CN113036848A - Mobile robot automatic charging method based on laser radar - Google Patents
Mobile robot automatic charging method based on laser radar Download PDFInfo
- Publication number
- CN113036848A CN113036848A CN202110255111.7A CN202110255111A CN113036848A CN 113036848 A CN113036848 A CN 113036848A CN 202110255111 A CN202110255111 A CN 202110255111A CN 113036848 A CN113036848 A CN 113036848A
- Authority
- CN
- China
- Prior art keywords
- charging
- robot
- charging pile
- laser radar
- mobile robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a laser radar-based automatic charging method for a mobile robot, which comprises the following specific steps: step one, calling a positioning navigation system to enable a robot to move to the position near a charging pile; secondly, identifying the charging pile by using a laser radar; thirdly, resolving the pose of the identified charging pile; step four, calling a controller to generate a speed instruction, and controlling the robot to dock a charging pile; and step five, after the butt joint is completed, starting charging. According to the method, a positioning navigation system is utilized to automatically and preferably navigate a robot to a position near a nearest charging pile, a laser radar is used as a sensing module to identify the charging pile, posture calculation is carried out after the identification is successful, the robot is controlled to be in butt joint with the charging pile and to be charged, a charging mode is automatically exited after the charging is completed, the robot is automatically charged, and the automatic charging problem of the mobile robot is solved.
Description
Technical Field
The invention relates to the technical field of robot charging, in particular to a mobile robot automatic charging method based on a laser radar.
Background
Except for the automatic positioning and navigation function in a mobile robot system, the automatic charging function is an indispensable part, the existing automatic charging scheme is based on an infrared docking mode, an automatic charging docking sensor is required to be installed inside a charging pile, and the automatic charging docking sensor is required to be installed inside a robot, so that the positioning accuracy can be improved through cooperation.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a mobile robot automatic charging method based on a laser radar, which utilizes a positioning navigation system to automatically and preferably navigate a robot to the vicinity of a nearest charging pile, then uses the laser radar as a sensing module to identify the charging pile, performs attitude calculation after successful identification, controls the robot to butt the charging pile and perform charging, and automatically exits from a charging mode after charging is completed, so that the robot automatic charging is realized, and the automatic charging problem of the mobile robot is solved, and the invention provides the following technical scheme:
a laser radar-based automatic charging method for a mobile robot comprises the following specific steps:
step one, calling a positioning navigation system to enable a robot to move to the position near a charging pile;
secondly, identifying the charging pile by using a laser radar;
thirdly, resolving the pose of the identified charging pile;
step four, calling a controller to generate a speed instruction, and controlling the robot to dock a charging pile;
and step five, after the butt joint is completed, starting charging.
Preferably, the positioning navigation system in the first step adopts a SLAM system or a GPS positioning system or a beidou navigation system.
Preferably, the laser radar is used as a sensing module in the step one, the charging pile is identified and positioned, the accurate position of the charging pile is obtained, and the distance between the robot and the charging interface of the charging pile is measured.
Preferably, the charging pile posture is resolved in the third step, the charging angle and the charging interface of the charging pile are adjusted to proper positions, the charging pile can be matched with the charging interface of the robot, the charging can be smoothly carried out, and the charging efficiency is guaranteed.
Preferably, when the robot docks the charging pile in step four, whether the docking is completed and whether the docking is overtime needs to be judged, the robot can be charged only when the docking is completed within a specified time, and otherwise the robot can be directly ended to quit the charging.
Preferably, in the charging process in the fifth step, the robot judges whether charging is completed, and automatically finishes exiting charging after charging is completed.
Compared with the prior art, the invention provides an automatic charging method of a mobile robot based on a laser radar, which has the following beneficial effects:
according to the automatic charging method of the mobile robot based on the laser radar, the robot is automatically and preferably navigated to the position near the most advanced charging pile by using the positioning navigation system, the laser radar is used as the sensing module to identify the charging pile, the position and attitude calculation is carried out after the successful identification, the robot is controlled to butt the charging pile and charge the charging pile, the charging mode is automatically exited after the charging is completed, the automatic charging of the robot is further realized, the automatic charging problem of the mobile robot is solved, and the automatic charging method has a wide application prospect.
Drawings
Fig. 1 is a flowchart of an automatic charging method for a laser radar-based mobile robot according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an automatic charging method for a laser radar-based mobile robot includes the following steps:
step one, calling a positioning navigation system to enable a robot to move to the position near a charging pile;
secondly, identifying the charging pile by using a laser radar;
thirdly, resolving the pose of the identified charging pile;
step four, calling a controller to generate a speed instruction, and controlling the robot to dock a charging pile;
and step five, after the butt joint is completed, starting charging.
Further, in the first step, the positioning navigation system adopts a SLAM system or a GPS positioning system or a beidou navigation system.
Furthermore, in the first step, the laser radar serves as a sensing module to identify and position the charging pile, so that the accurate position of the charging pile is obtained, and the distance between the robot and the charging interface of the charging pile is measured.
Further, the charging pile posture is resolved in the third step, the charging angle and the charging interface of the charging pile are adjusted to proper positions, the charging pile can be matched with the charging interface of the robot, the charging can be smoothly carried out, and the charging efficiency is guaranteed.
Furthermore, when the robot docks the charging pile in the fourth step, whether the docking is completed or not and whether the docking is overtime or not need to be judged, the robot can be charged only when the docking is completed within the specified time, and otherwise, the robot can be directly ended to quit the charging.
Furthermore, in the charging process in the fifth step, the robot can judge whether the charging is finished or not, and automatically finish the charging and quit the charging after the charging is finished.
During charging, a user sends an instruction, a positioning navigation system inside the robot is called, an optimal path is planned, the robot is navigated and moved to the position near a charging pile, the laser radar is used as a sensing module to identify and position the charging pile, the accurate position of the charging pile is further obtained, the distance between the robot and a charging interface of the charging pile is measured, then the posture of the charging pile is resolved, the charging angle and the charging interface of the charging pile are adjusted to proper positions, the charging pile can be matched with the charging interface of the robot, the robot can be charged smoothly conveniently, the charging efficiency is improved, then a controller is called to generate a speed instruction, the robot is controlled to be in butt joint with the charging pile within a set time, charging is started, and when the butt joint time is exceeded, the robot is directly ended to quit charging.
In summary, according to the automatic charging method for the mobile robot based on the laser radar, the robot is automatically and preferably navigated to the vicinity of the nearest charging pile by using the positioning navigation system, the laser radar is used as the sensing module to identify the charging pile, after the successful identification, the attitude calculation is performed, the robot is controlled to butt the charging pile and to charge, and after the charging is completed, the charging mode is automatically exited, so that the automatic charging of the robot is realized, the automatic charging problem of the mobile robot is solved, and the automatic charging method has a wide application prospect.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A mobile robot automatic charging method based on laser radar is characterized in that: the method comprises the following specific steps:
step one, calling a positioning navigation system to enable a robot to move to the position near a charging pile;
secondly, identifying the charging pile by using a laser radar;
thirdly, resolving the pose of the identified charging pile;
step four, calling a controller to generate a speed instruction, and controlling the robot to dock a charging pile;
and step five, after the butt joint is completed, starting charging.
2. The automatic charging method for the laser radar-based mobile robot according to claim 1, wherein the method comprises the following steps: in the first step, the positioning navigation system adopts an SLAM system or a GPS positioning system or a Beidou navigation system.
3. The automatic charging method for the laser radar-based mobile robot according to claim 1, wherein the method comprises the following steps: and in the first step, the laser radar serves as a sensing module to identify and position the charging pile, obtain the accurate position of the charging pile and measure the distance between the robot and a charging interface of the charging pile.
4. The automatic charging method for the laser radar-based mobile robot according to claim 1, wherein the method comprises the following steps: resolving the charging pile posture in the third step, adjusting the charging angle and the charging interface of the charging pile to proper positions, enabling the charging pile to be matched with the charging interface of the robot, further smoothly charging and ensuring the charging efficiency.
5. The automatic charging method for the laser radar-based mobile robot according to claim 1, wherein the method comprises the following steps: and in the fourth step, when the robot is in butt joint with the charging pile, whether the butt joint is completed or not and whether the butt joint is overtime or not need to be judged, the robot can be charged only after the butt joint is completed within the specified time, and otherwise, the robot can be directly stopped from being charged.
6. The automatic charging method for the laser radar-based mobile robot according to claim 1, wherein the method comprises the following steps: in the charging process of the fifth step, the robot can judge whether the charging is finished or not, and automatically finish the quitting of the charging after the charging is finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110255111.7A CN113036848A (en) | 2021-03-09 | 2021-03-09 | Mobile robot automatic charging method based on laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110255111.7A CN113036848A (en) | 2021-03-09 | 2021-03-09 | Mobile robot automatic charging method based on laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113036848A true CN113036848A (en) | 2021-06-25 |
Family
ID=76467285
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110255111.7A Withdrawn CN113036848A (en) | 2021-03-09 | 2021-03-09 | Mobile robot automatic charging method based on laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113036848A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114265401A (en) * | 2021-12-09 | 2022-04-01 | 上海擎朗智能科技有限公司 | Robot automatic charging method and robot |
| CN114296467A (en) * | 2021-12-31 | 2022-04-08 | 福建汉特云智能科技有限公司 | Method for automatically finding and aligning piles for robot charging pile |
-
2021
- 2021-03-09 CN CN202110255111.7A patent/CN113036848A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114265401A (en) * | 2021-12-09 | 2022-04-01 | 上海擎朗智能科技有限公司 | Robot automatic charging method and robot |
| CN114296467A (en) * | 2021-12-31 | 2022-04-08 | 福建汉特云智能科技有限公司 | Method for automatically finding and aligning piles for robot charging pile |
| CN114296467B (en) * | 2021-12-31 | 2023-06-06 | 福建汉特云智能科技有限公司 | Automatic pile finding and pile aligning method for robot charging pile |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113036848A (en) | Mobile robot automatic charging method based on laser radar | |
| CN111085774B (en) | Rapid edge finding method | |
| WO2020187134A1 (en) | Method and device for enabling mobile robot to return for charging, mobile robot, system and storage medium | |
| CN101733558B (en) | Intelligent laser cutting system provided with master-slave camera and cutting method thereof | |
| CN109974727B (en) | Robot charging method and device and robot | |
| CN110632915A (en) | Robot recharging path planning method, robot and charging system | |
| CN111070205B (en) | Pile alignment control method and device, intelligent robot and storage medium | |
| CN108767933A (en) | A kind of control method and its device, storage medium and charging equipment for charging | |
| KR20170088228A (en) | Map building system and its method based on multi-robot localization | |
| CN101360588A (en) | Robot system | |
| CN102284769A (en) | System and method for initial welding position identification of robot based on monocular vision sensing | |
| CN108061886B (en) | Recharging method of sweeping robot and sweeping robot | |
| KR102664333B1 (en) | Method for leading charger for electric vehicle to charging inlet | |
| CN109933072A (en) | Robot detects the control method of cradle guardrail signal when returning seat | |
| CN114156980A (en) | Mobile robot automatic charging method based on laser radar | |
| CN112821489A (en) | Robot autonomous charging device and autonomous charging method thereof | |
| CN110624732A (en) | Automatic workpiece spraying system | |
| CN110764516A (en) | Rapid recharging method based on fusion of laser radar and infrared sensor | |
| CN109857126A (en) | The control method of the intermediate guidance signal of seat is found back by robot | |
| CN116641532A (en) | Intelligent control method and device for mechanical arm based on dynamic vision and brick laying robot | |
| CN113982276B (en) | Method and device for accurately positioning cast-in-place wall robot | |
| CN113740872A (en) | Method for automatically charging a robot and related product | |
| CN108107879A (en) | A kind of robot autonomous charging is to connected control system and method | |
| CN112748727B (en) | Navigation control method using target point, chip and robot | |
| CN116300936A (en) | Motion guiding method for docking charging and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210625 |