CN114527755A - Method, equipment and storage medium for automatic pile returning and charging of robot - Google Patents
Method, equipment and storage medium for automatic pile returning and charging of robot Download PDFInfo
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- CN114527755A CN114527755A CN202210158326.1A CN202210158326A CN114527755A CN 114527755 A CN114527755 A CN 114527755A CN 202210158326 A CN202210158326 A CN 202210158326A CN 114527755 A CN114527755 A CN 114527755A
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- 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
- G05D1/0231—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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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
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- 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
- G05D1/0251—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 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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Abstract
The application discloses a method, equipment and a storage medium for automatic pile returning and charging of a robot, wherein the method comprises the following steps: determining a first attitude relationship between a first charging port installed on the robot and a camera installed on the robot; constructing a working environment map by a laser slam method by taking the position of the charging pile as an original point; when the robot triggers a pile returning and charging instruction, point cloud information of the robot at the current moment is obtained, and the current position coordinate of the robot is determined according to the point cloud information; determining a starting point and an end point of a charging route according to the current position coordinates of the robot; determining the position of the charging pile relative to the robot, and triggering a robot steering instruction according to the position to enable the robot to move forward towards the position of the charging pile; after the robot arrives and fills electric pile department, through the camera scanning and discernment be located fill the second on electric pile and charge the mouth, according to the first mouthful of charging of recognition result adjustment and the second mouthful butt joint that charges.
Description
Technical Field
The application relates to the field of robots, in particular to a method, equipment and a storage medium for automatic pile returning and charging of a robot.
Background
With the popularization of robotics, robots are being widely used in the lives of people.
At present, power of a robot is mainly provided by a storage battery, when the electric quantity of the robot is about to be used up, a user is often required to help the robot to charge, once the robot forgets to charge, the affairs of the user can be delayed, and the robot is troublesome, so that the requirements of people on automation and intellectualization of the robot are continuously improved.
Therefore, the robot can automatically return to the charging pile to charge when the electric quantity is about to exhaust, which is necessary requirement for improving the automation level of the robot.
Disclosure of Invention
The application provides a method, equipment and a storage medium for automatic pile returning and charging of a robot, and solves the technical problem that the robot is difficult to automatically charge.
A method for automatic pile returning and charging of a robot comprises the following steps:
determining a first attitude relationship between a first charging port installed on a robot and a camera installed on the robot;
constructing a working environment map by a laser slam method by taking the position of the charging pile as an origin;
when the robot triggers a pile returning and charging instruction, point cloud information of the robot at the current moment is obtained, and the current position coordinate of the robot is determined according to the point cloud information;
determining a starting point and a terminal point of a charging route according to the current position coordinates of the robot;
determining the position of the charging pile relative to the robot, and triggering a robot steering instruction according to the position to enable the robot to advance towards the position of the charging pile;
and after the robot reaches the charging pile, scanning and identifying a second charging port on the charging pile through the camera, and adjusting the butt joint of the first charging port and the second charging port according to an identification result.
In one embodiment of the present application, the method further comprises: determining a second position and posture relation between a two-dimensional code on a charging pile and a first charging port installed on the charging pile; after the robot reaches the charging pile, the two-dimensional code of the charging pile is scanned and identified through the camera, and the first charging port and the second charging port are adjusted to be in butt joint according to the identification result of the two-dimensional code.
In an embodiment of the application, after the robot arrives at the electric pile that fills department, through camera scanning and discernment the two-dimensional code information of electric pile fills, according to the two-dimensional code information adjustment first mouthful of charging with the second mouthful butt joint that charges specifically includes: scanning and identifying the two-dimensional code of the charging pile through the camera, and determining three-dimensional coordinate information of the two-dimensional code; determining the three-dimensional coordinate information of the first charging port according to the three-dimensional coordinate information of the two-dimensional code and the second position and posture relationship; and adjusting the butt joint of the first charging port and the second charging port according to the three-dimensional coordinate information of the first charging port.
In an embodiment of the application, after the robot arrives at the electric pile that fills department, through camera scanning and discernment the two-dimensional code information of electric pile fills, according to the two-dimensional code information adjustment first mouthful of charging with the second mouthful butt joint that charges specifically includes: after the robot reaches the charging pile, a pose adjusting module is called to adjust the self orientation until a camera identifies a two-dimensional code of the charging pile; acquiring two-dimensional code information of the charging pile, calling the pose calculation module according to the two-dimensional code information to calculate the pose relationship between the first charging port and the second charging port, and transmitting the obtained pose relationship to the PID control module; and the PID control module controls the robot to move according to the position and orientation errors until the two charging ports are butted.
In an embodiment of the present application, determining an orientation of the charging pile relative to the robot, and triggering a robot steering instruction according to the orientation to make the robot advance toward the orientation of the charging pile specifically includes: determining the position of the charging pile relative to the robot by taking north as a standard position; determining the orientation of the robot, and determining an included angle between the orientation of the robot and the orientation of the charging pile relative to the robot according to the orientation of the robot and the orientation of the charging pile relative to the robot; wherein the included angle is less than or equal to 180 degrees; triggering the robot steering instruction according to the included angle, so that the orientation of the robot is turned to the position of the charging pile relative to the robot; and triggering a moving instruction to drive the robot to move forward towards the charging pile.
In one embodiment of the present application, the method further comprises: projecting a three-dimensional point cloud space in the robot moving space onto a two-dimensional horizontal plane, and determining a charging route of the robot to the charging pile; detecting whether an obstacle exists on the charging route through a laser radar; and determining the two-dimensional coordinates of the obstacle, and designing an avoidance route according to the two-dimensional coordinates of the obstacle so as to realize automatic obstacle avoidance.
In an embodiment of the present application, the detecting whether there is an obstacle on the charging route by using a laser radar specifically includes: sending laser pulses to the surroundings according to a laser radar installed on the robot, and determining the distance between the surrounding object and the robot; when the robot detects that a dynamic obstacle appears in the front in the operation of the charging route, the speed is reduced until the obstacle in the front passes through and then the robot continues to move forward.
In an embodiment of the application, the scanning and the identification of the camera are performed on a second charging port of the charging pile, and the docking of the first charging port and the second charging port is adjusted according to the identification result, which specifically includes: acquiring image information of the charging pile, and identifying a second charging port of the image information through an image identification technology; determining the three-dimensional coordinates of the second charging port; and controlling a PID control module to move until the two charging ports are butted according to the three-dimensional coordinate of the second charging port and the first position and posture relation between the first charging port and the camera and according to the position and orientation error.
An apparatus for automatic pile-returning and charging by a robot, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
determining a first attitude relationship between a first charging port installed on a robot and a camera installed on the robot;
constructing a working environment map by a laser slam method by taking the position of the charging pile as an origin;
when the robot triggers a pile returning and charging instruction, point cloud information of the robot at the current moment is obtained, and the current position coordinate of the robot is determined according to the point cloud information;
determining a starting point and a terminal point of a charging route according to the current position coordinates of the robot;
determining the position of the charging pile relative to the robot, and triggering a robot steering instruction according to the position to enable the robot to advance towards the position of the charging pile;
and after the robot reaches the charging pile, scanning and identifying a second charging port on the charging pile through the camera, and adjusting the butt joint of the first charging port and the second charging port according to an identification result.
A non-volatile storage medium storing computer-executable instructions configured to:
determining a first attitude relationship between a first charging port installed on a robot and a camera installed on the robot;
constructing a working environment map by a laser slam method by taking the position of the charging pile as an origin;
when the robot triggers a pile returning and charging instruction, point cloud information of the robot at the current moment is obtained, and the current position coordinate of the robot is determined according to the point cloud information;
determining a starting point and a terminal point of a charging route according to the current position coordinates of the robot;
determining the position of the charging pile relative to the robot, and triggering a robot steering instruction according to the position to enable the robot to advance towards the position of the charging pile;
and after the robot reaches the charging pile, scanning and identifying a second charging port on the charging pile through the camera, and adjusting the butt joint of the first charging port and the second charging port according to an identification result.
The application provides a method, equipment and a storage medium for automatic pile returning and charging of a robot, which at least have the following beneficial effects: the robot is positioned through a map built according to the robot, and the navigation is performed to the position near the charging pile, so that the automatic charging of the robot is realized, convenience is brought to users, the robot is more intelligent, and the working efficiency is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic diagram illustrating steps of a method for charging a robot by automatically returning to a pile according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of an automatic pile-returning and charging process of a robot according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an apparatus for automatically returning and charging a pile for a robot according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in detail and completely with reference to the following specific embodiments. It should be apparent that the described embodiments are only some of the embodiments of the present application, 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 application.
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 following is a detailed description.
Fig. 1 is a schematic diagram illustrating steps of a method for charging a pile automatically returned by a robot according to an embodiment of the present application, where the method includes the following steps:
s101: a first attitude relationship between a first charging port mounted on the robot and a camera mounted on the robot is determined.
Specifically, the robot is provided with a camera and a first charging port matched with a second charging port of the charging pile, and the position of the first charging port is fixed with the position and posture (namely the distance in height) of the camera.
S102: and constructing a working environment map by using the position of the charging pile as an original point through a laser slam method.
Specifically, the position of the charging pile is fixed and unchanged, so that a working environment map is constructed by a laser slam method by taking the position of the charging pile as an original point, map invariance can be ensured, and calculation is facilitated.
S103: and when the robot triggers a pile returning and charging instruction, acquiring point cloud information of the robot at the current moment, and determining the current position coordinate of the robot according to the point cloud information.
Specifically, the robot can acquire laser point cloud data through a three-dimensional laser scanner, acquire image data through a camera, and process the two data into image point cloud data which simultaneously retains three-dimensional geometric information and ground object spectral information after registering and fusing the two data. The three-dimensional laser scanner directly measures an object by using a generation laser, directly obtains three-dimensional laser point cloud coordinate data of the surface of the object, and returns the intensity of a ground object reflection signal, but the spectral information of the ground object is difficult to obtain, which brings great difficulty to the processing and understanding of the three-dimensional laser point cloud data. In order to solve the problem, a camera can be used for shooting a plurality of photos on a measured object, the abundant spectral information of a digital image is used for making up the defect of three-dimensional laser point cloud, point cloud data and image data are registered, and the point cloud data and the image data are fused to form image point cloud data. From this, the position coordinates of the robot at the current time can also be determined.
S104: and determining a starting point and an end point of the charging route according to the current position coordinates of the robot.
After the position coordinates of the robot are determined, the linear distance from the robot to the origin is calculated, so that the starting point and the end point of the route are determined, after the shortest path is calculated, whether the shortest path is feasible or not is verified, if yes, the robot walks according to the shortest path, and if not, the robot replans the route.
S105: and determining the position of the charging pile relative to the robot, and triggering a robot steering instruction according to the position to enable the robot to advance towards the position of the charging pile.
In one embodiment of the application, the north is taken as a standard orientation, and the orientation of the charging pile relative to the robot is determined; determining the orientation of the robot, and determining an included angle between the orientation of the robot and the orientation of the charging pile relative to the robot according to the orientation of the robot and the orientation of the charging pile relative to the robot; wherein the included angle is less than or equal to 180 degrees; triggering a robot steering instruction according to the included angle, so that the orientation of the robot is turned to the position of the charging pile relative to the robot; and triggering a moving instruction to drive the robot to move forward towards the charging pile.
Specifically, if confirm that the straight line goes, then use north as the standard position, assume to judge according to the coordinate and fill electric pile in the southeast position of robot, confirm that the robot orientation is the west, then confirm that the robot orientation is 135 degrees with the contained angle that fills electric pile for the position of robot, issue the instruction to the robot according to the number of degrees of contained angle, make the robot turn to the direction of filling electric pile, after confirming the direction of advance, trigger the movement instruction, drive the robot and advance towards filling electric pile.
S106: after the robot arrives and fills electric pile department, through the camera scanning and discernment be located fill the second on electric pile and charge the mouth, according to the first mouthful of charging of recognition result adjustment and the second mouthful butt joint that charges.
In one embodiment of the application, image information of the charging pile is obtained, and the image information is identified through an image identification technology; determining a three-dimensional coordinate of a second charging port; and controlling the PID control module to move according to the three-dimensional coordinate of the second charging port and the first position and posture relation between the first charging port and the camera and the position and orientation error until the two charging ports are butted.
Specifically, the robot can identify the second charging port through an image identification technology so as to determine the three-dimensional coordinate of the second charging port, and because the pose relationship of the first charging port and the camera in height is fixed, after the camera identifies the three-dimensional coordinate of the second charging port, the orientation error of the first charging port relative to the second charging port can be easily obtained through calculation, and then the robot is controlled to move until the two charging ports are in butt joint through the PID control module according to the position and orientation error of the robot.
In one embodiment of the application, a second position and posture relationship between a two-dimensional code on a charging pile and a first charging port installed on the charging pile is determined; after the robot arrives and fills electric pile department, through the two-dimensional code of electric pile of camera scanning and discernment, the first mouth that charges and the butt joint of second mouth that charges of adjustment according to the recognition result of two-dimensional code.
In an embodiment of the application, because the second charging port is complex and unstable, the two-dimensional code is pasted on the charging pile, and the pose relationship between the two-dimensional code and the second charging port is fixed.
In an embodiment of the application, when the robot arrives at the position of the charging pile, the pose adjusting module is called to adjust the orientation of the robot until the camera identifies the two-dimensional code of the charging pile. After the camera scans and identifies the two-dimensional code of the charging pile, determining three-dimensional coordinate information of the two-dimensional code; because the position and posture relation between the two-dimensional code and the second charging port is fixed, the three-dimensional coordinate information of the first charging port and the second charging port can be easily determined after three-dimensional coordinate calculation according to the three-dimensional coordinate information of the two-dimensional code and the second position and posture relation.
Specifically, two-dimensional code information of the charging pile is obtained, a pose calculation module is called according to the two-dimensional code information to calculate the pose relationship between a first charging port and a second charging port, and the obtained pose relationship is transmitted to a PID control module; and the PID control module controls the robot to move until the two charging ports are butted according to the position and orientation errors.
In one embodiment of the application, a three-dimensional point cloud space in a robot moving space is projected onto a two-dimensional horizontal plane, and a charging route of the robot to a charging pile is determined; detecting whether an obstacle exists on a charging route or not through a laser radar; and determining the two-dimensional coordinates of the obstacle, and designing an avoidance route according to the two-dimensional coordinates of the obstacle so as to realize automatic obstacle avoidance.
Specifically, the moving route of the robot can be determined by determining the plane coordinates of the robot, after the moving route is determined, the robot starts to move along the moving route, in order to avoid collision, whether an obstacle appears in front is detected through a laser radar, and when the robot detects that a dynamic obstacle appears in front during the operation of the charging route, the speed is reduced or the robot stops to continue to move until the obstacle in front passes through. For example, a robot in a mall, the moving crowd is a dynamic obstacle. If a static obstacle in front is detected, the obstacle can be bypassed.
In one embodiment of the application, the distance between a surrounding object and the robot is determined by sending laser pulses to the surroundings according to a laser radar mounted on the robot; in a continuous time period, whether the distance between the front object and the robot is within a preset range or not is detected through the laser radar, if the front object is detected within the preset range within a continuous time end, the front object is a static obstacle, and if the front object is not detected within the preset range within the continuous time end, the front object is a dynamic obstacle.
Fig. 2 is a schematic flow chart of the automatic pile-returning and charging process of the robot. The robot automatic pile returning and charging program mainly comprises a pose adjusting module, a two-dimensional code identification and pose calculation module and a PID control module. After a pile returning charging instruction is triggered, a pose adjusting module is called to adjust the robot to move towards the direction of a charging pile, when the robot reaches the position of the charging pile, a camera scans a two-dimensional code on the charging pile, and if the robot does not reach the position of the charging pile, the pose adjusting module adjusts the direction of the camera or the robot until the two-dimensional code is scanned; and the position and pose calculation module is used for calculating the relative position and pose of a first charging port on the robot and a second charging port on the charging pile according to the scanned two-dimensional code information, transmitting the calculated relative position and pose to the PID control module, adjusting the butt joint of the first charging port and the second charging port through the PID control module, and returning to the position and pose calculation module to recalculate the relative position and pose of the first charging port and the second charging port if the butt joint is not successful until the butt joint of the first charging port and the second charging port is successful.
Based on the same inventive concept, the embodiment of the present application further provides a corresponding device for automatic pile returning and charging of a robot, as shown in fig. 3.
The embodiment provides an automatic equipment that returns stake and charge of robot, includes:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to cause the at least one processor to:
determining a first attitude relationship between a first charging port installed on the robot and a camera installed on the robot;
constructing a working environment map by a laser slam method by taking the position of the charging pile as an original point;
when the robot triggers a pile returning and charging instruction, point cloud information of the robot at the current moment is obtained, and the current position coordinate of the robot is determined according to the point cloud information;
determining a starting point and a terminal point of a charging route according to the current position coordinates of the robot;
determining the position of the charging pile relative to the robot, and triggering a robot steering instruction according to the position to enable the robot to move forward towards the position of the charging pile;
after the robot arrives and fills electric pile department, through the camera scanning and discernment be located fill the second on electric pile and charge the mouth, according to the first mouthful of charging of recognition result adjustment and the second mouthful butt joint that charges.
Based on the same idea, some embodiments of the present application further provide media corresponding to the above method.
Some embodiments of the present application provide a storage medium for automatic pile-returning and charging of a robot, which stores computer-executable instructions configured to:
determining a first attitude relationship between a first charging port installed on the robot and a camera installed on the robot;
constructing a working environment map by a laser slam method by taking the position of the charging pile as an original point;
when the robot triggers a pile returning and charging instruction, point cloud information of the robot at the current moment is obtained, and the current position coordinate of the robot is determined according to the point cloud information;
determining a starting point and a terminal point of a charging route according to the current position coordinates of the robot;
determining the position of the charging pile relative to the robot, and triggering a robot steering instruction according to the position to enable the robot to move forward towards the position of the charging pile;
after the robot arrives and fills electric pile department, through the camera scanning and discernment be located fill the second on electric pile and charge the mouth, according to the first mouthful of charging of recognition result adjustment and the second mouthful butt joint that charges.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as to the method and media embodiments, the description is relatively simple as it is substantially similar to the method embodiments, and reference may be made to some of the descriptions of the method embodiments for relevant points.
The method and the medium provided by the embodiment of the application correspond to the method one to one, so the method and the medium also have the beneficial technical effects similar to the corresponding method.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process method article or method 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 method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of additional like elements in the process method article or method in which the element is included.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method for automatically returning and charging a pile by a robot is characterized by comprising the following steps:
determining a first attitude relationship between a first charging port installed on a robot and a camera installed on the robot;
constructing a working environment map by a laser slam method by taking the position of the charging pile as an origin;
when the robot triggers a pile returning and charging instruction, point cloud information of the robot at the current moment is obtained, and the current position coordinate of the robot is determined according to the point cloud information;
determining a starting point and a terminal point of a charging route according to the current position coordinates of the robot;
determining the position of the charging pile relative to the robot, and triggering a robot steering instruction according to the position to enable the robot to advance towards the position of the charging pile;
and after the robot reaches the charging pile, scanning and identifying a second charging port on the charging pile through the camera, and adjusting the butt joint of the first charging port and the second charging port according to an identification result.
2. The method of claim 1, further comprising:
determining a second position and posture relation between a two-dimensional code on a charging pile and a first charging port installed on the charging pile;
after the robot reaches the charging pile, the two-dimensional code of the charging pile is scanned and identified through the camera, and the first charging port and the second charging port are adjusted to be in butt joint according to the identification result of the two-dimensional code.
3. The method according to claim 2, wherein after the robot arrives at the charging pile, scanning and identifying two-dimensional code information of the charging pile through the camera, and adjusting the docking of the first charging port and the second charging port according to the two-dimensional code information specifically comprises:
scanning and identifying the two-dimensional code of the charging pile through the camera, and determining three-dimensional coordinate information of the two-dimensional code;
determining the three-dimensional coordinate information of the first charging port according to the three-dimensional coordinate information of the two-dimensional code and the second position and posture relationship;
and adjusting the butt joint of the first charging port and the second charging port according to the three-dimensional coordinate information of the first charging port.
4. The method of claim 2, wherein after the robot arrives at the charging pile, scanning and identifying two-dimensional code information of the charging pile through the camera, and adjusting the first charging port and the second charging port to be in butt joint according to the two-dimensional code information specifically comprises:
after the robot reaches the charging pile, a pose adjusting module is called to adjust the self orientation until a camera identifies a two-dimensional code of the charging pile;
acquiring two-dimensional code information of the charging pile, calling the pose calculation module according to the two-dimensional code information to calculate the pose relationship between the first charging port and the second charging port, and transmitting the obtained pose relationship to the PID control module;
and the PID control module controls the robot to move according to the position and orientation errors until the two charging ports are butted.
5. The method of claim 1, wherein determining an orientation of the charging post relative to the robot and triggering a robot steering command based on the orientation to advance the robot toward the orientation of the charging post comprises:
determining the position of the charging pile relative to the robot by taking north as a standard position;
determining the orientation of the robot, and determining an included angle between the orientation of the robot and the orientation of the charging pile relative to the robot according to the orientation of the robot and the orientation of the charging pile relative to the robot; wherein the included angle is less than or equal to 180 degrees;
triggering the robot steering instruction according to the included angle, so that the orientation of the robot is turned to the position of the charging pile relative to the robot;
and triggering a moving instruction to drive the robot to move forward towards the charging pile.
6. The method of claim 1, further comprising:
projecting a three-dimensional point cloud space in the robot moving space onto a two-dimensional horizontal plane, and determining a charging route of the robot to the charging pile;
detecting whether an obstacle exists on the charging route through a laser radar;
and determining the two-dimensional coordinates of the obstacle, and designing an avoidance route according to the two-dimensional coordinates of the obstacle so as to realize automatic obstacle avoidance.
7. The method according to claim 6, wherein the detecting whether there is an obstacle on the charging route by the lidar includes:
sending laser pulses to the surroundings according to a laser radar installed on the robot, and determining the distance between the surrounding object and the robot;
when the robot detects that a dynamic obstacle appears in the front in the operation of the charging route, the speed is reduced until the obstacle in the front passes through and then the robot continues to move forward.
8. The method according to claim 1, wherein the scanning and identifying, by the camera, the second charging port of the charging post, and adjusting the docking of the first charging port and the second charging port according to the identification result, specifically comprises:
acquiring image information of the charging pile, and identifying a second charging port of the image information through an image identification technology;
determining the three-dimensional coordinates of the second charging port;
and controlling a PID control module to move until the two charging ports are butted according to the three-dimensional coordinate of the second charging port and the first position and posture relation between the first charging port and the camera and according to the position and orientation error.
9. The utility model provides an automatic equipment that returns stake and charge of robot which characterized in that includes:
at least one processor; and (c) a second step of,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
determining a first attitude relationship between a first charging port installed on a robot and a camera installed on the robot;
constructing a working environment map by a laser slam method by taking the position of the charging pile as an origin;
when the robot triggers a pile returning and charging instruction, point cloud information of the robot at the current moment is obtained, and the current position coordinate of the robot is determined according to the point cloud information;
determining a starting point and a terminal point of a charging route according to the current position coordinates of the robot;
determining the position of the charging pile relative to the robot, and triggering a robot steering instruction according to the position to enable the robot to advance towards the position of the charging pile;
and after the robot reaches the charging pile, scanning and identifying a second charging port on the charging pile through the camera, and adjusting the butt joint of the first charging port and the second charging port according to an identification result.
10. A non-volatile storage medium storing computer-executable instructions, the computer-executable instructions configured to:
determining a first attitude relationship between a first charging port installed on a robot and a camera installed on the robot;
constructing a working environment map by a laser slam method by taking the position of the charging pile as an origin;
when the robot triggers a pile returning and charging instruction, point cloud information of the robot at the current moment is obtained, and the current position coordinate of the robot is determined according to the point cloud information;
determining a starting point and an end point of a charging route according to the current position coordinates of the robot;
determining the position of the charging pile relative to the robot, and triggering a robot steering instruction according to the position to enable the robot to advance towards the position of the charging pile;
and after the robot reaches the charging pile, scanning and identifying a second charging port on the charging pile through the camera, and adjusting the butt joint of the first charging port and the second charging port according to an identification result.
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| CN202210158326.1A CN114527755A (en) | 2022-02-21 | 2022-02-21 | Method, equipment and storage medium for automatic pile returning and charging of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113341963A (en) * | 2021-05-31 | 2021-09-03 | 深圳市威睿晶科电子有限公司 | Navigation method and system for robot to automatically return to base station based on laser radar |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113341963A (en) * | 2021-05-31 | 2021-09-03 | 深圳市威睿晶科电子有限公司 | Navigation method and system for robot to automatically return to base station based on laser radar |
| CN113341963B (en) * | 2021-05-31 | 2023-08-22 | 深圳市威睿晶科电子有限公司 | Laser radar-based navigation method and system for automatically returning robot to base station |
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