CN108508897B - 一种基于视觉的机器人自动充电对准系统及方法 - Google Patents
一种基于视觉的机器人自动充电对准系统及方法 Download PDFInfo
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- CN108508897B CN108508897B CN201810359873.XA CN201810359873A CN108508897B CN 108508897 B CN108508897 B CN 108508897B CN 201810359873 A CN201810359873 A CN 201810359873A CN 108508897 B CN108508897 B CN 108508897B
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000000007 visual effect Effects 0.000 claims abstract description 23
- 238000004364 calculation method Methods 0.000 claims abstract description 7
- 238000011217 control strategy Methods 0.000 claims description 5
- 238000003032 molecular docking Methods 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 3
- 238000005299 abrasion Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
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- 238000010408 sweeping Methods 0.000 description 1
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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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Power Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
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CN201810359873.XA CN108508897B (zh) | 2018-04-20 | 2018-04-20 | 一种基于视觉的机器人自动充电对准系统及方法 |
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CN108508897A CN108508897A (zh) | 2018-09-07 |
CN108508897B true CN108508897B (zh) | 2021-03-05 |
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Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109193854A (zh) * | 2018-10-15 | 2019-01-11 | 北京极智嘉科技有限公司 | 一种调度机器人充电的方法、装置、调度系统及存储介质 |
CN109510266B (zh) * | 2018-11-30 | 2024-02-06 | 广东银狐医疗科技股份有限公司 | 一种电动轮椅充电装置、充电系统 |
WO2020191536A1 (en) * | 2019-03-22 | 2020-10-01 | Zhong Xing | Systems and methods for charging mobile robots |
CN110334648B (zh) * | 2019-07-02 | 2022-01-11 | 北京云迹科技有限公司 | 适用于机器人的充电桩识别系统和方法 |
CN110412993B (zh) * | 2019-09-04 | 2023-03-21 | 上海飞科电器股份有限公司 | 自主充电的方法以及移动机器人 |
CN113120801A (zh) * | 2019-12-31 | 2021-07-16 | 锥能机器人(上海)有限公司 | 叉车控制的方法、设备和计算机可读存储介质 |
CN111459176B (zh) * | 2020-04-03 | 2023-09-01 | 重庆固高科技长江研究院有限公司 | 车自动充电定位控制方法、标定方法及车辆姿态计算方法 |
CN111176305A (zh) * | 2020-04-14 | 2020-05-19 | 常州市盈能电气有限公司 | 一种视觉导航方法 |
CN111625005A (zh) * | 2020-06-10 | 2020-09-04 | 浙江欣奕华智能科技有限公司 | 一种机器人充电方法、机器人充电的控制装置及存储介质 |
CN112327940B (zh) | 2020-07-21 | 2023-01-13 | 追觅创新科技(苏州)有限公司 | 自动回充方法、装置、存储介质、充电基座及系统 |
JP7409264B2 (ja) * | 2020-08-27 | 2024-01-09 | トヨタ自動車株式会社 | 運搬システム、運搬方法、及びプログラム |
CN112092666A (zh) * | 2020-09-16 | 2020-12-18 | 中建材创新科技研究院有限公司 | 一种激光导航叉车的自动充电系统及充电方法 |
CN112124128A (zh) * | 2020-09-24 | 2020-12-25 | 广东杜尼智能机器人工程技术研究中心有限公司 | 一种依靠视觉的自动对准充电方法 |
CN112180989B (zh) * | 2020-09-30 | 2021-12-07 | 苏州盈科电子有限公司 | 一种机器人充电方法及装置 |
CN112265452A (zh) * | 2020-10-30 | 2021-01-26 | 南京汽车集团有限公司 | 一种电动车充电枪自动连接识别、充电系统及其操作方法 |
CN113370816B (zh) * | 2021-02-25 | 2022-11-18 | 德鲁动力科技(成都)有限公司 | 四足机器人充电桩及其精定位方法 |
CN113359712A (zh) * | 2021-05-25 | 2021-09-07 | 深圳优地科技有限公司 | 充电对接方法、装置和充电桩 |
CN113500581B (zh) * | 2021-07-27 | 2023-02-28 | 西安科技大学 | 一种综采工作面巡检机器人控制系统 |
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CN102545275A (zh) * | 2010-12-07 | 2012-07-04 | 上海新世纪机器人有限公司 | 机器人自动充电装置及其自动充电方法 |
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KR101366860B1 (ko) * | 2011-09-20 | 2014-02-21 | 엘지전자 주식회사 | 이동 로봇 및 이의 제어 방법 |
CN106383519B (zh) * | 2016-11-17 | 2023-04-18 | 西安科技大学 | 一种机器人自主定位充电系统及方法 |
CN106908040B (zh) * | 2017-03-06 | 2019-06-14 | 哈尔滨工程大学 | 一种基于surf算法的双目全景视觉机器人自主定位方法 |
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Application publication date: 20180907 Assignee: Hangzhou Jintou Finance Leasing Co.,Ltd. Assignor: HANGZHOU LANXIN TECHNOLOGY CO.,LTD. Contract record no.: X2023980031743 Denomination of invention: A vision-based robot automatic charging alignment system and method Granted publication date: 20210305 License type: Exclusive License Record date: 20230202 |
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Denomination of invention: A vision-based robot automatic charging alignment system and method Effective date of registration: 20230207 Granted publication date: 20210305 Pledgee: Hangzhou Jintou Finance Leasing Co.,Ltd. Pledgor: HANGZHOU LANXIN TECHNOLOGY CO.,LTD. Registration number: Y2023110000056 |
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Granted publication date: 20210305 Pledgee: Hangzhou Jintou Finance Leasing Co.,Ltd. Pledgor: HANGZHOU LANXIN TECHNOLOGY CO.,LTD. Registration number: Y2023110000056 |