A (en) | Three-dimensional closed-loop feedback control method for automatic rocket inertia unit target prism collimation | |
| CN109560027B (en) | String-placing position correcting vision guiding system | |
| CN108175337B (en) | Sweeping robot and walking method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |