CN111427351A - Robot recharging method and robot - Google Patents
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- CN111427351A CN111427351A CN202010243046.1A CN202010243046A CN111427351A CN 111427351 A CN111427351 A CN 111427351A CN 202010243046 A CN202010243046 A CN 202010243046A CN 111427351 A CN111427351 A CN 111427351A
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- 238000004140 cleaning Methods 0.000 claims description 16
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- 239000004744 fabric Substances 0.000 claims description 9
- 238000004064 recycling Methods 0.000 claims description 2
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- G—PHYSICS
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- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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Abstract
The application is suitable for the technical field of robots and provides a robot recharging method and a robot, wherein the robot recharging method comprises the steps of obtaining geometric characteristics of at least one surface in a target base station, determining recharging parameters of the robot according to the obtained geometric characteristics, and butting the robot according to the determined recharging parameters of the target base station. The robot in the application can find the direction of the electrode plate in the alignment target base station quickly and accurately, and the recharging efficiency of the robot is improved.
Description
Technical Field
The present application relates to the field of robots, and in particular, to a robot recharging method, a robot, and a computer-readable storage medium.
Background
With the rapid development of the robot field, various robots are also applied, and especially indoor cleaning robots start to be flooded in a large amount into the homes of users.
Because such robots are usually provided with sensors capable of realizing positioning, mapping and navigation functions, when a vision sensor on the robot is used for identifying a target base station, the position information of the target base station can only be roughly obtained, and it is difficult to ensure that the robot is quickly and accurately aligned to the direction of a charging electrode plate in the target base station within an effective time.
Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
In view of this, the embodiment of the present application provides a robot recharging method and a robot, which can quickly and accurately find a direction of a charging electrode plate in an alignment target base station, and are beneficial to improving the recharging efficiency of the robot.
A first aspect of an embodiment of the present application provides a robot recharging method, including:
acquiring geometric characteristics of at least one surface in a target base station;
determining recharging parameters of the robot according to the acquired geometric features;
and the robot carries out recharging on the target base station according to the determined recharging parameters.
In one embodiment, obtaining the geometric features of at least one face in the target base station comprises:
and acquiring the geometric characteristics of the left side surface and the right side surface in the target base station.
In one embodiment, determining the recharging parameters of the robot from the acquired geometric features comprises:
determining the central line of the inner bottom surface of the target base station according to the geometric characteristics of the left side surface and the right side surface;
and determining recharging parameters of the robot according to the central line.
In one embodiment, determining the center line of the bottom surface in the target base station according to the geometric features of the left side surface and the right side surface comprises:
determining the center of the inner bottom surface of the target base station according to the distance between the left side surface and the right side surface and the projection of the left side surface and the right side surface in the bottom surface;
and taking a straight line which passes through the center and is parallel to the projection directions of the left side surface and the right side surface in the bottom surface as a central line of the bottom surface.
In one embodiment, after determining the recharge parameter and before recharging the target base station, the method further includes:
and adjusting the current pose.
In one embodiment, the adjusting the current pose comprises:
acquiring a current position;
determining orientation information of the current position relative to the centerline;
and the robot adjusts the current pose according to the determined azimuth information.
In one embodiment, the robot adjusts the current pose according to the determined orientation information by:
when the current position is located on the left side of the center line, the robot moves to the right side of the center line;
when the current position is located on the right side of the centerline, the robot moves to the left side of the centerline.
In one embodiment, the method further comprises:
and when the robot completely enters the target base station, releasing dirty cleaning cloth in the robot to the target base station for recycling, and receiving the cleaning cloth released by the target base station for replacement.
A second aspect of the embodiments of the present application provides a robot, including a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method mentioned in the first aspect when executing the computer program.
A third aspect of embodiments of the present application provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the method mentioned in the first aspect.
A fourth aspect of embodiments of the present application provides a computer program product, which, when run on a robot, causes the robot to perform the method of any one of the first aspect described above.
Compared with the prior art, the embodiment of the application has the advantages that: the method and the device can quickly and accurately find the direction of the electrode plate in the target base station, so that the aim of improving the recharging efficiency of the robot is fulfilled; this application can only confirm the central line of bottom surface according to the geometric characteristics of left and right sides face again, carries out corresponding adjustment to the current position appearance of robot according to the central line of bottom surface again, is favorable to further improving the efficiency of recharging, still can accomplish the operation of changing the rag according to the parameter of recharging confirmed in addition, is favorable to promoting the intelligent degree of robot, has stronger ease for use and practicality.
It is understood that the beneficial effects of the second to fourth aspects can be seen from the description of the first aspect, and are not described herein again.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1-a is a schematic structural diagram of a target base station provided in the present application;
fig. 1-b is a schematic flow chart of a robot recharging method according to an embodiment of the present disclosure;
fig. 2-a is a schematic flow chart of a robot recharging method according to a second embodiment of the present disclosure;
fig. 2-b is a laser spot cloud provided in the second embodiment of the present application;
2-c is a schematic diagram of the center line of the bottom surface in the target base station according to the second embodiment of the present application;
fig. 3 is a schematic structural diagram of a robot according to a third embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
It should be understood that, the sequence numbers of the steps in this embodiment do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation to the implementation process of the embodiment of the present application.
It should be noted that, the descriptions of "first" and "second" in this embodiment are used to distinguish different regions, modules, and the like, and do not represent a sequential order, and the descriptions of "first" and "second" are not limited to be of different types.
The execution main body of the robot recharging method can be a cleaning robot, wherein the cleaning robot is an indoor cleaning robot capable of automatically cleaning the ground by means of certain artificial intelligence, such as a sweeping robot, a mopping robot or a sweeping and mopping integrated robot; the method can be used in an application scenario that the robot returns to the base station for charging when receiving a recharging instruction, wherein the recharging instruction comprises an internal recharging instruction and an external recharging instruction, the internal instruction comprises but is not limited to an instruction sent when the electric quantity of the robot is lower than a preset threshold value and when a preset cleaning task is completed, and the external instruction comprises but is not limited to an instruction sent when a user actively controls the robot to return to the base station, such as an instruction sent by the user through an APP on an operation panel, a remote controller or other terminal equipment on the body.
The target base station in the application is one of base stations used in cooperation with the robot, is a certain base station used by the robot in the current recharging process, can be a certain base station used by the robot in the previous recharging process, and can also be a certain base station never used by the robot in the previous recharging process, according to the situation; the target base station is provided with a hollow cavity inside, and an opening which is provided with a size that is not smaller than the size of the robot and can be used for the robot to enter and exit is arranged right in front of the target base station, as shown in fig. 1-a, the whole right in front of the target base station can be provided with an opening, wherein the right in front is the side, closest to the robot, of the target base station, and it should be noted that the closest is relative to the distance between each side, except the right side, of the target base station and the robot. In addition, the outside of robot is equipped with laser radar, and this laser radar can be used to obtain the geometric features of at least one side in the target base station, and target base station is inside to be equipped with a plurality of infrared sensor that have receiving and dispatching function.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
Example one
Fig. 1-b is a schematic flow chart of a robot recharging method according to an embodiment of the present disclosure, which may include the following steps:
s101: and acquiring the geometric characteristics of at least one surface in the target base station.
Wherein the geometric features include geometric features of the target base station.
In one embodiment, the geometric features of each surface in the target base station may be obtained, or only the geometric features of a part of the surfaces in the target base station may be obtained, such as the geometric features of the front, the back, the left side and/or the right side in the target base station, as the case may be.
In one embodiment, the robot may receive the infrared signal from the target base station first and then move toward the target base station according to the received infrared signal to ensure that the sensor itself can detect the presence of the target base station.
S102: and determining the recharging parameters of the robot according to the acquired geometric characteristics.
The recharging parameters comprise a recharging path and a recharging direction, the recharging direction is the direction along which the robot recharges, and the recharging path is the path along which the robot recharges.
In one embodiment, the centerline of the bottom surface within the target base station may be determined prior to determining the robot's recharge parameters.
S103: and the robot recharges the target base station according to the determined recharging parameters.
It is thus clear that this application is through acquireing the geometric characteristics of at least one side in the target base station earlier, again according to acquireing the geometric characteristics is confirmed the parameter is filled back to of robot, at last according to confirming back fill the parameter, the butt joint the target base station is filled back to make the robot can find the direction of filling the electrode piece in the alignment target base station fast and accurately, reach the purpose that improves the robot and fill efficiency back, have stronger ease for use and practicality.
Example two
Fig. 2-a is a schematic flow chart of a robot recharging method provided in an embodiment two of the present application, which is a further detailed and descriptive illustration of the steps in the embodiment one, and the method may include the following steps:
s1011: and acquiring the geometric characteristics of the left side surface and the right side surface in the target base station.
Since the target base station in the present application is a geometric body with a certain structure, in practical applications, only the geometric features of the left and right sides can be obtained, so as to save the total time required for obtaining the geometric features related to the target base station.
Wherein the geometric features of the left and right sides include the spacing of the left and right sides. In one embodiment, the entire bottom surface area of the target base station may be scanned to obtain the distance between the left and right sides; or only scanning partial area of the bottom surface, and combining with other information to obtain the distance between the left side surface and the right side surface, for example, only obtaining the projection of the left side surface and the right side surface on the bottom surface, and finally determining the distance between the left side surface and the right side surface by combining with the displacement of the robot moving from the left side surface to the right side surface.
S1021: and determining the center line of the bottom surface in the target base station according to the geometric characteristics of the left side surface and the right side surface, and determining the recharging parameters of the robot according to the center line of the bottom surface in the target base station.
In one embodiment, the step S1021 of determining the center line of the bottom surface in the target base station may specifically include:
a1: and determining the center of the bottom surface in the target base station according to the distance between the left side surface and the right side surface and the projection of the left side surface and the right side surface in the bottom surface.
The projection of the left side surface and the right side surface in the bottom surface can be obtained by controlling the moving direction of the robot, for example, when the robot is controlled to continuously carry out laser scanning on the target base station shown in fig. 1-a along the moving direction from left to right, a laser point cloud picture shown in fig. 2-b can be obtained, at the moment, the laser point cloud picture comprises a projection part AB section of the left side surface in the bottom surface, a projection part BC section of the right back surface in the bottom surface and a projection part CD section of the right side surface in the bottom surface, and the projection part BC section of the right back surface in the bottom surface can be used as the distance between the left side surface and the right side surface.
In one embodiment, two diagonal lines in the bottom surface can be determined according to the distance between the left side surface and the right side surface and the respective projection on the bottom surface, and then the intersection point of the two diagonal lines is taken as the center of the bottom surface.
A2: and taking a straight line which passes through the center of the bottom surface in the target base station and is parallel to the projection directions of the left side surface and the right side surface in the bottom surface as the central line of the bottom surface.
Wherein fig. 2-c are schematic diagrams of the center line of the bottom surface in the target base station in this embodiment.
In one embodiment, the determining the recharging parameters of the robot according to the center line of the bottom surface in step S1021 specifically includes:
the direction of the center line of the bottom surface is taken as the recharging direction of the robot, and the shortest path passing through the recharging direction is taken as the recharging path of the robot.
Because the current position of the robot may deviate from the center line of the bottom surface, the current pose of the robot needs to be correspondingly adjusted to ensure that the robot always moves along the center line direction of the bottom surface, so that the robot enters the target base from the position to complete the task of butt joint and recharging.
S203: and adjusting the current pose.
The pose includes, but is not limited to, the position of the robot and/or the direction of movement of the robot.
In one embodiment, step S203 may specifically include:
b1: and acquiring the current position.
Any practical method may be used to obtain the current position of the robot, without limitation.
B2: and determining the azimuth information of the current position relative to the central line.
The orientation information includes but is not limited to relative direction and relative position, such as the current position is located 1cm to the left of the centerline.
B3: and the robot adjusts the current pose according to the determined azimuth information.
In one embodiment, step B3 may specifically include:
c1: when the current position is located on the left side of the centerline, the robot moves to the right side of the centerline.
C2: when the current position is located on the right side of the centerline, the robot moves to the left side of the centerline.
In one embodiment, the distance moved to the left or right of the centerline may be further determined.
S204: when the robot completely enters the target base station according to the determined recharging parameters, dirty cleaning cloth in the robot is released to the target base station for recharging and clean cleaning cloth released by the target base station is received for replacement, and when the robot finishes replacing the cleaning cloth, the robot charges the target base station.
In one embodiment, the robot may exit the target base station first when the cleaning cloth is replaced, determine the recharging parameters again, and charge the target base station according to the newly determined recharging parameters, so as to improve the efficiency of docking.
As can be seen from the above, in the second embodiment of the present application, compared with the first embodiment, the center line of the bottom surface can be determined only according to the geometric features of the left and right side surfaces, and then the current pose of the robot is correspondingly adjusted according to the center line of the bottom surface, which is beneficial to further improving the recharging efficiency; in addition, the operation of replacing the cleaning cloth can be completed according to the determined recharging parameters, the intelligent degree of the robot is favorably improved, and the robot has strong usability and practicability.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a robot according to a third embodiment of the present application. As shown in fig. 3, the robot 3 of this embodiment includes: a processor 30, a memory 31 and a computer program 32 stored in said memory 31 and executable on said processor 30. The processor 30, when executing the computer program 32, implements the steps of the first to second embodiments of the method described above, such as the steps S101 to S103 shown in fig. 1-b.
The robot 3 may be an indoor cleaning robot, such as a sweeping robot, a mopping robot or a sweeping and mopping all-in-one machine. The robot may include, but is not limited to, a processor 30, a memory 31. Those skilled in the art will appreciate that fig. 3 is merely an example of a robot 3 and does not constitute a limitation of the robot 3 and may include more or fewer components than shown, or some components in combination, or different components, e.g., the robot may also include input output devices, network access devices, buses, etc.
The Processor 30 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 31 may be an internal storage unit of the robot 3, such as a hard disk or a memory of the robot 3. The memory 31 may also be an external storage device of the robot 3, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the robot 3. Further, the memory 31 may also include both an internal storage unit and an external storage device of the robot 3. The memory 31 is used for storing the computer program and other programs and data required by the robot. The memory 31 may also be used to temporarily store data that has been output or is to be output.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art would appreciate that the modules, elements, and/or method steps of the various embodiments described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A method of robotic recharging, comprising:
acquiring geometric characteristics of at least one surface in a target base station;
determining recharging parameters of the robot according to the acquired geometric features;
and the robot carries out recharging on the target base station according to the determined recharging parameters.
2. The method of claim 1, wherein obtaining the geometric characteristics of at least one facet in the target base station comprises:
and acquiring the geometric characteristics of the left side surface and the right side surface in the target base station.
3. The method of claim 2, wherein determining recharge parameters for the robot from the acquired geometric features comprises:
determining the central line of the inner bottom surface of the target base station according to the geometric characteristics of the left side surface and the right side surface;
and determining recharging parameters of the robot according to the central line.
4. The method of claim 3, wherein determining the centerline of the bottom surface in the target base station according to the geometric features of the left and right sides comprises:
determining the center of the inner bottom surface of the target base station according to the distance between the left side surface and the right side surface and the projection of the left side surface and the right side surface in the bottom surface;
and taking a straight line which passes through the center and is parallel to the projection directions of the left side surface and the right side surface in the bottom surface as a central line of the bottom surface.
5. The method of claim 4, wherein after determining the recharge parameters and before recharging the target base station, further comprising:
and adjusting the current pose.
6. The method of claim 5, wherein the adjusting the current pose comprises:
acquiring a current position;
determining orientation information of the current position relative to the centerline;
and the robot adjusts the current pose according to the determined azimuth information.
7. The method of claim 6, wherein the robot adjusting the current pose according to the determined orientation information comprises:
when the current position is located on the left side of the center line, the robot moves to the right side of the center line;
when the current position is located on the right side of the centerline, the robot moves to the left side of the centerline.
8. The method according to any one of claims 1 to 7, further comprising:
and when the robot completely enters the target base station, releasing dirty cleaning cloth in the robot to the target base station for recycling, and receiving the cleaning cloth released by the target base station for replacement.
9. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 8 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113341963A (en) * | 2021-05-31 | 2021-09-03 | 深圳市威睿晶科电子有限公司 | Navigation method and system for robot to automatically return to base station based on laser radar |
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