CN114915036A

CN114915036A - Foot type robot charging control method and foot type robot

Info

Publication number: CN114915036A
Application number: CN202110179022.9A
Authority: CN
Inventors: 许春利; 陶强
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Mobile Software Co Ltd
Priority date: 2021-02-09
Filing date: 2021-02-09
Publication date: 2022-08-16

Abstract

The disclosure relates to a foot type robot charging control method and a foot type robot, wherein the method comprises the following steps: acquiring an environment image; identifying the environment image to acquire the position of a charging device; controlling the foot type robot to move to a preset range of the charging device according to the position of the charging device; and detecting the position of the charging device through a position detection assembly, and adjusting the position of the foot type robot according to the position detection result so as to enable the charging area of the foot type robot to be matched with the charging device. The method realizes the accurate matching of the charging area of the foot type robot and the charging device, and is more beneficial to the foot type robot to autonomously and quickly find the charging device for charging so as to improve the user experience.

Description

Foot type robot charging control method and foot type robot

Technical Field

The disclosure relates to the technical field of robots, and in particular to a foot type robot charging control method, a foot type robot and a storage medium.

Background

With the progress of society and the development of science and technology, robots are more and more popular, and great convenience can be brought to users in many aspects. When the foot type robot carries out wireless charging, the charging device is searched through a camera in the foot type robot, so that the foot type robot is moved to the charging device, and charging is achieved. However, when a shielding object is arranged near the charging device, the charging device cannot be accurately found, so that the foot type robot cannot be well matched with the charging device, and the problems of low charging speed, long charging time and poor user experience are caused.

Disclosure of Invention

The present disclosure provides a charging control method for a foot robot, and a storage medium, which are intended to solve at least one of the technical problems in the related art to some extent.

The present disclosure proposes the following technical solutions:

an embodiment of the first aspect of the present disclosure provides a method for controlling charging of a legged robot, including:

acquiring an environment image;

identifying the environment image to acquire the position of a charging device;

controlling the foot type robot to move to a preset range of the charging device according to the position of the charging device;

and carrying out position detection on the charging device through a position detection assembly, and carrying out position adjustment on the foot type robot according to a position detection result so as to enable a charging area of the foot type robot to be matched with the charging device.

In addition, the foot robot charging control method according to the embodiment of the present disclosure may further have the following additional technical features:

according to one embodiment of the present disclosure, the position detection assembly includes a time-of-flight based TOF laser ranging sensor array including a plurality of TOF laser ranging sensors.

According to an embodiment of the present disclosure, the detecting the position of the charging device by the position detecting component includes: detecting a charging device to be matched in a preset direction through the TOF laser ranging sensor array to obtain shape information and height information of the charging device to be matched; judging whether the shape information and the height information of the charging device to be matched are matched with the shape information and the height information of the charging device; and if the position of the charging device to be matched is matched with the position of the charging device, taking the position of the charging device to be matched as the position of the charging device.

According to an embodiment of the present disclosure, further comprising: and if not, controlling the foot type robot to move in a preset horizontal direction to continuously match the charging device.

According to an embodiment of the present disclosure, the position adjusting the legged robot according to the position detection result so that the charging area of the legged robot matches the charging device includes: acquiring the position of the charging device; acquiring a position difference between the charging device and the charging area in a vertical direction; and adjusting the position of the foot type robot according to the position difference so as to enable the charging area of the foot type robot to be matched with the charging device.

According to one embodiment of the present disclosure, the charging area and the charging device are a wireless charging area and a wireless charging device.

According to an embodiment of the present disclosure, further comprising: and when the shape information and the height information of the charging device to be matched are matched with the shape information and the height information of the charging device, carrying out posture adjustment on the foot type robot so as to charge the charging area and the charging device.

According to one embodiment of the present disclosure, a leg assembly of the legged robot includes: the first leg part, the second leg part and the motor; wherein the posture adjustment of the legged robot includes: the motor controls at least one of a first included angle between the first leg part and the second leg part and a second included angle between the first leg part and the body of the foot type robot.

An embodiment of a second aspect of the present disclosure provides a legged robot, including:

the camera is used for acquiring an environment image;

the position detection component is used for detecting the position of the charging device;

the controller is used for identifying the environment image to obtain the position of a charging device, controlling the foot type robot to move to a preset range of the charging device according to the position of the charging device, and adjusting the position of the foot type robot according to a position detection result to enable a charging area of the foot type robot to be matched with the charging device.

According to one embodiment of the disclosure, a charging device to be matched in a preset direction is detected through the TOF laser ranging sensor array so as to obtain shape information and height information of the charging device to be matched, wherein the controller is further configured to use the position of the charging device to be matched as the position of the charging device when the shape information and the height information of the charging device to be matched are matched with the shape information and the height information of the charging device.

According to an embodiment of the present disclosure, the controller is further configured to control the legged robot to move in a preset direction to continue to match the charging device when shape information and height information of the charging device to be matched do not match the shape information and the height information of the charging device.

According to an embodiment of the present disclosure, the controller is configured to acquire a position of the charging device, acquire a position difference between the charging device and the charging area in a vertical direction, and perform position adjustment on the legged robot according to the position difference so that the charging area of the legged robot matches the charging device.

According to one embodiment of the present disclosure, the legged robot includes: a head and a torso body connected to the head; a plurality of leg assemblies connected to the torso body; a plurality of components disposed within the torso body, the components including an image acquisition component, a position detection component; and a controller disposed within the torso body, the controller coupled to the plurality of components and the charging area.

According to one embodiment of the present disclosure, the legged robot further includes: a clamping assembly, wherein the clamping assembly is configured to clamp when a charging area of the legged robot is mated with the charging device.

An embodiment of a third aspect of the present disclosure provides a legged robot, including: a processor;

a memory for storing the processor-executable instructions;

wherein the processor is configured to execute the instructions to implement the legged robot charging control method as described above.

A fourth aspect of the present disclosure provides a non-transitory computer-readable storage medium having instructions stored thereon, which, when executed by a processor of a legged robot, enable the legged robot to perform the method for controlling charging of a legged robot as described above.

According to the technical scheme of the embodiment of the disclosure, the foot type robot is controlled to move to the preset range of the charging device through image recognition, then the position detection assembly is used for detecting the position of the charging device, and the position of the foot type robot is adjusted according to the position detection result so that the charging area of the foot type robot is matched with the charging device. From this, move to within charging device's the predetermined scope in order to realize thick location through controlling sufficient robot, again through carrying out position detection to charging device, carry out the position adjustment of accuracy to sufficient robot to realize the accurate matching of charging region and charging device of sufficient robot, more do benefit to sufficient robot and independently find charging device fast and charge and then improved user experience.

Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure and are not to be construed as limiting the disclosure.

Fig. 1 is a flow chart of a legged robot charging control method according to an embodiment of the present disclosure;

fig. 2 is a flowchart of a charging device position detection method according to an embodiment of the disclosure;

FIG. 3 is a schematic illustration of a legged robot in accordance with an embodiment of the present disclosure;

fig. 4 is a schematic diagram of determining charging device information to be matched according to an embodiment of the present disclosure;

FIG. 5 is a flow chart of a method of adjusting the position of a legged robot according to an embodiment of the present disclosure;

FIG. 6 is a flow chart of a method of pose adjustment for a legged robot in accordance with an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a pose adjustment process for a legged robot, according to an embodiment of the present disclosure;

FIG. 8 is a block diagram of a legged robot, in accordance with an embodiment of the present disclosure;

FIG. 9 is a block diagram of another legged robot in accordance with an embodiment of the present disclosure;

Detailed Description

Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present disclosure, and should not be construed as limiting the present disclosure.

A method, a system, a legged robot, and a non-transitory computer-readable storage medium for controlling charging of a legged robot according to embodiments of the present disclosure are described below with reference to the accompanying drawings.

The legged robot according to the embodiment of the present disclosure may be a multi-degree-of-freedom legged robot, such as a biped robot, a quadruped robot, or a tripod robot, and the embodiment of the present disclosure is not limited thereto.

Fig. 1 is a flowchart of a foot robot charging control method according to an embodiment of the present disclosure, which can be applied to a foot robot charging control system, wherein the foot robot charging control system includes: the robot system comprises a charging device and a foot robot, wherein in one embodiment of the disclosure, the foot robot comprises a camera, a position detection assembly and a controller. In one embodiment of the present disclosure, the camera may be disposed at the head of the legged robot.

As shown in fig. 1, the foot robot charging control method includes the following steps S101 to S103.

S101, acquiring an environment image.

When the foot type robot senses a charging instruction, the image acquisition component of the foot type robot captures an environment image of the environment where the foot type robot is located, so that the general position area of the charging device can be located through identification and analysis of the environment image.

The manner of the foot robot sensing the charging instruction may be that the foot robot autonomously determines that recharging is required, or that a user instructs the foot robot to recharge through an interactive platform (e.g., APP, a remote controller, etc.), and so on.

For example, image acquisition components in a legged robot include, but are not limited to, 2D digital cameras, 3D sensing cameras, ultrasound cameras, infrared cameras, and the like.

The image capturing assembly may be installed at any position of the legged robot, for example, the image capturing assembly may be installed at a head position of the legged robot, a trunk position of the legged robot, or a tail position of the legged robot, which is not limited in this disclosure.

And S102, identifying the environment image to acquire the position of the charging device.

Further, in the embodiment of the present disclosure, by identifying and analyzing the acquired environment image, the charging device finds the position of the charging device.

As a possible implementation manner, feature points in the environment image may be extracted, the feature points of the obtained environment image are extracted, and then, a location point matching the feature points of the image is searched in a pre-stored location information base, so that the location of the charging device may be determined.

As another possible implementation, the location of the charging device may be determined by performing location identification on features in the environment image through SLAM (simultaneous localization and mapping). In the embodiment of the disclosure, the charging devices to be matched in the environment image may be identified by the SLAM, the cloud point maps of the charging devices to be matched in the environment image are obtained, and the shapes of the charging devices to be matched are obtained according to the cloud point maps of the charging devices to be matched. And then matching the shape of each charging device to be matched with the shape of the charging device, thereby obtaining the charging device to be matched with the shape of the charging device, and further determining the position of the charging device.

When it is required to be described, the charging device is roughly positioned in the step by means of image recognition, so that the legged robot can move to a preset range of the charging device.

And S103, controlling the foot type robot to move to a preset range of the charging device according to the position of the charging device.

The predetermined range includes, but is not limited to, the upper portion of the charging device.

For example, after the position of the charging device is determined, the legged robot can be moved to a position above the charging device according to the position of the charging device, so as to control the legged robot to move to a preset range of the charging device.

And S104, detecting the position of the charging device through the position detection assembly, and adjusting the position of the foot type robot according to the position detection result so as to enable the charging area of the foot type robot to be matched with the charging device.

In the embodiment of the disclosure, after the legged robot is moved to be within the preset range of the charging device, the position detection component is used for accurately positioning the charging device, and the position of the legged robot is adjusted so that the charging area of the legged robot is matched with the charging device.

Among embodiments of the present disclosure, the position detection component includes a Time of flight (TOF) laser ranging sensor array, wherein the TOF laser ranging sensor array includes a plurality of TOF laser ranging sensors. Among embodiments of the present disclosure, a plurality of TOF laser ranging sensors may form a large detection surface to detect a charging device.

In one embodiment of the present disclosure, the charging area and the charging device are a wireless charging area and a wireless charging device. Of course, in other embodiments of the present disclosure, the charging area and the charging device may be a contact type charging method.

In an embodiment of the disclosure, after the controller controls the legged robot to move within a preset range of the charging device, the position of the charging device may be detected by the TOF laser ranging sensor array, and after the position of the charging device is detected, in order to achieve accurate matching of the charging area and the charging device, the position of the legged robot may be adjusted according to a detection result of the position of the charging device, so that the charging area of the legged robot is matched with the charging device.

According to the charging control method of the foot robot in the embodiment of the disclosure, the foot robot is controlled to move to the preset range of the charging device through image recognition, then the position detection assembly is used for detecting the position of the charging device, and the position of the foot robot is adjusted according to the position detection result so that the charging area of the foot robot is matched with the charging device. Therefore, the foot type robot is controlled to move to the preset range of the charging device to realize coarse positioning, and then the position of the foot type robot is accurately adjusted by detecting the position of the charging device, so that the charging area of the foot type robot is accurately matched with the charging device. Through the embodiment of the disclosure, the robot can find the charging device to charge independently and quickly, and the user experience is improved.

It should be noted that, according to the embodiment of the present disclosure, whether the detected charging device to be matched is matched with the charging device may be determined through the position detection component, so as to implement position detection on the charging device. In one embodiment of the present disclosure, it may be determined whether the detected charging device to be matched is a charging device by determining whether the detected charging device to be matched shape information and height information are matched with the charging device shape information and height information.

That is, in an embodiment of the present disclosure, as shown in fig. 2, it is a flowchart of a charging device position detection method according to an embodiment of the present disclosure, and the method includes the following steps:

s201, detecting the charging device to be matched in the preset direction through the TOF laser ranging sensor array to obtain shape information and height information of the charging device to be matched.

For example, a TOF laser ranging sensor array is a 64-point or 36-point sensor array.

Wherein, the preset direction is towards the direction of the ground.

In one embodiment of the present disclosure, as shown in fig. 3, the legged robot includes a head 31, a trunk 32, a leg assembly 33, a position detection assembly 34, a camera 35, a charging area 36, wherein a TOF laser ranging sensor array 341 located in the position detection assembly 34 may be mounted on the trunk 32 of the legged robot and face the ground. After the legged robot moves within the preset range of the charging device 37, the ground is scanned by the TOF laser ranging sensor array 341 to find the charging device.

For example, as shown in fig. 4, by using a plurality of TOF laser ranging sensors in the TOF laser ranging sensor array, for example, 36 laser beams (for example, 6 × 6 points) are emitted and projected onto the surface of the charging device to be matched, the laser beams are reflected by the surface of the charging device to be matched, then the laser beams are received, and the distances from the positions of the 6 × 6 points to the TOF laser ranging sensors are respectively calculated according to the flight time of the light, so that the surface information of the charging device to be matched can be formed, and the shape information and the height information of the charging device to be matched can be obtained.

The plurality of TOF laser ranging sensors in the TOF laser ranging sensor array may be mounted on the trunk of the legged robot, or may be mounted on other parts of the legged robot, which is not limited in this disclosure.

And S202, judging whether the shape information and the height information of the charging device to be matched are matched with the shape information and the height information of the charging device.

Specifically, the shape information and the height information of the charging device to be matched are acquired, and whether the shape information and the height information of the charging device to be matched are matched with the shape information and the height information of the charging device can be further judged.

For example, the shape information and the height information of the charging device to be matched are acquired, and it is determined whether the shape information and the height information of the charging device to be matched match with the shape information and the height information of the charging device by determining whether the shape information and the height information are the same as those of the charging device.

For another example, the shape information and the height information of the charging device to be matched are acquired, and whether the shape information and the height information of the charging device to be matched are matched with the shape information and the height information of the charging device is determined by judging whether the shape information and the height information are in the preset range information of the shape information and the height information of the charging device.

For another example, the shape information and the height information of the charging device to be matched are acquired, and whether the shape information and the height information of the charging device to be matched are matched with the shape information and the height information of the charging device is determined based on the corresponding relationship between the shape information and the height information in the preset table and the shape information and the height information of the base.

And S203, if the shape information and the height information of the charging device to be matched are matched with the shape information and the height information of the charging device, taking the position of the charging device to be matched as the position of the charging device.

Specifically, it is determined that the shape information and the height information of the charging device to be matched match with the shape information and the height information of the charging device, and the position of the charging device to be matched may be taken as the position of the charging device.

And S204, if the shape information and the height information of the charging device to be matched are not matched with the shape information and the height information of the charging device, controlling the foot type robot to move in the horizontal direction of the preset direction so as to continuously match the charging device.

In an embodiment of the present disclosure, when it is determined that the shape information and the height information of the charging device to be matched do not match with the shape information and the height information of the charging device, the legged robot is controlled to move in the left and right directions of the legged robot to continue to match the charging device until the shape information and the height information of the charging device to be matched match with the shape information and the height information of the charging device are successfully matched, and when the matching is successful, the position of the charging device to be matched is used as the position of the charging device. According to the present disclosure, since the preliminary position of the charging device is determined by performing image recognition on the environment image, and the legged robot is moved to be within the preset range of the charging device, it is more accurate in the front-rear direction of the robot, and thus if an unmatched situation occurs, it is further searched in the left-right direction. It should be noted that, the above-mentioned continuous search in the left-right direction is only an example, and in other embodiments of the present disclosure, the search may be performed in front, back, left, and right directions. In other embodiments of the present disclosure, the height of the foot robot may be adjusted to match the searching in the front, back, left, and right directions.

It is understood that, in step S204, the position of the charging device to be matched is taken as the position of the charging device, and then, in order to achieve the precise matching of the multiple charging areas and the charging device, the position of the legged robot may be adjusted based on the determination of the position of the charging device, so that the charging area of the legged robot is successfully matched with the charging device, thereby achieving the charging control of the legged robot.

That is, in an embodiment of the present disclosure, as shown in fig. 5, there is a flowchart of a method for adjusting a position of a legged robot according to an embodiment of the present disclosure, where the method includes the following steps:

s501, the position of the charging device is obtained.

S502, a position difference in a vertical direction between the charging device and the charging area is acquired.

For example, the position of the charging device is acquired, and the distance between the charging device and the charging area may be detected by a distance sensor to determine a position difference in the vertical direction between the charging device and the charging area.

And S503, adjusting the position of the foot type robot according to the position difference so that the charging area of the foot type robot is matched with the charging device.

For example, after the position difference in the vertical direction between the charging device and the charging area is determined, it may be determined whether the position difference is within a preset position difference range, and if not, the position of the legged robot may be adjusted so that the position difference between the charging area of the legged robot and the charging device in the vertical direction is within the preset position difference range, thereby realizing the matching between the charging area of the legged robot and the charging device, and realizing the wireless charging of the legged robot.

When the position difference is judged to be within the preset position difference range, the position of the foot type robot does not need to be adjusted, so that the charging area of the foot type robot is matched with the charging device, and the wireless charging of the foot type robot is realized.

That is, in one embodiment of the present disclosure, the posture of the legged robot can be adjusted in addition to the forward, backward, leftward, and rightward movements of the legged robot mentioned in the above embodiments. As shown in fig. 6, which is a flowchart of a method for adjusting a posture of a legged robot according to an embodiment of the present disclosure, the method includes the following steps:

and S601, when the shape information and the height information of the charging device to be matched are matched with those of the charging device, carrying out posture adjustment on the foot type robot so as to charge the charging area and the charging device.

Wherein, sufficient robot includes the leg subassembly, and wherein, the leg subassembly includes: the first leg part, the second leg part and the motor; wherein, the leg assembly is attached to the charging device.

The posture of the foot type robot is adjusted by adjusting at least one of a first included angle between the first leg part and the second leg part and a second included angle between the first leg part and the body of the foot type robot, so that the charging area and the charging device are in contact alignment, and the charging area and the charging device are charged.

For example, when the shape information and the height information of the charging device a to be matched match with the shape information and the height information of the charging device a, as shown in fig. 7(a), the charging device a and the charging area B are in a misaligned condition, at this time, the distance value between the charging device a and the charging area B is W, for example, the value of W may be 888888;

then, by a motor arranged on the leg assembly, an included angle between the first leg and the second leg is controlled, or a second included angle between the first leg and the body of the legged robot is controlled, so as to bend the first leg first and then contract the second leg, or contract the second leg first and then retract the first leg, or directly change the first leg into a squatting state, for example, the first leg may be a thigh, and the second leg may be a calf, that is, as shown in fig. 7(B), the charging device a and the charging area B are in an alignment process, wherein a distance value between the charging device a and the charging area B is T, and the T value may be 688668;

after the motor control by the leg assembly is completed, it is realized that the charging device a and the charging area B are aligned as shown in fig. 7(c), wherein the distance between the charging device a and the charging area B has a value P, which may be 886668.

In one embodiment of the present disclosure, when the charging area of the legged robot is matched with the charging device, the charging area of the legged robot and the charging device can be further clamped by a clamping assembly disposed in the legged robot, so that the charging area of the legged robot and the charging device are more stable during charging.

For example, the clamping assembly may be a magnetic structure, and correspondingly, when a magnet is disposed in a charging area of the foot robot, the charging area and the charging device may be attracted by a magnetic principle to be positioned and aligned with the wireless coil, so that the charging area of the foot robot and the charging device are charged,

in summary, in the charging control method for the legged robot in the embodiment of the present disclosure, the environment image is first obtained and recognized to obtain the position of the charging device, then the legged robot is controlled to move to the preset range of the charging device according to the position of the charging device, the charging device to be matched in the preset direction is detected by the TOF laser ranging sensor array to obtain the shape information and the height information of the charging device to be matched, and it is determined whether the shape information and the height information of the charging device to be matched are matched with the shape information and the height information of the charging device; and if the charging device is matched with the charging device, taking the position of the charging device to be matched as the position of the charging device, and then adjusting the position of the foot type robot according to the position difference by acquiring the position difference between the charging device and the charging area in the vertical direction so as to match the charging area of the foot type robot with the charging device. The method realizes the accurate matching of the charging area of the foot type robot and the charging device, and is more beneficial to the foot type robot to autonomously and quickly find the charging device for charging. Through the embodiment of the disclosure, the charging speed is increased, the charging efficiency is increased, the intelligence is improved, the autonomous recharging is realized, the automatic charging alignment is realized, and the user experience is improved.

The embodiment of the disclosure also provides a foot type robot. Fig. 8 is a block diagram of a legged robot in accordance with an embodiment of the present disclosure.

As shown in fig. 8, the legged robot 80 includes a camera 81, a position detection assembly 82, and a controller 83. Wherein,

a camera 81 for acquiring an environment image;

a position detection component 82, configured to perform position detection on the charging device;

and the controller 83 is configured to identify the environment image to obtain a position of the charging device, control the legged robot to move within a preset range of the charging device according to the position of the charging device, and adjust the position of the legged robot according to a position detection result so that a charging area of the legged robot matches the charging device.

In one embodiment of the present disclosure, the position detection component 82 includes a time-of-flight based TOF laser ranging sensor array including a plurality of TOF laser ranging sensors.

In an embodiment of the present disclosure, the TOF laser ranging sensor array is used for detecting a charging device to be matched in a preset direction to obtain shape information and height information of the charging device to be matched, wherein the controller 83 is further configured to use the position of the charging device to be matched as the position of the charging device when the shape information and the height information of the charging device to be matched are matched with the shape information and the height information of the charging device.

In an embodiment of the present disclosure, the controller 83 is further configured to control the legged robot to move in a preset direction to continue to match the charging device when the shape information and the height information of the charging device to be matched do not match the shape information and the height information of the charging device.

In an embodiment of the present disclosure, the controller 83 is configured to obtain a position of the charging device, obtain a position difference between the charging device and the charging area in a vertical direction, and perform position adjustment on the legged robot according to the position difference so that the charging area of the legged robot matches the charging device.

In one embodiment of the present disclosure, the charging area and the charging device are a wireless charging area and a wireless charging device.

In one embodiment of the present disclosure, the legged robot includes: a head and a torso body connected to the head; a plurality of leg assemblies connected to the torso body; a plurality of components disposed within the torso body, the components including an image acquisition component, a position detection component; and a controller disposed within the torso body, the controller coupled to the plurality of components and the charging area.

In one embodiment of the present disclosure, the legged robot further comprises: a clamping assembly, wherein the clamping assembly is used for clamping when a charging area of the foot robot is matched with the charging device.

Fig. 9 is a block diagram of a legged robot in accordance with an embodiment of the present disclosure.

As shown in fig. 9, the foot robot 200 includes: a memory 210 and a processor 220, and a bus 230 connecting the various components, including the memory 210 and the processor 220.

Wherein, the memory 210 is used for storing the executable instructions of the processor 220; the processor 201 is configured to call and execute the executable instructions stored in the memory 202 to implement the legged robot charging control method proposed by the above-mentioned embodiments of the present disclosure.

Bus 230 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

The legged robot 200 typically includes a variety of legged robot readable media. These media may be any available media that can be accessed by the legged robot 200 and include both volatile and nonvolatile media, removable and non-removable media.

Memory 210 may also include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)240 and/or cache memory 250. The legged robot 200 may further include other removable/non-removable, volatile/non-volatile computer system storage media. By way of example only, storage system 260 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7 and commonly referred to as a "hard drive"). Although not shown in FIG. 9, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 230 by one or more data media interfaces. Memory 210 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the disclosure.

A program/utility 280 having a set (at least one) of program modules 270, including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination thereof may comprise an implementation of a network environment, may be stored in, for example, the memory 210. The program modules 270 generally perform the functions and/or methodologies of the embodiments described in this disclosure.

The legged robot 200 may also communicate with one or more external devices 290 (e.g., keyboard, pointing device, display 291, etc.), with one or more devices that enable a user to interact with the legged robot 200, and/or with any devices (e.g., network card, modem, etc.) that enable the legged robot 200 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 292. Also, the legged robot 200 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 293. As shown, the network adapter 293 communicates with the other modules of the legged robot 200 via the bus 230. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the legged robot 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processor 220 executes various functional applications and data processing by executing programs stored in the memory 210.

It should be noted that, for the implementation process of the legged robot according to the embodiment of the present disclosure, reference is made to the foregoing explanation of data processing according to the embodiment of the present disclosure, and details are not described here.

The foot robot of the embodiment of the disclosure realizes the accurate matching of the charging area of the foot robot and the charging device when the processor calls and executes the executable instruction stored in the memory, so as to charge the foot robot, improve the charging speed, simultaneously improve the charging efficiency, further improve the intellectualization, realize the autonomous recharging, realize the automatic charging alignment and improve the user experience.

In order to achieve the above embodiments, the embodiments of the present disclosure also propose a non-transitory computer readable storage medium, where instructions executed by a processor of a legged robot enable the legged robot to execute the legged robot charging control method as described above.

In order to achieve the above embodiments, the embodiments of the present disclosure further provide a computer program product, which, when executed by a processor of a legged robot, enables the legged robot to execute the legged robot charging control method as described above.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for controlling charging of a legged robot, comprising:

acquiring an environment image;

identifying the environment image to acquire the position of a charging device;

and detecting the position of the charging device through a position detection assembly, and adjusting the position of the foot type robot according to the position detection result so as to enable the charging area of the foot type robot to be matched with the charging device.

2. The method of claim 1, wherein the position detection component comprises a time-of-flight based TOF laser ranging sensor array comprising a plurality of TOF laser ranging sensors.

3. The method of claim 2, wherein the detecting the position of the charging device by a position detection component comprises:

detecting a charging device to be matched in a preset direction through the TOF laser ranging sensor array to obtain shape information and height information of the charging device to be matched;

judging whether the shape information and the height information of the charging device to be matched are matched with the shape information and the height information of the charging device;

and if the position of the charging device to be matched is matched with the position of the charging device, taking the position of the charging device to be matched as the position of the charging device.

4. The method of claim 3, further comprising:

and if not, controlling the foot type robot to move in a preset horizontal direction to continuously match the charging device.

5. The method of any one of claims 1-4, wherein the adjusting the position of the legged robot based on the position detection to match a charging area of the legged robot to the charging device comprises:

acquiring the position of the charging device;

acquiring a position difference between the charging device and the charging area in a vertical direction;

and adjusting the position of the foot type robot according to the position difference so as to enable the charging area of the foot type robot to be matched with the charging device.

6. The method of claim 1, wherein the charging area and the charging device are a wireless charging area and a wireless charging device.

7. The method of claim 3, further comprising:

and when the shape information and the height information of the charging device to be matched are matched with the shape information and the height information of the charging device, carrying out posture adjustment on the foot type robot so as to charge the charging area and the charging device.

8. The method of claim 7, wherein the legged robot includes a leg assembly, wherein the leg assembly comprises: the first leg part, the second leg part and the motor;

wherein the posture adjustment of the legged robot includes: the motor controls at least one of a first included angle between the first leg part and the second leg part and a second included angle between the first leg part and the body of the foot type robot.

9. A foot-type robot is characterized in that,

the camera is used for acquiring an environment image;

10. The legged robot of claim 9, wherein the position detection component includes a time-of-flight based TOF laser ranging sensor array including a plurality of TOF laser ranging sensors.

11. The legged robot according to claim 10, wherein the TOF laser ranging sensor array detects a charging device to be matched in a preset direction to obtain shape information and height information of the charging device to be matched, and the controller is further configured to use a position of the charging device to be matched as the position of the charging device when the shape information and the height information of the charging device to be matched match with the shape information and the height information of the charging device.

12. The legged robot according to claim 11, wherein the controller is further adapted to control the legged robot to move in a preset direction to continue to match the charging device when shape information and height information of the charging device to be matched do not match the shape information and the height information of the charging device.

13. The foot robot according to claim 9, wherein the controller is configured to acquire a position of the charging device, acquire a position difference in a vertical direction between the charging device and the charging area, and perform position adjustment of the foot robot according to the position difference so that the charging area of the foot robot matches the charging device.

14. The legged robot according to claim 9, wherein the charging area and the charging device are a wireless charging area and a wireless charging device.

15. The legged-type robot according to claim 9, comprising:

a head and a torso body connected to the head;

a plurality of leg assemblies connected to the torso body;

a plurality of components disposed within the torso body, the components including an image acquisition component, a position detection component; and

a controller disposed within the torso body, the controller coupled to the plurality of components and the charging area.

16. The legged robot according to claim 9, further comprising: a clamping assembly, wherein the clamping assembly is configured to clamp when a charging area of the legged robot is mated with the charging device.

17. A legged robot, comprising:

a processor;

a memory for storing the processor-executable instructions;

wherein the processor is configured to execute the instructions to implement the legged robot charging control method of any of claims 1-8.

18. A non-transitory computer-readable storage medium, wherein instructions in the storage medium, when executed by a processor of a legged robot, enable the legged robot to perform the legged robot charging control method of any of claims 1-8.