CN111555399A - Self-adaptive charging system of robot - Google Patents
Self-adaptive charging system of robot Download PDFInfo
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- CN111555399A CN111555399A CN202010437153.8A CN202010437153A CN111555399A CN 111555399 A CN111555399 A CN 111555399A CN 202010437153 A CN202010437153 A CN 202010437153A CN 111555399 A CN111555399 A CN 111555399A
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- 238000012545 processing Methods 0.000 claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 238000004458 analytical method Methods 0.000 claims abstract description 9
- 230000001276 controlling effect Effects 0.000 claims abstract description 5
- 230000001105 regulatory effect Effects 0.000 claims abstract description 5
- 238000007781 pre-processing Methods 0.000 claims abstract description 4
- 238000001914 filtration Methods 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 14
- 230000009467 reduction Effects 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 10
- 238000001035 drying Methods 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000002474 experimental method Methods 0.000 claims description 3
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- 239000000284 extract Substances 0.000 abstract 1
- 238000013473 artificial intelligence Methods 0.000 description 2
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/30—Noise filtering
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20024—Filtering details
- G06T2207/20032—Median filtering
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- General Physics & Mathematics (AREA)
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a self-adaptive charging system of a robot, which comprises: the acquisition unit is arranged on the robot and used for acquiring the geographic position information of an external charging terminal used for charging the robot; the early-stage analysis unit reads the geographic position and plans a running track from the robot to the charging terminal according to the actual geographic position of the robot; the regulating and controlling mechanism controls the robot to walk to the charging terminal according to the running track transmitted by the early-stage analysis unit, performs binarization preprocessing on the socket interface image at the charging terminal, and extracts the contour map of each image in the binarized image sequence; the processing unit is used for establishing a plurality of voxel structures by taking adjacent pixel points in a three-dimensional space of the contour map as vertexes, and the charging registration unit is used for receiving the three-dimensional model transmitted by the processing unit and the height information transmitted by the regulating and controlling mechanism.
Description
Technical Field
The invention relates to the technical field of sea surface effective waves, in particular to a self-adaptive charging system of a robot.
Background
In the era of rapid development of artificial intelligence, more and more robots are put into the market and widely applied. Therefore, the charging control process of the robot is concerned by users, and how to safely and reliably charge the robot is a problem which is very concerned by the users, in the prior art, a manual mode is adopted to connect the plug of the robot with a power supply, but the charging connection mode is lagged behind, most of robots adopt an automatic charging mode, namely the robot can automatically move to a power supply terminal for charging before the electric quantity is used up, however, the technology does not accurately control a charging interface and a power supply interface of the robot, and the phenomenon of multiple plugging failures is caused.
Disclosure of Invention
According to the problems existing in the prior art, the invention discloses a self-adaptive charging system of a robot, which comprises the following specific schemes:
the acquisition unit is arranged on the robot and used for acquiring the geographic position information of an external charging terminal used for charging the robot;
the early-stage analysis unit is used for receiving the geographic position information transmitted by the acquisition unit, reading the geographic position and planning a running track from the robot to the charging terminal according to the actual geographic position of the robot;
carry out all direction control's adjustment and control mechanism to the motion process of robot, adjustment and control mechanism walks to the terminal department that charges according to the orbit control robot that earlier stage analysis unit conveyed, acquires the high information of the socket interface of the interface distance charging terminal that charges of robot, and the acquisition unit carries out image acquisition to charging terminal this moment: carrying out binarization preprocessing on a socket interface image at a charging terminal, and extracting a contour map of each image in an image sequence after binarization;
the processing unit is used for receiving the contour map information transmitted by the acquisition unit, constructing a plurality of voxel structures by taking adjacent pixel points in the three-dimensional space of the contour map as vertexes, dividing the pixel points in the contour map into real points and virtual points, reading the real point information and the virtual point information in the voxel structures and defining the real point information and the virtual point information as boundary voxels, taking middle points of edges connecting the real points and the virtual points in the boundary voxels as vertexes of isosurface triangles, establishing a triangular structure in the voxel structures by adopting the mode, and extracting all triangular structures of image sequence point sets in the contour map to construct a three-dimensional model of the contour map according to the triangular structures;
the charging registration unit receives the three-dimensional model transmitted by the processing unit and the height information transmitted by the regulating and controlling mechanism, carries out 360-degree all-dimensional rotation and height regulation on the robot according to the height information of the charging interface of the robot from the socket interface of the charging terminal, adjusts the charging interface of the robot to move right above the socket interface of the charging terminal, reads the three-dimensional model of the charging interface of the robot stored in the charging registration unit, and registers the three-dimensional model of the contour map and the three-dimensional model of the charging interface to realize power supply communication of the charging interface.
Further, for the socket interface image of the charging terminal, the processing unit performs drying processing on the socket interface image, specifically adopting the following method:
extracting the overlapped pixels and storing the overlapped pixels into a pixel point set P;
for the mth pixel point in P, respectively obtaining the gray value g of the pixel point in the adjacent position of the pixel in 20 adjacent images, if g>140, recording as effective gray value, and summing the effective gray values in all 20 pictures to obtain GiDefining the correlation value of the set of pixel points P with the image set
Wherein n is the number of pixel points in P.
Further, the charging registration unit performs noise reduction on the three-dimensional model, specifically adopting the following method: based on a mode of combining a mean filtering algorithm and a median filtering algorithm, a noise point separation rule is adopted to perform noise reduction processing on the three-dimensional model, and the noise reduction processing is evaluated by comparing signal-to-noise ratio improvement factors R of various filtering algorithms, wherein the noise reduction processing is defined as the following steps:
in the formula, KL respectively represents the length and the width of the three-dimensional model, y (i, j) is filtering output, s (i, j) is a standard image, x (i, j) is an input image, in order to verify the drying quality, a Lena image is adopted to carry out a comparison experiment on filtering results of different algorithms, and if R is a negative value, noise after filtering is inhibited; the lower the R, the better the filtering effect.
The system also comprises a circuit detection unit, and the circuit detection unit detects the state of the charging process when the robot is charged and sends out an early warning signal when short circuit or open circuit occurs.
Due to the adoption of the technical scheme, the self-adaptive charging system of the robot provided by the invention has the advantages that the three-dimensional image of the charging interface of the robot is stored in advance, then the three-dimensional image of the socket interface of the charging terminal is collected and is subjected to early processing, finally, the robot is rotated by 360 degrees and is adjusted at will based on the height information of the charging interface of the robot, the accurate butt joint of the charging interface of the robot and the socket interface of the charging terminal is realized, and the robot can be accurately butted with a power supply end at one time in the actual connection process, so that the artificial intelligence of the robot is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of the system of the present invention.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:
as shown in fig. 1, an adaptive charging system for a robot specifically includes: the system comprises an acquisition unit, a previous-stage analysis unit, a regulation and control mechanism, a processing unit and a charging registration unit, wherein the specific working process is as follows:
the acquisition unit is arranged on the robot and used for acquiring the geographical position information of the charging terminal used for charging the robot from the outside.
The early-stage analysis unit receives the geographical position information transmitted by the acquisition unit and plans a running track for the robot to run to the charging terminal according to the actual geographical position of the robot.
The motion process of adjustment and control mechanism to the robot carries out all-round control, adjustment and control mechanism controls the robot according to the orbit control robot walking of earlier stage analysis unit conveying to the terminal department that charges, acquires the high information of the socket interface of the interface distance charging terminal that charges of robot, and the acquisition unit carries out image acquisition to charging terminal this moment: and (4) carrying out binarization preprocessing on the socket interface image at the charging terminal, and extracting a contour map of each image in the binarized image sequence.
The processing unit receives the contour map information transmitted by the acquisition unit, the processing unit takes adjacent pixel points in the three-dimensional space of the contour map as vertexes to construct a plurality of voxel structures, the pixel points in the contour map are divided into real points and virtual points, the real point information and the virtual point information in the voxel structures are read and defined as boundary voxels, the middle points of the sides connecting the real points and the virtual points in the boundary voxels are taken as vertexes of isosurface triangles, a triangular structure is established in the voxel structure by adopting the mode, and all triangular structures of the image sequence point sets in the contour map are extracted to construct a three-dimensional model of the contour map according to the triangular structure.
The charging registration unit receives the three-dimensional model transmitted by the processing unit and the height information transmitted by the regulating and controlling mechanism, then carries out 360-degree all-dimensional rotation and height regulation on the robot according to the height information of the charging interface of the robot from the socket interface of the charging terminal, regulates the charging interface of the robot to move right above the socket interface of the charging terminal, reads the three-dimensional model of the charging interface of the robot stored in the charging registration unit, and registers the three-dimensional model of the contour map and the three-dimensional model of the charging interface to realize power supply communication of the charging interface.
Further, since the subjective visual effect is affected by the presence of noise, human eyes are very sensitive to image noise, especially noise in flat areas of an image. Severe noise will distort the image and lose its essential data characteristics. In addition, the quality and precision of image data are reduced by noise, and the accuracy of subsequent image edge detection and image identification is affected, so that the processing unit performs drying processing on the socket interface image of the charging terminal by specifically adopting the following method:
extracting the overlapped pixels and storing the overlapped pixels into a pixel point set P;
for the mth pixel point in P, respectively obtaining the gray value g of the pixel point in the adjacent position of the pixel in 20 adjacent images, if g>140, recording as effective gray value, and summing the effective gray values in all 20 pictures to obtain GiDefining the correlation value of the set of pixel points P with the image set
Wherein n is the number of pixel points in P.
Further, the charging registration unit performs noise reduction on the three-dimensional model, specifically adopting the following method: the charging registration unit performs noise reduction processing on the three-dimensional model, and specifically adopts the following mode: based on a mode of combining a mean filtering algorithm and a median filtering algorithm, a noise point separation rule is adopted to perform noise reduction processing on the three-dimensional model, and the noise reduction processing is evaluated by comparing signal-to-noise ratio improvement factors R of various filtering algorithms, wherein the noise reduction processing is defined as the following steps:
in the formula, KL respectively represents the length and the width of the three-dimensional model, y (i, j) is filtering output, s (i, j) is a standard image, x (i, j) is an input image, in order to verify the drying quality, a Lena image is adopted to carry out a comparison experiment on filtering results of different algorithms, and if R is a negative value, noise after filtering is inhibited; the lower the R is, the better the filtering effect is, the circuit detection unit is used for detecting the state of the charging process when the robot is charged and sending out an early warning signal when short circuit or open circuit occurs.
The self-adaptive charging system of the robot can accurately control the motion process of the robot, and can accurately connect the charging interface of the robot with the power supply interface at one time, so that the effect of quick charging is achieved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (4)
1. An adaptive charging system for a robot, comprising:
the acquisition unit is arranged on the robot and used for acquiring the geographic position information of an external charging terminal used for charging the robot;
the early-stage analysis unit is used for receiving the geographic position information transmitted by the acquisition unit, reading the geographic position and planning a running track from the robot to the charging terminal according to the actual geographic position of the robot;
carry out all direction control's adjustment and control mechanism to the motion process of robot, adjustment and control mechanism walks to the terminal department that charges according to the orbit control robot that earlier stage analysis unit conveyed, acquires the high information of the socket interface of the interface distance charging terminal that charges of robot, and the acquisition unit carries out image acquisition to charging terminal this moment: carrying out binarization preprocessing on a socket interface image at a charging terminal, and extracting a contour map of each image in an image sequence after binarization;
the processing unit is used for receiving the contour map information transmitted by the acquisition unit, constructing a plurality of voxel structures by taking adjacent pixel points in the three-dimensional space of the contour map as vertexes, dividing the pixel points in the contour map into real points and virtual points, reading the real point information and the virtual point information in the voxel structures and defining the real point information and the virtual point information as boundary voxels, taking middle points of edges connecting the real points and the virtual points in the boundary voxels as vertexes of isosurface triangles, establishing a triangular structure in the voxel structures by adopting the mode, and extracting all triangular structures of image sequence point sets in the contour map to construct a three-dimensional model of the contour map according to the triangular structures;
the charging registration unit receives the three-dimensional model transmitted by the processing unit and the height information transmitted by the regulating and controlling mechanism, carries out 360-degree all-dimensional rotation and height regulation on the robot according to the height information of the charging interface of the robot from the socket interface of the charging terminal, adjusts the charging interface of the robot to move right above the socket interface of the charging terminal, reads the three-dimensional model of the charging interface of the robot stored in the charging registration unit, and registers the three-dimensional model of the contour map and the three-dimensional model of the charging interface to realize power supply communication of the charging interface.
2. The adaptive charging system for a robot according to claim 1, further characterized by: for the socket interface image of the charging terminal, the processing unit performs drying processing on the socket interface image, specifically adopting the following mode:
extracting the overlapped pixels and storing the overlapped pixels into a pixel point set P;
for the mth pixel point in P, respectively obtaining the gray value g of the pixel point in the adjacent position of the pixel in 20 adjacent images, if g>140, recording as effective gray value, and summing the effective gray values in all 20 pictures to obtain GiDefining the correlation value of the set of pixel points P with the image set
Wherein n is the number of pixel points in P.
3. The adaptive charging system for a robot according to claim 1, further characterized by: the charging registration unit performs noise reduction processing on the three-dimensional model, and specifically adopts the following mode: based on a mode of combining a mean filtering algorithm and a median filtering algorithm, a noise point separation rule is adopted to perform noise reduction processing on the three-dimensional model, and the noise reduction processing is evaluated by comparing signal-to-noise ratio improvement factors R of various filtering algorithms, wherein the noise reduction processing is defined as the following steps:
in the formula, KL respectively represents the length and the width of the three-dimensional model, y (i, j) is filtering output, s (i, j) is a standard image, x (i, j) is an input image, in order to verify the drying quality, a Lena image is adopted to carry out a comparison experiment on filtering results of different algorithms, and if R is a negative value, noise after filtering is inhibited; the lower the R, the better the filtering effect.
4. The adaptive charging system for a robot according to claim 1, further characterized by: the system also comprises a circuit detection unit, and the circuit detection unit detects the state of the charging process when the robot is charged and sends out an early warning signal when short circuit or open circuit occurs.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100845531B1 (en) * | 2007-06-29 | 2008-07-10 | (주)하기소닉 | Docking system for self-charge of a mobile robot using anisotropic ultrasonic sensors |
| CN110962611A (en) * | 2018-09-30 | 2020-04-07 | 青岛海汇德电气有限公司 | Charging bow and pantograph connecting method and device and electronic equipment |
| CN111061280A (en) * | 2020-03-13 | 2020-04-24 | 广州赛特智能科技有限公司 | Robot automatic charging method, device, system, terminal device and storage medium |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100845531B1 (en) * | 2007-06-29 | 2008-07-10 | (주)하기소닉 | Docking system for self-charge of a mobile robot using anisotropic ultrasonic sensors |
| CN110962611A (en) * | 2018-09-30 | 2020-04-07 | 青岛海汇德电气有限公司 | Charging bow and pantograph connecting method and device and electronic equipment |
| CN111061280A (en) * | 2020-03-13 | 2020-04-24 | 广州赛特智能科技有限公司 | Robot automatic charging method, device, system, terminal device and storage medium |
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