CN112346455A - Floor sweeping robot and charging pile butt joint method and device and floor sweeping robot - Google Patents
Floor sweeping robot and charging pile butt joint method and device and floor sweeping robot Download PDFInfo
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- CN112346455A CN112346455A CN202011179316.3A CN202011179316A CN112346455A CN 112346455 A CN112346455 A CN 112346455A CN 202011179316 A CN202011179316 A CN 202011179316A CN 112346455 A CN112346455 A CN 112346455A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 247
- 238000000034 method Methods 0.000 title claims abstract description 48
- 210000001503 joint Anatomy 0.000 title claims abstract description 43
- 238000002310 reflectometry Methods 0.000 claims abstract description 32
- 238000003860 storage Methods 0.000 claims abstract description 12
- 238000003032 molecular docking Methods 0.000 claims description 37
- 238000004590 computer program Methods 0.000 claims description 15
- 238000004140 cleaning Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- 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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The invention is applicable to the technical field of sweeping robots, and provides a method and a device for butting a sweeping robot and a charging pile, the sweeping robot and a storage medium, wherein the method comprises the following steps: when the electric quantity of the sweeping robot is lower than a preset threshold value and the sweeping robot returns to the vicinity of a charging pile, actively emitting infrared light and capturing reflection points on the charging pile through a camera on the sweeping robot, wherein a preset number of points with high reflectivity are installed on the charging pile, and the periphery of the points is set to be an area with low reflectivity; the method comprises the steps of forming corresponding light spots in an image through light reflection points captured by a camera, determining the relative position of the robot and the charging pile according to the relative position relation of the light spots, and driving the floor sweeping robot to be in butt joint with the charging pile.
Description
Technical Field
The invention belongs to the technical field of sweeping robots, and particularly relates to a method, a device and a system for butting a sweeping robot and a charging pile, the sweeping robot and a storage medium.
Background
Along with the continuous improvement of the living standard of people, the application of intelligent household appliances is more and more extensive. A floor sweeping robot is one of intelligent household appliances, and can automatically finish floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved.
The robot of sweeping the floor need get back to and fill on the electric pile and charge after having a power failure. At present, the robot of sweeping the floor relies on the infrared guide signal who fills electric pile to get back to and fills electric pile on, belongs to passive guide, but in case fill electric pile power failure, then the robot of sweeping the floor then can't realize with the butt joint that fills electric pile.
Disclosure of Invention
The embodiment of the invention provides a method, a device and a system for butting a sweeping robot and a charging pile, the sweeping robot and a storage medium, and aims to solve the problem that the sweeping robot and the charging pile cannot be butted due to power failure of the charging pile in the prior art.
The embodiment of the invention is realized in such a way that a method for butting a sweeping robot and a charging pile comprises the following steps:
when the electric quantity of the sweeping robot is lower than a preset threshold value and the sweeping robot returns to the vicinity of a charging pile, actively emitting infrared light and capturing reflection points on the charging pile through a camera on the sweeping robot, wherein a preset number of points with high reflectivity are installed on the charging pile, and the periphery of the points is set to be an area with low reflectivity;
forming light spots in an image through the reflective points captured by the camera, determining the relative position of the robot and the charging pile according to the position relation of the light spots, and driving the floor sweeping robot to be in butt joint with the charging pile.
The embodiment of the invention also provides a device for butting the sweeping robot and the charging pile, which comprises:
the acquisition module is used for actively emitting infrared light and capturing reflection points on the charging pile through a camera on the sweeping robot when the electric quantity of the sweeping robot is lower than a preset threshold value and the sweeping robot returns to the vicinity of the charging pile, a preset number of points with high reflectivity are mounted on the charging pile, and an area with low reflectivity is arranged around the points;
the butt joint module forms light spots in an image through the reflective points captured by the camera, determines the relative position of the robot and the charging pile according to the position relation of the light spots, and drives the floor sweeping robot to be in butt joint with the charging pile.
The embodiment of the invention also provides a system for butting the sweeping robot and the charging pile, which comprises the following components:
a sweeping robot and a charging pile;
the sweeping robot comprises a processor, a memory and a computer program which is stored in the memory and can be run on the processor, and when the processor runs the computer program, the sweeping robot executes the butt joint method of the sweeping robot and the charging pile;
the charging pile is provided with a predetermined number of points with high reflectivity, and the periphery of the points is arranged into an area with low reflectivity.
The embodiment of the invention also provides a sweeping robot, which comprises a processor, a memory and a computer program which is stored in the memory and can be run on the processor, wherein when the processor runs the computer program, the sweeping robot executes the butt joint method of the sweeping robot and the charging pile.
The embodiment of the invention also provides a storage medium, wherein a computer program is stored on the storage medium, and when the computer program is executed by a processor, the method for butting the sweeping robot and the charging pile is realized.
The invention provides a method, a device and a system for butting a sweeping robot and a charging pile, the sweeping robot and a storage medium, when the electric quantity of the sweeping robot is lower than a preset threshold value and the sweeping robot returns to the vicinity of the charging pile, infrared light is actively emitted and a camera on the sweeping robot captures a reflective point on the charging pile, a preset number of points with high reflectivity are installed on the charging pile, and an area with low reflectivity is arranged around the points; the corresponding light spots are formed in the image through the reflective points captured by the camera, the relative position of the robot and the charging pile is determined according to the relative position relation of the light spots, and the sweeping robot is guided to complete the butt joint with the charging pile. Compared with the prior art that the sweeping robot returns to the charging pile by means of an infrared guide signal of the charging pile, the sweeping robot and the charging pile are in butt joint through the reflective point arranged on the charging pile, namely when the electric quantity of the sweeping robot is lower than a preset threshold value and the sweeping robot returns to the vicinity of the charging pile, infrared light is actively emitted, the reflective point on the charging pile is captured by the camera on the sweeping robot, a corresponding light spot is formed in an image, the relative position of the robot and the charging pile is determined according to the relative position relation of the light spot, and the sweeping robot is driven to complete the butt joint with the charging pile.
Drawings
Fig. 1 is a flowchart of a docking method of a sweeping robot and a charging pile according to a first embodiment of the present invention;
2-4 are distribution diagrams of three points with different angles A, B, C in the first embodiment of the invention;
fig. 5 is a flowchart of a docking method of the sweeping robot and the charging pile according to the second embodiment of the present invention;
FIG. 6 is a schematic diagram of the distribution and region division of A, B, C points in the second embodiment of the present invention;
fig. 7 to 9 are distribution diagrams of light spots a, b, and c formed by three reflection points in images acquired by the central sweeping robot from different angles according to the second embodiment of the present invention;
fig. 10 is an internal circuit diagram of the sweeping robot and the charging pile in the third embodiment of the invention;
fig. 11 is a flowchart of a docking method of a sweeping robot and a charging pile according to a third embodiment of the present invention;
fig. 12 is a block diagram of a structure of a docking device of a sweeping robot and a charging pile according to a fourth embodiment of the present invention;
fig. 13 is a block diagram of a sweeping robot according to a fifth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example one
Referring to fig. 1, a docking method of a sweeping robot and a charging pile according to a first embodiment of the present invention is shown, which can be applied to a sweeping robot, where the sweeping robot can implement the method through hardware and/or software, and the method specifically includes steps S10-S20.
And step S10, when the electric quantity of the sweeping robot is lower than a preset threshold value and the sweeping robot returns to the position near the charging pile, actively sending infrared light and capturing a reflection point on the charging pile through a camera on the sweeping robot.
The charging pile is provided with a preset number of points with high reflectivity, and the periphery of the points is set to be an area with low reflectivity. The preset threshold may be set according to a requirement, such as 10%, 15%, 20% of the remaining power, and the embodiment of the present invention is not particularly limited.
In the embodiment of the invention, three or more points with high reflectivity are arranged on the charging pile, the periphery of the points is set to be an area with low reflectivity, when light irradiates, the points on the charging pile and the peripheral area form obvious bright and dark distinction, and at the moment, the reflective points on the charging pile can be captured through infrared light emitted by the sweeping robot and a camera on the sweeping machine. The reflection points are captured through the camera, corresponding light spots are formed in the image, and the floor sweeping robot is driven to be in butt joint with the charging pile according to the positions of the light spots in the image.
Specifically, the charging pile is provided with 3 points with high reflectivity, namely a point A, B, C, the three points form an isosceles triangle in space, and AB is equal to BC; the reflective point A, B, C is captured by a camera, and the acquisition camera acquires an image of the reflective point A, B, C to form corresponding light spots a, b and c in the image; and determining the relative position of the robot and the charging pile according to the position relation of the light spots a, b and c, and finishing the butt joint of the sweeping robot and the charging pile.
As shown in fig. 2, A, B, C three points form an isosceles triangle in space, i.e., AB ═ BC;
as shown in fig. 3, a distribution diagram of A, B, C three points viewed from the x-axis direction;
as shown in fig. 4, A, B, C shows a distribution of three points as viewed in the z-axis direction.
And S20, forming light spots in the image through the reflective points captured by the camera, determining the relative position of the robot and the charging pile according to the position relation of the light spots, and driving the floor sweeping robot to be in butt joint with the charging pile.
Specifically, after the sweeping robot acquires the image of the reflection point on the charging pile, the position of the light spot in the image is acquired, the movement of the sweeping robot is guided and controlled according to the position of the light spot, namely the sweeping robot is guided to move to the charging pile according to the position relation of the light spot of the reflection point in the image, and the butt joint of the sweeping robot and the charging pile is completed.
Further, the embodiment of the present invention may also perform guidance control on the position of the sweeping robot according to the distance from the sweeping robot to each bright point, and the embodiment of the present invention is not particularly limited. For example, the three reflection points in the image are A, B, C respectively, the connecting lines of the three points form an isosceles triangle, that is, AB is equal to BC, that is, point B is at the center position, if the distance between the sweeping robot and point a and point C is the same, it indicates that the sweeping robot is in the middle of the charging pile, and the sweeping robot is controlled to execute; if the distance from the sweeping robot to the point A is greater than the distance from the sweeping robot to the point C, the sweeping robot is indicated to be on the side of the point C, and at the moment, the sweeping robot needs to be controlled to move to the side of the point A; if the distance from the sweeping robot to the point A is smaller than the distance from the sweeping robot to the point C, the sweeping robot is indicated to be on the side of the point A, and at this time, the sweeping robot needs to be controlled to move to the side of the point C.
In summary, in the method for docking a sweeping robot with a charging pile in this embodiment, when the electric quantity of the sweeping robot is lower than a preset threshold and the sweeping robot returns to the vicinity of the charging pile, infrared light is actively emitted and a camera on the sweeping robot captures a reflective point on the charging pile, a predetermined number of points with high reflectivity are installed on the charging pile, and an area with low reflectivity is set around the points; and forming corresponding light spots in the image through the reflective points captured by the camera, and driving the floor sweeping robot to be in butt joint with the charging pile according to the positions of the light spots in the image. Compared with the prior art that the sweeping robot returns to the charging pile by means of an infrared guide signal of the charging pile, the sweeping robot and the charging pile are in butt joint through the reflection points arranged on the charging pile, namely when the electric quantity of the sweeping robot is lower than a preset threshold value and the sweeping robot returns to the vicinity of the charging pile, infrared light is actively emitted, the reflection points on the charging pile are captured by the camera on the sweeping robot, then corresponding light spots are formed in an image through the reflection points captured by the camera, and the sweeping robot and the charging pile are driven to be in butt joint according to the positions of the light spots in the image.
Example two
Referring to fig. 5, a method for docking a sweeping robot with a charging pile according to a second embodiment of the present invention is shown, and the method for docking a sweeping robot with a charging pile according to the second embodiment of the present invention is different from the method for docking a sweeping robot with a charging pile according to the first embodiment of the present invention in that: the relative position of the robot and the charging pile is determined according to the position relation of the light spots a, b and c, the floor sweeping robot and the charging pile are butted, and the method comprises the following steps:
and step S21, determining the current position relative to the charging pile according to the relative distances ab and bc of the light spot in the image acquired by the sweeping robot.
As shown in fig. 6, the charging pile is bounded by point B, and divides the space into left and right sides.
And calculating the distance between the light spot ab and the light spot bc according to the image acquired by the sweeping robot, and determining the position of the current sweeping robot relative to the charging pile according to the acquired relative length of the ab and the bc.
Specifically, the robot of sweeping the floor is provided with infrared camera, obtains the current image of filling electric pile through infrared camera, because the reflectivity of three points is higher than regional reflectivity around, so can have three bright facula in the image of catching. In the current frame of image data, the horizontal direction and the vertical direction are taken as coordinate axes, the coordinate of each pixel point can be determined, three points are identified through image characteristics, the center coordinates of three light spots of a, b and c are calculated by using algorithms such as a centroid algorithm and the like, and therefore the relative distance from the light spot a to the light spot b and the relative distance from the light spot b to the light spot c are calculated.
And step S22, if ab > bc, determining that the sweeping robot is in the left area of the charging pile, and controlling the sweeping robot to drive to the right side.
As shown in fig. 7, if the light spot distribution diagram, ab > bc, is in the image acquired by the sweeping robot in the horizontal direction, the sweeping robot is in the area on the left of the charging pile.
And step S23, if ab < bc, determining that the sweeping robot is in the right area of the charging pile, and controlling the sweeping robot to run to the left side.
As shown in fig. 8, if the light spot distribution map, ab < bc, is in the image acquired by the sweeping robot in the horizontal direction, the sweeping robot is in the area on the right side of the charging pile.
And step S24, if ab is bc or the absolute value of the difference between ab and bc is smaller than a judgment standard D, determining that the sweeping robot is in the middle of the charging pile, and controlling the sweeping robot to move forwards to complete the butt joint of the sweeping robot and the charging pile.
As shown in fig. 9, if ab ═ bc or the absolute value of the difference between ab and bc is smaller than the determination criterion D, it is determined that the sweeping robot is in the middle of the charging pile in the image acquired by the sweeping robot in the horizontal direction.
According to the method for butting the sweeping robot with the charging pile, the relative position of a light spot is calculated according to an image acquired by the sweeping robot, the position of the sweeping robot relative to the charging pile is determined, the sweeping robot is controlled to move based on the position relation of the sweeping robot relative to the charging pile, so that the butting of the sweeping robot with the charging pile is completed, namely three corresponding light spots a, b and c are formed in the image by capturing A, B, C images of the three points, the position of the sweeping robot relative to the charging pile can be judged through the relation between the relative spacing ab and bc of the light spots, when the absolute value of the difference between the ab and bc is smaller than a judgment standard D set by a program, the robot is considered to be aligned with the charging pile, and the machine is guided to be butted with the charging pile. Thereby can realize sweeping the floor the robot and fill the accurate butt joint of electric pile through this embodiment.
EXAMPLE III
Referring to fig. 10, a schematic circuit structure diagram of a sweeping robot and a charging pile according to a third embodiment of the present invention is shown, in which a circuit on the left side of an input pole piece is an internal circuit of the sweeping robot, and a circuit on the right side of an output pole piece is a circuit on the charging pile. When the switch S1 needs to detect the butt joint and the charging of the pole pieces, the switch S1 is controlled to be closed by the controller and to be opened in other states, and the charging input pole pieces after being opened cannot be electrified, so that potential safety hazards do not exist. Diode D1 may prevent current from flowing backward into power supply VDD.
Referring to fig. 11, a method for docking a sweeping robot with a charging pile according to a third embodiment of the present invention is shown, where the method for docking a sweeping robot with a charging pile according to the third embodiment of the present invention is different from the method for docking a sweeping robot with a charging pile according to the first embodiment of the present invention in that: after the docking of the sweeping robot and the charging pile is completed through the bright spot, the method further comprises:
step S30, obtaining the voltage U of the resistor R2 before the floor sweeping robot is connected with the charging pilebefore(ii) a The sweeping robot comprises the resistor R2, a switch S1 and a controller.
Before the floor sweeping robot is in butt joint with a charging pile, a power supply VDD, a diode D1, resistors R1 and R2 form a loop, and a controller acquires voltage U at two ends of R2 through an ADC (analog to digital converter)before. When the switch S1 is in butt joint with the charging pile and after the butt joint is completed, the switch S1 is controlled to be closed by the controller, and the sweeping robot is disconnected after leaving the charging pile.
Step S40, obtaining the voltage U of the resistor R2 after the floor sweeping robot is in butt joint with the charging pilepower。
After the floor sweeping robot completes the butt joint with the charging pile, the voltage U is appliedpowerWith UpoweronAnd UpoweroffTwo cases are:
1. charging pile has electricity: the power supply VDD, the diode D1, the resistors R1 and R2 form a loop, and the voltage on the output pole piece and the R3 and R2 form a loop. The power supply VDD and the voltage of the output pole piece act on R2 at the same time, and the voltage at two ends of R2 is UpoweronWhen the voltage of the output pole piece is greater than the power supply VDD, the following must be provided: u shapepoweron≠Ubefore。
2. Charging pile is dead: a power supply VDD, a diode D1, resistors R1, R2, R2 and R4 form a loop, and the voltage at two ends of R2 is UpoweroffSince the loop impedance changes due to the addition of R3 and R3, there is always Upoweroff≠Ubefore。
Step S50, according to the voltage UbeforeAnd said voltage UpowerAnd determining whether the floor sweeping robot is successfully jointed with the charging pile.
In particular, said voltage according to UbeforeAnd said voltage UpowerDetermining whether the floor sweeping robot and the charging pile are successfully docked or not, including: if the voltage U isbeforeAnd said voltage UpowerIs not equal, and UpowerAnd when the current value is equal to the set value, determining that the floor sweeping robot is successfully butted with the charging pile.
In another embodiment provided by the present invention, after determining that the floor sweeping robot is successfully docked with the charging pile, the method further includes:
when the voltage U ispowerIs larger than the U in the sweeping robotbeforeIf so, determining that the charging pile is electrified;
when the voltage U ispowerLess than U of the sweeping robotbeforeAnd if so, determining that the charging pile is out of power.
In summary, the voltage across R2 is different in different states, Ubefore≠Upoweroff≠UpoweronThe voltage at the two ends of the R2 is collected through the ADC, whether the machine is well butted with the charging pile or not can be judged, and whether the charging pile is electrified or not is judged. According to this method, e.g.If the power failure occurs in the charging work, the sweeping robot can also recognize whether the pole piece is not in good contact or the adapter is powered off, so that different strategies (such as in-situ waiting or re-docking) are adopted.
Example four
In another aspect, the present invention further provides a docking device for a sweeping robot and a charging pile, referring to fig. 12, which shows that the docking device for a sweeping robot and a charging pile provided in a fourth embodiment of the present invention can be applied to a sweeping robot, the sweeping robot can be implemented by hardware and/or software, and the docking device for a sweeping robot and a charging pile includes:
the acquisition module 10 is configured to actively emit infrared light and acquire a reflection point on the charging pile through a camera on the sweeping robot when the electric quantity of the sweeping robot is lower than a preset threshold and the sweeping robot returns to the vicinity of the charging pile, the charging pile is provided with a predetermined number of points with high reflectivity, and the periphery of the points is set to be an area with low reflectivity;
the docking module 20 is configured to form a light spot in an image through a reflective point captured by the camera, determine a relative position between the robot and the charging pile according to a position relationship of the light spot, and drive the docking of the sweeping robot and the charging pile.
Specifically, install 3 points of reflection intensity on filling electric pile, respectively point A, B, C, three points constitute isosceles triangle in space, AB equals BC.
The obtaining module 10 is further configured to obtain an image of the light reflecting point A, B, C through the obtaining camera, and form corresponding light spots a, b, and c in the image;
the docking module 20 is specifically configured to determine the relative position between the robot and the charging pile according to the position relationship between the light spots a, b, and c, and complete docking between the sweeping robot and the charging pile.
Specifically, the docking module 20 includes:
the determining unit is used for determining the current position relative to the charging pile according to the relative distances ab and bc of the light spots in the image acquired by the sweeping robot;
the control unit is used for determining that the sweeping robot is in the left area of the charging pile if ab > bc, and controlling the sweeping robot to run towards the right side;
the control unit is further used for determining that the sweeping robot is in the right area of the charging pile if ab < bc, and controlling the sweeping robot to run to the left side;
the control unit is further configured to determine that the sweeping robot is in the middle of the charging pile if ab is bc or the absolute value of the difference between ab and bc is smaller than a determination standard D, and control the sweeping robot to move forward to complete the butt joint of the sweeping robot and the charging pile.
Further, the apparatus further comprises:
the acquisition module 10 is further configured to acquire a voltage U of the resistance R2 before the floor sweeping robot is connected to the charging pilebefore(ii) a The sweeping robot comprises the resistor R2, a switch S1 and a controller, wherein the switch S1 is controlled to be closed by the controller when and after the switch is in butt joint with the charging pile, and the machine is disconnected after leaving the charging pile;
the acquisition module 10 is further configured to acquire a voltage U of the resistance R2 after the floor sweeping robot is in butt joint with the charging pilepower；
A determination module 30 for determining the voltage UbeforeAnd said voltage UpowerAnd determining whether the floor sweeping robot is successfully jointed with the charging pile.
The determination module 30 is specifically configured to determine the voltage U ifbeforeAnd said voltage UpowerIs not equal, and UpowerAnd when the current value is equal to the set value, determining that the floor sweeping robot is successfully butted with the charging pile.
Further, the determining module 30 is further configured to determine the voltage U when the voltage U is greater than the predetermined valuepowerIs larger than the U in the sweeping robotbeforeIf so, determining that the charging pile is electrified; when the voltage U ispowerLess than U of the sweeping robotbeforeAnd if so, determining that the charging pile is out of power.
The functions or operation steps of the modules and units when executed are substantially the same as those of the method embodiments, and are not described herein again.
In summary, in the docking device for the sweeping robot and the charging pile in the embodiment, when the electric quantity of the sweeping robot is lower than the preset threshold value and the sweeping robot returns to the vicinity of the charging pile, infrared light is actively emitted and a reflective point on the charging pile is captured by a camera on the sweeping robot, a predetermined number of points with high reflectivity are installed on the charging pile, and an area with low reflectivity is arranged around the points; the corresponding light spots are formed in the image through the reflective points captured by the camera, the relative position of the robot and the charging pile is determined according to the relative position relation of the light spots, and the sweeping robot is guided to complete the butt joint with the charging pile. Compared with the prior art that the sweeping robot returns to the charging pile by means of an infrared guide signal of the charging pile, the sweeping robot and the charging pile are in butt joint through the reflective point arranged on the charging pile, namely when the electric quantity of the sweeping robot is lower than a preset threshold value and the sweeping robot returns to the vicinity of the charging pile, infrared light is actively emitted, the reflective point on the charging pile is captured by the camera on the sweeping robot, a corresponding light spot is formed in an image, the relative position of the robot and the charging pile is determined according to the relative position relation of the light spot, and the sweeping robot is driven to complete the butt joint with the charging pile.
EXAMPLE five
Referring to fig. 13, a sweeping robot according to a fifth embodiment of the present invention is shown, which includes a processor 10, a memory 20, and a computer program 30 stored in the memory and executable on the processor, and when the processor 10 executes the computer program 30, the sweeping robot executes the above method for docking the sweeping robot with the charging pile.
The memory 20 includes at least one type of readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, and the like. The memory 20 may in some embodiments be an internal memory unit of the sweeping robot, such as a hard disk of the sweeping robot. The memory 20 may also be an external storage device of the robot cleaner in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the robot cleaner. Further, the memory 20 may also include both an internal memory unit and an external memory device of the sweeping robot. The memory 20 may be used not only to store application software installed in the robot cleaner and various data, but also to temporarily store data that has been output or will be output.
Optionally, the sweeping robot may further include a user interface, a network interface, a communication bus, etc., the user interface may include a Display (Display), an input unit such as a remote controller, a physical key, etc., and the optional user interface may further include a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable for displaying information processed in the sweeping robot and for displaying a visual user interface. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), and is typically used to establish communication links between the sweeping robot and other robotic technologies. The communication bus is used to enable connection communication between these components.
It should be noted that the structure shown in fig. 13 does not constitute a limitation of the sweeping robot, and in other embodiments, the sweeping robot may include fewer or more components than those shown, or some components may be combined, or a different arrangement of components.
In summary, in the sweeping robot in this embodiment, when the electric quantity of the sweeping robot is lower than the preset threshold and the sweeping robot returns to the vicinity of the charging pile, infrared light is actively emitted and a camera on the sweeping robot captures a reflective spot on the charging pile, a predetermined number of spots with high reflectivity are mounted on the charging pile, and an area with low reflectivity is arranged around the spot; the corresponding light spots are formed in the image through the reflective points captured by the camera, the relative position of the robot and the charging pile is determined according to the relative position relation of the light spots, and the sweeping robot is guided to complete the butt joint with the charging pile. Compared with the prior art that the sweeping robot returns to the charging pile by means of an infrared guide signal of the charging pile, the sweeping robot and the charging pile are in butt joint through the reflective point arranged on the charging pile, namely when the electric quantity of the sweeping robot is lower than a preset threshold value and the sweeping robot returns to the vicinity of the charging pile, infrared light is actively emitted, the reflective point on the charging pile is captured by the camera on the sweeping robot, a corresponding light spot is formed in an image, the relative position of the robot and the charging pile is determined according to the relative position relation of the light spot, and the sweeping robot is driven to complete the butt joint with the charging pile.
The embodiment of the invention also provides a storage medium, on which the computer program 30 used in the sweeping robot is stored, and when the program is executed by a processor, the method for docking the sweeping robot with the charging pile is realized.
The storage medium may be, but is not limited to, ROM/RAM, magnetic disk, optical disk, etc.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (11)
1. A docking method of a sweeping robot and a charging pile is characterized by comprising the following steps:
when the electric quantity of the sweeping robot is lower than a preset threshold value and the sweeping robot returns to the vicinity of a charging pile, actively emitting infrared light and capturing reflection points on the charging pile through a camera on the sweeping robot, wherein a preset number of points with high reflectivity are installed on the charging pile, and the periphery of the points is set to be an area with low reflectivity;
forming light spots in an image through the reflective points captured by the camera, determining the relative position of the robot and the charging pile according to the position relation of the light spots, and driving the floor sweeping robot to be in butt joint with the charging pile.
2. The docking method of claim 1, wherein the charging pile is provided with 3 points with high reflectivity, namely A, B, C, and the three points spatially form an isosceles triangle, AB ═ BC;
the image of the light reflecting point A, B, C is obtained through the obtaining camera, and corresponding light spots a, b and c are formed in the image;
and determining the relative position of the robot and the charging pile according to the position relation of the light spots a, b and c, and finishing the butt joint of the sweeping robot and the charging pile.
3. The method for docking the sweeping robot with the charging pile according to claim 2, wherein the step of determining the relative position of the robot and the charging pile according to the position relationship of the light spots a, b and c to complete the docking of the sweeping robot and the charging pile comprises the steps of:
determining the current position relative to the charging pile according to the relative sizes of ab and bc in the image acquired by the sweeping robot;
if ab > bc, determining that the sweeping robot is in the left area of the charging pile, and controlling the sweeping robot to drive towards the right side;
if ab < bc, determining that the sweeping robot is in the right area of the charging pile, and controlling the sweeping robot to run to the left side;
and if ab is bc or the absolute value of the difference value between ab and bc is smaller than a judgment standard D, determining that the sweeping robot is in the middle of the charging pile, and controlling the sweeping robot to move forwards to complete the butt joint of the sweeping robot and the charging pile.
4. The method for docking a sweeping robot with a charging pile according to any one of claims 1 to 3, wherein after the driving of the docking of the sweeping robot with the charging pile, the method further comprises:
the charging pile is provided with a device capable of changing circuit impedance, and whether butt joint is completed or not is determined through loop impedance change.
5. The docking method for the sweeping robot and the charging pile according to claim 4, wherein the determining whether the docking is completed through the loop impedance change comprises:
acquiring voltage U of resistance R2 before the sweeping robot and the charging pile are in butt jointbefore(ii) a The sweeping robot comprises a resistor R2, a switch S1 and a controller, wherein the switch S1 is used for butting and pairing with the charging pileAfter the connection is finished, the controller controls the connection to be closed, and the machine is disconnected after leaving the charging pile;
acquiring voltage U of resistance R2 after the sweeping robot and the charging pile are in butt jointpower；
According to the voltage UbeforeAnd said voltage UpowerAnd determining whether the floor sweeping robot is successfully jointed with the charging pile.
6. The docking method for the floor sweeping robot and the charging pile according to claim 5, wherein the voltage is UbeforeAnd said voltage UpowerDetermining whether the floor sweeping robot and the charging pile are successfully docked or not, including:
if the voltage U isbeforeAnd said voltage UpowerIs not equal, and UpowerAnd when the current value is equal to the set value, determining that the floor sweeping robot is successfully butted with the charging pile.
7. The method for docking a cleaning robot with a charging pile according to claim 6, wherein after determining that the cleaning robot is successfully docked with the charging pile, the method further comprises:
when the voltage U ispowerIs larger than the U in the sweeping robotbeforeIf so, determining that the charging pile is electrified;
when the voltage U ispowerLess than U of the sweeping robotbeforeAnd if so, determining that the charging pile is out of power.
8. The utility model provides a robot of sweeping floor and interfacing apparatus who fills electric pile which characterized in that, the device includes:
the acquisition module is used for actively sending infrared light and capturing reflection points on the charging pile through a camera on the sweeping robot when the electric quantity of the sweeping robot is lower than a preset threshold value and the sweeping robot returns to the vicinity of the charging pile, a preset number of points with high reflectivity are installed on the charging pile, and an area with low reflectivity is arranged around the points;
the butt joint module forms light spots in an image through the reflective points captured by the camera, determines the relative position of the robot and the charging pile according to the position relation of the light spots, and drives the floor sweeping robot to be in butt joint with the charging pile.
9. The utility model provides a butt joint system of robot and electric pile of sweeping floor which characterized in that, the system includes:
a sweeping robot and a charging pile;
the sweeping robot comprises a processor, a memory and a computer program which is stored on the memory and can be run on the processor, and when the processor runs the computer program, the sweeping robot executes the docking method of the sweeping robot and the charging pile according to any one of claims 1 to 7;
the charging pile is provided with a predetermined number of points with high reflectivity, and the periphery of the points is arranged into an area with low reflectivity.
10. A sweeping robot, characterized by comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein when the processor runs the computer program, the sweeping robot executes the method for docking the sweeping robot with a charging pile according to any one of claims 1 to 7.
11. A storage medium, characterized in that a computer program is stored thereon, and when the computer program is executed by a processor, the method for interfacing a cleaning robot with a charging pile according to any one of claims 1 to 7 is implemented.
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| CN202011179316.3A CN112346455A (en) | 2020-10-29 | 2020-10-29 | Floor sweeping robot and charging pile butt joint method and device and floor sweeping robot |
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| CN202011179316.3A CN112346455A (en) | 2020-10-29 | 2020-10-29 | Floor sweeping robot and charging pile butt joint method and device and floor sweeping robot |
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