CN115237134A - Robot charging alignment method and device, electronic equipment and storage medium - Google Patents
Robot charging alignment method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a robot charging alignment method, a robot charging alignment device, electronic equipment and a storage medium, wherein the method comprises the following steps: in the process of controlling the robot and the charging pile to carry out alignment connection based on alignment parameters, whether at least two magnetic detection elements arranged on the robot detect respective associated magnetic parts at the same time is judged in real time; determining an alignment error between the robot and the charging pile according to the judgment result; and adjusting the pose of the robot according to the alignment error, and controlling the robot to keep the adjusted pose to move towards the charging pile until a charging groove of the robot is contacted with a charging contact of the charging pile and starts to charge. According to the scheme, the alignment error between the robot and the charging pile is judged according to the fact that whether the magnetic detection element arranged on the robot can detect the magnetic part arranged on the charging pile at the same time, the pose of the robot is adjusted according to the alignment error, the robot is aligned with the charging pile, and therefore the effect of improving the accuracy of alignment connection between the robot and the charging pile is achieved.
Description
Technical Field
The present invention relates to the field of robotics, and in particular, to a robot charging alignment method and apparatus, an electronic device, and a storage medium.
Background
With the continuous development of science and technology, the intelligent mobile robot has replaced manpower to serve various industries, such as a floor sweeping robot, a meal delivery robot, a warehousing robot and the like, all move in a preset area. At present, various intelligent mobile robots provide electric energy through rechargeable batteries, and the mobile robots have an autonomous charging function, namely, when the residual electric quantity of the mobile robots reaches a certain threshold value, the mobile robots can return to a charging pile to perform autonomous charging.
However, in the prior art, when the mobile robot is controlled to return to the charging pile, there is sometimes an alignment error, which results in the fact that the charging interfaces of the robot and the charging stand cannot be aligned accurately.
Disclosure of Invention
The invention provides a robot charging alignment method and device, electronic equipment and a storage medium, and aims to improve the alignment connection accuracy of a robot and a charging pile.
According to an aspect of the present invention, there is provided a robot charging alignment method applied to a robot on which at least two magnetic detection elements are disposed, the method including:
in the process of controlling the robot and the charging pile to carry out alignment connection based on alignment parameters, whether the at least two magnetic detection elements detect the respective associated magnetic parts at the same time is judged in real time; the magnetic component is arranged on the charging pile;
determining an alignment error between the robot and the charging pile according to the judgment result;
and adjusting the pose of the robot according to the alignment error, and controlling the robot to keep the adjusted pose to move towards the charging pile until a charging groove of the robot is contacted with a charging contact of the charging pile and the charging is started.
According to another aspect of the present invention, there is provided a robot charging alignment apparatus configured to a robot on which at least two magnetism detection elements are provided, the apparatus including:
the magnetic judgment module is used for judging whether the at least two magnetic detection elements simultaneously detect the respective associated magnetic parts or not in real time in the process of controlling the robot and the charging pile to carry out alignment connection based on the alignment parameters; the magnetic component is arranged on the charging pile;
the error determining module is used for determining an alignment error between the robot and the charging pile according to a judgment result;
and the adjusting module is used for adjusting the pose of the robot according to the alignment error, controlling the robot to keep the adjusted pose to move towards the charging pile until a charging groove of the robot is contacted with a charging contact of the charging pile and starts to charge.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform a robot charging alignment method according to an embodiment of the present invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the robot charging alignment method according to the embodiment of the present invention when the computer instructions are executed.
In the technical scheme of the invention, considering that each visual sensor (such as a laser radar, an infrared sensor, a camera and the like) has a visual field and a measuring distance range, and a certain error is identified for some external reference objects, if the visual sensor is only used for controlling the robot and the charging pile to realize alignment, a certain alignment error exists, and in order to measure and eliminate the alignment error, at least two magnetic detection elements are installed on the robot, and corresponding magnetic parts are arranged on the charging pile, so that the alignment error between the robot and the charging pile is determined according to whether the magnetic detection elements arranged on the robot can simultaneously detect the magnetic parts arranged on the charging pile, and the quantized alignment error is obtained, the position of the robot is adjusted according to the alignment error, so that the alignment error is eliminated, the robot and the charging pile are aligned, and the effect of improving the accuracy of alignment connection between the robot and the charging pile is realized.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flowchart of a robot charging alignment method according to an embodiment of the present invention;
fig. 2a is a schematic flowchart of a robot charging alignment method according to a second embodiment of the present invention;
fig. 2b is a diagram of relative positions of the robot and the charging pile when performing alignment connection according to the alignment parameters according to the second embodiment of the invention;
fig. 3 is a schematic structural diagram of a robot charging alignment device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device implementing the robot charging alignment method according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Fig. 1 is a flowchart of a robot charging alignment method according to an embodiment of the present invention, where the method is applicable to a situation where a robot is aligned with a charging pile in a robot charging scenario and a pose of the robot is adjusted in time, where the method may be performed by a robot charging alignment device, the robot charging alignment device may be implemented in hardware and/or software, and the robot charging alignment device may be configured in an electronic device, such as a robot.
As shown in fig. 1, the method includes:
s101, in the process of controlling the robot and the charging pile to be aligned and connected based on the alignment parameters, whether the magnetic detection elements detect the respective associated magnetic parts at the same time or not is judged in real time.
This embodiment is used for controlling the robot to move to filling electric pile to charge. Wherein the robot moves in a specific area to perform tasks, such as a food delivery robot moving in a restaurant area, a warehouse robot moving in a warehouse area, and the like. The utility model discloses a robot, including robot, charging pile, service life, wherein, the activity area of robot is main work area, for guaranteeing the continuation of the journey of robot, need set up and fill electric pile, and conventional electric pile that fills is arranged near the house lead interface in the robot activity area usually, with house lead circuit intercommunication, fill electric pile moreover and can also according to specific operation requirement adjustment position, for example according to the charging device of the busy degree distribution different quantity of robot in the activity area.
In order to ensure accurate alignment connection between the robot and the charging pile, alignment parameters between the robot and the charging pile can be determined based on a visual positioning mode; for example, a laser radar, an infrared sensor, a binocular camera probe and the like arranged on the robot are used for scanning and identifying the charging pile, and then the alignment parameters between the robot and the charging pile are determined according to the scanning and identifying results; wherein, counterpoint parameter includes distance and angle between robot and the electric pile of filling at least. And then control the robot and fill electric pile according to the counterpoint parameter and carry out the counterpoint and be connected, specific counterpoint connection process as follows: the front of the robot is controlled to move to a preset position (for example, any specified position on a perpendicular bisector of a connecting line between two charging sockets of the charging pile) based on the alignment parameters, the robot is controlled to rotate 180 degrees in situ at the preset position, and then the robot is controlled to retreat until the alignment connection with the charging pile is completed.
For this type of alignment connection, there is a certain error in some external reference object identification due to the field of view and the measurement distance range of each sensor. Make and utilize visual positioning to realize that the robot also can have certain error with filling the counterpoint of electric pile and being connected, also be based on counterpoint parameter control robot and fill electric pile and carry out the counterpoint connection in-process, the robot with fill and appear the deviation between the electric pile. The scheme of the invention just considers the point that at least two magnetic detection elements are arranged on the robot, and the magnetic detection elements are optionally uniformly distributed at the accessories of the charging groove of the robot, namely the magnetic detection elements and the charging groove of the robot are positioned on the same plane; the magnetic detection element is illustratively a magnetic distance switch, which may be, for example, a magnetic reed switch. Meanwhile, at least two magnetic parts are arranged on the charging pile, the magnetic parts can be distributed near a charging socket of the charging pile, and the magnetic parts and the inlet of the charging socket of the charging pile are positioned on the same plane; the magnetic component may be a magnet, or may be other magnetic elements, and is not limited in particular. It should be noted that, when the robot is aligned with the charging pile, each magnetic detection element and the corresponding magnetic part are on the same straight line, and the straight line is parallel to the perpendicular bisector of the line between the two charging sockets of the charging pile.
On the basis, whether the at least two magnetic detection elements simultaneously detect the respective associated magnetic components is judged in real time from the moment when the robot starts to retreat; or, in the process of controlling the robot to retreat, if the distance between the robot and the charging pile is detected to be equal to the preset distance threshold value, the fact that whether the at least two magnetic detection elements detect the respective associated magnetic parts at the same time is judged in real time, and whether the robot has the alignment error in the process of performing alignment connection with the charging pile according to the alignment parameters can be determined.
And S102, determining the alignment error between the robot and the charging pile according to the judgment result.
In the embodiment of the present invention, the determination result includes the following two types: (1) At least two magnetic detection elements on the robot detect the magnetic components simultaneously. (2) The magnetic component is not detected by at least one of the magnetic components while the magnetic component is detected by the partial magnetic detection element.
Aiming at the first judgment result, the robot and the charging pile are aligned at the moment, namely the alignment error at the moment is zero, and the pose of the robot is not required to be adjusted. For the second case, it indicates that the robot and the charging pile are not aligned at this time, and an alignment error exists between the robot and the charging pile, and the alignment error needs to be determined at this time. Optionally, the positioning may be performed according to an image scanned and captured by a sensor such as a laser radar and a camera on the robot, or may be performed according to a position relationship between the magnetic detection element and the magnetic component, which is not specifically limited herein.
S103, adjusting the pose of the robot according to the alignment error, and controlling the robot to keep the adjusted pose to move towards the charging pile until a charging groove of the robot is contacted with a charging contact of the charging pile and charging is started.
After the alignment error between the robot and the charging pile is determined through S102, the robot may be controlled to stop moving, and then the pose of the robot is adjusted in situ according to the alignment error, for example, the robot is controlled to rotate to correct the position of the robot, so that the robot after adjusting the pose is aligned with the charging pile.
In the embodiment of the invention, the alignment error between the robot and the charging pile is judged according to whether the magnetic detection element arranged on the robot can simultaneously detect the magnetic part arranged on the charging pile or not, and the pose of the robot is adjusted according to the alignment error, so that the robot is aligned with the charging pile, the alignment error generated in the process of aligning and connecting the robot and the charging pile according to the alignment parameters is eliminated, and the effect of improving the accuracy of the alignment and connection between the robot and the charging pile is further realized.
Example two
Fig. 2a is a flowchart of a robot charging alignment method according to a second embodiment of the present invention. The embodiment of the invention is refined on the basis of the above embodiment, wherein the alignment error comprises a deviation direction and a deviation angle. On the basis, referring to fig. 2a, the method flow comprises the following steps:
s201, in the process of controlling the robot and the charging pile to be aligned and connected based on the alignment parameters, whether the at least two magnetic detection elements detect the respective associated magnetic parts at the same time is judged in real time.
In the embodiment of the present invention, the determination result is exemplified such that the first magnetic detection element of the at least two magnetic detection elements detects the associated first magnetic component, and the second magnetic detection element does not detect the associated second magnetic component. On the basis of the above, the deviation direction and deviation angle in the alignment error can be determined according to the steps of S202-S203.
S202, determining a deviation direction according to the relative position relation of the first magnetic detection element and the second magnetic detection element.
In an optional embodiment, since the first magnetic detection element detects the associated first magnetic component, and the second magnetic detection element does not detect the associated second magnetic component, if the first magnetic detection element is located on the right side of the second magnetic detection element, it indicates that the distance between the first magnetic detection element and the charging pile is smaller than the distance between the second magnetic detection element and the charging pile, and it is determined that the deviation direction is right, that is, the robot is not aligned with the charging pile and is right-deviated. For another situation, if the first magnetic detection element is located on the left side of the second magnetic detection element, it indicates that the distance between the first magnetic detection element and the charging pile is smaller than the distance between the second magnetic detection element and the charging pile, and it is determined that the deviation direction is left, that is, the robot and the charging pile are not aligned and left deviated. Thus, the deviation direction of the robot can be obtained quickly by judging the two conditions.
And S203, calculating a deviation angle according to the distance between the first magnetic detection element and the second magnetic detection element, the distance between the second magnetic detection element and the plane of the second magnetic part on the charging pile, and the distance between the first magnetic detection element and the first magnetic part.
In the embodiment of the present invention, the distance between the first magnetic detection element and the second magnetic detection element is predetermined, and specifically, the distance may be measured by a measuring tool at the stage of setting the magnetic detection element. The distance from the second magnetic detection element to the plane where the second magnetic part is located on the charging pile can be measured by a distance sensor on the robot. The distance from the first magnetic detection element to the first magnetic member is determined by the property of the magnetic detection element itself, for example, the distance detected by different parts of speech detection elements.
Further, for describing the process of calculating the deviation angle in detail, refer to fig. 2B, which shows a diagram of relative positions of the robot and the charging pile when performing alignment connection according to the alignment parameters, wherein a represents the second magnetic component, B represents the first magnetic component, C represents the first magnetic detection element, and D represents the second magnetic detection element. When the robot is at the current position, the first magnetic detection element C just detects the first magnetic part B, the distance from the first magnetic detection element to the first magnetic part is B, and the distance value is a value determined by the self-attribute of the magnetic detection element; f represents the position of the second magnetic detection element D when the robot is aligned with the charging pile; the distance from the second magnetic detection element D to the plane where the second magnetic part E is located on the charging pile is a, and the distance can be measured by a distance sensor; the distance between the first magnetic detecting element C and the second magnetic detecting element D is C, which is a fixed value. The basis here is that the deviation angle θ can be calculated according to the following formula:
s204, adjusting the pose of the robot according to the alignment error, and controlling the robot to keep the adjusted pose to move towards the charging pile until a charging groove of the robot is contacted with a charging contact of the charging pile and charging is started.
In an alternative embodiment, adjusting the pose of the robot according to the alignment error includes: and controlling the robot to rotate in the direction opposite to the deviation direction until the rotating angle is equal to the deviation angle. Illustratively, if the deviation direction is deviated to the right and the deviation angle is theta 1, controlling the robot to rotate leftwards by the rotation angle of theta 1, so as to adjust the pose of the robot; and if the deviation direction is deviated to the left and the deviation angle is theta 2, controlling the robot to rotate rightwards, and controlling the robot to rotate by the rotation angle of theta 2 so as to adjust the pose of the robot.
In the embodiment of the invention, the deviation direction of the robot can be accurately determined according to the relative position attribute of the magnetic detection element; according to the distance between the first magnetic detection element and the second magnetic detection element, the distance between the second magnetic detection element and the plane where the second magnetic part is located on the charging pile and the distance between the first magnetic detection element and the first magnetic part, the deviation angle can be accurately calculated, so that the robot is controlled to adjust according to the deviation direction and the deviation angle, the accuracy of alignment connection can be guaranteed, and meanwhile, the problem that the robot fails to align due to excessive adjustment of the position and the posture can be avoided due to the limitation of the rotation angle.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a robot charging alignment device according to a third embodiment of the present invention, which is applicable to a situation where a pose of a robot is adjusted in time when the robot and a charging pile are aligned and connected in a robot charging scene. The device is configured on a robot, and at least two magnetic detection elements are arranged on the robot, as shown in fig. 3, the device comprises:
the magnetic judgment module 301 is configured to judge whether the at least two magnetic detection elements detect respective associated magnetic components simultaneously in real time in the process of controlling the robot and the charging pile to perform alignment connection based on the alignment parameters; the magnetic part is arranged on the charging pile;
an error determination module 302, configured to determine an alignment error between the robot and the charging pile according to the determination result;
and the adjusting module 303 is configured to adjust the pose of the robot according to the alignment error, and control the robot to keep the adjusted pose moving to the charging pile until the charging groove of the robot contacts with the charging contact of the charging pile and start charging.
On the basis of the above embodiments, optionally, the alignment error includes a deviation direction and a deviation angle.
On the basis of the above embodiment, optionally, the determination result is that the first magnetic detection element of the at least two magnetic detection elements detects the associated first magnetic part, and the second magnetic detection element does not detect the associated second magnetic part;
accordingly, the error determination module comprises:
a deviation direction determination unit for determining a deviation direction based on a relative positional relationship between the first magnetic detection element and the second magnetic detection element;
and the deviation angle determining unit is used for calculating a deviation angle according to the distance between the first magnetic detection element and the second magnetic detection element, the distance from the second magnetic detection element to the plane of the second magnetic part on the charging pile, and the distance from the first magnetic detection element to the first magnetic part.
On the basis of the foregoing embodiment, optionally, the deviation direction determining unit is further configured to:
if the first magnetic detection element is positioned on the right side of the second magnetic detection element, determining that the deviation direction is deviated to the right; or,
if the first magnetic detection element is located on the left side of the second magnetic detection element, the deviation direction is determined to be off left.
On the basis of the above embodiment, optionally, the deviation angle determining unit is further configured to:
the deviation angle θ is calculated according to the following formula:
wherein, a represents the distance from the second magnetic detection element to the plane of the second magnetic part on the charging pile, and b represents the distance from the first magnetic detection element to the first magnetic part; c represents a distance between the first magnetic detection element and the second magnetic detection element.
On the basis of the foregoing embodiment, optionally, the adjusting module is further configured to:
and controlling the robot to rotate in the direction opposite to the deviation direction until the rotating angle is equal to the deviation angle.
On the basis of the foregoing embodiment, optionally, the magnetic judgment module is further configured to:
controlling the front side of the robot to move to a preset position based on the alignment parameters, and controlling the robot to rotate 180 degrees in situ at the preset position;
and controlling the robot to retreat, and starting to judge whether the at least two magnetic detection elements simultaneously detect the respective associated magnetic parts when the distance between the robot and the charging pile is equal to a preset distance threshold value. .
The robot charging alignment device provided by the embodiment of the invention can execute the robot charging alignment method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
FIG. 4 shows a schematic block diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM12, and the RAM13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as performing a robot charging alignment method.
In some embodiments, the robot charging alignment method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM12 and/or the communication unit 19. When the computer program is loaded into RAM13 and executed by processor 11, one or more steps of the robot charging alignment method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the robot charging alignment method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A robot charging alignment method is applied to a robot, at least two magnetic detection elements are arranged on the robot, and the method comprises the following steps:
in the process of controlling the robot and the charging pile to carry out alignment connection based on alignment parameters, whether the at least two magnetic detection elements detect the respective associated magnetic parts at the same time is judged in real time; the magnetic component is arranged on the charging pile;
determining an alignment error between the robot and the charging pile according to the judgment result;
and adjusting the pose of the robot according to the alignment error, and controlling the robot to keep the adjusted pose to move towards the charging pile until a charging groove of the robot is contacted with a charging contact of the charging pile and starts to charge.
2. The method of claim 1, wherein the alignment error comprises a deviation direction and a deviation angle.
3. The method according to claim 2, wherein the determination result is that a first magnetic detection element of the at least two magnetic detection elements detects the associated first magnetic component, and a second magnetic detection element does not detect the associated second magnetic component;
correspondingly, according to the judged result, confirm the robot with fill the counterpoint error between the electric pile, include:
determining the deviation direction according to the relative position relationship between the first magnetic detection element and the second magnetic detection element;
and calculating the deviation angle according to the distance between the first magnetic detection element and the second magnetic detection element, the distance between the second magnetic detection element and the plane where the second magnetic part on the charging pile is located, and the distance between the first magnetic detection element and the first magnetic part.
4. The method according to claim 3, wherein determining the deviation direction based on the relative positional relationship of the first magnetic detection element and the second magnetic detection element includes:
if the first magnetic detection element is positioned on the right side of the second magnetic detection element, determining that the deviation direction is deviated to the right; or the like, or a combination thereof,
and if the first magnetic detection element is positioned on the left side of the second magnetic detection element, determining that the deviation direction is deviated to the left.
5. The method of claim 3, wherein calculating the deviation angle according to a distance between the first magnetic detection element and the second magnetic detection element, a distance between the second magnetic detection element and a plane where a second magnetic component of the charging post is located, and a distance between the first magnetic detection element and the first magnetic component comprises:
the deviation angle θ is calculated according to the following formula:
wherein, a represents the distance from the second magnetic detection element to the plane of the second magnetic part on the charging pile, and b represents the distance from the first magnetic detection element to the first magnetic part; c represents a distance between the first magnetic detection element and the second magnetic detection element.
6. The method of claim 2, wherein adjusting the pose of the robot according to the alignment error comprises:
and controlling the robot to rotate in the direction opposite to the deviation direction until the rotation angle is equal to the deviation angle.
7. The method of claim 1, wherein the real-time determination of whether the at least two magnetic detection elements detect the respective associated magnetic components simultaneously during the alignment connection between the robot and the charging pile based on the alignment parameters comprises:
controlling the front side of the robot to move to a preset position based on the alignment parameters, and controlling the robot to rotate 180 degrees in situ at the preset position;
and controlling the robot to retreat, and starting to judge whether the at least two magnetic detection elements simultaneously detect the respective associated magnetic parts when the distance between the robot and the charging pile is equal to a preset distance threshold value.
8. A robot charging alignment device, configured to be disposed on a robot having at least two magnetic detection elements disposed thereon, the device comprising:
the magnetic judgment module is used for judging whether the at least two magnetic detection elements simultaneously detect the respective associated magnetic parts or not in real time in the process of controlling the robot and the charging pile to carry out alignment connection based on the alignment parameters; the magnetic component is arranged on the charging pile;
the error determining module is used for determining an alignment error between the robot and the charging pile according to a judgment result;
and the adjusting module is used for adjusting the pose of the robot according to the alignment error, controlling the robot to keep the adjusted pose to move towards the charging pile until a charging groove of the robot is contacted with a charging contact of the charging pile and starts to charge.
9. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
10. A computer-readable storage medium storing computer instructions for causing a processor to perform the method of any one of claims 1-7 when executed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210907419.XA CN115237134A (en) | 2022-07-29 | 2022-07-29 | Robot charging alignment method and device, electronic equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210907419.XA CN115237134A (en) | 2022-07-29 | 2022-07-29 | Robot charging alignment method and device, electronic equipment and storage medium |
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| CN115237134A true CN115237134A (en) | 2022-10-25 |
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| CN202210907419.XA Pending CN115237134A (en) | 2022-07-29 | 2022-07-29 | Robot charging alignment method and device, electronic equipment and storage medium |
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| Country | Link |
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2022
- 2022-07-29 CN CN202210907419.XA patent/CN115237134A/en active Pending
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