CN115237133A

CN115237133A - Robot autonomous recharging method, autonomous navigation system and robot

Info

Publication number: CN115237133A
Application number: CN202210895513.8A
Authority: CN
Inventors: 冯磊; 王库; 鲁孝存; 姚立波; 冯文澜
Original assignee: Liuyang Xinhua Power Co ltd; Suirui Technology Group Co Ltd
Current assignee: Liuyang Xinhua Power Co ltd; Suirui Technology Group Co Ltd
Priority date: 2022-07-26
Filing date: 2022-07-26
Publication date: 2022-10-25

Abstract

The invention relates to an autonomous robot recharging method, an autonomous navigation system and a robot. The method comprises the following steps: determining a first recharging path according to the current pose and the preset pose of the robot, and sending a first moving instruction; the first recharging path is a tracking path for adjusting the current pose of the robot to a preset pose; the first moving instruction is used for guiding the robot to move along the first recharging path; updating the current pose in response to the completion of the execution of the first moving instruction; if the pose deviation between the current pose and the preset pose meets the preset condition, a second movement instruction is sent out; the second moving instruction is used for guiding the robot to maintain the current posture and move to the charging position along the second recharging path; the second recharging path is a linear path for the robot to move from the preset pose to the charging position. The technical scheme disclosed by the invention can avoid the position deviation caused by the balance wheel in the charging butt joint process, and improve the success rate of charging butt joint.

Description

Robot autonomous recharging method, autonomous navigation system and robot

Technical Field

The application relates to the technical field of robot control, in particular to an autonomous recharging method for a robot, an autonomous navigation system and the robot.

Background

The intelligent inspection robot is often applied to the environment such as an unattended transformer substation, a power plant, an open factory building and the like, and is used for autonomously completing inspection of equipment and collection and patrol of the environment. The autonomy is the basis for the intelligent inspection robot to carry out inspection, and the automatic recharging design of the robot has a key significance for realizing the autonomy of the robot.

The robot is navigated to a preset position according to position information of a charging pile, and then inverted tail end posture adjustment is carried out by utilizing an identification code arranged above the preset position based on a beacon positioning technology in image processing so as to enable a conducting plate of the charging device to be in contact with a conducting plate of the charging pile, and charging is achieved.

The above scheme has the following problems:

1. the beacon and the depth camera are required to be on the same horizontal plane when the beacon positioning technology is used for positioning, the operation of beacon positioning is complex, and the positioning cost is high;

2. the posture adjustment process involves a robot balance wheel and influences the position of the robot, so that the scheme is easy to generate position deviation in the process of adjusting the posture of the backward tail end to influence the success rate of charging butt joint.

Disclosure of Invention

In order to overcome the problems in the related art, the invention provides an autonomous robot recharging method, an autonomous navigation system and a robot, which can effectively reduce the position deviation caused by a balance wheel of the robot, realize more accurate charging butt joint, improve the success rate of recharging and charging and reduce the calculated amount in the posture adjustment process.

The invention provides a robot autonomous recharging method in a first aspect, which comprises the following steps:

determining a first recharging path according to the current pose and the preset pose of the robot, and sending a first moving instruction; the first recharging path is a tracking path of the robot adjusted from a current pose to a preset pose; the first movement instructions are for directing the robot to move along the first recharge path;

updating the current pose in response to completion of execution of the first movement instruction;

if the pose deviation between the current pose and the preset pose meets a preset condition, a second moving instruction is sent out; the second movement instruction is used for guiding the robot to maintain the current posture and move to a charging position along a second recharging path; the second recharging path is a straight path of the robot moving from the preset pose to the charging position.

In some embodiments of the invention, the current pose comprises: the current position and the current posture of the robot at the current position;

the preset pose comprises: the robot control system comprises a first preset position and a preset gesture of the robot reaching the first preset position;

the first preset position and the charging position are staggered by a preset distance;

the preset posture is consistent with the charging posture when the robot reaches the charging position.

In some embodiments of the present invention, after the issuing of the second movement instruction, the method further includes:

determining a current charging state of the robot in response to completion of the second movement instruction;

if the current charging state is charging failure, a third moving instruction is sent out; the third movement instruction is used for guiding the robot to maintain the current posture and move to a second preset position;

and responding to the completion of the execution of the third moving instruction, updating the current pose, returning to execute the steps of determining a first recharging path according to the current pose and the preset pose of the robot and sending the first moving instruction until the current charging state is determined to be successful in charging.

In some embodiments of the invention, after determining the current charging state of the robot, further comprising:

and if the current charging state is successful, updating the current pose and updating the preset pose according to the current pose.

In some embodiments of the present invention, the updating the preset pose according to the current pose includes:

updating the charging location with a current location;

determining an updated first preset position based on the updated charging position and the preset distance;

and updating the charging posture according to the current posture to obtain an updated preset posture.

In some embodiments of the invention, the updating the current pose comprises:

acquiring current laser radar data and current inertial sensor data of the robot;

obtaining a real-time positioning pose through a self-adaptive Monte Carlo algorithm based on current laser radar data, current inertial sensor data and map information;

and taking the real-time positioning pose as the updated current pose.

In some embodiments of the present invention, before determining the first recharging path according to the current pose and the preset pose of the robot, the method further includes:

and responding to the environmental depth information sensed by the robot, and constructing map features according to the current pose of the robot and the environmental depth information to obtain the map information.

In some embodiments of the invention, the map features comprise: a charging post; the environment depth information includes: relative depth information of the charging post relative to the robot;

before determining the first recharging path according to the current pose and the preset pose of the robot, the method further comprises the following steps:

determining the pose of the charging post according to the current pose of the robot and the relative depth information;

and determining the charging position and the preset pose according to the pose of the charging post.

In some embodiments of the invention, the pose deviation comprises: a positional deviation; the positional deviation includes: an abscissa deviation and an ordinate deviation; the abscissa deviation is an absolute value of a difference between an abscissa corresponding to the current position and an abscissa corresponding to the first preset position; the vertical coordinate deviation is an absolute value of a difference between a vertical coordinate corresponding to the current position and a vertical coordinate corresponding to the first preset position;

the preset conditions include: the abscissa deviation is less than the abscissa deviation threshold and the ordinate deviation is less than the ordinate deviation threshold.

In some embodiments of the present invention, the pose deviation further comprises: deviation of attitude; the attitude deviation is an angle difference between a current azimuth of the robot and a current azimuth of a charging column;

the preset conditions further include: the attitude deviation is less than an angular deviation threshold.

A second aspect of the present invention provides an autonomous navigation system, comprising: the navigation operation unit, the navigation positioning unit and the information transceiving unit; wherein the content of the first and second substances,

the navigation positioning unit is used for acquiring the current pose of the robot;

the navigation arithmetic unit is used for executing the following steps:

determining a first recharging path according to the current pose and the preset pose of the robot, and controlling the information receiving and transmitting unit to send out a first moving instruction; the first recharging path is a tracking path of the robot adjusted from a current pose to a preset pose; the first movement instructions are to direct the robot to move along the first recharge path;

in response to the completion of the execution of the first movement instruction, controlling the navigation positioning unit to acquire the current pose of the robot so as to update the current pose;

when the pose deviation between the current pose and the preset pose meets a preset condition, controlling the information receiving and transmitting unit to send out a second moving instruction; wherein the second movement instruction is used for instructing the robot to maintain a current posture and move to a charging position along a second recharging path; the second recharging path is a straight path of the robot moving from the preset pose to the charging position.

A third aspect of the present application provides a robot comprising: a motor control system and an autonomous navigation system according to the embodiments provided in the foregoing second aspect;

and the motor control system is used for responding to a movement instruction sent by the autonomous navigation system and controlling the robot to move.

The technical scheme provided by the embodiment of the invention has the following beneficial effects:

some embodiments provided by the invention disclose an autonomous robot recharging method, which plans a first recharging path based on the current pose and the preset pose of a robot, and makes the robot respond to a first moving instruction to move along the first recharging path, and because the pose adjustment of the robot is taken into consideration in the path design in the planning process of the first recharging path, the robot can complete the pose adjustment in advance (namely, the current pose is adjusted to the preset pose) on the preset position, and when the pose deviation is determined to meet the preset condition, the robot keeps the current pose (namely, the robot does not balance wheel) to linearly move along a second recharging path (namely, a linear path from the preset position to the charging position) to complete the charging and docking; according to the scheme, the posture adjustment can be realized through path design and pose positioning, and compared with image identification technologies such as beacon positioning, the method has the advantages of less operation workload and lower positioning cost.

According to the robot autonomous recharging method disclosed by other embodiments of the invention, the robot and the charging post can be separated from each other through the third moving instruction when the secondary pose of the robot is adjusted, so that the charging structural member and the charging electrode of the robot cannot interfere with each other when the secondary pose of the robot is adjusted, hardware abrasion caused by collision of the charging structural member and the charging electrode is avoided, and the safety of the robot autonomous recharging process is ensured.

According to the robot autonomous recharging method disclosed by other embodiments of the invention, the preset pose can be updated according to the pose of the robot in the successful charging state, so that a more accurate planning basis is provided for planning the first recharging path of the next autonomous recharging of the robot, the accuracy of the first recharging path of the robot is improved, and the success rate of recharging and docking is further improved.

The other embodiments provided by the invention can also adjust the preset pose adaptively according to the special condition that the charging structural part or the charging electrode slightly deforms due to slight collision when the robot is in butt joint with the charging post, so that the next autonomous recharging of the robot can be prevented from being influenced by the slight deformation, and the robot is ensured to be successfully in butt joint with the charging post.

In some embodiments provided by the invention, the robot is positioned in real time by using the related data of the laser radar and the inertial sensor, and the problem of overhigh operation cost of an image positioning technology is solved.

Drawings

The above and other objects, features and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. In the accompanying drawings, several embodiments of the present invention are illustrated by way of example and not by way of limitation, and like reference numerals designate like or corresponding parts throughout the several views, in which:

FIG. 1 is a flow diagram illustrating a method of autonomous robot refill in accordance with some embodiments of the invention;

fig. 2 is a flowchart illustrating a method of acquiring a current pose of a robot according to some embodiments of the present invention;

FIG. 3 is a block diagram illustrating the architecture of an autonomous navigation system according to some embodiments of the invention;

FIG. 4 is a block diagram illustrating an electronic device according to some embodiments of the invention.

Detailed Description

Embodiments will now be described with reference to the accompanying drawings. It will be appreciated that for simplicity and clarity of illustration, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or analogous elements. In addition, this application sets forth numerous specific details in order to provide a thorough understanding of the embodiments described herein. However, it will be understood by those of ordinary skill in the art that the embodiments described herein may be practiced without these specific details. In other instances, well-known methods, procedures, and components have not been described in detail so as not to obscure the embodiments described herein. Moreover, this description is not to be taken as limiting the scope of the embodiments described herein. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be understood that the terms "first," "second," "third," and "fourth," etc. in the claims, description, and drawings of the present invention are used for distinguishing between different objects and not for describing a particular order. The terms "comprises" and "comprising," when used in the specification and claims of this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification and claims of this application, the singular form of "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be further understood that the term "and/or" as used in the specification and claims of this specification refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.

As used in this specification and claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection".

The following detailed description of embodiments of the invention refers to the accompanying drawings.

The prior art discloses an automatic robot recharging scheme, which utilizes an identification code arranged above a preset position to adjust the posture of the tail end of a robot in a reverse running mode through a beacon positioning technology so that a conducting plate of a charging device can be in butt joint with a conducting plate of a charging pile for charging.

In view of the above-mentioned problems occurring in the related art, an embodiment of the present invention provides a robot autonomous refill method.

Fig. 1 illustrates a flow diagram of a robotic autonomous refill method according to some embodiments of the invention. As shown in fig. 1, the robot autonomous refill method may include:

in step 101, a first recharge path is determined according to the current pose and the preset pose of the robot, and a first movement instruction is issued. The first recharging path is a tracking path of the robot adjusted from a current pose to a preset pose; the first movement instructions are for directing the robot to move along the first recharge path.

In some embodiments of the invention, the current pose comprises: the current position and the current posture of the robot at the current position; the preset pose comprises: the robot control system comprises a first preset position and a preset posture when the robot reaches the first preset position. It can be understood that the first recharging path takes the current position of the robot as a path starting point and a first preset position as a path ending point, when the robot is located at the path starting point, the posture of the robot is in the current posture, and in the process of driving along the first recharging path, the robot synchronously performs posture adjustment until the robot reaches the first preset position and is in the preset posture.

In step 102, the current pose is updated in response to completion of the first move instruction execution.

In the embodiment of the invention, in response to the positioning information generated when the robot reaches the first recharging path terminal, an updating instruction is generated to instruct the robot to execute the action of updating the current pose.

In step 103, if the pose deviation between the current pose and the preset pose satisfies the preset condition, a second movement instruction is issued. Wherein the second movement instruction is used for instructing the robot to maintain the current posture and move to a charging position along a second recharging path; the second recharging path is a straight path of the robot moving from the preset pose to the charging position.

In the embodiment of the invention, the robot maintains the current posture when executing the second movement instruction, based on this, the preset posture when the robot reaches the first preset position is consistent with the charging posture when the robot reaches the charging position, that is, the posture of the robot is already adjusted to the charging posture when the robot is at the first preset position, and the robot moves to the charging position along the second recharging path in a substantially straight-line movement process without a balance wheel, so that the charging and docking process can avoid the robot balance wheel from causing position deviation, and further more accurately dock, and improve the success rate of recharging and charging.

It should be noted that, in the linear movement process of the robot moving from the preset pose to the charging position, the left wheel orientation and the right wheel orientation of the robot are kept parallel, and neither the left wheel orientation nor the right wheel orientation of the robot changes during the movement process, and the movement posture of the robot includes but is not limited to: a forward or reverse stance. For example, if the charging position on the robot is located on the side of the body of the robot, the robot may move from the first preset position to the charging position so as to move horizontally, and perform charging docking.

In some embodiments of the present invention, the first preset position may be preset to be staggered from the charging position by a preset distance, and the preset distance is used for indicating a distance that the robot needs to move when the robot executes the second movement instruction.

In some embodiments of the invention, since the robot inevitably generates errors in the process of moving along the path, after the robot completes the movement along the first recharging path, a certain offset exists between the end position and the path end position, and therefore, before a second movement instruction is sent out to instruct the robot to maintain the current posture for moving and docking, the errors between the current posture and the preset posture of the robot can be detected.

In some embodiments of the invention, the pose deviation comprises: a positional deviation; the positional deviation includes: an abscissa deviation and an ordinate deviation; the abscissa deviation is an absolute value of a difference between an abscissa corresponding to the current position and an abscissa corresponding to the first preset position; the vertical coordinate deviation is an absolute value of a difference between a vertical coordinate corresponding to the current position and a vertical coordinate corresponding to the first preset position.

The preset conditions in step 103 may include: the abscissa deviation is less than the abscissa deviation threshold and the ordinate deviation is less than the ordinate deviation threshold. That is, when the execution of the first movement command is completed, and the position deviation of the robot meets the preset condition, it may be considered that the position deviation of the robot in the movement process along the first recharging path is within an acceptable range, and it is regarded that the robot has reached the first preset position, and the next charging docking may be performed.

Further, in some embodiments of the present invention, the pose deviation may further include: deviation of attitude; the attitude deviation is an angular difference between a current azimuth of the robot and a current azimuth of the charging column. The preset conditions in step 103 may further include: the attitude deviation is less than an angular deviation threshold. When the first moving instruction is executed, the attitude deviation of the robot meets the preset condition, and the attitude of the robot at the first recharging path end point can be considered to meet the preset attitude, namely the current attitude of the robot is adjusted to be the charging attitude, and the next charging butt joint can be executed.

In some embodiments of the present invention, after step 102, the method for autonomous robot refill may further include: and if the pose deviation between the current pose and the preset pose does not meet the preset condition, returning to the step of determining a first recharging path according to the current pose and the preset pose of the robot and sending a first moving instruction until the pose deviation between the current pose and the preset pose does not meet the preset condition.

The above process can be understood as that, if the robot fails to reach the preset position or fails to be adjusted to the preset posture after moving along the first recharging path, the first recharging path is planned again according to the current posture and the preset posture, and the position and posture adjustment is performed again until the preset posture is adjusted.

Illustratively, the robot autonomous recharge process is described in conjunction with coordinates:

representing the current pose of the robot by (x, y, theta); wherein x and y respectively represent the abscissa and the ordinate of the current position; and theta is the azimuth angle of the robot and is used for representing the current posture of the robot. Assuming that the charging position is taken as a starting point, and the charging pose corresponding coordinate is cz (0,0,0), the preset pose corresponding coordinate may be set to cd (0.5,0,0), it should be noted that cd (0.5,0,0) indicates that the first preset position and the charging position are staggered by 0.5m only in the x-axis direction, and the azimuth angle of the robot in the first preset position and the charging position is consistent, that is, the preset posture is consistent with the charging posture, in some embodiments of the present invention, the first preset position and the charging position may also be staggered only in the y-axis direction, for example, the coordinate corresponding to the preset pose may be set to cd (0,0.5,0); it should be noted that, the offset distance between the first preset position and the charging position is not exclusive, that is, the preset distance may be a value other than 0.5m, for example, 0.2m or 0.3m, and is not limited herein.

Determining a first recharging path according to the current pose (x, y, theta) of the robot and a preset pose cd (0.5,0,0), and sending a first moving instruction, where the first moving instruction may include the first recharging path to guide the robot to gradually adjust the azimuth angle theta to 0 in the process of moving to a coordinate (0.5,0) along the first recharging path, so that the pose of the robot at the coordinate (0.5,0) is consistent with the preset pose, that is, the pose is consistent with the charging pose.

When the first moving instruction is executed, the robot completes a moving task corresponding to the first recharging path, the current pose of the robot is updated to (x 1, y1, θ 1), and in an ideal state, the updated current pose (x 1, y1, θ 1) should be consistent with the preset pose cd (0.5,0,0), but in view of an actual path following process, a motor is difficult to realize driving with precision of one hundred percent, so that a certain deviation range can be set, such as:

if Distance1 is less than or equal to threshold1 and Distance2 is less than or equal to threshold2, the robot is determined to reach the first preset position.

And if delta theta is less than or equal to threshold3, the robot is determined to be adjusted to the preset posture.

Wherein Distance1= | x1-0.5|; distance2= | y1-0|; Δ θ = | θ 1-0|.

It should be noted that the values of threshold1, threshold2, and threshold3 are preset parameters that can be actually adjusted, for example, it can be preset that threshold1 is 0.01, threshold2 is 0.01, and threshold3 is 1.

When it is determined that the robot has reached the first preset position and is adjusted to the preset posture, a second movement instruction is sent to control the robot to maintain the current posture to move, the movement distance is the preset distance, so that the robot is in butt joint with the charging post, wherein the second movement instruction may include a robot wheel rotation direction, such as clockwise rotation or counterclockwise rotation, and may also include a movement distance.

In some embodiments of the present invention, since the precision of the sensor used is high enough, for example, the high-precision inertial measurement unit IMU instrument can accurately control the azimuth angle of the robot, in step 103, only the position deviation in the attitude deviation can be determined, that is, if Distance1 is less than or equal to threshold1 and Distance2 is less than or equal to threshold2, it is determined that the robot has reached the preset position, and at this time, a second movement instruction is issued to instruct the robot to maintain the current attitude and move to the charging position to complete the docking.

When the first moving instruction is completed, but the robot cannot reach the first preset position, or the robot cannot be adjusted to the preset posture, the first recharging path needs to be re-planned by taking (x 1, y1, theta 1) as the path starting point and (0.5,0,0) as the path end point, and the first moving instruction is continuously sent out to control the robot to move along the re-planned first recharging path until the robot is adjusted to the preset posture.

According to the robot autonomous recharging method, the posture adjustment of the robot is taken into the consideration range of the path design in the planning process of the first recharging path, so that the posture adjustment of the robot can be completed at the first preset position in front of the charging position, and the robot can be butted without linearly moving from the first preset position to the charging position in a manner of swinging, the position deviation caused by the swinging of the robot is effectively reduced, and the success rate of butting is improved.

In an embodiment of the present invention, after the robot is docked with the charging post, the charging state of the robot may be detected to ensure that the robot is successfully charged, and an adjustment is made in time when the charging fails, specifically, in the autonomous robot recharging method, step 103 may further include:

in step 104, in response to the second movement instruction being completed, the current charging status of the robot is determined. In the embodiment of the present invention, the charging status may be divided into successful charging and failed charging.

Furthermore, the charging state of the robot in a period of time can be continuously monitored, according to the change condition of the charging state of the robot in the period of time, the charging state can be further refined into continuous charging, intermittent charging and charging failure, different adjustment strategies are adopted according to different charging states, for example, according to the condition of intermittent charging, the fact that a charging structural part of the robot and a charging electrode of a charging post can be in mutual contact is explained, namely the robot is connected with the charging post, and a processing measure for restarting the charging post can be adopted firstly to eliminate the problem of power supply stability of the charging post.

In step 105, if the current charging status is charging failure, a third moving instruction is issued. Wherein the third movement instruction is used for guiding the robot to maintain the current posture and move to a second preset position.

It can be understood that the current charging state is a charging failure, which indicates that the robot is not connected to the charging post, and specifically, the charging electrode in the charging post is not in contact with the charging structural member of the robot, so that the pose of the robot needs to be adjusted again to make the charging electrode contact with the charging structural member.

It should be noted that the second preset position is set to separate the robot and the charging post from each other and control a certain distance between the robot and the charging post, so as to avoid hardware wear caused by interference between the robot and the charging post when the balance wheel of the subsequent robot moves.

In this case, the second preset position may be arranged in front of the charging position and offset from the charging position by a certain distance. In an embodiment of the present invention, the second preset position may be offset from the charging position by a distance equal to the offset distance of the first preset position from the charging position. In another embodiment of the present invention, the offset distance between the second preset position and the charging position may also be set to a minimum distance that can avoid interference with the charging post when the robot swings. It is understood that the offset distance between the second preset position and the charging position may be set to other preset fixed values. The offset distance between the second predetermined position and the charging position is not limited uniquely.

In step 106, in response to the completion of the execution of the third moving instruction, the current pose is updated, then, the steps of determining a first recharging path according to the current pose and the preset pose of the robot and sending the first moving instruction are returned to be executed until the current charging state is determined to be successful in charging. At this time, the current pose updated by the robot may be regarded as a second preset position and a pose of the robot when the robot is located at the second preset position.

The robot autonomous recharging method is exemplified by the following coordinates:

in the embodiment of the present invention, the staggered distance between the second preset position and the charging position may also be set as a minimum distance that can avoid interference with the charging column when the robot swings, and taking a value of 0.1m as an example, it can be understood that the value is an actually adjustable preset parameter, and if the corresponding coordinate when the robot is located at the charging position is (0,0,0), the corresponding coordinate of the second preset position may be cm (0.1,0,0).

After the robot moves to the charging position based on the second movement instruction, determining that the current charging state of the robot is charging failure, controlling the robot to maintain the current posture to move for 0.1m, wherein the posture of the robot is (0.1,0,0), and because (0.1,0,0) and (0,0,0) are staggered by a certain distance, a charging structural part of the robot cannot collide with a charging electrode to generate abrasion when the robot performs steering movement at the second preset position.

The robot replans the first recharging path according to the second preset position and the posture located at the second preset position so as to move to the first preset position again and take the preset posture, and then the robot maintains the preset posture to move linearly to complete charging butt joint.

According to the robot autonomous recharging method provided by the embodiment, after the robot is determined to be located at the charging position and the charging fails, the robot and the charging column are separated from each other through the third moving instruction, so that the charging structural part of the robot and the charging electrode cannot interfere with each other when the secondary pose of the robot is adjusted, hardware abrasion caused by collision of the charging structural part and the charging electrode is avoided, and the safety of the robot autonomous recharging process is guaranteed.

In an embodiment of the present invention, after step 104, if it is determined that the current charging status is charging success, the electric quantity of the robot may be continuously monitored, and the charging may be stopped when the electric quantity is 100%.

In an embodiment of the present invention, after step 104, if the current charging state is a charging success state, step 107 may be further performed to update the preset pose, and since the updated preset pose is the pose acquired in the charging success state, the robot is guided to perform the next autonomous recharging process with the updated preset pose, so that the accuracy of the first recharging path of the robot can be improved, and the success rate of recharging, charging and docking can be further improved.

In step 107, if the current charging state is charging success, the current pose is updated, and the preset pose is updated according to the current pose.

In one embodiment of the present invention, step 107 may be embodied as follows: updating the charging position according to the current position; determining an updated first preset position based on the updated charging position and the preset distance; and updating the charging posture according to the current posture to obtain an updated preset posture.

The preset distance may continue to use the staggered distance between the original first preset position and the charging position, for example, 0.5m, or may use a new value, which is not limited herein.

Based on the updated charging position and the preset distance, the process of determining the updated first preset position is specifically as follows:

assuming that the updated charging position is (0.01,0.03,0), the preset distance is still 0.5m, and the original charging position and the first preset position are staggered by the preset distance in the x-axis direction, taking the y-axis coordinate of the updated charging position as the y-axis coordinate of the updated first preset position; and adding a preset distance on the basis of the updated x-axis coordinate of the charging position to obtain an updated x-axis coordinate of a first preset position, wherein if the azimuth angle of the robot is unchanged, the updated coordinate corresponding to the first preset position is (0.51,0.03,0).

In step 107, the updating action of the first preset position and the updating action of the preset posture may be executed successively or in parallel, and it is understood that the execution time sequence of the updating action of the first preset position and the updating action of the preset posture is not unique, and may be set according to actual requirements.

The robot autonomous recharging method provided by the embodiment of the invention can also adaptively adjust the charging pose by updating the preset pose according to the special condition that the charging structural member or the charging electrode is slightly deformed due to slight collision when the robot is in butt joint with the charging post, so as to ensure that the robot autonomous recharging can be successfully in butt joint at the next time.

Some embodiments of the present invention further disclose a method for acquiring the current pose of the robot, which is suitable for the step of updating the current pose mentioned in any of the foregoing and following embodiments. Fig. 2 illustrates a flow diagram of a method for acquiring a current pose of a robot according to some embodiments of the invention. As shown in fig. 2, the method for acquiring the current pose of the robot may include:

in step 201, current lidar data and current inertial sensor data of the robot are acquired. In the embodiment of the invention, the robot is provided with the laser radar and the inertial sensor, the laser radar transmits laser beams to continuously scan other obstacles in the environment, and receives reflected pulses reflected by the other obstacles to form laser radar data so as to determine the relative position information between the robot and the obstacles. The inertial sensor can comprise an odometer and an IMU instrument, and the coordinates of the robot in an odometer coordinate system can be determined according to data recorded in the inertial sensor.

In one embodiment of the present invention, a lidar capable of operating in a variety of ways, such as a pulsed lidar or a continuous wave lidar, although not limited thereto.

In step 202, a real-time positioning pose is obtained by an adaptive monte carlo algorithm based on current lidar data, current inertial sensor data, and map information. The map information includes positions and postures of map features other than the robot in the current environment, for example, obstacles existing in the current environment. The self-adaptive Monte Carlo algorithm tracks the pose of the robot on a known map through particle filtering, the robot positioning with higher confidence score is determined as the real-time positioning of the robot according to the distribution of the particles on the known map, and the specific parameter design of the self-adaptive Monte Carlo algorithm is not repeated here.

And (5) converting a coordinate system of the pose of the robot by combining the relative position information between the robot and the obstacle, which is obtained by the detection of the laser radar in the step 201, the coordinate of the robot in the odometer coordinate system and the position and the pose of the obstacle in the map information, so that the position of the robot in the world coordinate system can be obtained.

In step 203, the real-time positioning pose is taken as the updated current pose.

Alternatively, other positioning technologies may be used to perform the action of updating the current pose, for example, positioning technologies such as an ultrasonic navigation positioning technology, a visual navigation positioning technology, and a GPS positioning technology, which are not described herein one by one.

It can be understood that there are a plurality of robot positioning technologies suitable for the robot autonomous recharging method disclosed in any of the foregoing and following embodiments, and the method for acquiring the current pose of the robot based on the lidar positioning technology disclosed in the foregoing embodiment has the advantage of strong directivity, can effectively ensure the accuracy of robot navigation positioning, and is lower in positioning cost compared with an image recognition technology.

By utilizing the laser radar positioning technology, the working environment of the robot can be mapped. Based on this, an embodiment of the present invention further discloses a robot autonomous recharging method, which, before determining the first recharging path according to the current pose and the preset pose of the robot, further includes: and responding to the environmental depth information sensed by the robot, and constructing map features according to the current pose of the robot and the environmental depth information to obtain the map information.

In the embodiment of the invention, the environmental depth information comprises the relative depth distance between each scanning point on each obstacle and the robot in the current environment, taking one obstacle as an example, one frame of point cloud data of the obstacle is formed based on the relative depth information of each scanning point on the obstacle relative to the robot, and the three-dimensional data of the obstacle can be constructed by acquiring the multi-frame point cloud data of the obstacle through the robot at different poses, so as to obtain the position and the pose of the obstacle in the current environment. A plurality of obstacles in the current environment are constructed on the blank map by the method, namely the map features are constructed, and then the map information is obtained.

Optionally, the relative depth information of each obstacle and the robot may also be obtained by a binocular camera, that is, the map features may also be constructed by a visual navigation positioning technology to obtain map information, which is not described herein in detail.

In some embodiments of the invention, the map feature may include a charging post; the environment depth information includes: relative depth information of the charging post with respect to the robot. Based on the above, by any method for constructing a map feature, before the first recharging path is determined according to the current pose and the preset pose of the robot, the map feature of the charging post is constructed, and then the charging position and the preset pose are determined. The method specifically comprises the following steps: determining the pose of the charging post according to the current pose of the robot and the relative depth information; and determining the charging position and the preset pose according to the pose of the charging post.

The first preset position in the preset pose is determined according to the charging position and the preset distance, and the specific calculation method is described in the embodiment disclosed above, and is not described herein again. The preset gesture can be used for carrying out charging butt joint of the robot and the charging column according to gesture computer simulation of the charging column, and the gesture of the robot during butt joint is used as the preset gesture.

In some practical application scenarios, because the charging post has a small volume, or the charging post has too low height, and the laser radar has a certain scanning height, the situation that the relative depth information of the charging post cannot be obtained by scanning exists, in this situation, the robot and the charging post can be manually abutted when the charging position and the preset posture are determined for the first time, and the charging position and the preset posture are determined according to the current posture of the robot in a state that charging is successful.

It can be understood that, in the foregoing embodiments of the invention, a plurality of determination methods of preset poses are disclosed, and the robot autonomous recharging method disclosed by the invention can be used only by using one or more combinations of the determination methods of the plurality of preset poses, and can be specifically adjusted according to actual situations.

In one embodiment of the present invention, an autonomous navigation system is also disclosed. FIG. 3 is a block diagram illustrating the architecture of an autonomous navigation system according to some embodiments of the invention. As described below with reference to fig. 3, an autonomous navigation system disclosed in an embodiment of the present invention may include: a navigation operation unit 301, a navigation positioning unit 302 and an information transmitting/receiving unit 303;

the navigation positioning unit 302 is configured to acquire a current pose of the robot;

the navigation operation unit 301 is configured to perform the following steps:

determining a first recharging path according to the current pose and the preset pose of the robot, and controlling the information transceiving unit 303 to send out a first moving instruction; the first recharging path is a tracking path for adjusting the current pose of the robot to a preset pose; the first movement instructions are for directing the robot to move along the first recharge path;

in response to the completion of the execution of the first movement instruction, controlling the navigation positioning unit 302 to execute acquiring the current pose of the robot to update the current pose;

when the pose deviation between the current pose and the preset pose meets a preset condition, controlling the information transceiving unit 303 to send out a second movement instruction; wherein the second movement instruction is used for instructing the robot to maintain a current posture and move to a charging position along a second recharging path; the second recharging path is a straight path of the robot moving from the preset pose to the charging position.

In an embodiment of the present invention, the navigation positioning unit 302 may include: the particle filter module is used for constructing map information according to laser radar data acquired by the laser radar module and inertial sensor data acquired by the inertial sensor module; the positioning module is used for calculating the current pose of the robot by using a self-adaptive Monte Carlo algorithm according to the laser radar data acquired by the laser radar module, the inertial sensor data acquired by the inertial sensor module and the map information constructed by the particle filter module.

Further, based on the above, the present invention also discloses a robot, comprising: a motor control system and an autonomous navigation system as disclosed hereinbefore;

the motor control system is used for responding to a movement instruction sent by the autonomous navigation system and controlling the robot to move;

the autonomous navigation system is configured to perform the steps of:

if the pose deviation between the current pose and the preset pose meets a preset condition, a second movement instruction is sent out; the second movement instruction is used for guiding the robot to maintain the current posture and move to a charging position along a second recharging path; the second recharging path is a straight path of the robot moving from the preset pose to the charging position.

The robot disclosed by the embodiment of the invention can plan the first recharging path based on the current pose and the preset pose of the robot and respond to the first moving instruction to move along the first recharging path.

Further, based on the above, the present invention also discloses an electronic device, and fig. 4 is a block diagram illustrating the structure of the electronic device according to some embodiments of the present invention.

Referring to fig. 4, the electronic device 400 includes a memory 401 and a processor 402.

The Processor 402 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 401 may include various types of storage units, such as a system memory, a Read Only Memory (ROM), and a permanent storage device. Wherein the ROM may store static data or instructions that are required by the processor 402 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. Further, the memory 401 may comprise any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, may also be employed. In some embodiments, memory 401 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, dual layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., SD card, min SD card, micro-SD card, etc.), a magnetic floppy disk, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.

The memory 401 has stored thereon executable code which, when processed by the processor 402, may cause the processor 402 to perform some or all of the methods described above.

The electronic device or apparatus of the present invention can also be applied to the fields of the internet, the internet of things, data centers, energy, transportation, public management, manufacturing, education, power grids, telecommunications, finance, retail, construction sites, medical care, and the like. Furthermore, the electronic equipment or the device can also be used in application scenes such as a cloud end, an edge end and a terminal which are related to artificial intelligence, big data and/or cloud computing. In one or more embodiments, an electronic device or apparatus with high computing power according to the present disclosure may be applied to a cloud device (e.g., a cloud server), and an electronic device or apparatus with low power consumption may be applied to a terminal device and/or an edge device (e.g., a smartphone or a camera). In one or more embodiments, the hardware information of the cloud device and the hardware information of the terminal device and/or the edge device are compatible with each other, so that appropriate hardware resources can be matched from the hardware resources of the cloud device to simulate the hardware resources of the terminal device and/or the edge device according to the hardware information of the terminal device and/or the edge device, and uniform management, scheduling and cooperative work of end-cloud integration or cloud-edge-end integration can be completed.

Based on the foregoing, the present invention also discloses a computer readable storage medium having stored therein program instructions adapted to be loaded and executed by a processor: determining a first recharging path according to the current pose and the preset pose of the robot, and sending a first moving instruction; the first recharging path is a tracking path for adjusting the current pose of the robot to a preset pose; the first movement instructions are for directing the robot to move along the first recharge path;

The computer readable storage medium may be any suitable magnetic or magneto-optical storage medium, such as Resistive Random Access Memory (RRAM), dynamic Random Access Memory (DRAM), static Random Access Memory (SRAM), enhanced Dynamic Random Access Memory (EDRAM), high-Bandwidth Memory (HBM), hybrid Memory Cubic (HMC), etc., or any other medium that can be used to store the desired information and that can be accessed by an application, module, or both. Any such computer storage media may be part of, or accessible or connectable to, a device. Any applications or modules described herein may be implemented using computer-readable/executable instructions that may be stored or otherwise maintained by such computer-readable media.

Although the embodiments of the present invention are described above, the descriptions are only examples for facilitating understanding of the present invention, and are not intended to limit the scope and application scenarios of the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

It should also be appreciated that any module, unit, component, server, computer, terminal, or device executing instructions exemplified herein may include or otherwise have access to a computer-readable medium, such as a storage medium, computer storage medium, or data storage device (removable) and/or non-removable), e.g., a magnetic disk, optical disk, or magnetic tape. Computer storage media may include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information, such as computer readable instructions, data structures, program modules or other data.

Claims

1. A robotic autonomous refill method, comprising:

2. The robot autonomous refill method according to claim 1,

the current pose includes: the current position, and the current posture of the robot at the current position;

3. The autonomous robot refilling method according to claim 2, further comprising, after the issuing of the second movement instruction:

4. The robot autonomous recharging method of claim 3, wherein after determining the current state of charge of the robot, further comprising:

5. The robotic autonomous refill method of claim 1, wherein the updating the current pose comprises:

and taking the real-time positioning pose as the updated current pose.

6. The autonomous robot backfill method according to claim 5, wherein before determining the first backfill path according to the current pose and the preset pose of the robot, further comprising:

7. The robot autonomous refill method according to claim 2,

the pose deviation includes: a positional deviation; the positional deviation includes: an abscissa deviation and an ordinate deviation; the abscissa deviation is an absolute value of a difference between an abscissa corresponding to the current position and an abscissa corresponding to the first preset position; the vertical coordinate deviation is an absolute value of a difference between a vertical coordinate corresponding to the current position and a vertical coordinate corresponding to the first preset position;

8. The robotic autonomous refill method of claim 7,

the pose deviation further includes: attitude deviation; the attitude deviation is an angle difference between a current azimuth of the robot and a current azimuth of a charging column;

9. An autonomous navigation system, comprising: the navigation operation unit, the navigation positioning unit and the information transceiving unit; wherein, the first and the second end of the pipe are connected with each other,

the navigation arithmetic unit is used for executing the following steps:

determining a first recharging path according to the current pose and the preset pose of the robot, and controlling the information transceiving unit to send out a first moving instruction; the first recharging path is a tracking path of the robot adjusted from a current pose to a preset pose; the first movement instructions are for directing the robot to move along the first recharge path;

when the pose deviation between the current pose and the preset pose meets a preset condition, controlling the information receiving and transmitting unit to send out a second moving instruction; wherein the second movement instruction is used for instructing the robot to maintain the current posture and move to a charging position along a second recharging path; the second recharging path is a straight path of the robot moving from the preset pose to the charging position.

10. A robot, comprising: a motor control system and the autonomous navigation system of claim 9;