CN108255177A - Robot autonomous charging system - Google Patents
Robot autonomous charging system Download PDFInfo
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- CN108255177A CN108255177A CN201810042062.7A CN201810042062A CN108255177A CN 108255177 A CN108255177 A CN 108255177A CN 201810042062 A CN201810042062 A CN 201810042062A CN 108255177 A CN108255177 A CN 108255177A
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- 230000000007 visual effect Effects 0.000 claims abstract description 33
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 230000004807 localization Effects 0.000 claims abstract description 5
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 claims description 14
- 238000003032 molecular docking Methods 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims 1
- 238000003384 imaging method Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000000605 extraction Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 235000014676 Phragmites communis Nutrition 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process 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
- G05D1/0246—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
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The disclosure provides a kind of robot autonomous charging system, including navigation, main control computer, visual sensor, charging compartment, charging pile and road sign；The navigation determines position and the path planning of the charging pile for monitoring road conditions；The main control computer is used to control the navigation and the visual sensor and control robot movement to be charged；The visual sensor determines its coordinate for detecting the road sign；The charging compartment is for the screen charging pile and the road sign；The charging pile is used to provide electric energy for robot to be charged；The road sign is used for robot localization to be charged；The navigation, the main control computer and the visual sensor are installed on robot car body, and the charging pile is respectively positioned on the road sign in the charging compartment.
Description
Technical field
This disclosure relates to charging system field more particularly to a kind of robot autonomous charging system.
Background technology
Outdoor safety protection robot is semi-autonomous, autonomous or the mankind is assisted to complete security protection work in the case where the mankind control completely
The robot of work, one as robot industry is segmented field, hidden for solving safety based on actual production living needs
Suffer from, go on patrol monitoring and the condition of a disaster early warning etc., so as to reduce the generation of safety accident, reduce life and property loss.
Outdoor safety protection robot can replace the security works such as patrol officer completes security protection, danger is detected, independence
It is the key that its long-term work, wherein recharging technology is to solve the critical issue of independence.Therefore, to outdoor security machine
The research of people's recharging is of great significance.
Invention content
The disclosure provides a kind of system of achievable outdoor safety protection robot recharging, to solve outdoor autonomous machine
Device people work long hours recharging under state the problem of, realized by following scheme：
Robot autonomous charging system, including navigation, main control computer, visual sensor, charging compartment, charging pile and road
Mark；
The navigation determines position and the path planning of the charging pile for monitoring road conditions；The main control computer is used
It is moved in controlling the navigation and the visual sensor and control robot to be charged；The visual sensor is used to visit
The road sign is surveyed, and determines its coordinate；The charging compartment is for the screen charging pile and the road sign；The charging pile is used
In providing electric energy for robot to be charged；The road sign is used for robot localization to be charged；
The navigation, the main control computer and the visual sensor are installed on robot car body, the charging
Stake is respectively positioned on the road sign in the charging compartment.
Further, there is color characteristic and point feature, the point feature is embedded in the color characteristic on the road sign
In.
Wherein, the color characteristic is with black and white rectangular color lumps, and the point feature is Quick Response Code.
Further, the visual sensor is monocular camera sensor.
Further, the navigation is the integrated navigation of differential GPS, laser radar and odometer.
Further, the method that robot autonomous charging system charges is filled using the recharging system
Electricity, described method includes following steps：
Main control computer described in S1 starts the navigation, controls robot motion to be charged to charging compartment doorway area
Domain；
Navigation adjustment course described in S2, the main control computer control robot move into the charging compartment；
Main control computer described in S3 starts the visual sensor, detects the orientation of the road sign；
S4 determines robot to be charged with respect to institute according to coordinate of the road sign in the coordinate system of the visual sensor
State the pose of road sign；
Main control computer described in S5 is moved according to Pose Control robot to be charged, makes robot and the charging pile
Complete docking.
Wherein, the charging compartment can have shutter door or other switchable similar means, the main control computer
Remote-controlled rolling gate open after, then by laser radar Robot dodge strategy control robot enter the charging compartment in.
Further, the pose of robot to be charged relatively described road sign is determined described in step S4, including just positioning and essence
Two stages are positioned, the just positioning refers to determine the moving direction of robot using the color characteristic, and the fine positioning is
Refer to and the relatively described road sign of robot to be charged is determined according to coordinate of the point feature in the coordinate system of the visual sensor
Pose.
Wherein, the visual sensor, that is, monocular camera sensor detects the road sign according to the color characteristic
Afterwards, under the action of the navigation, the main control computer control robot is moved to the road sign direction, when the monocular phase
When machine sensor detects the point feature among the color characteristic, the point feature is calculated by feature extraction algorithm and is existed
Coordinate in the coordinate system of the monocular camera, and it is opposite further by camera projection model and optimization algorithm to obtain robot
The pose of the road sign.
Further, in step S5, the charging pile can bear the buffer distance of 2cm.
Wherein, the charging pile can bear the buffer distance of 2cm, refer to dock charging with the charging pile when robot
When, the mechanical structure of the charging terminal of the charging pile can bear the maximum shock amplitude from robot as 2cm.
Further, the charge circuit series relay of robotic end to be charged.
Further, the charging method further includes step S6：The relay is closed, and robot starts to charge up, and is charged
It finishes, the relay disconnects.
The advantageous effect of the disclosure：
Robot autonomous charging system can make outdoor safety protection robot safe and reliable in the environment of no manual intervention, quick
It efficiently realizes automatic charging, robot is made to be at long-term autonomous work in inspection, equipment fault diagnosis work is carried out.
Description of the drawings
Attached drawing shows the illustrative embodiments of the disclosure, and it is bright together for explaining the principle of the disclosure,
Which includes these attached drawings to provide further understanding of the disclosure, and attached drawing is included in the description and forms this
Part of specification.
Fig. 1 is the recharging schematic diagram of the robot autonomous charging system of disclosure specific embodiment；
Fig. 2 is that the field angle of the robot autonomous charging system of disclosure specific embodiment calculates schematic diagram.
Specific embodiment
The disclosure is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is only used for explaining related content rather than the restriction to the disclosure.It also should be noted that in order to just
It is illustrated only in description, attached drawing and the relevant part of the disclosure.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the disclosure can phase
Mutually combination.The disclosure is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Robot autonomous charging system, including navigation, main control computer, visual sensor, charging compartment, charging pile and road
Mark；
Navigation determines position and the path planning of charging pile for monitoring road conditions；
Main control computer is for control navigation and visual sensor and control robot movement to be charged；
Visual sensor determines its coordinate for detecting road sign；
Charging compartment is for screen charging pile and road sign；
Charging pile is used to provide electric energy for robot to be charged；
Road sign is used for robot localization to be charged；
Navigation, main control computer and visual sensor are installed on robot car body, and charging pile is respectively positioned on road sign to be filled
In electric compartment.
There is color characteristic and point feature, point feature is embedded in color characteristic on road sign.
Visual sensor is monocular camera sensor.
Navigation is the integrated navigation of differential GPS, laser radar and odometer.
The method that robot autonomous charging system charges is charged using robot autonomous charging system, including
Following steps：
S1 main control computers start navigation, control robot motion to be charged to charging compartment doorway region；
S2 navigation adjustment course, main control computer control robot move into charging compartment；
S3 main control computers start visual sensor, detect the orientation of road sign；
S4 determines pose of the robot to be charged with respect to road sign according to coordinate of the road sign in the coordinate system of visual sensor；
S5 main control computers are moved according to Pose Control robot to be charged, and robot is made to complete to dock with charging pile.
In step S4 determine robot to be charged with respect to road sign pose, including just position with two stages of fine positioning, just
Positioning refers to determine the moving direction of robot using color characteristic, and fine positioning refers to the seat in visual sensor according to point feature
Coordinate in mark system determines pose of the robot to be charged with respect to road sign.
In step S5, charging pile can bear the buffer distance of 2cm.
The charge circuit series relay of robotic end to be charged.
Charging method further includes step S6：Relay is closed, and robot starts to charge up, and charging finishes, and relay disconnects.
In more detail,
About visual sensor, i.e. monocular camera sensor, according to the relevant technologies experience and data volume and figure are considered
As feature extraction effect, camera resolution selection 640 × 480, it is contemplated that there is more serious distortion at the edge of camera, therefore selects
The monocular camera at 45 ° or so standard field of view angles is to ensure smaller distortion and relatively low price, and camera frame per second is 30fps, camera
Communication interface with main control computer is USB3.0 or 100-M network Ethernet, and focal length f is 4mm, camera and main control computer interface parameters
It is as follows：
(1) camera communication interface：USB3.0 or 100-M network Ethernet；
(2) camera resolution：640×480
(3) viewing field of camera angle：Not less than 45 °；
(4) camera frame per second：30fps
(5) camera focus：4mm
(6) aperture-coefficient：1
(7) main control computer communication interface：Serial ports, USB3.0,100-M network Ethernet, other USB interface × 2, display interface device.
The camera lens and camera of following model are selected according to above-mentioned requirements:
(1) camera model：BFLY-U3-03S2C-CS
(2) camera lens model：FA0401C
(3) camera resolution：648×488
(4) viewing field of camera angle：61.1°×47.5°
(5) camera frame per second：Maximum 84fps
(6) camera shutter：Global shutter
(7) camera communication interface：USB3.0 or 100-M network Ethernet
(8) camera focus：4mm
It is compared according to the real-time and complexity of interface requirement and related algorithm, main control computer selection NVIDIA
Jetson TK1。
Robot to be charged is main according to the path of navigation programming by differential GPS, laser radar and odometer integrated navigation
Control computer-controlled robot moves to charging compartment doorway region, adjusts course, makes robot alignment charging compartment doorway, position
Deviation is put within 0.5m, the shutter door of main control computer remote control charging compartment is opened, and main control computer control shutter door is opened
Detecting distance within 3m, robot moves into charging compartment, the size of charging compartment by laser radar Robot dodge strategy：
Long 3m, width 2m, high 2m, shutter door width：1.5m.
As shown in Figure 1, visual sensor be mounted on robot car body to be charged above, charging pile be fixedly mounted on charging every
In, road sign is fixedly mounted on the top of charging pile.After shutter door is opened, road sign enters camera fields of view.
The point feature put in view of the moving process Road after robot enters charging compartment becomes in camera fields of view
Change it is larger, therefore by robot localization be divided into just positioning and two stages of fine positioning.First positioning stage, road sign is in the imaging of camera
2/3 of standoff height no more than camera imaging level in plane, to ensure computational accuracy and prevent image border abnormal
Become.First positioning stage refers to the positioning using the color characteristic progress robot course on road sign, and guidance machine people is to charging pile
It moves in direction.As shown in Fig. 2, black rectangle frame is standoff height L of the road sign in camera imaging plane, point A is image center,
∠ BAC are the field angle of camera, | L |=2/3 | BC |, | AD |=0.5m, ∠ BAD=22.5 °, so | BC |=0.4m, L=
0.27m.Color characteristic is drafted when apart from robot 5m positions, area accounts for the 1/4 of the whole camera imaging area of plane, so
The height of color characteristic fixes tentatively 1m, and the embedded Quick Response Code point feature in center of color characteristic is accurately right with charging pile for robot
Connect positioning.
The positioning accuracy in fine positioning stage is mainly influenced by error when extracting point feature, and error is mainly by image resolution
Rate, movement when caused by image obscure and image collection noise caused by.According to the width of charging compartment, robot distance charging
During stake 2m, start to be accurately positioned, point feature accounts for the 1/6 of camera fields of view area at this time, and road sign is in pixel shared by camera imaging plane
For P, then P=1/6 × 648 × 488=52704, real area S=0.013 square centimeters shared by each pixel, shared reality
Length 0.13cm so the error as caused by image resolution ratio is no more than 0.064cm, can ignore；It can be compared with by binaryzation
The good a degree of image of solution obscures；The noise of approximate white noise generated due to various reasons during Image Acquisition can lead to
Crossing feature extraction algorithm and optimization algorithm improves.
From the above mentioned, entire positioning stage can be described as：After shutter door is opened, visual sensor detects the face on road sign
Color characteristic, robot adjustment course, is moved to charging pile direction, into after charging compartment, the visual sensor in moving process
Quick Response Code i.e. point feature is gradually detected, main control computer calculates point feature by feature extraction algorithm and sat in monocular camera image
Coordinate under mark system, obtains the distance of point feature and the Projection Depth on camera, passes through camera projection model and optimization algorithm
Further obtain pose of the robot with respect to road sign.
Main control computer controls robot to continue to move to according to above-mentioned relative pose, until robotic end charging terminal contacts
To the electrode reed of charging pile, robot is made to complete Dock With Precision Position with charging pile, the relay of robotic end is closed charge circuit,
It starts to charge up, after charging complete, relay disconnects, and main control computer control robot leaves charging pile.
The period of main control computer gathered data is 0.1s, and movement instruction assigns the period as 0.2s, enters from robot and fill
When electric compartment is to apart from charging pile 30cm, movement velocity 0.3m/s, positioning accuracy is better than 20cm；Apart from charging pile 30cm
When, speed is adjusted to 1cm/s, and positioning accuracy is better than 5cm；The charging terminal mechanical structure of charging pile can bear 2cm from machine
The shock buffering at people end；The electrode reed area at charging pile end is 5 × 3cm；The relay of robotic end can bear electric current and be more than
20A。
It will be understood by those of skill in the art that the above embodiment is used for the purpose of clearly demonstrating the disclosure, and simultaneously
Non- is that the scope of the present disclosure is defined.For those skilled in the art, may be used also on the basis of disclosed above
To make other variations or modification, and these variations or modification are still in the scope of the present disclosure.
Claims (9)
1. robot autonomous charging system, including navigation, main control computer, visual sensor, charging compartment, charging pile and road
Mark；
The navigation determines position and the path planning of the charging pile for monitoring road conditions；
The main control computer is used to control the navigation and the visual sensor and control robot movement to be charged；
The visual sensor determines its coordinate for detecting the road sign；
The charging compartment is for the screen charging pile and the road sign；
The charging pile is used to provide electric energy for robot to be charged；
The road sign is used for robot localization to be charged；
The navigation, the main control computer and the visual sensor are installed on the robot car body, the charging
Stake is respectively positioned on the road sign in the charging compartment.
2. recharging system according to claim 1, which is characterized in that there is color characteristic and Dian Te on the road sign
Sign, the point feature are embedded in the color characteristic.
3. recharging system according to claim 1 or 2, which is characterized in that the visual sensor is monocular camera
Sensor.
4. according to claim 1-3 any one of them recharging systems, which is characterized in that the navigation is differential GPS, swashs
The integrated navigation of optical radar and odometer.
5. the method that robot autonomous charging system charges is carried out using the recharging system described in claims 1 or 22
Charging, described method includes following steps：
Main control computer described in S1 starts the navigation, controls robot motion to be charged to charging compartment doorway region；
Navigation adjustment course described in S2, the main control computer control robot move into the charging compartment；
Main control computer described in S3 starts the visual sensor, detects the orientation of the road sign；
S4 determines the relatively described road of robot to be charged according to coordinate of the road sign in the coordinate system of the visual sensor
Target pose；
Main control computer described in S5 is moved according to Pose Control robot to be charged, and robot is made to be completed with the charging pile
Docking.
6. charging method according to claim 5, which is characterized in that determine robot to be charged with respect to institute described in step S4
The pose of road sign is stated, refers to determine machine using the color characteristic with two stages of fine positioning, the just positioning including just positioning
The moving direction of device people, the fine positioning refer to true according to coordinate of the point feature in the coordinate system of the visual sensor
The pose of the relatively described road sign of fixed robot to be charged.
7. charging method according to claim 5 or 6, which is characterized in that charging pile described in step S5 can bear 2cm
Buffer distance.
8. according to claim 5-7 any one of them charging methods, which is characterized in that the charge circuit of robotic end to be charged
Series relay.
9. according to claim 5-8 any one of them charging methods, which is characterized in that the method further includes step S6：Institute
Relay closure is stated, robot starts to charge up, and charging finishes, and the relay disconnects.
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| CN201810042062.7A CN108255177A (en) | 2018-01-17 | 2018-01-17 | Robot autonomous charging system |
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| CN201810042062.7A CN108255177A (en) | 2018-01-17 | 2018-01-17 | Robot autonomous charging system |
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| CN109347168A (en) * | 2018-11-09 | 2019-02-15 | 苏州穿山甲机器人股份有限公司 | Electrode safety device |
| CN109635639A (en) * | 2018-10-31 | 2019-04-16 | 百度在线网络技术（北京）有限公司 | Method for detecting position, device, equipment and the storage medium of traffic mark |
| CN109782770A (en) * | 2019-02-02 | 2019-05-21 | 南京航空航天大学 | A kind of method of grass trimmer recharging |
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| CN109347168B (en) * | 2018-11-09 | 2024-02-27 | 苏州穿山甲机器人股份有限公司 | Electrode safety protection device |
| CN109782770A (en) * | 2019-02-02 | 2019-05-21 | 南京航空航天大学 | A kind of method of grass trimmer recharging |
| CN109782770B (en) * | 2019-02-02 | 2022-06-21 | 南京航空航天大学 | Method for automatically charging mower |
| CN112061255A (en) * | 2020-07-20 | 2020-12-11 | 北京理工华汇智能科技有限公司 | Rubber garden management robot system and control method |
| CN112061255B (en) * | 2020-07-20 | 2021-10-19 | 北京理工华汇智能科技有限公司 | Rubber garden management robot system and control method |
| CN112092666A (en) * | 2020-09-16 | 2020-12-18 | 中建材创新科技研究院有限公司 | Automatic charging system and charging method of laser navigation forklift |
| CN112578799A (en) * | 2021-02-25 | 2021-03-30 | 德鲁动力科技(成都)有限公司 | Autonomous charging method for four-foot robot and autonomous charging four-foot robot |
| CN113270921A (en) * | 2021-05-27 | 2021-08-17 | 山东建筑大学 | Automatic charging system and method for transformer substation inspection robot |
| WO2022246901A1 (en) * | 2021-05-27 | 2022-12-01 | 山东建筑大学 | Automatic charging system for substation inspection robot and method |
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