CN109669457A - A kind of the robot recharging method and chip of view-based access control model mark - Google Patents
A kind of the robot recharging method and chip of view-based access control model mark Download PDFInfo
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- 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
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- 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
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- 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
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- 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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- G05D1/02—Control of position or course in two dimensions
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Abstract
The present invention discloses the robot recharging method and chip of a kind of view-based access control model mark.The robot recharging method mark image is guided by acquisition first come determine first it is default recharge position, to recharge docking region for what infrared signal guidance provided short distance, improve the success rate that robot docks；On the other hand, after matching of the robot in the guidance mark image for the ambient image and pre-stored cradle for completing captured in real-time, during being moved along the preset path, it is that the robot provides one infrared vision and combines and repeats the initial of guidance and recharge position by disposing the described second default position that recharges for the mobile situation of the cradle.The present invention carries out recharging guidance using visual cues in long-range IR radiation region, infrared guidance signal is combined after close to cradle, auxiliary vision guide realizes that the robot finally docks charging with cradle, so that the success rate of robot docking greatly improves, and efficiency can also greatly promote.
Description
Technical field
The present invention relates to robots to recharge field, especially relates to a kind of robot recharging method of view-based access control model mark
And chip.
Background technique
Currently, the main thought for solving sweeper power issue is that autonomous return is charged, most common technological means is base
Cradle, which is returned, in infrared signal guidance sweeper carries out docking charging.Although this method and system are able to achieve sweeper autonomous
Electricity is recharged, the distance of transmitting encoded signal is short in the case where infrared sensor launch angle is small, slightly blocks, infrared signal
Cannot shape completely penetrating, at this moment if using sweeper cleaning environment space it is bigger, robot will be with blanket type
Infrared signal is searched for, especially in the case where cradle is moved, robot needs to consume many remaining capacities, and having very much can
Sweeper, which can occur, can not return to pedestal, and electricity exhausts stranded the way the case where.
Summary of the invention
In order to overcome the above technical defects, following technical scheme is proposed:
A kind of robot recharging method of view-based access control model mark, comprising steps of after step S1, robot enter charge mode, to
Cradle issues charging signals；Step S2, when robot all receives cradle to external radiation in each orientation of current location
Infrared guidance signal when, robot open camera acquire in real time be arranged on cradle guidance mark；Step S3, according to reality
When the ambient image that shoots and pre-stored cradle guidance mark image similarity, it is determining with guidance mark figure
It is preset for first and recharges position in the corresponding position of the ambient image of the similarity mode of picture；Step S4, it is connect according to its current location
The intensity of the infrared guidance signal received and the ambient image information of the similarity mode plan a preset path, and control
Robot is moved to first along preset path and default recharges position；Step S5, judge whether the first default recharge claps at position
The guidance mark for taking the photograph cradle, be control robot from first it is default recharge position be moved to alignment cradle electrode it is complete
At charging, S6 is otherwise entered step；Step S6, the intensity for recharging the infrared guidance signal that position receives is preset according to first,
By the pose of robot from first it is default recharge position adjust to second it is default recharge position, then repeat step S3 to step
S5, until the electrode of robot alignment cradle completes charging.The technical solution guides mark image come really by acquisition first
Fixed first it is default recharge position, to recharge docking region for what infrared signal guidance provided short distance, improve robot and dock
Success rate；On the other hand, when robot is in the guidance mark for the ambient image and pre-stored cradle for completing captured in real-time
After the matching for knowing image, during being moved along the preset path, for the mobile situation of the cradle, the skill
The described first default position that recharges that art scheme provides is that the robot provides one and reaffirms that the guidance of cradle identifies
Position, be then that the robot provides one infrared vision repetition is combined to draw by disposing the described second default position that recharges
That leads initially recharges position, which carries out recharging guidance using visual cues in long-range IR radiation region, when leaning on
When nearly cradle, first judge whether cradle is retained in original position, then under the action of infrared guidance signal, auxiliary vision is drawn
It leads and realizes that the robot finally docks charging with cradle, this makes robot use simpler convenience, robot pair
The success rate connect greatly improves, and efficiency can also greatly promote.
Further, in the step S2, described is the infrared light of the cradle to the infrared guidance signal of external radiation
The infrared encoded signal of source directive ceiling, the coverage area of infrared encoded signal are the spherical regions centered on the cradle
Domain range, for the mobile scene condition of the cradle, which does not acquire the guidance mark of cradle in camera
In the case where knowing image, the infrared guidance signal of the large radiation range by receiving cradle transmitting, the vision of auxiliary robot
Guidance recharges, and solves the mobile bring vision collecting blind area of cradle.
Further, the spheric region range is divided into remote infrared radiation area and short range infra-red radiation area, and described
One default recharges boundary position of the position as remote infrared radiation area and short range infra-red radiation area.It is mobile for the cradle
The case where, the technical solution provide described first it is default recharge position and provide one for the robot reaffirm cradle
Guidance mark position, recharge the performance synergism of guidance for infrared vision of the robot in different infra-red radiation areas
Operating space is provided, the precision that robot recharges docking is improved.
Further, the step S3 is specifically included: step S31, using the method for characteristic matching by the captured in real-time
The characteristic point of guidance mark image of characteristic point and the pre-stored cradle of ambient image matched；Step
S32, according to the Euclidean distance or Hamming distance of the matched each pair of characteristic point of step S31, calculate the ring for determining the captured in real-time
The similarity of border image and the guidance mark image；Step S33, the highest environment of similarity of image is identified with the guidance
It is preset for described first and recharges position in the corresponding position of image；Wherein, it described first default recharge position and is set as filling with described
Electric seat is at a distance of the position of pre-determined distance.In the present embodiment, Euclidean distance or the Chinese are calculated by the characteristic point of extraction environment image
Prescribed distance, can reduce the memory of image, and when preservation more saves space, and be compared when compares characteristic point, can
To reduce the workload compared.
Further, in the step S4, the intensity of the infrared guidance signal received according to its current location and
The method that the ambient image information of the similarity mode plans a preset path includes: step S41, in the remote infrared
In radiation area, from the robot current location into the described first default path direction for recharging position, infrared guidance is selected
It is moved towards as the path of the preset path in the direction that signal strength increases；Step S42, according to the internal reference of camera label
Robot current location does not have nearby markd position to expand node the robot current location along path trend, and
Mark the node newly expanded；Step S43, when node expand to described first it is default recharge position when, described first is preset back
Filling position mark is destination node, and the markd node connection of institute is then generated the preset path.The technical solution is based on
The described first default position that recharges is conducive to generate shortest path as destination node, improves the work effect that robot recharges docking
Rate.
Further, in the step S5, drawing for the cradle is taken at position when presetting to recharge described first
When beacon is known, the ambient image obtained in real time according to camera, calculate described first it is default recharge position and cradle away from
From；Then the posture of the robot itself is adjusted, and then is preset from described first and recharges position to the cradle linear rows
It walks, the mobile electrode for being directed at the cradle in short range infra-red radiation area, to complete independently to recharge.The technical solution is not
The guidance of infrared signal is needed, cradle can be found by only identifying image by the guidance of the cradle of acquisition, and raising recharges
Speed.
Further, in the step S6, the pose by robot default recharge position and adjusts to second from first
The default method for recharging position specifically: the direction for controlling the robot towards infrared guidance fade in rotates in place or sends out
Raw displacement, make its pose since described first it is default recharge position adjust to described second and default recharge position, wherein it is described
Second it is default recharge position and do not limit to be present in the remote infrared radiation area or short range infra-red radiation area.The technical solution
It is that the robot provides one infrared vision and combines and weighs that the described second default position that recharges is disposed by way of infrared guidance
What is guided again initially recharges position, and auxiliary vision guide realizes that the robot finally docks charging with cradle, this makes
The success rate that robot docking recharges greatly improves.
A kind of chip, for storing program, described program executes the robot recharging method for controlling robot, leads to
It crosses a wide range of infrared guidance and recharges auxiliary visual cues guidance and recharge, improve the working efficiency and visual identity that vision guide recharges
The success rate of the guidance mark of cradle avoids robot from carrying out blanket type during docking recharges and searches for infrared signal,
Further avoid robot loss of electricity in inefficient recharge.
Detailed description of the invention
Fig. 1 is a kind of robot recharging method flow chart of view-based access control model mark provided in an embodiment of the present invention.
Fig. 2 is the default method flow diagram for recharging position of determination provided in an embodiment of the present invention described first.
Fig. 3 is the method flow diagram of the planning preset path provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
With reference to Fig. 1, the embodiment of the present invention proposes a kind of robot recharging method of view-based access control model mark, comprising steps of
Step S101, after robot enters charge mode, charging signals are issued to cradle, subsequently into step S102；This reality
It applies under example, robot and cradle are by radio connection progress instruction interaction, and robot is wirelessly to cradle
Charging instruction is issued, then cradle starting infrared light supply issues infrared signal, and robot is searched for by infrared receiving tube, sent out
The infrared signal that existing, identification cradle issues.
Step S102, when robot all receives infrared guidance of the cradle to external radiation in each orientation of current location
When signal, robot opens camera and acquires the guidance mark being arranged on cradle in real time, subsequently into step S103.This implementation
Under example, cradle starts infrared light supply, launches infrared guidance signal towards ceiling direction, particularly, infrared by being mounted on
The convex lens on light source top scatters, using after the reflection of reflecting mirror with the outside radiated infrared optical signal of diffusion mode everywhere.By
Emit spherical wave in infrared guidance signal, and with the infrared guidance signal of 360 ° of theaomni-directional transmissions, so that it is guaranteed that cradle surrounding is appointed
Orientation can have infrared signal, so that device people receives cradle to the red of external radiation in each orientation of current location
The dead angle of infrared radiation is at least not present in outer guidance signal in the region that camera acquires in real time.
Optionally, in the step S102, described is the infrared light of the cradle to the infrared guidance signal of external radiation
The infrared encoded signal of source directive ceiling, the coverage area of infrared encoded signal are the spherical regions centered on the cradle
Domain range, for the mobile scene condition of the cradle, which does not acquire the guidance mark of cradle in camera
In the case where knowing image, the infrared guidance signal of the large radiation range by receiving cradle transmitting, the vision of auxiliary robot
Guidance recharges, and solves the mobile bring vision collecting blind area of cradle.
Step S103, similar to the guidance mark image of pre-stored cradle according to the ambient image of captured in real-time
Degree, determining position corresponding with the guidance mark ambient image of similarity mode of image is preset for described first recharges position
It sets, subsequently into step S104.The technical solution guides mark image by acquisition first to determine that described first default recharges
The success rate of robot docking is improved so that providing recharging for short distance for infrared signal guidance docks region in position.
In embodiments of the present invention, active vision guide device can be installed on cradle, which draws
The light source for being equipped on device and can emitting visible or infrared light is led, and light source has obvious form or textural characteristics, constituted
The image tagged that can obviously distinguish, and the size of the label must assure that it is visible and distinguishable in suitable range.It should
Active vision guide device must powered operation before automatic charging starts.Wherein, pacify on the charging electrode of robot
Fill visible light or infrared band camera, it should be noted that the camera type must be with the active vision guide on cradle
The emission type of device matches.Due to being marked using active vision guide, it is too big that the time for exposure of camera does not need setting.Separately
Outside, in robot installation can be used for image procossing be directed at the processor for controlling calculating, and the signal wire of above-mentioned camera is connect
Enter the image processor data-interface.Meanwhile the output signal line of processor connects the drive and control of electric machine of upper mobile robot
Module interface.
Step S104, the intensity of the infrared guidance signal received according to the robot in current location and described similar
It spends matched ambient image information and plans a preset path, and control the robot and be moved to described the along preset path
One it is default recharge position, subsequently into step S105.Step S105, judge whether the described first default recharge takes at position
The guidance of cradle identifies, and is to control the robot from the described first default electricity for recharging position and being moved to alignment cradle
Charging is completed in pole, otherwise enters step S106.When robot is in the ambient image and pre-stored charging for completing captured in real-time
It is mobile for the cradle during being moved along the preset path after the matching of the guidance mark image of seat
The case where, the technical solution provide described first it is default recharge position and provide one for the robot reaffirm cradle
Guidance mark position.
Step S106, according to the first default intensity for recharging the infrared guidance signal that position receives, by the position of robot
Appearance from first it is default recharge position adjust to second it is default recharge position, then repeat step S103 to step S105, Zhi Daoji
The electrode that device people is directed at cradle completes charging.The technical solution is the machine by disposing the described second default position that recharges
People provides one infrared vision and combines repeat to guide initially to recharge position, which makes in long-range IR radiation region
It is carried out recharging guidance with visual cues, when close to cradle, first judges whether cradle is retained in original position, then infrared
Under the action of guiding signal, auxiliary vision guide realizes that the robot finally docks charging with cradle, this makes machine
People uses simpler convenience, and the success rate of robot docking greatly improves, and efficiency can also greatly promote.
In the present embodiment, the robot is not necessarily from cradle, it may be possible to user when starting to work
Start cleaning after directly putting it into a certain room, it is also possible to be that the robot is opened from some corner in room
Beginning work.When the robot is cleaned according to track as defined in preset logical algorithm, the robotic vision is passed
Sensor, as long as acquiring the guidance mark of cradle under the present embodiment, is being adopted if camera also acquires ambient enviroment image simultaneously
While collecting ambient image, the position of ambient image is acquired under also calculating at this time, the position of the robot is recorded, with the machine
The starting point of device people is that reference records, such as can recorde and walked from starting point to the point that the guidance of acquisition cradle identifies image
Displacement and direction, the robot record the motion profile of itself in real time at work.When the robot starts to recharge,
The ambient image of acquisition and user are previously stored in sweeping robot the present invention or sweeping robot is in charge position
The guidance mark image for the cradle for shooting and storing compares, and finds out with the similarity of the guidance mark image of cradle most
High ambient image is moved to corresponding to the similarity highest ambient image first then along planning path and default recharges position
It sets；Reach described first it is default recharge position after, if not occurring cradle guidance mark in the ambient image of shooting, but connect
The infrared guidance signal for receiving cradle sending controls infrared guidance by identifying the Strength Changes situation of infrared guidance signal
The signal guidance adjustment robot is preset to described second recharges position, then drawing according to the cradle searched for and recognized
Beacon knows image, guides the robot to cradle automatically walk, aligning electrodes charging.
Wherein, the preset rules for acquiring ambient image can be acquisition at regular intervals and once, be also possible to every movement
A distance acquisition is primary.Generation recharges order, can be the electricity of the robot lower than preset threshold value, or receive
What is generated after the order for the power cut-off sent to user recharges order.In the present embodiment, visual sensor, which refers to, utilizes camera shooting
The internal reference of head obtains robot position on the move, obtains the posture of the robot in real time, makes the machine people's will
Know oneself location in the environment.
The guidance is identified as two dimensional code under the present embodiment, and two dimensional code is chequered with black and white picture, and identification is high, production
Simply.On the center for identifying the electrode for being placed on cradle as guidance, facilitates the robot to identify and be aligned.
Optionally, the infrared light supply of the cradle gives off infrared encoded signal outward, wherein infrared encoded signal
Coverage area is that spheric region range described in spheric region range centered on the cradle is divided into remote infrared radiation
Area and short range infra-red radiation area, the described first default point for recharging position as remote infrared radiation area and short range infra-red radiation area
Boundary position.For the mobile situation of the cradle, the described first default position that recharges which provides is the machine
Device people provides the position for reaffirming the guidance mark of cradle, is that robot is infrared in different infra-red radiation areas
The performance synergism that vision recharges guidance provides operating space, improves the precision that robot recharges docking.
Optionally, as shown in Fig. 2, the step S103 is specifically included: step S1031, will using the method for characteristic matching
The feature of the guidance mark image of the characteristic point of the ambient image of the captured in real-time and the pre-stored cradle clicks through
Row matching, subsequently into step S1032；The matching of characteristic point is the Feature Descriptor for the guidance mark image of cradle
It carries out, Feature Descriptor is usually a vector, and the distance between two Feature Descriptors can reflect its similar journey
Whether same degree, that is, the two characteristic points are, thus according to the Feature Descriptor of the ambient image of the captured in real-time
The matching of characteristic point is carried out with the distance between the Feature Descriptor of the guidance mark image of the pre-stored cradle.
Step S1032, it according to the Euclidean distance or Hamming distance of the matched each pair of characteristic point of step S1031, calculates and determines
The similarity of the ambient image of the captured in real-time and the guidance mark image；It should be noted that not according to description
Together, it can choose different distance metrics.If it is description of floating point type, its Euclidean distance can be used；For two into
Its Hamming distance can be used in the description of system sub (BRIEF), and (Hamming distance between two different binary systems refers to two two
The number of system string difference position).There is the method for calculating and describing sub- similarity, then finding with it most in the set of characteristic point
Similar characteristic point is exactly the matching of characteristic point.Specific method includes: to calculate some feature point description and other institutes first
There is the distance between feature point description, be then ranked up obtained distance, one for taking distance nearest is used as match point.
This method is simple and crude, and result is also it will be apparent that despite the presence of having a large amount of erroneous matching, but some mechanism of use
The matching of mistake can be filtered out.For example, select the Hamming distance of matched point pair be less than twice of minimum range as
Judgment basis is then considered a wrong matching if it is less than the value, filters out；Greater than the value be then considered one correctly
Matching.
It step S1033, is described the with the corresponding position of the guidance mark highest ambient image of similarity of image
One default recharges position；Wherein, it described first default recharge position and is set as with the cradle at a distance of the position of pre-determined distance.
In the present embodiment, Euclidean distance or Hamming distance are calculated by the characteristic point of extraction environment image, can reduce the interior of image
It deposits, when preservation more saves space, and be compared when compares characteristic point, can reduce the workload of comparison.
Optionally, as shown in figure 3, in the step S104, the infrared guidance letter received according to its current location
Number intensity and the similarity mode ambient image information plan a preset path method include:
Step S1041, it in the remote infrared radiation area, is preset from the robot current location to described first and recharges position
In the path direction set, the direction for selecting infrared guidance signal strength to increase is moved towards as the path of the preset path；Due to
Infrared guidance signal emits spherical wave, and with the infrared guidance signal of 360 ° of theaomni-directional transmissions, so that it is guaranteed that cradle surrounding is any
Orientation can have infrared signal, so that device people receives cradle to the infrared of external radiation in each orientation of current location
Signal is guided, and infrared intensity variation can be sensed after the cradle is mobile.
Step S1042, the robot current location is marked according to the internal reference of camera, moved towards along path to the machine
Device people current location does not have nearby markd position to expand node, and marks the node newly expanded；It is described according in camera
It includes: that the machine can be calculated according to the robotic vision sensor internal reference that ginseng, which marks the robot current location,
The relative positional relationship of people and the guidance mark, so that the current location of the robot be marked to sit under global coordinate system
Mark.
Step S1043, when node expand to described first it is default recharge position when, default recharge position mark for described first
It is denoted as destination node, the path weight value between node that then relationship setting every two marks depending on that relative position, then tie
It closes the markd node path of institute and is coupled the generation preset path, being conducive to generation shortest path can after obtaining shortest path
Control the robot along the shortest path be moved to described first it is default recharge position, so that improving robot recharges docking
Working efficiency.
Optionally, in the step S105, drawing for the cradle is taken at position when presetting to recharge described first
When beacon is known, the ambient image obtained in real time according to camera, calculate described first it is default recharge position and cradle away from
From；Then the posture of the robot itself is adjusted, and then is preset from described first and recharges position to the cradle linear rows
It walks, the mobile electrode for being directed at the cradle in short range infra-red radiation area, to complete independently to recharge.The technical solution is not
The guidance of infrared signal is needed, cradle can be found by only identifying image by the guidance of the cradle of acquisition, and raising recharges
Speed.In the present embodiment, after recognizing the cradle, if the robot is at a distance from the cradle less than described pre-
If distance, it is believed that the robot presets across described first and recharges position, if the cradle retains in the original location not
It is subjected to displacement, then the robot enters in short range infra-red radiation area, and otherwise infrared guidance signal based on the received is strong
Degree makees further judgement, this judgement can be the distance value taken pictures and measured according to camera, be also possible to range sensor
What the distance between orientation survey and cradle determined, to guide the specific location being identified as referring to confirmation cradle.
Optionally, in the step S106, the pose by robot default recharge position and adjusts to second from first
The default method for recharging position specifically: the direction for controlling the robot towards infrared guidance fade in rotates in place or sends out
Raw displacement, make its pose since described first it is default recharge position adjust to described second it is default recharge position, due to described
Cradle has occurred and that movement, no longer retains in the original location；When cradle is moved to the enclosure region of original position, it is determined that described
Second it is default recharge position and be present in short range infra-red radiation area, otherwise the described second default position that recharges is arranged described
Remote infrared radiation area.It is the machine that the technical solution disposes the described second default position that recharges by way of infrared guidance
People provides one infrared vision and combines repeat guidance initially to recharge position, auxiliary vision guide realize the robot finally with
The docking of cradle is charged, this success rate that robot docking is recharged greatly improves.
It should be noted that example of the present invention uses a square indicia as leader label, and the relevant technologies of this field
Personnel can be easy to think of using multiple geometric figures (multiple squares, one or more triangles, multiple circles, or
Person is black and white grid) etc. improved methods.
A kind of chip, for storing program, described program executes the robot recharging method for controlling robot, leads to
It crosses a wide range of infrared guidance and recharges auxiliary visual cues guidance and recharge, improve the working efficiency and visual identity that vision guide recharges
The success rate of the guidance mark of cradle avoids robot from carrying out blanket type during docking recharges and searches for infrared signal,
Further avoid robot loss of electricity in inefficient recharge.
In embodiment provided herein, it should be understood that disclosed systems, devices and methods can pass through
Other modes are realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be with
In conjunction with or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection can be electrical property, mechanical or other forms.The unit as illustrated by the separation member can be or can also
Not to be physically separated, component shown as a unit may or may not be physical unit, it can be located at
One place, or may be distributed over multiple network units.Can select according to the actual needs part therein or
Whole units achieve the purpose of the solution of this embodiment.
Claims (8)
1. a kind of robot recharging method of view-based access control model mark, comprising steps of after step S1, robot enter charge mode,
Charging signals are issued to cradle；It is characterized by further comprising:
Step S2, when robot all receives infrared guidance signal of the cradle to external radiation in each orientation of current location
When, robot opens camera and acquires the guidance mark being arranged on cradle in real time；
Step S3, according to the similarity of the ambient image of captured in real-time and the guidance mark image of pre-stored cradle, really
Fixed position corresponding with the guidance mark ambient image of similarity mode of image is preset for first recharges position；
Step S4, the ambient image of the intensity of the infrared guidance signal received according to its current location and the similarity mode
One preset path of information planning, and control robot and be moved to first along preset path and default recharge position；
Step S5, judge first it is default the guidance mark that cradle whether is taken at position recharged, be control robot from
The first default electrode completion charging for recharging position and being moved to alignment cradle, otherwise enters step S6；
Step S6, according to the first default intensity for recharging the infrared guidance signal that position receives, by the pose of robot from the
One it is default recharge position adjust to second it is default recharge position, step S3 to step S5 is then repeated, until robot alignment is filled
The electrode of electric seat completes charging.
2. robot recharging method according to claim 1, which is characterized in that described to external radiation in the step S2
Infrared guidance signal is the infrared encoded signal of the infrared light supply directive ceiling of the cradle, the covering of infrared encoded signal
Range is the spheric region range centered on the cradle.
3. robot recharging method according to claim 2, which is characterized in that the spheric region range is divided into long-range red
Outer radiation zone and short range infra-red radiation area, described first default recharges position as remote infrared radiation area and short range infra-red radiation
The boundary position in area.
4. robot recharging method according to claim 3, which is characterized in that the step S3 is specifically included:
Step S31, the characteristic point of the ambient image of the captured in real-time is stored in advance with described using the method for characteristic matching
Cradle guidance mark image characteristic point matched；
Step S32, it according to the Euclidean distance or Hamming distance of the matched each pair of characteristic point of step S31, calculates determining described real-time
The similarity of the ambient image of shooting and the guidance mark image；
Step S33, position corresponding with the guidance mark highest ambient image of similarity of image is described first default
Recharge position；
Wherein, it described first default recharge position and is set as with the cradle at a distance of the position of pre-determined distance.
5. robot recharging method according to claim 4, which is characterized in that described current according to it in the step S4
The intensity for the infrared guidance signal that position receives and the ambient image information of the similarity mode plan a preset path
Method include:
Step S41, it in the remote infrared radiation area, is preset from the robot current location to described first and recharges position
Path direction in, the direction for selecting infrared guidance signal strength to increase is moved towards as the path of the preset path；
Step S42, the robot current location is marked according to the internal reference of camera, the robot is worked as along path trend
Front position does not have nearby markd position to expand node, and marks the node newly expanded；
Step S43, when node expand to described first it is default recharge position when, be mesh by the described first default position mark that recharges
Node is marked, the markd node connection of institute is then generated into the preset path.
6. robot recharging method according to claim 3, which is characterized in that in the step S5, when pre- described first
If recharge the guidance mark for taking the cradle at position, the ambient image obtained in real time according to camera is calculated
Described first default recharges position at a distance from cradle；Then the posture of the robot itself is adjusted, and then from described
One it is default recharge position and walk to the cradle straight line, the mobile alignment cradle in short range infra-red radiation area
Electrode, to complete independently to recharge.
7. robot recharging method according to claim 6, which is characterized in that described by robot in the step S6
Pose is adjusted from the first default position that recharges to the second default method for recharging position specifically:
The direction for controlling the robot towards infrared guidance fade in rotates in place or is subjected to displacement, and makes its pose from described
First it is default recharge position and start to adjust to described second default recharge position, wherein described second default recharges position not office
Limit is present in the remote infrared radiation area or short range infra-red radiation area.
8. a kind of chip, for storing program, which is characterized in that described program requires 1 to 7 for controlling robot perform claim
The robot recharging method.
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| CN110378285A (en) * | 2019-07-18 | 2019-10-25 | 北京小狗智能机器人技术有限公司 | A kind of recognition methods of cradle, device, robot and storage medium |
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