CN113359777A - Automatic pile returning and charging method and system for robot - Google Patents
Automatic pile returning and charging method and system for robot Download PDFInfo
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- CN113359777A CN113359777A CN202110817047.7A CN202110817047A CN113359777A CN 113359777 A CN113359777 A CN 113359777A CN 202110817047 A CN202110817047 A CN 202110817047A CN 113359777 A CN113359777 A CN 113359777A
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- 238000006467 substitution reaction Methods 0.000 description 2
- 230000004075 alteration Effects 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention relates to the field of robot application, and particularly provides an automatic pile returning and charging method for a robot, which comprises the following steps: s1, determining the position of the robot charging pile and drawing the working environment by taking the position as a starting point; s2, positioning the robot according to the map built by the robot, and navigating to the position near the charging pile; and S3, calling an autonomous pile returning and charging program of the robot until the robot returns to the position of the charging pile. Compared with the prior art, the invention can ensure that the robot can accurately find the charging pile nearest to the robot for charging, is convenient and quick, and can well solve the problem of autonomous pile returning and charging of the robot.
Description
Technical Field
The invention relates to the field of robot application, and particularly provides a robot automatic pile returning and charging method and system.
Background
With the popularization of robotics, robots are being widely used in the lives of people. At present the power of robot mainly is provided by the battery, along with people to the improvement of the automatic requirement of robot, the robot can get back to automatically when the electric quantity is about to exhaust and fill electric pile and charge and be the inevitable requirement of improvement robot automation level. The laser radar is widely applied to the field of robot map building navigation as a high-precision sensor. Therefore, how to solve the problem of self-help pile returning and charging of the robot is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the automatic pile returning and charging method for the robot with strong practicability
The invention further aims to provide the robot automatic pile returning charging system which is reasonable in design, safe and applicable.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a robot automatic pile returning and charging method comprises the following steps:
s1, determining the position of the robot charging pile and drawing the working environment by taking the position as a starting point;
s2, positioning the robot according to the map built by the robot, and navigating to the position near the charging pile;
and S3, calling an autonomous pile returning and charging program of the robot until the robot returns to the position of the charging pile.
Further, in step S1, the charging pile position is determined, and the robot is sequentially used as a starting point to map the working environment, where the map origin is used as the charging pile position and the charging pile orientation is used as the y-axis.
Preferably, the robot is caused to map the work environment by a laser slam method with this as a starting point.
Further, in step S2, the laser SLAM system calculates the change of the distance and the posture of the relative movement of the laser radar by matching and comparing the two point clouds at different times, thereby completing the positioning of the robot itself and navigating to the vicinity of the charging pile.
Further, in step S3, a steering speed command is issued to adjust the direction of the robot to be perpendicular to the charging pile, the position of the robot relative to the charging pile is determined according to the robot positioning, the robot is moved linearly to the position where x is 0, and finally the direction is adjusted to the positive direction of the y axis and the robot is moved linearly to the charging pile position.
Furthermore, the robot autonomous pile returning and charging program comprises a steering motion module and a PID control module, and the PID control module is used for linear movement of the robot.
The utility model provides an automatic stake charging system that returns of robot, confirms the robot and fills electric pile position and uses this as the starting point to build the picture to operational environment, carries out the robot location according to the map that the robot was built to navigate to and fill near electric pile, transfer the robot and independently return stake charging procedure and fill electric pile until getting back to.
Further, the position of the charging pile of the robot is determined, the robot is enabled to establish a map of the working environment by taking the position as a starting point through a laser slam method, the original point of the map is the position of the charging pile, and the orientation of the charging pile is the y axis.
Furthermore, the laser SLAM system calculates the change of the relative movement distance and the posture of the laser radar through matching and comparing two point clouds at different moments, so that the robot is positioned and navigated to the position near the charging pile.
Furthermore, a steering speed instruction is issued to adjust the direction of the robot to enable the direction of the robot to be perpendicular to the direction of the charging pile, then the position of the robot relative to the charging pile is judged according to the robot positioning, the robot is moved linearly to the position where x is 0, finally the direction is adjusted to the positive direction of the y axis, and the robot is moved linearly to the position of the charging pile.
Compared with the prior art, the automatic pile returning and charging method and system for the robot have the following outstanding beneficial effects:
the invention can ensure that the robot can accurately find the charging pile nearest to the robot for charging, is convenient and quick, and can well solve the problem of autonomous pile returning and charging of the robot.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a robot automatic pile returning and charging method;
fig. 2 is a schematic structural diagram of an automatic pile returning and charging system of a robot.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments in order to better understand the technical solutions of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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.
A preferred embodiment is given below:
as shown in fig. 1-2, the automatic pile-returning and charging method for a robot in this embodiment includes the following steps:
s1, determining the position of the robot charging pile and drawing the working environment by taking the position as a starting point:
and determining the position of the charging pile and enabling the robot to establish a map of the working environment by taking the position as a starting point through a laser slam method, wherein the origin of the map is the position of the charging pile, and the orientation of the charging pile is a y axis.
S2, positioning the robot according to the map built by the robot, and navigating to the position near the charging pile:
the laser SLAM system calculates the change of the relative movement distance and the posture of the laser radar through matching and comparing two point clouds at different moments, so that the robot is positioned and navigated to the position near the charging pile.
S3, calling the robot to automatically return to the pile charging program until the robot returns to the position of the charging pile:
then, a steering speed instruction is issued to adjust the direction of the robot to enable the robot to face the direction perpendicular to the charging pile, then the position of the robot relative to the charging pile is judged according to the robot positioning, the robot moves to the position where x is 0 in a straight line mode, and finally the direction is adjusted to the positive direction of the y axis and moves to the position of the charging pile in the straight line mode.
The robot autonomous pile-returning charging program comprises a steering motion module and a PID control module, wherein the PID control module is used for linear movement of the robot.
A robot automatic pile returning and charging system comprises the steps of firstly, determining the position of a charging pile and enabling the robot to establish a map of a working environment by using the position as a starting point through a laser slam method, wherein the original point of the map is the position of the charging pile, and the orientation of the charging pile is a y axis. Then, the laser SLAM system calculates the change of the relative movement distance and the posture of the laser radar through matching and comparing two point clouds at different moments, so that the robot is positioned and navigated to the position near the charging pile. Then, a steering speed instruction is issued to adjust the direction of the robot to enable the robot to face the direction perpendicular to the charging pile, then the position of the robot relative to the charging pile is judged according to the robot positioning, the robot moves to the position where x is 0 in a straight line mode, and finally the direction is adjusted to the positive direction of the y axis and moves to the position of the charging pile in the straight line mode.
The robot autonomous pile-returning charging program comprises a steering motion module and a PID control module, wherein the PID control module is used for linear movement of the robot.
The above embodiments are only specific ones of the present invention, and the scope of the present invention includes but is not limited to the above embodiments, and any suitable changes or substitutions that are made by a person of ordinary skill in the art and are in accordance with the claims of the present invention for a method and system for automatic pile-returning and charging by a robot are within the scope of the present invention.
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 (10)
1. A robot automatic pile returning and charging method is characterized by comprising the following steps:
s1, determining the position of the robot charging pile and drawing the working environment by taking the position as a starting point;
s2, positioning the robot according to the map built by the robot, and navigating to the position near the charging pile;
and S3, calling an autonomous pile returning and charging program of the robot until the robot returns to the position of the charging pile.
2. The method of claim 1, wherein in step S1, the positions of the charging piles are determined, and the robot is used to map the working environment sequentially as a starting point, wherein the map origin is used as the position of the charging pile, and the orientation of the charging pile is used as the y-axis.
3. The automatic pile-returning and charging method for the robot as claimed in claim 2, wherein the robot is used as a starting point to map a working environment through a laser slam method.
4. The method as claimed in claim 1, wherein in step S2, the laser SLAM system calculates the change of the relative movement distance and posture of the lidar by matching and comparing two point clouds at different times, thereby completing the positioning of the robot itself and navigating to the vicinity of the charging pile.
5. The method as claimed in claim 1, wherein in step S3, a steering speed command is issued to adjust the direction of the robot to be perpendicular to the charging pile, the position of the robot relative to the charging pile is determined according to the robot positioning, the robot is moved to a position where x is 0, and the direction is adjusted to the positive direction of y axis and the robot is moved to the charging pile position.
6. The automatic robot pile-returning charging method according to claim 5, wherein the automatic robot pile-returning charging program comprises a steering motion module and a PID control module, and the PID control module is used for linear movement of the robot.
7. The automatic pile-returning and charging system of the robot is characterized in that the position of a charging pile of the robot is determined, a working environment is mapped by taking the position as a starting point, the robot is positioned according to a map built by the robot and navigated to the position near the charging pile, and an automatic pile-returning and charging program of the robot is called until the robot returns to the charging pile.
8. The automatic robot pile-returning and charging system of claim 7, wherein a position of a charging pile of the robot is determined, and the robot is caused to map a working environment by a laser slam method from the position as a starting point, wherein an origin of the map is the position of the charging pile, and the orientation of the charging pile is a y-axis.
9. The system of claim 8, wherein the laser SLAM system calculates the change of the distance and attitude of the relative movement of the laser radar by matching and comparing two point clouds at different times, thereby completing the positioning of the robot and navigating to the vicinity of the charging pile.
10. The system of claim 9, wherein a steering speed command is issued to adjust the direction of the robot to be perpendicular to the charging pile, the position of the robot relative to the charging pile is determined according to the robot positioning, the robot is moved linearly to the position where x is 0, and finally the direction is adjusted to the positive direction of the y axis and the robot is moved linearly to the charging pile position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110817047.7A CN113359777A (en) | 2021-07-20 | 2021-07-20 | Automatic pile returning and charging method and system for robot |
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| CN202110817047.7A CN113359777A (en) | 2021-07-20 | 2021-07-20 | Automatic pile returning and charging method and system for robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107671888A (en) * | 2017-09-28 | 2018-02-09 | 湖南超能机器人技术有限公司 | A kind of robot charging alignment methods and system based on infrared signal |
| WO2018077164A1 (en) * | 2016-10-28 | 2018-05-03 | 北京进化者机器人科技有限公司 | Method and system for enabling robot to automatically return for charging |
| CN111474928A (en) * | 2020-04-02 | 2020-07-31 | 上海高仙自动化科技发展有限公司 | Robot control method, robot, electronic device, and readable storage medium |
| CN112147994A (en) * | 2019-06-28 | 2020-12-29 | 深圳市优必选科技股份有限公司 | Robot and recharging control method and device thereof |
| CN112684813A (en) * | 2020-11-23 | 2021-04-20 | 深圳拓邦股份有限公司 | Docking method and device for robot and charging pile, robot and readable storage medium |
-
2021
- 2021-07-20 CN CN202110817047.7A patent/CN113359777A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018077164A1 (en) * | 2016-10-28 | 2018-05-03 | 北京进化者机器人科技有限公司 | Method and system for enabling robot to automatically return for charging |
| CN107671888A (en) * | 2017-09-28 | 2018-02-09 | 湖南超能机器人技术有限公司 | A kind of robot charging alignment methods and system based on infrared signal |
| CN112147994A (en) * | 2019-06-28 | 2020-12-29 | 深圳市优必选科技股份有限公司 | Robot and recharging control method and device thereof |
| CN111474928A (en) * | 2020-04-02 | 2020-07-31 | 上海高仙自动化科技发展有限公司 | Robot control method, robot, electronic device, and readable storage medium |
| CN112684813A (en) * | 2020-11-23 | 2021-04-20 | 深圳拓邦股份有限公司 | Docking method and device for robot and charging pile, robot and readable storage medium |
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Application publication date: 20210907 |
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