CN107817801A - Robot control method, device, robot and cradle - Google Patents
Robot control method, device, robot and cradle Download PDFInfo
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- CN107817801A CN107817801A CN201711076288.0A CN201711076288A CN107817801A CN 107817801 A CN107817801 A CN 107817801A CN 201711076288 A CN201711076288 A CN 201711076288A CN 107817801 A CN107817801 A CN 107817801A
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- 238000000034 method Methods 0.000 title claims abstract description 54
- 230000008569 process Effects 0.000 claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims description 9
- 238000002310 reflectometry Methods 0.000 claims description 7
- 230000005284 excitation Effects 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 230000005611 electricity Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000001579 optical reflectometry Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 238000000605 extraction Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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- 230000002452 interceptive effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004549 pulsed laser deposition Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a kind of robot control method, device, robot and cradle, it is related to robot control field.The robot control method includes：Whether the charged state for detecting the robot passively interrupts；When to be, control the robot to be moved to cradle position candidate, and carry out alignment and recharge；Judge whether the robot is aligned and recharge success；For it is no when, control the robot to be moved in predeterminable area, and cradle is identified in moving process；Detect whether the robot recognizes the cradle in the predeterminable area；When to be, control the robot to be moved to the cradle position, and carry out alignment and recharge.The present invention can make robot, and in the case where charging process is passively interrupted, Automatic-searching cradle is charged, and is quickly identified by laser radar and infrared alignment is to eliminate deviation, is had and is recharged the advantages of rapid, alignment precision is high and environmental suitability is strong.
Description
Technical field
The present invention relates to robot control field, in particular to a kind of robot control method, device, robot
And cradle.
Background technology
With the continuous progress of science and technology, there is relatively strong intelligent robot to start more and more in the life of people
Play the part of important role in ground.As household cleaning class robot frees from the cumbersome housework swept the floor, mopped floor the mankind, patrol
Examine robot and also provide accurately and effectively safety inspection service etc. to the mankind in rugged environment.These robots are typically adopted
With rechargeable battery offer power, yet with capacity limit, the available continuous power-on time of battery is shorter, general machine
More than 2,3 hours of people's run time, it is necessary to charged, this necessary function of asking robot that there is automatic charging of making use of momentum.
In order that in the case that robot is in continuous work, how not enough power supply situation, rational design recharges algorithm routine,
Its completion is recharged automatically, turn into a stern challenge.If recharging failure automatically, it cannot ensure that robot can be continuous
Work on.
At present, the automatic of robot recharges scheme and mainly has following three kinds：Recharged automatically based on infrared, based on laser
Automatic recharge recharges scheme with the automatic of view-based access control model.
Wherein, the robot based on infrared mode, which recharges, is typically fitted with infrared transmitter on seat, send specific frequency
The infrared light of rate；And robot is anterior or surrounding is then equipped with infrared remote receiver.Once the infrared remote receiver of robot receives this
Infrared light, then show cradle on the specific direction near robot.
The robot recharged using laser barcode scanning mode must then be provided with laser radar first, along with by specific coding
Cradle, can reach and cradle feature and the actively purpose that recharges are recognized by laser.
The scheme of view-based access control model can typically be provided with special pattern or Quick Response Code on cradle, by mounted in machine
Camera on people is recharged again after being identified.
However, above-mentioned three kinds of schemes all have the defects of certain：
For using the infrared robot for recharging scheme, when robot recharges at a distance, finding cradle time length, and
And also need to the ability that there are resolution wall and isolated island barrier in robot；The resolution ratio of other infrared scheme infrared connects with what is used
It is relevant to receive device number, wants quickly to search out cradle, it is necessary to which more infrared receiving devices, cost can rise；Use
Laser barcode scanning then can comparatively fast navigate to charging pile position, but no small deviation be present when laser barcode scanning is aligned on hand；Depending on
Feel scheme is then more sensitive to light, there is tighter requirement, adaptability and less stable to application environment.
And the situation passively interrupted in charging process for robot in three kinds of schemes of the above, machine can be directly resulted in
People charges failure, such as the position of cradle changes in charging process, or robot is encountered in itself, then can not be after
It is continuous to be charged.
The content of the invention
It is an object of the invention to provide a kind of robot control method, device, robot and cradle, and it can have
Effect improves above mentioned problem.
What embodiments of the invention were realized in：
In a first aspect, the embodiments of the invention provide a kind of robot control method, applied in a robot, the side
Method includes：Whether the charged state for detecting the robot passively interrupts；When to be, the robot is controlled to be moved to charging
Seat position candidate, and carry out alignment and recharge；Judge whether the robot is aligned and recharge success；For it is no when, control the machine
Device people is moved in predeterminable area, and cradle is identified in moving process；The robot is detected described
Whether the cradle is recognized in predeterminable area；When to be, the robot is controlled to be moved to the cradle institute in place
Put, and carry out alignment and recharge；Return execution judges whether the robot is aligned and recharges success；Whether judging the robot
When alignment recharges the number that successful result be no and exceedes preset limit value, judge that the robot charges and fail.
Second aspect, the embodiment of the present invention additionally provide a kind of robot controller, and applied in a robot, it is wrapped
Charging module is included, whether the charged state for detecting the robot passively interrupts；Candidate block, in the robot
Charged state be when passively interrupting, control the robot to be moved to cradle position candidate, and carry out alignment and recharge；Alignment
Module, success is recharged for judging whether the robot is aligned；Search module, for being not aligned with recharging in the robot
During success, the robot is controlled to be moved in predeterminable area, and cradle is identified in moving process；Identification
Module, for detecting whether the robot recognizes the cradle in the predeterminable area；Control module, in institute
When stating robot and recognizing the cradle in the predeterminable area, the robot is controlled to be moved to where the cradle
Position, and carry out alignment and recharge；Module is limited, for recharging what successful result was no judging whether the robot is aligned
When number exceedes preset limit value, the robot charging failure is judged.
The third aspect, the embodiment of the present invention additionally provide a kind of robot, and it includes laser radar, infrared remote receiver, electricity
Source module, control module and executing agency, the laser radar are used to carry out the position that laser SLAM builds figure and identification cradle
Put；The infrared remote receiver is used to receive the infrared signal sent by the cradle；The power module is used to fill with described
The charging module connection of electric seat is recharged；The control module is used to carry out computing and sends control instruction；The execution
Mechanism is used to perform the control instruction sent by the control module
Fourth aspect, the embodiment of the present invention additionally provide a kind of cradle, and it includes charging module, cradle encodes and red
External transmitter, the charging module are used to provide charging environment for robot；The cradle is encoded for reflecting by the machine
The laser signal that laser radar on device people is sent；The infrared transmitter is used to launch infrared signal；Wherein, the cradle
Coding is made up of the different material of multiple surface reflectivities, when the laser radar in robot swashs to the cradle coded excitation
During optical signal, the laser signal carries and cradle coding pair through the cradle coded reflective on the cradle
The light distribution answered is received by the laser radar.
Robot control method, device, robot and cradle provided in an embodiment of the present invention, expire in the robot
When foot recharges condition, whether the charged state for detecting the robot first passively interrupts；When to be, the robot is controlled
Cradle position candidate is moved to, and carries out alignment and recharges；Judge whether the robot is aligned again and recharge success；It is being no
When, control the robot to be moved in predeterminable area, and cradle is identified in moving process；It is complete in movement
Into after whole predeterminable area, detect whether the robot recognizes the cradle in the predeterminable area；When to be,
Control the robot to be moved to the cradle position, and carry out alignment and recharge；At this point it is possible to returning to execution judges institute
State robot and whether be aligned and recharge success；Finally, judging whether the robot is directed at time for recharging successful result and being no
When number exceedes preset limit value, the robot charging failure is judged.Compared to the prior art, the present invention is filling for robot
In electric process, situation that charged state is passively interrupted can be filled again automatically by the position of automatic searching cradle to realize
Electricity, the position of cradle in charging process can be effectively improved and changed, or caused fill is encountered in itself by robot
The situation of electricity failure.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is a kind of structured flowchart for the electronic equipment that can be applied in the embodiment of the present invention；
Fig. 2 is the FB(flow block) for the robot control method that first embodiment of the invention provides；
Fig. 3 is the step FB(flow block) before step S200 in first embodiment of the invention；
Fig. 4 is the sub-step FB(flow block) of step S300 in first embodiment of the invention；
Fig. 5 is the sub-step FB(flow block) of step S310 in first embodiment of the invention；
Fig. 6 is the FB(flow block) for the step S600 that first embodiment of the invention provides；
Fig. 7 is the step S700 of first embodiment of the invention offer, step S710, step S720, step S730 flow
Block diagram；
Fig. 8 is the structured flowchart for the robot controller that second embodiment of the invention provides；
Fig. 9 is the structured flowchart for the robot that third embodiment of the invention provides；
Figure 10 is the structured flowchart for the cradle that third embodiment of the invention provides；
Figure 11 is a kind of schematic diagram for cradle coding that third embodiment of the invention provides.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Fig. 1 shows a kind of structured flowchart for the electronic equipment 100 that can be applied in the embodiment of the present application.As shown in figure 1,
Electronic equipment 100 can include memory 110, storage control 120, processor 130, display screen 140 and robot control
Device.For example, the electronic equipment 100 can be PC (personal computer, PC), tablet personal computer, intelligent hand
Machine, personal digital assistant (personal digital assistant, PDA) etc..
It is directly or indirectly electric between memory 110, storage control 120, processor 130,140 each element of display screen
Connection, to realize the transmission of data or interaction.For example, one or more communication bus or signal can be passed through between these elements
Bus realizes electrical connection.The robot control method include respectively it is at least one can be with software or firmware (firmware)
Form is stored in the software function module in memory 110, such as the software function module that the robot controller includes
Or computer program.
Memory 110 can store various software programs and module, the robot control provided such as the embodiment of the present application
Programmed instruction/module corresponding to method, apparatus, robot and cradle.Processor 130 is stored in memory by operation
Software program and module in 110, so as to perform various function application and data processing, that is, are realized in the embodiment of the present application
Robot control method.Memory 110 can include but is not limited to random access memory (Random Access
Memory, RAM), read-only storage (Read Only Memory, ROM), programmable read only memory (Programmable
Read-Only Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only
Memory, EPROM), electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only
Memory, EEPROM) etc..
Processor 130 can be a kind of IC chip, have signal handling capacity.Above-mentioned processor can be general
Processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit (Network
Processor, abbreviation NP) etc.；It can also be digital signal processor (DSP), application specific integrated circuit (ASIC), ready-made programmable
Gate array (FPGA) either other PLDs, discrete gate or transistor logic, discrete hardware components.It can
To realize or perform disclosed each method, step and the logic diagram in the embodiment of the present application.General processor can be micro-
Processor or the processor can also be any conventional processors etc..
Electronic equipment 100 applied in the embodiment of the present invention can also possess from display work(to realize robot control
Can, display screen 140 therein can provide an interactive interface (such as user between the electronic equipment 100 and user
Operation interface) or for display image data give user reference.
In the embodiment of the present invention, robot can be controlled by being used as the electronic equipment 100 of other-end,
The electronic equipment 100 can also be arranged in robot, or be integrated into the control system in robot, make robot
Can independently it be controlled.
Firstly the need of explanation before the specific embodiment of the present invention is introduced, the present invention is computer technology in machine
A kind of application of people's control field.In the implementation process of the present invention, the application of multiple software function modules can be related to.Application
People thinks, existing combining such as after application documents, accurate understanding realization principle and goal of the invention of the invention is read over
In the case of known technology, those skilled in the art can use the software programming technical ability of its grasp to realize the present invention completely, all
The software function module that the present patent application file refers to belongs to this category, and applicant will not enumerate.
First embodiment
Fig. 2 is refer to, present embodiments provides a kind of robot control method, applied in a robot, methods described
Including：
Step S200：Whether the charged state for detecting the robot passively interrupts；
When to be, step S210 is performed；
For it is no when, return and perform step S200；
In the present embodiment, the robot detects whether the charged state of itself passively interrupts in real time in charging process.
The passive interruption, can refer in the case where non-active control executing agency of the robot is moved, the machine
People is no longer charged, then it is assumed that the charged state of the robot is passively interrupted, such as in charging process cradle position
Put and change, or robot charging interruption caused by the position change of the robot caused by encountering etc. in itself.
Step S210：Control the robot to be moved to cradle position candidate, and carry out alignment and recharge；
In the present embodiment, the cradle position candidate can be the cradle under non-mobile status, the machine
The position of the cradle of people elder generation prelocalization.For example, being encountered in the robot causes robot location to change, now fill
The position of electric seat does not change, the cradle position candidate that robot is moved to, and is the real cradle place
Position；If charged state is caused passively to be interrupted because the position of the cradle changes, it is to be understood that now
The cradle position candidate be not the real current location of the cradle, even if the robot is moved to the charging
Seat position candidate, it is also possible to which alignment recharges failure.In the present embodiment, the alignment is recharged and can carried out by infrared alignment.
Step S220：Judge whether the robot is aligned and recharge success；
When to be, it is believed that the robot charges successfully, and step terminates；
For it is no when, perform step S230；
Step S230：Control the robot to be moved in predeterminable area, and cradle is entered in moving process
Row identification；
In the present embodiment, the predeterminable area carries out the cradle institute of SLAM foundation before being the robot
Big uniform space, e.g. using some room as the predeterminable area.Particularly, may be provided with the predeterminable area more
Individual cradle, even if current cradle is moved out the predeterminable area, the robot is patrolled in the predeterminable area
Also other cradles can be recognized when patrolling search, to carry out continuing to charge.
Step S240：Detect whether the robot recognizes the cradle in the predeterminable area；
When to be, step S250 is performed；
For it is no when, it is believed that the robot does not search any cradle in the predeterminable area, that is, fills
Electricity failure, step terminate.
Step S250：Control the robot to be moved to the cradle position, and carry out alignment and recharge；
After step S250 is carried out, return and perform step S220；
In the present embodiment, after laser radar recognizes the cradle, the robot can be controlled to the charging
The movement of seat position, and be aligned.
When the result of the step S220 is no, step can also be carried out between step S220 to step S230
S260；
Step S260：Judge whether the number that the robot alignment recharges failure exceedes preset limit value；
When to be, it is possible to determine that the robot charging failure, step terminate；
For it is no when, continue executing with step S230.
The preset limit value, can be that the robot of setting recharges the number of attempt upper limit, such as 3 in the present embodiment
It is secondary, when robot trial, which carries out alignment, recharges failure more than 3 times, it is believed that do not possess in the current predeterminable area
Normal charging environment, can stop the robot, save electricity and prevent from being damaged.
It refer to Fig. 3, in the present embodiment, further, before the step S200, following sub-step can also be included
Suddenly：
Step S300：When the robot meets to recharge condition, according to the laser signal identification that an object reflects
Whether object is cradle；
When to be, step S310 is performed；
For it is no when, it is not cradle that can record the object, and continues to detect other objects, repeats step
S300；
In the present embodiment, when the robot needs to be recharged to guarantee to continue work when not enough power supply
When making, it is believed that the robot meets to recharge condition.The object can be laser radar detect arbitrarily can be anti-
Penetrate the object of laser signal.Can be that the laser radar in robot swashs to object emission is a branch of first specifically, in detection
Light, when laser light incident is to body surface, the laser radar is reflected back into by the body surface, now by signal transacting
The position of the object can be obtained.Because the light reflectivity of different body surface materials is different, by obtaining object reflection
The light distribution of laser signal, you can identify whether the object is cradle.
Step S310：The robot is controlled to be moved to the cradle position；
In the present embodiment, control instruction can be sent to executing agency by the control module in robot, carry out control machine
The motion of device people, the robot is set to be moved to the cradle position along the path calculated.Particularly, due to
Laser radar has higher object resolution capability in itself, and the path calculated behind cradle position is identified by laser radar,
It is possible to prevente effectively from the influence of wall and barrier, allows the robot to the collisionless arrival cradle position of safety.
Step S320：The robot be in the cradle position and the robot and the cradle it
Between current relative position when being the first relative position, judge whether the robot receives institute in first relative position
State the infrared signal that cradle is sent；
When to be, it is believed that current robot and cradle are aligned, perform step S340.
For it is no when, perform step S330；
In the present embodiment, because the charge port of robot is generally located on a side of the robot, therefore work as institute
When stating robot arrival cradle position, it is also necessary to the charge port of the robot is aligned with the cradle,
The connection of charge port and cradle can be carried out, completes charging.It is understood that first relative position, is referred to
When the robot has just reached the cradle position, the relative position with the cradle, therefore first phase
Can be that the robot is aligned or misalignment with the cradle to position, if alignment is, it is necessary to according to machine
Whether the infrared remote receiver on people receives infrared signal that cradle sends to judge.
, can be by the infrared remote receiver and charge port in robot as a kind of concrete implementation means in the present embodiment
It is arranged on the same side, the direction of the launch of infrared transmitter and the plug direction of cradle on cradle are also consistent, now
When the infrared remote receiver in robot receives infrared signal, the plug of charge port and cradle in robot is just right
It is accurate.It is understood that the infrared remote receiver and charge port in robot can also be set in different directions, such as infrared receiver
Device is obliquely installed with charge port with 30 ° of angles, and now the direction of the launch of the infrared transmitter on cradle also should be with 30 ° with plug
Angle is correspondingly arranged, when can finally ensure that the infrared remote receiver in robot receives infrared signal, robot and cradle
Alignment.
Step S330：Control the robot to rotate, the current relative position is adjusted from first relative position
To the second relative position, wherein, in second relative position, the robot can receive what the cradle was sent
Infrared signal.
In the present embodiment, if robot is not aligned with cradle under the first relative position, by rotary machine people,
It can complete to be aligned until the infrared remote receiver in robot can receive infrared signal.It is understood that described second
Relative position, it is the relative position that the robot can just be aligned with the cradle.
In the present embodiment, when the robot meets to recharge condition and into after recharging pattern, acquisition is all to search
Rope is to the position of cradle signal, it is contemplated that robot can receive cradle signal in many positions, nor exclude
There is the situation that multiple cradles or cradle are moved, so to be clustered to cradle, a regional extent may be selected,
All cradle signal locations within this range are considered caused by same cradle, one is provided and recharges candidate bit
Put.The method for providing position candidate can directly choose the central point of the zonule, or to all signals in the range of this
Position averaged.The step may produce several position candidates, if can not find position candidate, robot returns former
Point.
Step S340：Control the robot to be moved to the cradle direction, connect the power module of the robot
Touch the charging module of the cradle；
In the present embodiment, the robot and the cradle are aligned after step S230, now described in control
Robot is close to the cradle, the step of can carrying out charging connection.
Step S350：Judge the power module and the whether built vertical correct charging connection of the charging module；
When to be, step S360 is performed；
For it is no when, return and perform step S340；
In the present embodiment, the robot detects the power supply mould of robot in real time during close to the cradle
Whether the charging module of block and cradle correctly connects.
Step S360：Judge that the robot recharges success, and control the robot to terminate to move.
In the present embodiment, when the power module of the robot and the charging module of the cradle establish correct connection
Afterwards, you can the robot stop motion is controlled, to carry out follow-up charge normal.
It refer to Fig. 4, in the present embodiment, further, the step S300 can include following sub-step：
Step S400：Obtain effective laser frame of object reflection；
In the present embodiment, the effectively laser frame may be considered the original laser frame of the object reflection by certain place
The effective laser signal obtained after reason.Specifically, can be according to the finding range of laser radar, by the original laser frame of acquisition
Laser spots within the range are not rejected, and reject the point for exceeding threshold value apart from saltus step, that is, filter out invalid laser spots.
Step S410：Judge whether the light distribution of the effectively laser frame meets the coded system of cradle；
When to be, step S320 is performed；
For it is no when, it is not cradle that can record the object, and continues to detect other objects, returns and performs step
S400；
In the present embodiment, what the effectively laser frame carried is the information of the body surface material.When the object table
When face is made up of the material of multiple different light reflectivities, the laser spots of diverse location can show difference on the laser frame of reflection
Light distribution.It is understood that when laser is reflected by the high material of reflectivity, the light intensity of the laser spots of acquisition is big；Phase
Instead, when laser is reflected by the higher material of the relatively low i.e. absorptivity of reflectivity, the light intensity of the laser spots of acquisition is weak.
Step S420：Judge the object for cradle.
In the present embodiment, the light distribution of the laser frame of the cradle reflection made by special material has specificity,
The coding for identification can be formed.When the light distribution of effective laser frame of the acquisition by object reflection and the coding of cradle
When mode is identical, you can it is cradle to confirm the object, completes the identification of cradle.Specifically, laser radar can be from described
Qualified laser spots are filtered out in effective laser frame of cradle reflection, calculate the point midway of the cradle, and
Coordinate Conversion is carried out to world coordinates.
It refer to Fig. 5, in the present embodiment, further, the step S310 can include following sub-step：
Step S500：The robot is controlled to be moved to the cradle position；
In the present embodiment, control instruction is sent to executing agency by the control module in robot, you can realize machine
Movement.
Step S510：Judge whether the spacing of the robot and the cradle is less than default distance values；
When to be, step S520 is performed；
For it is no when, return and perform step S500；
In the present embodiment, the robot to the cradle during moving, detection in real time and the cradle
Spacing.Because robot is when reaching cradle position, it is also necessary to reserve certain interval and be aligned, the interval is
It is the default distance values.
Step S520：Control the robot stop motion.
In the present embodiment, when the spacing of the robot and the cradle is reached in pre-determined distance value, it is believed that
The robot has arrived at the cradle position, and is sufficiently closed to the cradle, now stops machine
The motion of people, think the reserved enough spaces of follow-up alignment.
It refer to Fig. 6, in the present embodiment, further, before the step S300, following steps can also be carried out：
Step S600：Detect whether the robot meets to recharge condition.
When to be, step S300 is performed；
For it is no when, return and perform step S600.
In the present embodiment, whether the robot detects in real time in the course of the work itself meets to recharge condition, described
When robot meets at least one of following condition, it is possible to determine that the robot meets to recharge condition：
The battery electric quantity of the robot is less than default charge value；
After the robot has performed all current tasks；
The robot, which receives, recharges instruction；
The charging process of the robot is passively interrupted.
It is understood that according to different robot types and the different demands of user, can be to the robot
Recharge condition carry out it is self-defined.
It refer to Fig. 7, in the present embodiment, further, before the step S300, following steps can also be carried out：
Step S700：Carry out laser SLAM and build figure；
In the present embodiment, the robot can carry out SLAM, to obtain in whole work process by laser radar
Oneself current pose simultaneously establishes the map of location circumstances.
Step S710：Obtain effective laser frame of object reflection；
Step S720：Judge whether the light distribution of the effectively laser frame meets the coded system of cradle；
When to be, step S730 is performed；
For it is no when, it is not cradle that can record the object, and continues to detect other objects, returns and performs step
S710；
Step S730：The object is judged for cradle, obtains the point midway of the cradle, and by the midpoint position
Put and be converted to world coordinates and recorded as the cradle position.
In the present embodiment, (now robot does not have satisfaction to recharge bar when the robot performs other tasks indoors
Part), the position of cradle can be identified according to laser data always, records its position if identifying successfully.
In the present embodiment, robot can also be replaced, example in infrared alignment by the means of other identification alignments
Such as ultrasonic wave, vision.
The method that the present embodiment provides, SLAM technologies, laser extraction feature technology and infrared technique are combined, from actual rings
Border is set out, and according to actual conditions, is carried out SLAM, is established the map of location circumstances, obtain robot real time position, records cradle
Position；When enter recharge pattern when, can be rapidly navigated near cradle by laser radar, be carried out pair according to infrared positioning
It is accurate.This method real-time is good, strong robustness；After even if cradle is moved cradle, it can also recharge success；When there is several
During success seat, it can be ranked up, the near cradle of preferential forward travel distance, saved according to the distance relation of robot and cradle
Time, it ensure that success rate.As a result of laser radar sensor, path planning, avoidance can be carried out, ensure that nobody is dry
Pre- lower energy long time continuous working, simple dependence laser or infrared caused defect are overcome, robot active is improved and returns
The reliability and accuracy filled.
Second embodiment
Fig. 8 is refer to, present embodiments provides a kind of robot controller 800, applied in a robot, it is wrapped
Include：
Whether charging module 810, the charged state for detecting the robot passively interrupt；
Candidate block 820, for when the charged state of the robot is passively to interrupt, controlling the robot to move
To cradle position candidate, and carry out alignment and recharge；
Alignment modules 830, success is recharged for judging whether the robot is aligned；
Search module 840, for when the robot is not aligned with recharging successfully, controlling the robot in preset areas
Move in domain, and cradle is identified in moving process；
Identification module 850, for detecting whether the robot recognizes the cradle in the predeterminable area；
Control module 860, for when the robot recognizes the cradle in the predeterminable area, controlling institute
State robot and be moved to the cradle position, and carry out alignment and recharge；
Module 870 is limited, for the number that successful result is no being recharged and being exceeded judging whether the robot is aligned
During preset limit value, the robot charging failure is judged.
3rd embodiment
Fig. 9 is refer to, present embodiments provides a kind of robot 1000, it includes laser radar 1100, infrared remote receiver
1200th, power module 1300, control module 1400 and executing agency 1500.
In the present embodiment, the laser radar 1100 is used to carry out the position that laser SLAM builds figure and identification cradle 2000
Put, can be with instrumentation radar angle, distance by radar and radar intensity；The infrared remote receiver 1200 is used to receive by the cradle
2000 infrared signals sent；The power module 1300 is used for and the connection of the charging module 2100 of the cradle 2000 is carried out
Recharge；The control module 1400 is used to carry out computing and sends control instruction；The executing agency 1500 be used for perform by
The control instruction that the control module 1400 is sent.
Figure 10 is refer to, the present embodiment additionally provides a kind of cradle 2000, and it includes charging module 2100, cradle is compiled
Code 2200 and infrared transmitter 2300.
In the present embodiment, the charging module 2100 is used to provide charging environment for robot 1000；The cradle is compiled
Code 2200 is used to reflect the laser signal sent by the laser radar 1100 in the robot 1000；The infrared transmitter
2300 are used to launch infrared signal.
In the present embodiment, the cradle coding 2200 can be made up of the different material of multiple surface reflectivities.Work as machine
When laser radar 1100 on device people 1000 is to 2200 transmitting laser signal of cradle coding, described in the laser signal warp
The reflection of cradle coding 2200 on cradle 2000, and carry and encode 2200 corresponding light distribution by institute with the cradle
Laser radar 1100 is stated to receive.
As a kind of specific embodiment, the middle part of cradle 2000 is provided with 2 infrared transmitters 2300, machine
Device people 1000 is then configured with 2 infrared remote receivers 1200 in front.Infrared transmitter 2300 and machine on cradle 2000
Infrared remote receiver 1200 on people 1000 is contour, and the center and the center of laser radar 1100 of cradle coding 2200 are in same height
Degree.
A kind of cradle coding 2200, as shown in figure 11, different parts has different surfacings, for laser
Reflectivity has obvious otherness.Cross arrangement between different materials, and width is not completely the same.By using asymmetric
Coded system, and the reflectivity of encoded material and most of object under home environment is inconsistent, is less prone in the environment
Similar feature so that accuracy rate greatly improves.
In summary, robot control method provided in an embodiment of the present invention, device, robot and cradle, in institute
State robot and meet whether the charged state for detecting the robot first passively interrupts when recharging condition；When to be, control
The robot is moved to cradle position candidate, and carries out alignment and recharge；Judge whether the robot is aligned again to recharge into
Work(；For it is no when, control the robot to be moved in predeterminable area, and know in moving process to cradle
Not；After the mobile whole predeterminable area of completion, detect whether the robot recognizes the charging in the predeterminable area
Seat；When to be, control the robot to be moved to the cradle position, and carry out alignment and recharge；At this point it is possible to return
Receipt row judges whether the robot is aligned and recharges success；Finally, judge the robot whether be aligned recharge successfully
As a result when the number for being no exceedes preset limit value, the robot charging failure is judged.Compared to the prior art, the present invention is right
In robot in charging process, situation that charged state is passively interrupted can be by the position of automatic searching cradle, to realize
Automatically charge again, the position of cradle in charging process can be effectively improved and changed, or robot is touched in itself
To the situation of caused charging failure.The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention,
For those skilled in the art, the present invention can have various modifications and variations.It is all the spirit and principles in the present invention it
It is interior, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (10)
1. a kind of robot control method, it is characterised in that applied in a robot, methods described includes：
Whether the charged state for detecting the robot passively interrupts；
When to be, control the robot to be moved to cradle position candidate, and carry out alignment and recharge；
Judge whether the robot is aligned and recharge success；
For it is no when, control the robot to be moved in predeterminable area, and know in moving process to cradle
Not；
Detect whether the robot recognizes the cradle in the predeterminable area；
When to be, control the robot to be moved to the cradle position, and carry out alignment and recharge；
Return execution judges whether the robot is aligned and recharges success；
Judge the robot whether be aligned recharge the number that successful result is no and exceed preset limit value when, described in judgement
Robot charging failure.
2. according to the method for claim 1, it is characterised in that in whether the charged state for detecting the robot is passive
Before disconnected, methods described also includes：
When the robot meets to recharge condition, the laser signal reflected according to an object identifies whether the object is charging
Seat；
When to be, the robot is controlled to be moved to the cradle position；
The cradle position and current relative between the robot and the cradle is in the robot
When position is the first relative position, judge that the robot is sent whether first relative position receives the cradle
Infrared signal；
For it is no when, control the robot to rotate, the current relative position is adjusted to the from first relative position
Two relative positions, wherein, in second relative position, the robot can receive the cradle send it is infrared
Signal；
Control the robot to be moved to the cradle direction, the power module of the robot is contacted the cradle
Charging module；
Judge the power module and the whether built vertical correct charging connection of the charging module；
When to be, judge that the robot recharges success, and control the robot to terminate to move.
3. according to the method for claim 2, it is characterised in that the laser signal reflected according to an object identifies the object
Whether it is cradle, including：
Obtain effective laser frame of object reflection；
Judge whether the light distribution of the effectively laser frame meets the coded system of cradle；
When to be, judge the object for cradle.
4. according to the method for claim 2, it is characterised in that control the robot to be moved to the cradle institute in place
Put, including：
The robot is controlled to be moved to the cradle position；
Judge whether the spacing of the robot and the cradle is less than default distance values；
When to be, the robot stop motion is controlled.
5. according to the method for claim 2, it is characterised in that identify the thing in the laser signal reflected according to an object
Before whether body is cradle, methods described also includes：
Detect whether the robot meets to recharge condition.
6. according to the method for claim 5, it is characterised in that meet at least one of following condition in the robot
When, judge that the robot meets to recharge condition：
The battery electric quantity of the robot is less than default charge value；
After the robot has performed all current tasks；
The robot, which receives, recharges instruction；
The charging process of the robot is passively interrupted.
7. according to the method for claim 2, it is characterised in that identify the thing in the laser signal reflected according to an object
Before whether body is cradle, methods described also includes：
Carry out laser SLAM and build figure；
Obtain effective laser frame of object reflection；
Judge whether the light distribution of the effectively laser frame meets the coded system of cradle；
When to be, the object is judged for cradle, obtains the point midway of the cradle, and the point midway is turned
World coordinates is changed to be recorded as the cradle position.
A kind of 8. robot controller, applied in a robot, it is characterised in that described device includes：
Whether charging module, the charged state for detecting the robot passively interrupt；
Candidate block, for when the charged state of the robot is passively to interrupt, controlling the robot to be moved to charging
Seat position candidate, and carry out alignment and recharge；
Alignment modules, success is recharged for judging whether the robot is aligned；
Search module, for when the robot is not aligned with recharging successfully, controlling the robot to enter in predeterminable area
Row movement, and cradle is identified in moving process；
Identification module, for detecting whether the robot recognizes the cradle in the predeterminable area；
Control module, for when the robot recognizes the cradle in the predeterminable area, controlling the machine
People is moved to the cradle position, and carries out alignment and recharge；
Module is limited, for presetting restriction judging whether the robot is aligned to recharge the number that successful result be no and exceed
During value, the robot charging failure is judged.
9. a kind of robot, it is characterised in that including laser radar, infrared remote receiver, power module, control module and perform machine
Structure,
The laser radar is used to carry out the position that laser SLAM builds figure and identification cradle；
The infrared remote receiver is used to receive the infrared signal sent by the cradle；
The power module is used to connect with the charging module of the cradle to be recharged；
The control module is used to carry out computing and sends control instruction；
The executing agency is used to perform the control instruction sent by the control module.
A kind of 10. cradle, it is characterised in that including charging module, cradle encodes and infrared transmitter,
The charging module is used to provide charging environment for robot；
The cradle is encoded for reflecting the laser signal sent by the laser radar in the robot；
The infrared transmitter is used to launch infrared signal；
Wherein, cradle coding is made up of the different material of multiple surface reflectivities, when the laser radar in robot to
During the cradle coded excitation laser signal, the laser signal is taken through the cradle coded reflective on the cradle
Band is received with the corresponding light distribution of cradle coding by the laser radar.
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| CN201711076288.0A CN107817801A (en) | 2017-11-03 | 2017-11-03 | Robot control method, device, robot and cradle |
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| CN201711076288.0A CN107817801A (en) | 2017-11-03 | 2017-11-03 | Robot control method, device, robot and cradle |
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| CN110162047A (en) * | 2019-05-21 | 2019-08-23 | 福建天泉教育科技有限公司 | Robot automatic charging bootstrap technique and its system |
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Application publication date: 20180320 |