CN109719728A - A kind of method and device of robot adjustment charging pose - Google Patents
A kind of method and device of robot adjustment charging pose Download PDFInfo
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- CN109719728A CN109719728A CN201910061971.XA CN201910061971A CN109719728A CN 109719728 A CN109719728 A CN 109719728A CN 201910061971 A CN201910061971 A CN 201910061971A CN 109719728 A CN109719728 A CN 109719728A
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Abstract
The present invention is suitable for the technical field of apparatus control, provides a kind of method and device of robot adjustment charging pose, comprising: judge whether robot meets face charge condition under current pose；If the robot is unsatisfactory for the face charge condition under current pose, combined charge parameter makes the robot rotation obtain face charging pose；Position shown in the robot motion to face charging pose is controlled to charge.The present invention determines charging pose by the robot combined charge parameter and spin data, is compared with the traditional technology, and has higher charging connection precision, and then improve charge efficiency.
Description
Technical field
The invention belongs to apparatus control technical field more particularly to the methods and dress of a kind of robot adjustment charging pose
It sets, computer readable storage medium.
Background technique
The intelligence degree of modern house is higher and higher, many controlling intelligent household appliances similar to sweeping robot etc with
Appearance.As the intelligent small household appliances for mitigating cleaning burden, sweeping robot is because of its cleaning performance, reservation function and automatic time
The humanized function such as function is filled, user is allowed not have to go to worry about household cleaning again.Wherein, the automatic of sweeping robot recharges
It is that signal is constantly issued by recharging base, after then the receiver at the top of robot receives signal and successfully positions, gradually
Close to the recharging base.Currently, three kinds of technologies of mainstream include infrared ray positioning, bluetooth positioning and ultrasonic radar are fixed
Position.
Although robot can complete to recharge function automatically by above-mentioned three kinds of methods, due to robot hardware's
Limitation or position error etc. influence, the problem for causing the connection precision of robot and recharging base poor, and then influence to fill
Electrical efficiency.
Summary of the invention
In view of this, the embodiment of the invention provides the method and device that a kind of robot adjusts charging pose, to solve
Robot connects the low technical problem of poor accuracy, charge efficiency with cradle in the prior art.
The first aspect of the embodiment of the present invention provides a kind of method of robot adjustment charging pose, comprising:
Judge whether robot meets face charge condition under current pose；
If the robot is unsatisfactory for the face charge condition under current pose, combined charge parameter makes the machine
People, which rotates, obtains face charging pose；
Position shown in the robot motion to face charging pose is controlled to charge.
The second aspect of the embodiment of the present invention provides a kind of device of robot adjustment charging pose, comprising:
Judging unit, for judging whether robot meets face charge condition under current pose；
Acquiring unit, if being unsatisfactory for the face charge condition, combined charge under current pose for the robot
Parameter makes the robot rotation obtain face charging pose；
Control unit charges for controlling position shown in the robot motion to face charging pose.
The third aspect of the embodiment of the present invention provides a kind of robot, including memory, processor and is stored in institute
The computer program that can be run in memory and on the processor is stated, the processor executes real when the computer program
The step of existing above-mentioned first aspect the method.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, and the computer program realizes the step of above-mentioned first aspect the method when being executed by processor
Suddenly.
Existing beneficial effect is the embodiment of the present invention compared with prior art: in the present invention, being joined by combined charge
Number control robot, which rotates, determines face charging pose, and then controls position shown in robot motion to face charging pose
It charges, is compared with the traditional technology, the robot and the recharging base have higher connection precision, improve and fill
Electrical efficiency.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art, can also be according to these attached drawings under the premise of not paying creative labor
Obtain other attached drawings.
Fig. 1 a is a kind of robot charging contact connection schematic diagram provided in an embodiment of the present invention；
Fig. 1 b is another robot charging contact connection schematic diagram provided in an embodiment of the present invention；
Fig. 2 is a kind of method implementation process schematic diagram of robot adjustment charging pose provided in an embodiment of the present invention；
Fig. 3 is the specific implementation stream of S201 in a kind of method of robot adjustment charging pose provided in an embodiment of the present invention
Journey schematic diagram；
Fig. 4 is the specific implementation stream of S203 in a kind of method of robot adjustment charging pose provided in an embodiment of the present invention
Journey schematic diagram；
Fig. 5 is the method implementation process schematic diagram of another robot adjustment charging pose provided in an embodiment of the present invention；
Fig. 6 is a kind of schematic diagram of the device of robot adjustment charging pose provided in an embodiment of the present invention；
Fig. 7 is a kind of schematic diagram of robot provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " and "comprising" instruction
Described feature, entirety, step, operation, the presence of element and/or component, but one or more of the other feature, whole is not precluded
Body, step, operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this description of the invention merely for the sake of description specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
Since the charged tankage of most robots is limited, the auto-returned recharging base when electricity is low is needed to be filled
Electricity.The recharging base mostly uses greatly charging contact connection charging, in order to so more preferable that illustrate technical solution of the present invention, selection touching
Chip recharging base is illustrated, but the type to recharging base and without limitation.Wherein, instruction is recharged when robot receives
When (instruction include when robot electric quantity is lower than threshold value triggering recharge the instruction of instruction and/or user's control key, sensor-triggered
And/or receive external equipment recharges instruction etc.), can pass-through mode one: the controller of robot be sent to RF transmitter
Signal, RF transmitter emit infrared ray around.Recharging base is equipped with infrared sensor, when receiving from described
After the infrared ray that robot transmitting comes, feedback infrared ray can be emitted to the robot.The infrared ray of the robot interior passes
Sensor receives and sends signal to controller after the feedback infrared ray, and controller controls the robot according to feedback infrared ray
Direction finding described in recharging base.Location technology includes infrared ray positioning, bluetooth positioning, radar fix etc..Mode two: in advance
The map coordinates system of foundation is calculated according to the positioning coordinate value of the absolute coordinate of the recharging base and the recharging base
Motion track and charging pose are connect with recharging base, and heretofore described robot fuselage is equipped with the first charging contact,
Corresponding recharging base is equipped with the second charging contact, referring to Figure 1 a and Fig. 1 b, and Fig. 1 a and Fig. 1 b are that the embodiment of the present invention provides
Robot charge contact connection schematic diagram.As illustrated in figs. 1A and ib, AB sections of the robot fuselage are the first charging contact,
CD sections of recharging base are the second charging contact, and the first charging contact and described second charges contact pad, that is, chargeable.
But since the first charging contact majority is arc, and the first charging contact is linear, causes described first to fill
Electric contact point contact area is smaller and the limited accuracy due to positioning the recharging base, the robot are difficult disposable right
The second charging contact on quasi- recharging base charges, and majority will appear the case where skew contacts as shown in Figure 1 and lead
Poor contact is caused, so as to shorten battery life and damage battery.It is accurate in order to solve above-mentioned robot and recharging base contact
Lower technical problem is spent, the invention proposes a kind of methods that robot adjusts charging pose, refer to Fig. 2, Fig. 2 is this hair
A kind of method implementation process schematic diagram for robot adjustment charging pose that bright embodiment provides.A kind of machine as shown in Figure 2
People adjust charging pose method include:
S201, judges whether robot meets face charge condition under current pose.
Pose when the current pose is robot charging contact and recharging base charging contact initial contact.Such as Fig. 1 a
Or shown in Fig. 1 b, when the first charging contact and the second charging contact initial contact, there are two kinds of situations: 1. the first charging contact
The charging contact of face second；2. there is skew connection in two charging contacts.And when the first charging contact alignment described second
When charging contact, charge efficiency highest, without being adjusted to current pose, and when skew connection occur in two charging contacts
When, charge efficiency is lower, current charging pose need to be adjusted, to improve charge efficiency.Therefore it is needed before adjusting the robot pose
The charging parameter generated when to the first charging contact and the second charging contact pad judges, and then takes appropriate measures.
Wherein, the robot includes but is not limited to the robot that can be achieved to recharge function in smart home and industrial production automatically.
S202, if the robot is unsatisfactory for the face charge condition under current pose, combined charge parameter makes institute
It states robot rotation and obtains face charging pose.
The case where being unsatisfactory for the face charge condition, i.e. charging contact are in crooked contact condition, such as Fig. 1 a or Fig. 1 b
It is shown due to when straight line AO it is vertical with straight line CD it is (as shown in Figure 1a), straight line BO is vertical with straight line CD when (as shown in Figure 1 b), lead
Cause first charging contact and the second wafer skew connection (point in addition to the midpoint camber line AB contacted with straight line CD all may be defined as it is askew
Tiltedly connection), cause the too small problem of parameter that charges, therefore, it need to be by adjusting current charging pose, so that the robot face is filled
Electricity.When skew contact occurs in the robot, can be rotated by the robot to different directions, charging when in conjunction with rotation
Parameter records pose when each direction of rotation reaches fixed charging parameter, according to each rotation to the position fixed when charging parameter
Appearance obtains face charging pose.The charging parameter refers to that charging voltage or charging current, charging resistor etc. and charge data have
Any parameter closed, it is not limited here.Such as: as the charging parameter (charging voltage zero when using charging voltage being zero
When for connection critical point, indicate that the first charging contact and the second charging contact are in the state of disconnection when reaching zero), it is described
Robot respectively to different directions rotate to charging voltage be zero when, the posture information of the record robot at this time is described
Posture information includes the robot rotation angle and fuselage preset coordinate, and described just according to every time posture information calculating
To charging pose.
S203 controls position shown in the robot motion to face charging pose and charges.
The face charging pose obtained according to step 202, calculates the angle between current pose, according to the folder
Angle, which is rotated to position shown in face charging pose, charges.
In the present embodiment, it is rotated by combined charge parameter and obtains face charging pose, and then it is current to adjust robot
Pose makes robot and recharging base have higher connection precision, improves charge efficiency.
Specifically, the step 201 in last embodiment specifically includes step 301 to 303, refers to Fig. 3, Fig. 3 is this
The specific implementation flow schematic diagram of S201 in a kind of method for robot adjustment charging pose that inventive embodiments provide.Such as Fig. 3
Described, step 201 specifically includes:
S301 obtains charging parameter of the robot under current pose.
When the charging contact of the robot is connected with the charging contact of recharging base, no matter just connection or skew connect
It connects, can all generate corresponding charging parameter.It can be and then right by obtaining the charging parameter under the current pose of robot
The connection of the robot and recharging base is judged.
S302, the size of comparison charging parameter and first threshold.
The size of the first threshold is charging parameter size (first threshold generated when the robot face charges
Value can also be slightly less than the charging parameter size generated when face charging, depending on practical computational accuracy).So can be by machine
The charging parameter size and the first threshold under the current pose of people compare, and judge the charging contact of presently described robot
Whether face charges with the charging contact of recharging base.
S303, if the charging parameter is greater than or equal to the first threshold, the robot is full under current pose
The foot face charge condition.
When the charging parameter is greater than or equal to first threshold, indicate that the current pose of the robot at this time is in just
To charging pose.
Optionally, after step 303, further includes: control the robot and current pose is kept to charge.It is filled when described
Electric parameter is greater than or equal to first threshold, then meets the face charge condition, i.e., at this time robot charging contact with fill
The charging contact of electric pedestal just contacts, and can continue that current pose is kept to charge, without adjusting pose.
S304, if the charging parameter is less than the first threshold, the robot is unsatisfactory for institute under current pose
State face charge condition.
If the charging parameter is less than the first threshold, it is askew to indicate that the first charging contact and the second charging contact occur
Tiltedly the case where connection.It needs to be adjusted the current pose of the robot.This step corresponds to step 202.
In the present embodiment, by the way that before adjusting the robot charging pose, charging parameter is carried out with first threshold
Comparison, decides whether to adjust the current charging pose of the robot after comparison, avoids the stream of unnecessary adjustment pose
Journey improves the efficiency of adjustment pose.
Specifically, the step 203 in last embodiment specifically includes step 401 to 403, refers to Fig. 4, Fig. 4 is this
The specific implementation flow schematic diagram of S203 in a kind of method for robot adjustment charging pose that inventive embodiments provide.Such as Fig. 4
Described, step 203 specifically includes:
S401 controls first preset direction of Robot and rotates when reaching second threshold to the charging parameter, note
The first pose of the robot is recorded, the second threshold is less than first threshold.
After the charging contact of the robot and the charging contact of recharging base are in contact, it is with current initial pose
Rotation reference point is rotated in place to the first preset direction, and it can also be counterclockwise that first preset direction, which can be clockwise,.For
Better illustrate the scheme of the present embodiment, it is with straight line CD vertical, directly that the present embodiment chooses straight line AO as shown in Figure 1 a or 1b
Charging parameter when line BO is vertical with straight line CD is as the second threshold.The second threshold can be according to practical charging contact
The aggregation of data such as form and charging voltage value or current value evaluation, it is not limited here, because first threshold is robot face
The charging parameter size generated when charging, therefore, the second threshold is less than first threshold.When the robot is moved to charging base
Seat makes the first charging contact and second charge and contact pad and rotated according to the first preset direction to charging parameter and reach described the
Two threshold values when straight line AO is vertical with straight line CD, record the data of the first pose of the robot at this time that is, as described in Fig. 1 a.
The data of first pose include any part pose in the data or fuselage of the pose of the entire fuselage of the robot
Data (in addition to fuselage midpoint, wherein the data closer to midpoint are smaller, and the corresponding error that calculates also will increase).The pose
Including but not limited to coordinate value, deflection angle etc., and deflection angle can be measured by electronic compass using earth's magnetic field, it is described
Electronic compass is the sensor relative to the deflection angle of earth magnetism field direction, includes a LR oscillation electricity inside magnetic sensor
Road, when magnetic sensor changes with earth magnetic induction line parallel direction angle, the magnetic induction coefficient of LR oscillating circuit also can
It changes.Driving chip can calculate magnetic sensor and earth magnetic strength by the variation of magnetic sensor magnetic induction coefficient
Angle between line, i.e., the deflection angle of the described robot.
S402, controls the robot and is rotated from first pose along the second preset direction to the charging parameter and reach
When second threshold, the second pose of the robot is recorded.
When robot is in first pose, continue to rotate to the direction opposite with the first preset direction, i.e., to institute
State the second preset direction rotation, second preset direction may be either clockwise can also be it is counterclockwise, when described first preset just
To be clockwise when, second preset direction be it is counterclockwise, vice versa.The robot is according to second preset direction
Rotation to charging parameter reaches second threshold, i.e., when straight line BO is vertical with straight line CD as described in Fig. 1 b, records the machine at this time
The data of the second pose of people.
S403 obtains the face charging pose according to first pose and second pose.
It is specifically, described that the face charging pose is obtained according to first pose and second pose, comprising:
According to first pose and second pose, determine that the robot is rotated in first pose and described
Midpoint within the scope of second pose, using the midpoint as face charging pose.
Referring to Figure 1 shown in a or Fig. 1 b, if first pose and second pose are critical point A, B and CD respectively
The fan-shaped region that pose when contact, i.e. camber line AB and O are formed is the rotating range of the robot.Correspondingly, camber line AB
Contact point when midpoint is the face charging pose.And the midpoint is also possible to charging parameter is equal in camber line AB two
Midpoint between a point.
The midpoint can be used coordinate data and deflection angle and indicate pose data jointly.Wherein, coordinate data is logical
Preset map plane coordinate system is crossed, the first charging touching of robot of first pose under the plane coordinate system is recorded
The seat of piece preset (preset can be geometry midpoint, center of gravity, mass center or the other positions of the first charging contact)
Mark (X1,Y1), and the coordinate value can also choose fuselage other positions coordinate value (in situ rotary course, fuselage midpoint
Coordinate data it is constant, the other positions do not include fuselage midpoint).The rotary reference point is original point of attachment, this implementation
Example by using first charging contact and second charging contact original point of attachment as zero point (turn left and turn right be denoted as respectively it is positive and negative
Value), record the deflection angle θ of first pose1。
According to preset map plane coordinate system, the of the first charging contact preset of robot under second pose
Two position coordinates (X2,Y2).And record the deflection angle θ of second pose2。
It is obtained according to the first deflection angle data and the second deflection angle data relative to rotary reference point
Third deflection angle data；The third place coordinate data is obtained according to the first position data and the second position data；
Using the third deflection angle data and the third place coordinate data as face charging pose.
Wherein, the face charging pose is calculated according to the first deflection angle data and the second deflection angle data
Deflection angle, the deflection angle of the face charging pose are as follows:The wherein deflection angle of the face charging pose
Positive and negative values represent direction, such as: initial contact point is set as 0 degree, rotates clockwise and is defined as positive value, counterclockwise rotation be defined as
Negative value, the first deflection angle data are to rotate clockwise 20 degree of rotation, and the second deflection angle data are rotation counterclockwise
Rotate 40 degree, therefore, the deflection angle of the face charging pose is -10 degree namely the robot in the initial contact
When rotation rotates 10 degree counterclockwise on the basis of the pose of point, the first charging contact alignment the second charging contact.
Wherein, the third place number of coordinates is calculated according to the first position data and the second position data
According to the coordinate value of the face charging pose are as follows:
Therefore, the face charging pose is obtained are as follows:
In the present embodiment, is passed through by the robot and rotates clockwise or rotate counterclockwise, record each pose data,
The face charging pose is calculated according to each pose data, makes the charging contact of the robot and filling for the recharging base
Electric contact point has higher connection precision, improves charge efficiency.
It optionally, may be due to external force or wheel after the pose that charged according to the face adjusts the pose of the robot
The reasons such as son skidding, can not very guarantee that the contact of the contact for making robot and recharging base just contacts.On overcoming
State defect, on the basis of embodiment shown in Fig. 2, the method that present embodiments provides another robot adjustment charging pose.
This is sentenced improve on the basis of embodiment shown in Fig. 2 for, refer to Fig. 5, Fig. 5 is provided in an embodiment of the present invention another
A kind of robot adjusts the method implementation process schematic diagram of charging pose, further includes step after embodiment step 203 shown in Fig. 2
501 to 503.S201 to 203 is identical as S201 in embodiment described in Fig. 2 to 203 in the present embodiment, referring specifically to the embodiment
In associated description about S201 to 203, do not repeat herein.
S201, judges whether robot meets face charge condition under current pose.
S202, if the robot is unsatisfactory for the face charge condition under current pose, combined charge parameter makes institute
It states robot rotation and obtains face charging pose.
S203 controls position shown in the robot motion to face charging pose and charges.
S501 compares the size of charge when the robot is in the face charging pose parameter and first threshold.
When the robot is adjusted to pose shown in the face charging pose, the described of presently described robot is obtained
Charge parameter.When judging that the robot is in pose shown in face charging pose according to charging parameter, charging contact is
No alignment.
S502, if the charging parameter is greater than or equal to the first threshold, the robot charges in the face
Meet the face charge condition under pose, controls the robot and the face charging pose is kept to charge.
When the charging parameter is greater than or equal to first threshold, indicate that the robot contact that charges under current pose is right
Standard can keep currently charging at this time.
S503, if the charging parameter is less than the first threshold, the robot charges under pose in the face
Still not satisfy the face charge condition.
When the charging parameter is lower than the first threshold, expression charging contact misalignment.It needs to repeat in conjunction with institute
Stating charging parameter makes the robot rotation obtain the updated face charging pose, and controls the robot motion extremely
The step of position shown in the updated face charging pose is charged, until the updated face charging pose is full
Sufficient face charge condition.
In the present embodiment, by the way that in the subsequent continuous robot judged at this time of adjustment charging pose, whether face charges, prevent
The generation for leading to recharging skew condition only is influenced because calculating error or external force during the charging process, there is robot higher
Charging connection precision, and improve charge efficiency.
If the present invention provides the devices 6 that a kind of robot adjusts charging pose by Fig. 6, Fig. 6 is referred to, Fig. 6 is the present invention
A kind of schematic diagram of the device for robot adjustment charging pose that embodiment provides, as shown in Figure 6 a kind of robot adjustment charging
The device of pose includes:
Judging unit 61, for judging whether robot meets face charge condition under current pose；
Acquiring unit 62, if being unsatisfactory for the face charge condition under current pose for the robot, in conjunction with filling
Electric parameter makes the robot rotation obtain face charging pose；
Control unit 63 charges for controlling position shown in the robot motion to face charging pose.
The judging unit, is specifically used for:
Obtain charging parameter of the robot under current pose；
Compare the size of the charging parameter and first threshold；
If the charging parameter is greater than or equal to the first threshold, described in the robot meets under current pose
Face charge condition；
If the charging parameter is less than the first threshold, the robot is unsatisfactory for the face under current pose
Charge condition.
A kind of device of robot adjustment charging pose provided by the invention, is revolved by combined charge state modulator robot
Turn to determine face charging pose, and then control position shown in robot motion to face charging pose and charge, with biography
The technology of system is compared, and the robot and the recharging base have higher connection precision, improves charge efficiency.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Fig. 7 is a kind of schematic diagram for robot that one embodiment of the invention provides.As shown in fig. 7, one kind of the embodiment
Robot 7 includes: processor 70, memory 71 and is stored in the memory 71 and can run on the processor 70
Computer program 72, such as a kind of robot adjustment charging pose program.The processor 70 executes the computer journey
The step in a kind of embodiment of the method for above-mentioned each robot adjustment charging pose, such as step shown in Fig. 2 are realized when sequence 72
Rapid S201 to S203.Alternatively, the processor 70 is realized in above-mentioned each Installation practice respectively when executing the computer program 72
The function of unit, such as the function of unit 61 to 63 shown in Fig. 6.
Illustratively, the computer program 72 can be divided into one or more units, one or more of
Unit is stored in the memory 71, and is executed by the processor 70, to complete the present invention.One or more of lists
Member can be the series of computation machine program instruction section that can complete specific function, and the instruction segment is for describing the computer journey
Implementation procedure of the sequence 72 in a kind of robot 7.For example, the computer program 72 can be divided into acquiring unit and
Computing unit each unit concrete function is as follows:
Judging unit, for judging whether robot meets face charge condition under current pose；
Acquiring unit, if being unsatisfactory for the face charge condition, combined charge under current pose for the robot
Parameter makes the robot rotation obtain face charging pose；
Control unit charges for controlling position shown in the robot motion to face charging pose.
A kind of robot 7 can be the calculating such as desktop PC, notebook, palm PC and cloud server and set
It is standby.A kind of robot may include, but be not limited only to, processor 70, memory 71.It will be understood by those skilled in the art that
Fig. 7 is only a kind of example of robot 7, does not constitute the restriction to a kind of robot 7, may include more or more than illustrating
Few component perhaps combines certain components or different components, such as a kind of robot can also include input and output
Equipment, network access equipment, bus etc..
Alleged processor 70 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 71 can be a kind of internal storage unit of robot 7, such as a kind of hard disk of robot 7
Or memory.The memory 71 is also possible to a kind of External memory equipment of robot 7, such as a kind of robot 7
The plug-in type hard disk of upper outfit, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital,
SD) block, flash card (Flash Card) etc..Further, the memory 71 can also both include a kind of robot 7
Internal storage unit also includes External memory equipment.The memory 71 is for storing the computer program and described one kind
Other programs and data needed for robot.The memory 71, which can be also used for temporarily storing, have been exported or will be defeated
Data out.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed terminal device and method can pass through it
Its mode is realized.For example, terminal device embodiment described above is only schematical, for example, the module or list
Member division, only a kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or
Component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point is shown
The mutual coupling or direct-coupling or communication connection shown or discussed can be through some interfaces, between device or unit
Coupling or communication connection are connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-described embodiment side
All or part of the process in method can also instruct relevant hardware to complete, the computer by computer program
Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of a embodiment of the method.Wherein, the computer program includes computer program code, the computer program code
It can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium can
With include: can carry the computer program code any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk,
CD, computer storage, read-only memory (Read-Only Memory, ROM), random access memory (Random
Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the meter
The content that calculation machine readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice,
It such as does not include electric carrier signal and telecommunications according to legislation and patent practice, computer-readable medium in certain jurisdictions
Signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
Between protection scope of the present invention.
Claims (10)
1. a kind of method of robot adjustment charging pose, which is characterized in that the described method includes:
Judge whether robot meets face charge condition under current pose；
If the robot is unsatisfactory for the face charge condition under current pose, combined charge parameter revolves the robot
Turn to obtain face charging pose；
Position shown in the robot motion to face charging pose is controlled to charge.
2. the method as described in claim 1, which is characterized in that described to judge whether robot meets face under current pose
Charge condition, comprising:
Obtain charging parameter of the robot under current pose；
Compare the size of the charging parameter and first threshold；
If the charging parameter is greater than or equal to the first threshold, the robot meets the face under current pose
Charge condition；
If the charging parameter is less than the first threshold, the robot is unsatisfactory for the face charging under current pose
Condition.
3. method according to claim 2, which is characterized in that if the charging parameter is greater than or equal to the first threshold,
After then the robot meets the face charge condition under current pose, further includes:
Controlling the robot keeps current pose to charge.
4. the method as described in claim 1, which is characterized in that the combined charge parameter obtains the robot rotation just
To charging pose, comprising:
It controls first preset direction of Robot to rotate when reaching second threshold to the charging parameter, records the machine
The first pose of people, the second threshold are less than first threshold；
It controls the robot and is rotated from first pose along the second preset direction to the charging parameter and reach second threshold
When, record the second pose of the robot；
The face charging pose is obtained according to first pose and second pose.
5. method as claimed in claim 4, which is characterized in that described to be obtained according to first pose and second pose
The face charging pose, comprising:
According to first pose and second pose, determine that the robot is rotated in first pose and described second
Midpoint within the scope of pose, using the midpoint as face charging pose.
6. the method as described in claim 1, which is characterized in that the control robot motion to the face charge position
After position shown in appearance is charged, further includes:
Compare the size of charge when the robot is in the face charging pose parameter and first threshold；
If the charging parameter is greater than or equal to the first threshold, the robot meets in the case where the face charges pose
The face charge condition controls the robot and the face charging pose is kept to charge；
If the charging parameter is less than the first threshold, the robot is still not satisfied in the case where the face charges pose
The face charge condition, repeat makes the robot rotation obtain the updated face in conjunction with the charging parameter
Charge pose, and controls the step that position shown in the robot motion to the updated face charging pose is charged
Suddenly, until the updated face charging pose meets face charge condition.
7. a kind of device of robot adjustment charging pose characterized by comprising
Judging unit, for judging whether robot meets face charge condition under current pose；
Acquiring unit, if being unsatisfactory for the face charge condition, combined charge parameter under current pose for the robot
The robot rotation is set to obtain face charging pose；
Control unit charges for controlling position shown in the robot motion to face charging pose.
8. device as claimed in claim 7, which is characterized in that the judging unit is specifically used for:
Obtain charging parameter of the robot under current pose；
Compare the size of the charging parameter and first threshold；
If the charging parameter is greater than or equal to the first threshold, the robot meets the face under current pose
Charge condition；
If the charging parameter is less than the first threshold, the robot is unsatisfactory for the face charging under current pose
Condition.
9. a kind of robot, including memory, processor and storage can transport in the memory and on the processor
Capable computer program, which is characterized in that the processor realizes such as claim 1 to 6 times when executing the computer program
The step of one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 6 of realization the method.
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| CN201910061971.XA CN109719728B (en) | 2019-01-23 | 2019-01-23 | Method and device for adjusting charging pose of robot |
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| CN201910061971.XA CN109719728B (en) | 2019-01-23 | 2019-01-23 | Method and device for adjusting charging pose of robot |
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| CN109719728B CN109719728B (en) | 2021-07-23 |
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| CN110842981A (en) * | 2019-10-23 | 2020-02-28 | 深圳乐动机器人有限公司 | Robot charging method and robot |
| CN110888433A (en) * | 2019-10-25 | 2020-03-17 | 北京京东乾石科技有限公司 | Control method and device for automatically aligning charging pile |
| 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 |
| CN111625005A (en) * | 2020-06-10 | 2020-09-04 | 浙江欣奕华智能科技有限公司 | Robot charging method, robot charging control device and storage medium |
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