CN108818529A - A kind of robot charging pile visual guide method - Google Patents
A kind of robot charging pile visual guide method Download PDFInfo
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- CN108818529A CN108818529A CN201810559234.8A CN201810559234A CN108818529A CN 108818529 A CN108818529 A CN 108818529A CN 201810559234 A CN201810559234 A CN 201810559234A CN 108818529 A CN108818529 A CN 108818529A
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- robot
- charging pile
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- navigation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Abstract
The invention discloses a kind of robot charging pile visual guide methods, include the following steps：1) vision guided navigation is opened；2) driving motor rotates in place 360 ° of searching charging piles；3) judge whether to find charging pile：If so, judging whether the front angle of robot and charging pile is greater than 15 °：The present invention provides a kind of robot charging pile visual guide methods, robot reaches in charging pile a certain range, robot can be made to realize vision guide in different situations, accurately realize the charge requirement in various situations, and be not easy to be interfered by other situations.
Description
Technical field
The present invention relates to vision guides, more particularly to a kind of robot charging pile visual guide method.
Background technique
In the prior art, infrared ray or ultrasonic wave are generallyd use to realize robot charging navigation, but is utilized infrared
Line or ultrasonic wave realize charging navigation, be easy to receive barrier interference and cause to charge it is unsuccessful, meanwhile, work as robot
Charging pile is found, in the case where being interfered due to the structural failure, kinematic error or other factors of robot, robot and charging pile
Relative position be random distribution, due to robot using double drive differential drive modes and charging pile connects with robot
That refutes is more demanding, therefore robot Adjustment precision is very high, in the prior art, lacks a kind of robot charging pile vision guide
Method allows the robot to realize vision guide in different situations, accurately realizes the charge requirement in various situations, and
It is not easy to be interfered by other situations.
Therefore those skilled in the art are dedicated to developing a kind of robot charging pile visual guide method, allow the robot to
Vision guide is realized in different situations, accurately realizes the charge requirement in various situations, and is not easy by other situations
Interference.
Summary of the invention
In view of the above drawbacks of the prior art, technical problem to be solved by the invention is to provide a kind of chargings of robot
Stake visual guide method, allows the robot to realize vision guide in different situations, accurately realizes filling in various situations
Electricity demanding, and be not easy to be interfered by other situations.
To achieve the above object, the present invention provides a kind of robot charging pile visual guide method, include the following steps：
1) vision guided navigation is opened；
2) driving motor rotates in place 360 ° of searching charging piles；
3) judge whether to find charging pile：If so, judging whether the front angle of robot and charging pile is greater than 15 °：
Include the following steps：
If 31) the front angle of robot and charging pile is less than 15 °, navigation is micro-adjusted in driving motor rotation, is led
Judge whether robot reaches immediately ahead of charging pile at 30cm after boat；If so, closing vision guided navigation, 180 ° are rotated, is started red
Outer navigation, which plugs into robot to charging pile, charges, and vision guided navigation terminates；
If it is not, returning to micro-adjustment step, continues driving motor rotation and navigation is micro-adjusted；
32) if the front angle of robot and charging pile is greater than 15 °, driving motor rotation carries out significantly adjustment and leads
Boat, continues to judge whether the front angle of robot and charging pile is greater than 15 ° after navigation：It is led if so, returning to significantly adjustment
The step of boat；If it is not, navigation is micro-adjusted according to the rotation of step 31) driving motor；
4) step 2) is repeated to step 3), is charged until robot plugs into charging pile, is terminated vision guided navigation.
Preferably, in the step 1), vision guided navigation is realized using 300,000 pixel visible image capturing heads.
Preferably, in the step 2), the charging pile includes charging base, is provided on the charging base and prolongs upwards
The charging guiding bar stretched, the charging guiding bar other end are connected with LED guidance disk, are provided with first on the LED guidance disk
LED charging guiding lamp, the 2nd LED charging guiding lamp, the 3rd LED charging guiding lamp, the 4th LED charging guiding lamp, described first
It is successively arranged in a rhombus shape to the 4th LED charging guiding lamp；The line of 2nd LED charging guiding lamp and the 4th LED charging guiding lamp
It is arranged along vertically downward direction.The line of first LED charging guiding lamp and the 3rd LED charging guiding lamp is horizontally disposed.
Preferably, in the step 3), carry out judging that the front angle (θ) of robot and charging pile is according to the following equation
It is no to be greater than 15 °：
Wherein, L1For the connection wire length between the first LED charging guiding lamp and the 3rd LED charging guiding lamp
Degree；
L2For the connection line length between the 2nd LED charging guiding lamp and the 4th LED charging guiding lamp.
Preferably, in the step 32), realize that robot significantly adjusts navigation according to the following steps：
322) angle theta of calculating robot and charging pile front perpendicular bisector, when θ be (15 °, 75 °] when, calculate
The distance between robot and charging pile D；
D=1000mm*d1/d0
Wherein, d0For calibration when robot immediately ahead of charging pile 1m apart from when, charging pile is calculated by camera imaging
The length in pixels of the vertical diameter of panel is given value；
d1It is robot at other any positions, passes through the vertical diameter of the calculated charging pile panel of camera imaging
Length in pixels.
322) the distance between the perpendicular bisector of robot Yu the charging pile is calculated according to the following formula：
L=D*sin (θ)
323) driving motor is rotated by 90 °-θ, and L distance of then keeping straight on is rotated by 90 ° as further shown, is just reaching charging pile just
θ is recalculated in front, when θ is (0 °, 15 °] when, then carry out micro- angle adjustment according to step 31), and close to charging pile, directly
Region is specified to reaching.
The beneficial effects of the invention are as follows：The present invention provides a kind of robot charging pile visual guide method, robot exists
It reaches in charging pile a certain range, robot can be made to realize vision guide in different situations, accurately realize various situations
Under charge requirement, and be not easy to be interfered by other situations.
Detailed description of the invention
Fig. 1 is recharging navigation flowcharts in the embodiment of the invention.
Fig. 2 is recharging vision guided navigation flow chart.
Fig. 3 is guidance charging vision guided navigation flow chart.
Fig. 4 is vision guided navigation algorithm logic flow chart.
Fig. 5 is robot fine tuning shelf-regulating Conditions diagrammatic top view.
Fig. 6 is robot wide-angle displacement condition diagrammatic top view.
Fig. 7 is robot fine tuning shelf-regulating Conditions diagrammatic top view.
Fig. 8 is the structural schematic diagram of robot charging pile.
Fig. 9 is I in Fig. 8 partial enlargement diagram.
Figure 10 is the top view of Fig. 8.
Figure 11 is the bottom view of Fig. 8.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples：
Such as Fig. 1, a kind of robot charging pile visual guide method includes the following steps：
1) vision guided navigation is opened；
2) driving motor rotates in place 360 ° of searching charging piles；
3) judge whether to find charging pile：If so, judging whether the front angle of robot and charging pile is greater than 15 °：
Include the following steps：
31) such as Fig. 4, if the front angle of robot and charging pile, less than 15 °, driving motor rotation, which is micro-adjusted, to be led
Boat, judges whether robot reaches immediately ahead of charging pile at 30cm after navigation；If so, closing vision guided navigation, 180 ° are rotated, is opened
Dynamic infrared navigation, which plugs into robot to charging pile, to charge, and vision guided navigation terminates；
If it is not, returning to micro-adjustment step, continues driving motor rotation and navigation is micro-adjusted；
32) such as Fig. 5, if the front angle of robot and charging pile is greater than 15 °, driving motor rotation is significantly adjusted
Whole navigation continues to judge whether the front angle of robot and charging pile is greater than 15 ° after navigation：It is significantly adjusted if so, returning to
The step of whole navigation；If it is not, navigation is micro-adjusted according to the rotation of step 31) driving motor；
4) step 2) is repeated to step 3), is charged until robot plugs into charging pile, is terminated vision guided navigation.
This method is melted using visible image capturing head, infrared sensor, ultrasonic sensor, the multi-sensor datas such as gyroscope
Conjunction technology realizes high-precision, can avoidance, can wide-angle return immediately ahead of charging pile at 30cm.By this method, vision guided navigation has
Two kinds of working methods：One, such as Fig. 2, robot complete recharging：1) robot is arrived robot navigation by inertial navigation
Charging pile nearby the place about 1-3m (can any position, as long as robot can find charging pile by being rotated by 360 °), 2) start
Vision guided navigation function is determined by the analysis to charging pile three characteristics (contour feature, color characteristic, indicator light position feature)
The position of charging pile, 3) robot detects vernier angle at a distance from charging pile, and close to charging pile and arrives charging pile face
About 30 centimeters of the vertical front in plate center, robot geometric center point (will work as machine on the perpendicular bisector of charging pile panel at this time
The perpendicular bisector angular error of device people center line and charging pile panel is lower than 1 °, then it is assumed that robot is in charging pile perpendicular bisector
On), then robot rotates in place 360 °, is directed at charging pile with back, vision guided navigation terminates at this time；Two, such as Fig. 3 and Fig. 4, benefit
Human intervention charging also may be implemented with this method：If robot is by artificially guiding, (voice guide is mobile, and vision follows guidance
It is mobile) to charging pile 3m or so range, at this time by vice activation recharging function, vice activation recharging function can
After preferably realizing that robot will be rotated in place to find charging pile, charging pile three characteristics and charging pile position are analyzed, so
The process of the first scheme is executed afterwards until vision guided navigation terminates.By largely testing, at present robot can with charging pile just
Each 75 ° of scattering to the left and right is put centered on the geometric center in front, in totally 150 ° of polarizers of big angle scope, robot vision can be looked for
It to charging pile and fast and accurately returns on the perpendicular bisector immediately ahead of charging pile, apart from 30 centimeters of charging pile, angle is missed at present
Difference has been controlled within 1 °.
Further, in step 1), vision guided navigation is realized using 300,000 pixel visible image capturing heads.
It is in varied situations and different from charging pile relative angle, distance in order to meet robot, by improving vision
The range of detection reaches charge requirement, passes through the design such as the design of the indicator light to charging pile, shape color and charging pile
The factors such as the coordinate design in virtual map are used to improve the detecting distance and detection angles of camera, and the robot makes at present
With the visible image capturing head of 300,000 pixels, using charging pile as the center of circle, radius 2500mm, central angle be 150 ° (360 °-
2x15 °) in the range of, machine can detect charging pile by visual manner per capita.
Further, such as Fig. 8-Figure 11, in step 2, charging pile, including charging base 1, be provided on charging base 1 to
The charging guiding bar 2 of upper extension, charging 2 other end of guiding bar are connected with LED guidance disk 3, are provided with first on LED guidance disk 3
LED charging guiding lamp 41, the 2nd LED charging guiding lamp 42, the 3rd LED charging guiding lamp 43, the 4th LED charging guiding lamp 44,
First to fourth LED charges guiding lamp in the arrangement of quaternary cross array.
Infrared guiding module is provided on charging base 1.Arc charging contacting surface 5 is provided on charging base 1, arc fills
It is provided with the first boss 6 and second boss 7 being laterally arranged on electric interface 5, is provided with the first charging contact in first boss 6
8, the second charging contact 9 is provided in second boss 7；First charging contact 8 is parallel with the second charging contact 9；First charging touching
Infrared guiding module is provided between piece 8 and the second charging contact 9.
The first groove is provided in first boss 6, the first charging contact 8 is arranged in the first inside grooves, second boss 7
It is provided with the second groove, the second charging contact 9 is arranged in the second inside grooves.
Arc charging contacting surface arc range α is set as 15-20 °.
Wire inserting slot 12 is provided among 1 bottom of charging base, 12 left and right ends of wire inserting slot are connected separately with the first wire casing 13
With the second wire casing 14.First wire casing, 13 other end extends among the left edge of charging base 1；Second wire casing, 14 other end extends
To the right hand edge of charging base 1.
It is provided with stabilizing base 15 on charging base 1, sucker 16 is provided on stabilizing base 15；The height h of stabilizing base 15 is arranged
For 4.5cm.
Further, in step 3), carry out judging whether the positive angle theta of robot and charging pile is big according to the following equation
In 15 °：
If：4 indicator lights of charging pile connect diamondwise, vertically and horizontally diagonal by the calculated diamond shape of robot vision
The length in pixels of line is L1, L2, when camera recognizes charging pile with angle theta, L2Exactly L1Using θ as the charging pile of angle
The projection of horizontal plane, therefore：
Further, in step 32), realize that robot significantly adjusts navigation according to the following steps：
321) such as Fig. 6, the angle theta of calculating robot and charging pile front perpendicular bisector, when θ for (15 °, 75 °] when, according to
Following equation calculates the distance between robot and charging pile D；Smaller, therefore this technology side when θ is greater than 75 ° a possibility that
Case has given up the case where θ is greater than 75 °.When θ is less than 15 °, when such as θ being 10 °, then operation is finely adjusted according to aforementioned schemes.
If：By calibration when robot immediately ahead of charging pile 1m apart from when, pass through camera imaging calculate charging pile face
The length in pixels of the vertical diameter of plate is d0As reference length.When robot is at other any positions, by camera at
As the length in pixels of the vertical diameter of calculated charging pile panel is d1；Therefore：
D=1000mm*d1/d0
322) the distance between the perpendicular bisector of robot and charging pile (L) is calculated according to the following formula：
L=D*sin (θ)
323) driving motor is rotated by 90 °-θ, and L distance of then keeping straight on is rotated by 90 ° as further shown, is just reaching charging pile just
θ is recalculated in front, when θ is [0 °, 15 °], then carries out micro- angle adjustment according to step 31), and close to charging pile, directly
Region is specified to reaching.
Micro- angle adjustment is when robot makes camera imaging by way of rotating in place 2 ° every time in front of charging pile
Center point area and charging pile face plate center point area coincidence, then stop rotating in place adjustment, be converted into keeping straight on close to charging
Stake stops keeping straight on to rotate in place making when the center point area of camera imaging is not overlapped with charging pile face plate center point region
The center point area of camera imaging is overlapped again with charging pile face plate center point region, is then proceeded to keep straight on, is passed through such fortune
Flowing mode reaches micro- angle adjustment effect, then exits vision guided navigation mould when robot reaches specified region by the adjustment of micro- angle
Formula.
When robot finds charging pile, due to robot the interference of structural failure, kinematic error or other factors the case where
Under, the relative position of robot and charging pile is random distribution, due to robot using double drive differential drive modes simultaneously
And charging pile is plugged into more demanding with robot, therefore robot Adjustment precision is very high, can be accurate in order to meet robot
Specified point is reached, for two kinds of vision guided navigation modes of Robot Design.
If the perpendicular bisector angle of the line and charging pile panel at robot and charging pile panel midpoint is θ, such as Fig. 1, first
Kind scheme：When the θ of robot is [0 °, 15 °], then robot directly can be adjusted and be moved by micro- angle, can be reached and be filled
Immediately ahead of electricity point stake, meet design requirement, as shown in Figure 5 (circle of dotted line is Robot Virtual position)：
Here micro- angle adjustment also can use Regular Inertial Navigation method and constantly be finely tuned, inertial navigation method
It can choose the inertial navigation method announced in the prior art, the inertial navigation method announced such as CN107588770A file.
Such as Fig. 2, second scheme：When robot θ is [15 °, 75 °], robot executes wide-angle displacement, and (triangle is oblique
Side mode is displaced) to immediately ahead of charging pile or angle theta is in [0 °, 15 °] range, then execute the first scheme and appoint until completing
Business.(circle of dotted line is Robot Virtual position) as shown in Figure 6：
As shown in Figure 7：The detailed process of wide-angle displacement is the angle by vision algorithm calculating robot and charging pile
θ, when θ be (15 °, 75 °] when, calculate the distance between robot and charging pile D, then pass through
L=D*sin (θ)
Calculate the distance of L.Robot is rotated by 90 °-θ as shown in the figure later, and L distance of then keeping straight on is revolved as further shown
Turn 90 °, just reaches immediately ahead of charging pile.Then charging pile is found again, executes micro- angle adjustment mode close to charging pile, until
Reach specified region.
Recharging navigation-vision guided navigation algorithm first confirms the cartographic information of charging pile, if it is determined that robot is
It is reached in detectable range, then opens charging pile detection pattern, if robot does not find charging pile, by rotating in place
Mode detect charging pile, until detecting charging pile.After detecting charging pile, robot passes through the spy to charging pile
Sign is extracted, to determine the geometric center of charging pile indication panel as tracking and close to target point.The installation of robot camera
Height is equal with the height of the geometric center of charging pile indication panel, and camera is on the center line of robot, as long as therefore
Camera is directed at several centers of charging pile panel and determines robot face charging pile panel, and in a certain range, then reaches
To navigation request.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (5)
1. a kind of robot charging pile visual guide method, it is characterized in that：Include the following steps：
1) vision guided navigation is opened；
2) driving motor rotates in place 360 ° of searching charging piles；
3) judge whether to find charging pile：If so, judging whether the front angle of robot and charging pile is greater than 15 °：Including
Following steps：
If 31) the front angle of robot and charging pile is less than 15 °, navigation is micro-adjusted in driving motor rotation, after navigation
Judge whether robot reaches immediately ahead of charging pile at 30cm；If so, closing vision guided navigation, 180 ° are rotated, starts infrared lead
Boat, which plugs into robot to charging pile, to charge, and vision guided navigation terminates；
If it is not, returning to micro-adjustment step, continues driving motor rotation and navigation is micro-adjusted；
32) if the front angle of robot and charging pile is greater than 15 °, driving motor rotation carries out significantly adjustment navigation, leads
Continue to judge whether the front angle of robot and charging pile is greater than 15 ° after boat：If so, returning to the step for significantly adjusting navigation
Suddenly；If it is not, navigation is micro-adjusted according to the rotation of step 31) driving motor；
4) step 2) is repeated to step 3), is charged until robot plugs into charging pile, is terminated vision guided navigation.
2. robot charging pile visual guide method as described in claim 1, it is characterized in that：In the step 1), 30 are utilized
Ten thousand pixel visible image capturing heads realize vision guided navigation.
3. robot charging pile visual guide method as described in claim 1, it is characterized in that：It is described to fill in the step 2)
Electric stake includes charging base (1), and the charging guiding bar (2) upwardly extended is provided on the charging base (1), and the charging is drawn
Guide rod (2) other end is connected with LED guidance disk (3), and the first LED charging guiding lamp is provided on LED guidance disk (3)
(41), the 2nd LED charges guiding lamp (42), and the 3rd LED charges guiding lamp (43), and the 4th LED charges guiding lamp (44), and described the
One to the 4th LED charging guiding lamp is successively arranged in a rhombus shape；2nd LED charges guiding lamp (42) and the 4th LED charging guiding lamp
(44) line (L1) is arranged along vertically downward direction.First LED charges guiding lamp (41) and the 3rd LED charging guiding lamp (43)
Line (L2) it is horizontally disposed.
The visual guide method 4. robot as claimed in claim 3 charges, it is characterized in that：In the step 3), according to following
Formula carries out judging whether the front angle (θ) of robot and charging pile is greater than 15 °：
Wherein, L1For the connecting line between the first LED charging guiding lamp (41) and the 3rd LED charging guiding lamp (43)
Length；
L2For the connection line length between the 2nd LED charging guiding lamp (42) and the 4th LED charging guiding lamp (44).
The visual guide method 5. robot as described in claim 1 charges, it is characterized in that：
In the step 32), realize that robot significantly adjusts navigation according to the following steps：
321) angle theta of calculating robot and charging pile front perpendicular bisector, when θ be (15 °, 75 °] when, calculate robot
The distance between charging pile D；
D=1000mm*d1/d0
Wherein, d0For calibration when robot immediately ahead of charging pile 1m apart from when, pass through camera imaging and calculate charging pile panel
The length in pixels of vertical diameter is given value；
d1It is robot at other any positions, passes through the picture of the vertical diameter of the calculated charging pile panel of camera imaging
Plain length.
322) the distance between the perpendicular bisector of robot and the charging pile (L) is calculated according to the following formula：
L=D*sin (θ)
323) driving motor is rotated by 90 °-θ, and L distance of then keeping straight on is rotated by 90 ° as further shown, just reaches immediately ahead of charging pile,
Recalculate θ, when θ is (0 °, 15 °] when, then micro- angle adjustment is carried out according to step 31), and close to charging pile, until reaching
Specified region.
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| CN109449678A (en) * | 2018-11-30 | 2019-03-08 | 成都交大光芒科技股份有限公司 | The charging unit of a kind of mobile robot and automatically to stake charging method |
| CN110515383A (en) * | 2019-08-30 | 2019-11-29 | 深圳飞科机器人有限公司 | The method and mobile robot of recharging |
| CN111427361A (en) * | 2020-04-21 | 2020-07-17 | 浙江欣奕华智能科技有限公司 | Recharging method, recharging device and robot |
| CN112180989A (en) * | 2020-09-30 | 2021-01-05 | 苏州盈科电子有限公司 | Robot charging method and device |
| CN113500581A (en) * | 2021-07-27 | 2021-10-15 | 西安科技大学 | Control system of inspection robot for fully mechanized coal mining face |
| CN115211273A (en) * | 2021-04-15 | 2022-10-21 | 浙江亚特电器有限公司 | Mower navigation method, device and equipment and unmanned mowing system |
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| CN109449678B (en) * | 2018-11-30 | 2024-03-19 | 成都交大光芒科技股份有限公司 | Charging device of mobile robot and automatic pile charging method |
| CN110515383A (en) * | 2019-08-30 | 2019-11-29 | 深圳飞科机器人有限公司 | The method and mobile robot of recharging |
| CN111427361A (en) * | 2020-04-21 | 2020-07-17 | 浙江欣奕华智能科技有限公司 | Recharging method, recharging device and robot |
| CN111427361B (en) * | 2020-04-21 | 2023-08-08 | 浙江欣奕华智能科技有限公司 | Recharging method, recharging device and robot |
| CN112180989A (en) * | 2020-09-30 | 2021-01-05 | 苏州盈科电子有限公司 | Robot charging method and device |
| CN115211273A (en) * | 2021-04-15 | 2022-10-21 | 浙江亚特电器有限公司 | Mower navigation method, device and equipment and unmanned mowing system |
| CN115211273B (en) * | 2021-04-15 | 2024-04-19 | 浙江亚特电器股份有限公司 | Mower navigation method, device, equipment and unmanned mowing system |
| CN113500581A (en) * | 2021-07-27 | 2021-10-15 | 西安科技大学 | Control system of inspection robot for fully mechanized coal mining face |
| CN113500581B (en) * | 2021-07-27 | 2023-02-28 | 西安科技大学 | Control system of inspection robot for fully mechanized coal mining face |
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