CN113485357A - Automatic pile returning and charging system and method for indoor robot - Google Patents
Automatic pile returning and charging system and method for indoor robot Download PDFInfo
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- CN113485357A CN113485357A CN202110861527.3A CN202110861527A CN113485357A CN 113485357 A CN113485357 A CN 113485357A CN 202110861527 A CN202110861527 A CN 202110861527A CN 113485357 A CN113485357 A CN 113485357A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000000605 extraction Methods 0.000 claims abstract description 21
- 238000005516 engineering process Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000004659 sterilization and disinfection 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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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
Abstract
The invention discloses an automatic pile returning and charging system and method for an indoor robot, and belongs to the technical field of robots. The automatic pile returning and charging system of the indoor robot is realized based on laser characteristics and comprises a characteristic extraction module, a characteristic matching module, a pile returning path planning module and a control chassis execution module; the device comprises a feature extraction module, a feature matching module, a pile returning path planning module and a control chassis execution module, wherein the feature extraction module is used for acquiring radar scanning data, the feature matching module is used for designing shapes matched with the radar scanning data acquired by the feature extraction module for the charging pile, the pile returning path planning module is used for planning a pile returning charging path, and the control chassis execution module is used for controlling a robot chassis to move according to the planned path. The automatic pile-returning charging system of the indoor robot can realize the relatively accurate pile-returning charging function of the robot, and has good popularization and application values.
Description
Technical Field
The invention relates to the technical field of robots, and particularly provides an automatic pile returning and charging system and method for an indoor robot.
Background
Indoor robots are more and more widely applied, for example, floor sweeping robots, disinfection robots, home service robots and the like, all carry battery modules with certain capacity, and need to be charged regularly. Generally speaking, the indoor robot has specific and certain autonomous capability, and can complete a series of tasks without human interference, for example, the sweeping robot can autonomously find a way, regularly sweep and automatically charge, so that great convenience is brought to people. The automatic pile returning and charging is an important skill of the indoor robot. Generally, the automatic pile returning and charging technology can depend on the detection modes of an infrared sensor and a laser radar, and the cost of the two modes is low, and the two modes have advantages and disadvantages. The indoor robot automatic pile returning charging technology based on laser feature matching is provided, and only a robot standing sensor is adopted under the condition of not depending on other additional sensors: laser radar, wheeled encoder can realize indoor robot's the automatic function of charging of returning the stake.
Disclosure of Invention
The invention aims to solve the problems and provides an automatic pile returning and charging system of an indoor robot, which can realize the relatively accurate pile returning and charging functions of the robot.
The invention further aims to provide an automatic pile returning and charging method for the indoor robot.
In order to achieve the purpose, the invention provides the following technical scheme:
an automatic pile returning and charging system of an indoor robot is realized based on laser characteristics and comprises a characteristic extraction module, a characteristic matching module, a pile returning path planning module and a control chassis execution module; the device comprises a feature extraction module, a feature matching module, a pile returning path planning module and a control chassis execution module, wherein the feature extraction module is used for acquiring radar scanning data, the feature matching module is used for designing shapes matched with the radar scanning data acquired by the feature extraction module for the charging pile, the pile returning path planning module is used for planning a pile returning charging path, and the control chassis execution module is used for controlling a robot chassis to move according to the planned path.
Preferably, the feature extraction module divides the radar data into a plurality of segments of data according to a threshold, judges whether each segment is a broken line, detects an inflection point of the broken line, and calculates an angle of the broken line.
Preferably, the characteristic matching module designs a charging pile structure through the broken line characteristics obtained by the characteristic extraction module, and the broken line characteristics are used for determining the current position and posture of the charging pile relative to the robot. A special structure is designed in the charging pile, for example, a groove with an angle of 150 degrees and a width of 40cm is designed. Obtain broken line characteristic through characteristic extraction to carry out the shape with filling electric pile groove structure and match. The matching result can be used to determine the current position and attitude of the charging pile relative to the robot.
Preferably, the pile returning path planning module plans the pile returning charging path after obtaining the position and the posture of the charging pile relative to the robot. And after the position and the posture of the charging pile relative to the robot are obtained, planning a pile returning charging path. The method is mainly characterized in that an upper pile adjusting point and a pile returning charging point of the robot are arranged. The pile feeding adjusting point is arranged at a position 0.5m away from the right front of the charging pile, namely a (0.5, 0) point under a coordinate system of the charging pile, and the pile returning charging point is related to the radius of the robot so as to effectively charge. The path of the robot is a broken line, a first section of the broken line reaches the pile feeding adjusting point from the current position, and a second section of the broken line reaches the charging point from the pile feeding adjusting point.
Preferably, the control chassis execution module generates a control instruction after acquiring the path of the planned place, and controls the chassis to move according to the planned path.
An indoor robot automatic pile returning and charging method is realized based on the indoor robot automatic pile returning and charging system, and comprises the following steps:
s1, reading radar scanning data;
s2, fitting the data segment;
s3, performing feature matching;
s4, repeating the steps S1 to S3, and circularly acquiring multi-frame data;
s5, marking the current position of the robot, and planning a path from the current position of the robot to the position of the charging pile;
and S6, the robot moves to the position of the charging pile according to the planned path.
Preferably, in step S1, the radar scan data is divided into data segments, and infinite points, isolated points, or a small number of data segments are removed from the data segments.
Preferably, in step S2, a straight line is fitted and a polygonal line is fitted to the data segment, the straight line is calculated first, and if the distance from a point in the data to the straight line exceeds a threshold value, the polygonal line is fitted, an inflection point is extracted, and an angle at the inflection point is calculated.
Preferably, in step S3, a data segment with a span of charging pile width and an angle of charging pile angle is searched, feature matching is performed, and the position and the posture of the charging pile relative to the robot coordinate system are calculated according to the matching features.
In step S4, repeating steps S1 to S3, and obtaining the position and posture of the charging pile relative to the robot by taking the median of the plurality of sets of data.
In step S5, the current position of the robot is marked as the origin (0, 0), the position and posture of the charging pile in the robot coordinate system are calculated, and a path from the current posture of the robot to the position of the charging pile is planned. The robot can reach the pile feeding adjusting point first, adjust the pose, back up and lean on the charging pile to charge.
In step S6, after the path is planned, a robot speed control command is generated, the steering and the position are sequentially adjusted, and the robot travels to the position of the charging pile according to the planned path.
Compared with the prior art, the automatic pile returning and charging method for the indoor robot has the following outstanding beneficial effects: the automatic pile returning and charging method for the indoor robot uses the laser radar universal for the robot, does not need to use an additional device, can realize the relatively accurate pile returning and charging function of the robot, and has good popularization and application values.
Drawings
Fig. 1 is a flowchart of an automatic pile-returning charging method for an indoor robot according to the present invention.
Detailed Description
The automatic pile-returning charging system and method for an indoor robot according to the present invention will be described in further detail with reference to the accompanying drawings and embodiments.
Examples
The automatic pile returning and charging system of the indoor robot is realized based on laser characteristics. The system comprises a feature extraction module, a feature matching module, a pile returning path planning module and a control chassis execution module.
The feature extraction module is used for acquiring radar scanning data, dividing the radar data into a plurality of sections of data according to a certain threshold value. And then judging whether each line segment is a broken line, detecting the inflection point of the broken line, and calculating the angle of the broken line.
The characteristic matching module is used for designing a shape matched with the radar scanning data acquired by the characteristic extraction module for the charging pile. A special structure is designed in the charging pile, for example, a groove with an angle of 150 degrees and a width of 40cm is designed. Obtain broken line characteristic through characteristic extraction to carry out the shape with filling electric pile groove structure and match. The matching result can be used to determine the current position and attitude of the charging pile relative to the robot.
And the pile returning path planning module is used for planning a pile returning charging path. And after the position and the posture of the charging pile relative to the robot are obtained, planning a pile returning charging path. The method is mainly characterized in that an upper pile adjusting point and a pile returning charging point of the robot are arranged. The pile feeding adjusting point is arranged at a position 0.5m away from the right front of the charging pile, namely a (0.5, 0) point under a coordinate system of the charging pile, and the pile returning charging point is related to the radius of the robot so as to effectively charge. The path of the robot is a broken line, a first section of the broken line reaches the pile feeding adjusting point from the current position, and a second section of the broken line reaches the charging point from the pile feeding adjusting point.
And the control chassis execution module is used for controlling the robot chassis to move according to the planned path. And after the planned path is obtained, generating a series of control instructions to control the chassis to move according to the planned path.
As shown in fig. 1, the indoor robot automatic pile-returning charging method of the present invention is implemented based on the indoor robot automatic pile-returning charging system, and includes the following steps:
s1, reading radar scanning data;
s2, fitting the data segment;
s3, performing feature matching;
s4, repeating the steps S1 to S3, and circularly acquiring multi-frame data;
s5, marking the current position of the robot, and planning a path from the current position of the robot to the position of the charging pile;
and S6, the robot moves to the position of the charging pile according to the planned path.
At S1, radar scan data is read.
Reading laser radar scanning data, segmenting the radar scanning data according to a threshold value of 0.05m, segmenting the radar scanning data into data segments, and eliminating points which are infinite in some data and data segments which are few in solitary points or quantity.
And S2, fitting the data segment.
And performing straight line fitting and broken line fitting on the data segments. Firstly, calculating a straight line, if the distance from a point in the data segment to the straight line exceeds a certain threshold value, performing broken line fitting, extracting an inflection point, and calculating an angle at the inflection point.
And S3, performing feature matching.
The search span is for filling the electric pile width, and the angle is for filling the data section of electric pile angle, carries out the feature matching. And calculating the position and the posture of the charging pile relative to the robot coordinate system according to the optimal matching characteristics.
And S4, repeating the steps S1 to S3, and circularly acquiring multi-frame data.
And (4) circularly acquiring multi-frame data, repeating the steps from S1 to S3, and acquiring the median of the multiple groups of data to obtain the position and the posture of the charging pile relative to the robot.
And S5, marking the current position of the robot, and planning a path from the current position of the robot to the position of the charging pile.
And marking the current position of the robot as an original point (0, 0), calculating the position and the posture of the charging pile under a robot coordinate system, and planning a path from the current posture of the robot to the position of the charging pile. An upper pile adjusting point is arranged in front of the charging pile, the robot can reach the upper pile adjusting point first, the pose is adjusted, the robot backs a car backwards, and the robot leans against the charging pile to perform charging
And S6, the robot moves to the position of the charging pile according to the planned path.
And after the path is planned, generating a speed control command of the robot, sequentially adjusting the steering and the position, and moving to the position of the charging pile according to the planned path.
Claims (9)
1. The utility model provides an automatic stake charging system that returns of indoor robot which characterized in that: the system is realized based on laser characteristics and comprises a characteristic extraction module, a characteristic matching module, a pile returning path planning module and a control chassis execution module; the device comprises a feature extraction module, a feature matching module, a pile returning path planning module and a control chassis execution module, wherein the feature extraction module is used for acquiring radar scanning data, the feature matching module is used for designing shapes matched with the radar scanning data acquired by the feature extraction module for the charging pile, the pile returning path planning module is used for planning a pile returning charging path, and the control chassis execution module is used for controlling a robot chassis to move according to the planned path.
2. The indoor robot automatic pile-returning charging system of claim 1, wherein: the feature extraction module divides the radar data into a plurality of segments of data according to a threshold value, judges whether each segment is a broken line, detects the inflection point of the broken line and calculates the angle of the broken line.
3. The indoor robot automatic pile-returning charging system of claim 2, wherein: the characteristic matching module designs a charging pile structure through the broken line characteristics obtained by the characteristic extraction module, and is used for determining the current position and posture of the charging pile relative to the robot.
4. The indoor robot automatic pile-returning charging system of claim 3, wherein: and after the pile returning path planning module obtains the position and the posture of the charging pile relative to the robot, planning a pile returning charging path.
5. The indoor robot automatic pile-returning charging system of claim 4, wherein: and the control chassis execution module generates a control instruction after acquiring the path of the planned position, and controls the chassis to move according to the planned path.
6. The utility model provides an automatic stake charging method that returns of indoor robot which characterized in that: the method is realized based on the automatic indoor robot pile-returning charging system of any one of claims 1-5, and comprises the following steps:
s1, reading radar scanning data;
s2, fitting the data segment;
s3, performing feature matching;
s4, repeating the steps S1 to S3, and circularly acquiring multi-frame data;
s5, marking the current position of the robot, and planning a path from the current position of the robot to the position of the charging pile;
and S6, the robot moves to the position of the charging pile according to the planned path.
7. The indoor robot automatic pile-returning charging method of claim 6, wherein: in step S1, the radar scan data is divided into data segments, and infinite points, isolated points, or data segments with too small number are removed from the data segments.
8. The indoor robot automatic pile-returning charging system of claim 7, wherein: in step S2, a straight line and a polygonal line are fitted to the data segment, the straight line is calculated first, if the distance from a point in the data to the straight line exceeds a threshold, the polygonal line is fitted, an inflection point is extracted, and an angle at the inflection point is calculated.
9. The indoor robot automatic pile-returning charging system of claim 8, wherein: in the step S3, data segments with the span of the charging pile width and the angle of the charging pile angle are searched, feature matching is carried out, and the position and the posture of the charging pile relative to the robot coordinate system are calculated according to matching features.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110861527.3A CN113485357A (en) | 2021-07-29 | 2021-07-29 | Automatic pile returning and charging system and method for indoor robot |
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| CN202110861527.3A CN113485357A (en) | 2021-07-29 | 2021-07-29 | Automatic pile returning and charging system and method for indoor robot |
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Cited By (3)
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| CN114035577A (en) * | 2021-11-10 | 2022-02-11 | 山东新一代信息产业技术研究院有限公司 | Robot charging pile identification and positioning method |
| 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 |
| CN115933706A (en) * | 2023-02-07 | 2023-04-07 | 科大讯飞股份有限公司 | Robot charging method and device, robot and robot system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114035577A (en) * | 2021-11-10 | 2022-02-11 | 山东新一代信息产业技术研究院有限公司 | Robot charging pile identification and positioning method |
| 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 |
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