CN115933706A - Robot charging method and device, robot and robot system - Google Patents
Robot charging method and device, robot and robot system Download PDFInfo
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- CN115933706A CN115933706A CN202310075460.XA CN202310075460A CN115933706A CN 115933706 A CN115933706 A CN 115933706A CN 202310075460 A CN202310075460 A CN 202310075460A CN 115933706 A CN115933706 A CN 115933706A
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Abstract
The application discloses robot charging method, device, robot and robot system, after detecting that the robot needs to charge, acquire the sensor data that the robot gathered through camera and laser radar, and match sensor data and the electric pile characteristic of filling of predetermineeing quantity, this predetermineeing quantity is not less than 2, obtain target characteristic matching result, if show assorted characteristic quantity equals 1 in the target characteristic matching result, then confirm the preliminary position of filling electric pile based on the sensor data who gathers, control robot removes to preliminary position, the moving process or remove repeat above-mentioned data acquisition after preliminary position, the step of characteristic matching. And if the matched characteristic quantity is not less than 2, determining the final position of the charging pile based on the acquired sensor data, and controlling the robot to move to the final position so as to realize pile driving charging. According to the scheme, both the searching efficiency and the identification accuracy rate of the charging pile are considered.
Description
Technical Field
The application relates to the technical field of intelligent robots, in particular to a robot charging method and device, a robot and a robot system.
Background
With the progress of science and technology, more and more intelligent robots are applied to the work and the life of people. Examples are intelligent floor sweeping robots, transfer robots, companion robots, etc.
These intelligent robots can realize established operations such as autonomous movement, cleaning, carrying, lighting, and the like, and bring great convenience to users. Generally, intelligent robot all can built-in power module to can realize breaking away from charging device and develop work, but because the restriction of body size, built-in power module power supply ability is limited, so before power module's electric quantity exhausts, need the accurate electric pile that gets back to of robot to realize independently charging, thereby thoroughly liberate user's both hands.
Generally set up characteristic sign in charging pile surface among the prior art, like reflection of light strip etc.. Perception surrounding environment data when intelligent robot removes, when the environmental data that detects the perception matches with the characteristic sign, the affirmation has promptly found and has filled electric pile, and then charges towards filling electric pile removal. But the operation environment that intelligent robot was located may be complicated changeable, often can appear in the environment with fill the similar article of the feature identification of electric pile surface setting to lead to intelligent robot misjudgement to fill electric pile position.
Disclosure of Invention
In view of the above problems, the present application is provided to provide a robot charging method, device, robot, and robot system, so as to improve the accuracy of checking the position of a charging pile while considering the efficiency of searching the charging pile. The specific scheme is as follows:
in a first aspect, a robot charging method is provided, including:
after the fact that the robot needs to be charged is detected, sensor data collected by the robot through a camera and a laser radar are obtained;
matching the sensor data with the charging pile characteristics of a preset number to obtain a target characteristic matching result, wherein the preset number is not less than 2;
if the target feature matching result shows that the number of matched features is equal to 1, determining a preliminary position of the charging pile based on the sensor data, controlling the robot to move to the preliminary position, and returning to the step of acquiring the sensor data acquired by the robot through a camera and a laser radar;
and if the target feature matching result indicates that the number of matched features is not less than 2, determining the final position of the charging pile based on the sensor data, and controlling the robot to move to the final position so as to realize pile driving charging.
In a second aspect, there is provided a robot charging device comprising:
the sensor data acquisition unit is used for acquiring sensor data acquired by the robot through the camera and the laser radar after the fact that the robot needs to be charged is detected;
the characteristic matching unit is used for matching the sensor data with charging pile characteristics of a preset number to obtain a target characteristic matching result, wherein the preset number is not less than 2;
a preliminary position determining unit, configured to determine a preliminary position of the charging pile based on the sensor data if the target feature matching result indicates that the number of matched features is equal to 1, control the robot to move to the preliminary position, and return to the step of executing the sensor data acquiring unit to acquire the sensor data acquired by the robot through the camera and the laser radar;
and the final position determining unit is used for determining the final position of the charging pile based on the sensor data and controlling the robot to move to the final position to realize pile driving charging if the target feature matching result shows that the number of matched features is not less than 2.
In a third aspect, a robot is provided, comprising: the robot comprises a robot body, a power module, a camera, a laser radar, a memory and a processor, wherein the power module, the camera, the laser radar, the memory and the processor are arranged on the robot body;
the memory is used for storing programs;
the processor is configured to execute the program to implement the steps of the robot charging method described above.
In a fourth aspect, a robot system is provided, which includes the robot and a charging pile;
the charging pile comprises a charging groove, a power supply interface is arranged in the charging groove and used for being matched with a charging interface on the robot to charge the robot;
at least two materials with different retroreflection coefficients are arranged in the charging groove.
Borrow by above-mentioned technical scheme, this application scheme obtains the sensor data that the robot gathered through camera and laser radar after detecting the robot needs to charge to match sensor data and the electric pile characteristic of filling of predetermineeing quantity, obtain target characteristic matching result, should predetermine quantity and be not less than 2, promptly, this application has designed at least 2 and has filled the electric pile characteristic. If the matching characteristic quantity is 1 in the target characteristic matching result, the initial position of the charging pile can be determined based on the collected sensor data, namely the approximate position of the charging pile is determined to be used as a path planning guide for searching the charging pile, on the basis, the robot is controlled to move to the initial position, the steps of collecting the sensor data and matching the charging pile characteristics are repeatedly executed in the moving process or after the robot moves to the initial position, and therefore the pile searching efficiency is guaranteed. If the target feature matching result shows that the number of matched features is not less than 2, the final position of the charging pile can be determined based on the collected sensor data, and the robot is controlled to move to the final position, so that pile feeding charging is achieved. Obviously, this application verifies the identity of filling electric pile through the electric pile characteristic comparison more than 2, confirms the final position of filling electric pile, has guaranteed the discernment rate of accuracy who fills electric pile, has avoided the erroneous judgement.
To sum up, this application has designed the electric pile characteristic of filling more than 2, through feature matching, if there is 1 feature to be the matching, then confirm that the preliminary position of filling electric pile is as the route planning guide of search electric pile, constantly go to match more electric pile characteristics again after the robot arrives the in-process of preliminary position or arrives preliminary position and promote the confidence degree that fills electric pile discernment, when confirming that there is the feature matching more than 2, can confirm the final position of filling electric pile, so both taken into account search efficiency and the discernment rate of accuracy that fills electric pile.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic flow chart of a robot charging method according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating the placement of two materials having different coefficients of retroreflection;
fig. 3 is another schematic flow chart of a robot charging method according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a robot charging device according to an embodiment of the present disclosure;
fig. 5 is a schematic hardware structure diagram of a robot according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The application provides a robot charging method, which can be suitable for various intelligent robots charged by means of charging piles, such as cleaning robots, carrying robots, shopping guide robots and the like. The body of the robot is provided with a power module for supporting the robot to move and work independently. The body can be further provided with a camera and a laser radar for collecting sensor data of the surrounding environment, such as collecting environment image data through the camera, and collecting point cloud data, reflected light intensity data and the like through the laser radar. The robot carries out established work such as cleaning, transport, explanation, illumination etc. after removing from charging pile. Need return after the robot receives the signal of charging and fill electric pile and carry out automatic charging, how to guarantee that the robot can be fast, accurate discernment fill electric pile and then realize advancing a stake and charge, concern the convenience in utilization of robot.
The application provides a robot charging method, which is used for realizing the autonomous searching and identification of a charging pile by a robot away from the pile and returning the charging pile for autonomous charging. The method can be realized based on the robot, and can also be realized under the control of other control ends (such as a server, a cloud end and the like) or under the cooperation of other control ends and the robot.
Next, as described in conjunction with fig. 1, the robot charging method of the present application may include the steps of:
and S100, acquiring sensor data acquired by the robot through a camera and a laser radar after the fact that the robot needs to be charged is detected.
Specifically, it may be determined that the robot needs to be charged after receiving the charging signal. The charging signal may be an instruction from a user, or may be a charging signal sent when the charge level of the charging module of the robot is too low to reach a certain threshold.
Be provided with camera and laser radar on the robot, after detecting the robot and need charge, can gather sensor data through camera and laser radar. The sensor data collected by the camera may include environment image data, and the sensor data collected by the laser radar may include point cloud data, reflected light intensity data, and the like.
In the step, after the fact that the robot needs to be charged is detected, sensor data collected by the camera and the laser radar in the static state or the moving process of the robot can be obtained.
Wherein, the static state can include: after it is detected that the robot needs to be charged, the static state of the robot at the current position may further include: and after detecting that the robot needs to be charged, controlling the robot to move according to a set rule, and stopping the robot in a static state after moving to a set position.
Wherein, can include in the removal process: and after the fact that the robot needs to be charged is detected, the process that the robot moves and roams in a working environment according to a set rule is controlled. The movement rule may be specifically moving along a map boundary, or preferentially moving within a set area (for example, when the robot is a floor sweeping robot, the robot may preferentially move in a living room).
Besides, after the robot is detected to need to be charged, the robot can be controlled to move towards the preset charging pile position, and sensor data collected by the camera or the laser radar in the moving process of the robot are acquired.
The preset charging pile position can be the starting point position of the robot on the traveling path at this time, or the registered charging pile position in a global map of the robot, or the potential charging pile position determined by the robot based on sensor data acquired by a camera and a laser radar in the moving process before the robot needs to be charged.
It can be understood that, the robot starts the back and drives out from filling in the electric pile and begin this travel, and the robot can take notes the orbit of traveling, consequently can be with this route of traveling's starting point position, as the stake position of predetermined charging.
In addition, the robot needs to establish a global map of the environment before first use, and the charging pile position can be marked in the global map and used as the registered charging pile position. And subsequently, if the global map updating is involved, the registered charging pile position can be updated at any time. In this embodiment, the charging pile position registered in the global map can be used as the preset charging pile position.
In another case, after the robot is driven out of the charging pile, the position of the potential charging pile can be determined in real time and stored through sensor data collected by a camera and a laser radar in the moving process. And then when detecting that the robot needs to charge, can control the robot and move towards this potential charging pile position.
And S110, matching the collected sensor data with the charging pile characteristics of a preset number to obtain a target characteristic matching result, wherein the preset number is not less than 2.
Specifically, this application has set for in advance not less than 2 and has filled electric pile characteristics for follow the identity that electric pile was filled to different angles sign. On this basis, can match the sensor data that camera and laser radar gathered with every fills electric pile characteristic, obtain target characteristic matching result, whether including every predetermined electric pile characteristic of filling in this target characteristic matching result matches successfully, fills electric pile characteristic through predetermineeing a plurality of differences and matches to the realization promotes through more characteristic matching and fills electric pile recognition accuracy.
Step S120, determining the number of matched features in the target feature matching result, returning to step S100 if the number is equal to 0, performing the following step S130 if the number is equal to 1, and performing the following step S140 if the number is not less than 2.
If the target feature matching result indicates that the number of matched features is equal to 0, the target feature matching result indicates that the sensor data acquired by the current camera and the laser radar are not matched with any charging pile feature, that is, it can be determined that the charging pile is not found, so that the step of continuously acquiring the sensor data in the step S100 can be returned, that is, the charging pile is continuously searched.
If the target feature matching result indicates that the number of matched features is equal to 1, it indicates that the currently acquired sensor data is matched with a certain pre-configured charging pile feature, and considering the complexity of the working environment where the robot is located, other objects which are not charging piles may exist in the surrounding environment, and the objects are very similar to certain charging pile features, that is, the confidence degrees of different pre-configured charging pile features may be different, and when the number of matched features is determined to be 1, it indicates that the charging pile is possibly found by the current sensor data, so that the following step S130 may be executed to determine the initial position of the charging pile, which is used as a path planning guide for searching the charging pile.
If the target feature matching result indicates that the number of matched features is not less than 2, it indicates that the currently acquired sensor data matches with a plurality of preconfigured charging pile features, and at this time, the confidence of identifying the charging pile is high, so the following step S140 of determining the final position of the charging pile may be performed.
Step S130, determining a preliminary position of the charging pile based on sensor data collected by the camera and the laser radar, and controlling the robot to move to the preliminary position.
Specifically, when the collected sensor data is matched with 1 preconfigured charging pile feature, the initial position of the charging pile can be determined based on the sensor data.
After the robot is controlled to move to the initial position or the initial position, the step of acquiring the sensor data in the step S100 can be continuously executed, the step of acquiring the sensor data and the step of matching the sensor data with the pre-configured charging pile features are continuously executed, so that the number of the matched features is increased, and the confidence of the charging pile is increased.
And S140, determining the final position of the charging pile based on the sensor data collected by the camera and the laser radar, and controlling the robot to move to the final position so as to realize pile driving charging.
Specifically, when the collected sensor data is matched with more than 2 preconfigured charging pile characteristics, it can be determined that the confidence level of the charging pile is found to be high at this time, and therefore the final position of the charging pile can be determined based on the collected sensor data. At this moment, the steps of the aforementioned sensor data acquisition, the charging pile characteristic matching and the like do not need to be executed any more.
According to the robot charging method, after the fact that the robot needs to be charged is detected, the sensor data collected by the robot through the camera and the laser radar are obtained, the sensor data are matched with the charging pile characteristics of the preset number, a target characteristic matching result is obtained, the preset number is not less than 2, namely, at least 2 charging pile characteristics are designed. If the target feature matching result indicates that the number of matched features is equal to 1, the initial position of the charging pile can be determined based on the collected sensor data, namely the approximate position of the charging pile is determined to serve as a path planning guide for searching the charging pile, the robot is controlled to move to the initial position on the basis, the steps of collecting the sensor data and matching the features of the charging pile are repeatedly executed in the moving process or after the robot moves to the initial position, and therefore the pile searching efficiency is guaranteed. If the target feature matching result shows that the number of matched features is not less than 2, the final position of the charging pile can be determined based on the collected sensor data, and the robot is controlled to move to the final position, so that pile feeding charging is achieved. Obviously, this application verifies the identity of filling electric pile through the electric pile characteristic comparison more than 2, confirms the final position of filling electric pile, has guaranteed the discernment rate of accuracy who fills electric pile, has avoided the erroneous judgement.
To sum up, this application has designed the electric pile characteristic of filling more than 2, through feature matching, if there is 1 feature to be the matching, then confirm that the preliminary position of filling electric pile is as the route planning guide of search electric pile, constantly go to match more electric pile characteristics again after the robot arrives the in-process of preliminary position or arrives preliminary position and promote the confidence degree that fills electric pile discernment, when confirming that there is the feature matching more than 2, can confirm the final position of filling electric pile, so both taken into account search efficiency and the discernment rate of accuracy that fills electric pile.
Further optionally, considering that the placing posture of the charging pile may influence the pile feeding charging of the robot, for this reason, the preliminary posture of the charging pile is further determined while the preliminary position of the charging pile is determined based on the sensor data in the above steps, and the preliminary posture is obtained by combining the preliminary posture and the preliminary position, that is, the position information and the posture information of the charging pile are determined simultaneously.
Wherein, the process of the preliminary position of electric pile, gesture is filled in the determination based on sensor data, can be based on shooting angle location of camera and fill the position and the gesture of electric pile, further based on the distance that laser radar measures electric pile, so can obtain the preliminary position and the gesture of filling electric pile.
On the basis, the process of controlling the robot to move to the initial position can comprise the following steps: and controlling the robot to move to a set distance right in front of the charging pile indicated by the initial pose.
Similarly, when the final position of the charging pile is determined based on the sensor data in the above steps, the final posture of the charging pile can be further determined, and the final posture and the final position are combined to obtain the final posture, that is, the position information and the posture information of the charging pile are determined at the same time.
On the basis, the process of controlling the robot to move to the final position can comprise the following steps: and controlling the robot to move to a set distance right in front of the charging pile indicated by the final pose. After the robot moves to a set distance right in front of the charging pile, the subsequent pile driving action can be executed.
In some embodiments of the present application, a process of matching the sensor data with the predetermined number of charging pile characteristics in step S110 is further described.
This embodiment provides an optional setting mode who fills electric pile characteristic, specifically, the electric pile characteristic that fills of default quantity can include two kinds of types, is respectively: fill electric pile's outward appearance characteristic and fill electric pile's charging groove internal feature, also follow respectively and fill electric pile whole outward appearance angle and the inside angle of charging groove and discern and fill electric pile.
Wherein, fill the quantity of electric pile's appearance characteristic and the quantity of the groove internal feature that charges and do not do the strict limitation, guarantee that the quantity of holistic electric pile characteristic is not less than 2 can.
On this basis, the process of the step S110 may specifically include:
s1, matching sensor data acquired by a camera with appearance characteristics of a charging pile to obtain a first characteristic matching result.
Specifically, fill electric pile appearance characteristics and can include characteristics such as the holistic external shape of electric pile, colour, pattern. Therefore, sensor data acquired by the camera is matched with the appearance characteristics of the charging pile in the step, so that whether the camera shoots an object matched with the appearance characteristics of the charging pile at present is judged.
The sensor data collected by the camera can comprise image data, namely, the image data collected by the camera is matched with the appearance characteristics of the charging pile so as to determine whether the appearance characteristics of the charging pile are successfully matched, and a first characteristic matching result is obtained.
And S2, matching sensor data acquired by the laser radar with the internal characteristics of the charging tank to obtain a second characteristic matching result, and forming the target characteristic matching result by the first characteristic matching result and the second characteristic matching result.
In particular, the internal charging slot characteristics are used to characterize the internal charging slot characteristics of the charging post, and the number of the internal charging slot characteristics may be one or more, for example, the internal charging slot characteristics may include: internal structural characteristics of the charging tank, internal material characteristics of the charging tank and the like.
For better discernment charging groove internal feature, match the sensor data that laser radar gathered with the charging groove internal feature who fills electric pile in this step, obtain second characteristic matching result. Specifically, the point cloud, the reflected light intensity and other data acquired by the laser radar may be matched with the internal features of the charging slot to determine whether the internal features of the charging slot are successfully matched, so as to obtain a second feature matching result.
And finally, forming a final target feature matching result by the first feature matching result and the second feature matching result.
The electric pile characteristic of filling of two kinds of different grade types has been exemplified in this embodiment, fills the characteristic of two kinds of types of electric pile outward appearance characteristic and charging groove internal feature promptly, can follow from this and fill electric pile whole outward appearance and two different angles of charging groove inside and match and fill electric pile, has promoted and has filled electric pile discernment rate of accuracy.
In some embodiments of the present application, a process of matching the sensor data acquired by the camera with the appearance characteristics of the charging pile in the step S1 to obtain a first characteristic matching result is introduced.
The sensor data collected by the camera may be environmental image data. In this embodiment, an image recognition algorithm may be adopted to calculate a matching degree between the environmental image data collected by the camera and the appearance characteristics of the pre-configured charging pile. And if the matching degree exceeds the set matching degree threshold value, confirming that the appearance characteristics of the charging pile are matched, otherwise, confirming that the appearance characteristics of the charging pile are not matched, and taking the matching result of the appearance characteristics of the charging pile as a first characteristic matching result.
Specifically, the charging pile identification model can be trained by utilizing the appearance image of the charging pile in advance, the environment image data collected by the camera can be input into the charging pile identification model, the confidence coefficient of the charging pile is contained in the environment image data output by the model, if the confidence coefficient exceeds a set threshold value, the condition that the environment image is matched with the appearance characteristic of the pre-configured charging pile is indicated, and the charging pile exists in the environment image.
Wherein, fill electric pile appearance characteristics and can include the combination of characteristics such as appearance shape, colour, pattern.
In some embodiments of the present application, a process of matching the sensor data acquired by the laser radar with the internal characteristics of the charging slot in the step S2 to obtain a second characteristic matching result is introduced.
In this embodiment, two different internal characteristics of the charging slot are introduced, which are: the charging groove internal structure characteristic and the charging groove internal material characteristic.
On this basis, this application can match the point cloud data that laser radar gathered with charging tank inner structure characteristic, obtains inner structure characteristic matching result.
And matching the reflected light intensity data of the object collected by the laser radar with the internal material characteristics of the charging groove to obtain an internal material characteristic matching result.
And taking the internal structure feature matching result and/or the internal material feature matching result as a second feature matching result.
Specifically, in this embodiment, only the internal structural feature may be selected as the internal feature of the charging slot, only the internal material feature may be selected as the internal feature of the charging slot, or both the internal structural feature and the internal material feature may be selected as the internal feature of the charging slot.
The finally obtained second feature matching result may include one or both of an internal structure feature matching result and an internal texture feature matching result.
In this embodiment, at the in-process of looking for filling electric pile, match filling electric pile appearance characteristic promptly, match charging groove inner structure characteristic and/or inside material characteristic to filling electric pile simultaneously again, match through the characteristic to multiple difference, can enough promote and seek a stake efficiency, promoted the rate of accuracy that fills electric pile discernment again, reduce the misidentification.
Further, in order to promote the degree of discerning of the inside material characteristic of charging groove, can set up the different materials of at least two kinds of contrary coefficients of reflection in advance in the charging groove of electric pile in this application embodiment. The two materials with different coefficients of retroreflection can be spaced apart. The layout of two materials with different coefficients of retroreflection can be seen with reference to fig. 2. The material includes two materials A and B with different retroreflection coefficients, and the two materials may have different sizes and intervals.
On this basis, the aforesaid matches object reflection light intensity data that laser radar gathered with the inside material characteristic of charging groove, obtains the process of inside material characteristic matching result, can include:
and matching the reflected light intensity data of the object acquired by the laser radar with the material characteristics of at least two materials with different retroreflection coefficients to obtain an internal material matching result.
In some embodiments of the present application, another robot charging method is provided, as shown in fig. 3, which may include the steps of:
and S200, acquiring sensor data acquired by the robot through a camera and a laser radar after the fact that the robot needs to be charged is detected.
And S210, matching the sensor data acquired by the camera and the laser radar with the appearance characteristics of the charging pile and the internal characteristics of the charging groove respectively to obtain a target characteristic matching result.
Specifically, can match the sensor data that the camera was gathered with the electric pile appearance characteristics that fill of preconfiguration, obtain first characteristic matching result.
And matching the sensor data acquired by the laser radar with the internal characteristics of the charging slot of the pre-configured charging pile to obtain a second characteristic matching result, and forming a target characteristic matching result by the first characteristic matching result and the second characteristic matching result.
Step S220, determining the number of matched features in the target feature matching result, returning to step S200 if the number is equal to 0, performing the following step S230 if the number is equal to 1, and performing the following step S250 if the number is not less than 2.
Step S230, determining whether the matched features are matched with the appearance features of the charging pile, if not, executing the following step S240, and if so, executing step S250.
Specifically, when the matching feature quantity is equal to 1, it is further determined whether the matched feature is matched with the appearance feature of the charging pile.
In this embodiment, the pre-configured charging pile characteristics are divided into two types, the first type is the appearance characteristics of the charging pile, and the second type is the internal characteristics of the charging slot.
Because the objects similar to the charging pile in overall appearance are not common in the robot working environment, if the sensor data acquired through camera vision capture is matched with the appearance characteristics of the pre-configured charging pile, the confidence of the type characteristics is relatively high, so that the charging pile can be directly searched, and the step of determining the final position of the charging pile in the step S250 can be executed.
Further, there may be some objects similar to the charging chute in the robot working environment, for example, a vertically placed basin, whose point cloud shape obtained by scanning with the laser radar is similar to the U-shaped structure of the charging chute. In addition, some carry light and shade stripe itself or by the article that two kinds of materials that reflection intensity is different are constituteed in turn, all can make the reflected light intensity that laser radar received produce the change of power, lead to the erroneous judgement as charging pile. Therefore, if the matched 1 feature is not matched with the appearance feature of the charging pile, that is, the matched 1 feature is matched with an internal feature of a certain charging groove (for example, matched with an internal structural feature of the charging groove, or matched with an internal material feature of the charging groove), at this time, the confidence of the matched 1 feature is not high enough, the following step S240 may be executed to determine the initial position of the charging pile, which is used as a route planning guide for searching for the charging pile.
And S240, determining a preliminary position of the charging pile based on sensor data collected by the camera and the laser radar, and controlling the robot to move to the preliminary position.
And after the robot is controlled to move to the initial position or move to the initial position, continuously returning to the step of acquiring the sensor data in the step S200, and continuously performing the step of matching the sensor data with the pre-configured charging pile characteristics so as to increase the number of the matched characteristics and increase the confidence coefficient of the charging pile.
And S250, determining the final position of the charging pile based on the sensor data collected by the camera and the laser radar, and controlling the robot to move to the final position so as to realize pile driving charging.
Specifically, in this embodiment, when it is determined that the number of matched features in the target feature matching result is greater than or equal to 2, and when the number of matched features is 1 and is matched with the appearance features of the charging pile, it may be considered that the confidence of identifying the charging pile is high, and the final position of the charging pile may be determined based on the collected sensor data.
According to the robot charging method provided by the embodiment, the charging pile characteristics are divided into two types, the first type is the appearance characteristics of the charging pile, the second type is the charging groove internal characteristics (including the charging groove internal structure characteristics, the charging groove internal material characteristics and the like) of the charging pile, and if the first type characteristics are matched or more than 2 characteristics are matched in the second type characteristics, the final position of the charging pile can be determined. If the first type of characteristics are not matched, only 1 characteristic in the second type of characteristics is matched, the initial position of the charging pile can be calculated, the robot is controlled to move towards the initial position, and after the robot moves to the initial position or moves to the initial position, sensor data are continuously acquired to perform characteristic matching until the final position of the charging pile is confirmed.
Wherein, the electric pile characteristic of filling of different grade type possesses different confidences, if first type fills electric pile appearance characteristic, because whole apparent article of growing like filling electric pile is unusual among the robot operational environment, consequently first type fills electric pile appearance characteristic's confidence is higher. The internal characteristics of the charging groove of the second type are acquired through laser radar, and the shape of partial articles obtained through laser radar modeling in the robot work environment is similar to the shape of the internal structure of the charging groove, or the intensity change of reflected light of partial articles received through the laser radar is similar to the internal material characteristics of the charging groove, so that misjudgment easily occurs. Thus, the confidence of the internal features of the charging slot of the second type is relatively low.
Although the confidence of the appearance characteristic of the charging pile of the first layer is high, the characteristic is acquired through a camera, and the field angle of the camera is often small (taking an RGB depth camera as an example, the field angle is generally only about 100 °), so that the efficiency of searching for the charging pile in the environment by simply relying on the camera is low. Therefore, the internal characteristics of the second charging groove are further superposed in the embodiment, the second characteristics are detected by the laser radar, the angle of view of the laser radar on the robot can reach 300-360 degrees, and the searching efficiency is higher. In this embodiment, when detecting that certain characteristic matches in the second type charging groove internal feature, can generate the preliminary position that fills electric pile and fill electric pile's route planning guide as the search, after moving process or moving preliminary position to preliminary position, constantly retrieve other characteristics again and promote the confidence coefficient, until retrieving second type charging groove internal feature matching more than 2, or when retrieving first type and filling electric pile appearance feature and matching, confirm the final position that fills electric pile again, so just so can compromise and look for a stake efficiency and also compromise the degree of accuracy of filling electric pile discernment.
The following describes a robot charging device provided in an embodiment of the present application, and the robot charging device described below and the robot charging method described above may be referred to in correspondence with each other.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a robot charging device disclosed in the embodiment of the present application.
As shown in fig. 4, the apparatus may include:
the sensor data acquisition unit 11 is used for acquiring sensor data acquired by the robot through a camera and a laser radar after the fact that the robot needs to be charged is detected;
the characteristic matching unit 12 is configured to match the sensor data with charging pile characteristics of a preset number to obtain a target characteristic matching result, where the preset number is not less than 2;
a preliminary position information determining unit 13, configured to determine a preliminary position of the charging pile based on the sensor data if the target feature matching result indicates that the number of matched features is equal to 1, control the robot to move to the preliminary position, and return to the step of executing the sensor data acquiring unit to acquire sensor data acquired by the robot through a camera and a laser radar;
and the final position information determining unit 14 is configured to determine a final position of the charging pile based on the sensor data and control the robot to move to the final position to realize pile driving charging if the target feature matching result indicates that the number of matched features is not less than 2.
Optionally, the electric pile characteristics of filling of above-mentioned predetermined quantity can include two kinds of type characteristics of the appearance characteristic of filling electric pile and the charging groove internal feature of filling electric pile, and on this basis, above-mentioned feature matching unit will sensor data matches with the electric pile characteristics of filling of predetermined quantity, obtains the process of target feature matching result, can include:
matching the sensor data acquired by the camera with the appearance characteristics of the charging pile to obtain a first characteristic matching result;
and matching the sensor data acquired by the laser radar with the internal characteristics of the charging tank to obtain a second characteristic matching result, and forming the target characteristic matching result by the first characteristic matching result and the second characteristic matching result.
Optionally, above-mentioned charging groove internal feature can include charging groove internal structure characteristic and the inside material characteristic of charging groove, and on this basis, the characteristic matching unit will the sensor data that laser radar gathered matches with the charging groove internal feature of filling electric pile, obtains the process of second characteristic matching result, can include:
matching the point cloud data acquired by the laser radar with the internal structural features of the charging slot of the charging pile to obtain an internal structural feature matching result;
and/or the presence of a gas in the gas,
matching the object reflected light intensity data acquired by the laser radar with the internal material characteristics of a charging slot of the charging pile to obtain an internal material characteristic matching result;
and taking the internal structure feature matching result and/or the internal material feature matching result as a second feature matching result.
Optionally, the above-mentioned feature matching unit will the sensor data that the camera was gathered and the appearance characteristic of filling electric pile carry out the process of matching, can include:
calculating the matching degree between the environmental image data acquired by the camera and the appearance characteristics of the charging pile by adopting an image recognition algorithm;
and if the matching degree exceeds a set matching degree threshold value, confirming that the appearance characteristics of the charging pile are matched, otherwise, confirming that the appearance characteristics of the charging pile are not matched.
Optionally, the apparatus of the present application may further include:
and the matching feature type determining unit is used for determining whether the matched features are matched with the appearance features of the charging pile or not after the matching feature quantity is equal to 1 in the target feature matching result is determined, if yes, the step of the final position information determining unit is executed, and if not, the step of the preliminary position information determining unit is executed.
Optionally, at least two materials with different retro-reflection coefficients are arranged in the charging groove of the charging pile. Then above-mentioned feature matching unit will the inside material characteristic of object reverberation intensity data that laser radar gathered and the charging groove of filling electric pile matches, obtains the process of inside material characteristic matching result, can include:
and matching the reflected light intensity data of the object collected by the laser radar with the material characteristics of the at least two materials with different retroreflection coefficients to obtain an internal material matching result.
Optionally, the process of acquiring the sensor data acquired by the robot through the camera and the laser radar after the sensor data acquiring unit detects that the robot needs to be charged may include:
after the fact that the robot needs to be charged is detected, sensor data collected by the robot through a camera and a laser radar in the moving process are obtained;
or after the fact that the robot needs to be charged is detected, sensor data collected by the robot through the camera and the laser radar in the static state are obtained.
Optionally, the process of acquiring sensor data acquired by the robot through the camera and the laser radar in the moving process by the sensor data acquiring unit may include:
the robot is controlled to move towards a preset charging pile position, and sensor data acquired by the robot through a camera and a laser radar in the moving process are acquired;
the preset charging pile position is a starting point position of a current driving path of the robot, or a registered charging pile position in a global map of the robot, or a potential charging pile position determined by sensor data acquired by a camera and a laser radar in the moving process of the robot before charging is needed.
Optionally, the preliminary position information determining unit is further configured to, when the target feature matching result indicates that the number of matched features is equal to 1, determine a preliminary pose of the charging pile based on the sensor data, and obtain a preliminary pose of the charging pile from the preliminary pose and the preliminary position. On the basis, the process of controlling the robot to move to the preliminary position may include: and controlling the robot to move to a set distance right in front of the charging pile indicated by the primary pose.
Optionally, the final position information determining unit is further configured to, when the target feature matching result indicates that the number of matched features is not less than 2, further determine a final posture of the charging pile based on the sensor data, and obtain a final posture of the charging pile from the final posture and the final position. On the basis, the process of controlling the robot to move to the final position can comprise the following steps: and controlling the robot to move to a set distance right in front of the charging pile indicated by the final pose.
The robot charging device that this application embodiment provided can be applied to the robot, like cleaning machines people, transfer robot, shopping guide robot etc.. Alternatively, fig. 5 shows a block diagram of a hardware structure of the robot, and referring to fig. 5, the hardware structure of the robot may include: the robot comprises a robot body (not shown in the figure), a power module 1, a camera 2, a laser radar 3, a memory 4, a processor 5 and a communication bus 6, wherein the power module, the camera 2, the laser radar 3, the memory 4, the processor 5 and the communication bus 6 are arranged on the robot body;
in the embodiment of the present application, the number of the power module 1, the camera 2, the laser radar 3, the memory 4, the processor 5, and the communication bus 6 is at least one. The power module 1 supplies power to other modules. The camera 2, the laser radar 3, the memory 4 and the processor 5 complete mutual communication through the communication bus 6;
the processor 5 may be a central processing unit CPU, or an Application Specific Integrated Circuit ASIC (Application Specific Integrated Circuit), or one or more Integrated circuits configured to implement embodiments of the present invention, etc.;
the memory 4 may comprise a high-speed RAM memory, and may further comprise a non-volatile memory (non-volatile memory) or the like, such as at least one disk memory;
wherein the memory stores a program and the processor can call the program stored in the memory, the program for:
after the fact that the robot needs to be charged is detected, sensor data collected by the robot through a camera and a laser radar are obtained;
matching the sensor data with the charging pile characteristics of a preset number to obtain a target characteristic matching result, wherein the preset number is not less than 2;
if the target feature matching result shows that the number of matched features is equal to 1, determining a preliminary position of the charging pile based on the sensor data, controlling the robot to move to the preliminary position, and returning to the step of acquiring the sensor data acquired by the robot through a camera and a laser radar;
and if the target feature matching result indicates that the number of matched features is not less than 2, determining the final position of the charging pile based on the sensor data, and controlling the robot to move to the final position so as to realize pile driving charging.
Alternatively, the detailed function and the extended function of the program may refer to the above description.
An embodiment of the present application further provides a storage medium, where the storage medium may store a program adapted to be executed by a processor, where the program is configured to:
after the fact that the robot needs to be charged is detected, sensor data collected by the robot through a camera and a laser radar are obtained;
matching the sensor data with the charging pile characteristics of a preset number to obtain a target characteristic matching result, wherein the preset number is not less than 2;
if the target feature matching result indicates that the number of matched features is equal to 1, determining a primary position of the charging pile based on the sensor data, controlling the robot to move to the primary position, and returning to execute the step of acquiring the sensor data acquired by the robot through a camera and a laser radar;
and if the target feature matching result shows that the number of matched features is not less than 2, determining the final position of the charging pile based on the sensor data, and controlling the robot to move to the final position so as to realize pile driving charging.
Alternatively, the detailed function and the extended function of the program may be as described above.
The embodiment of the application also provides a robot system, which comprises the robot introduced in the embodiment and a charging pile matched with the robot.
Fill electric pile and include the groove that charges, the inslot that charges is provided with power supply interface for with the interface cooperation that charges on the robot realize charging the robot.
At least two materials with different retroreflection coefficients can be arranged in the charging groove and used for improving the identification degree of the internal characteristics of the charging groove.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, the embodiments may be combined as needed, and the same and similar parts may be referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. A robot charging method, comprising:
after the fact that the robot needs to be charged is detected, sensor data collected by the robot through a camera and a laser radar are obtained;
matching the sensor data with the charging pile characteristics of a preset number to obtain a target characteristic matching result, wherein the preset number is not less than 2;
if the target feature matching result indicates that the number of matched features is equal to 1, determining a primary position of the charging pile based on the sensor data, controlling the robot to move to the primary position, and returning to execute the step of acquiring the sensor data acquired by the robot through a camera and a laser radar;
and if the target feature matching result indicates that the number of matched features is not less than 2, determining the final position of the charging pile based on the sensor data, and controlling the robot to move to the final position so as to realize pile driving charging.
2. The method of claim 1, wherein the predetermined number of charging post characteristics includes two types of characteristics, namely an appearance characteristic of the charging post and an internal characteristic of a charging slot of the charging post;
will sensor data matches with the electric pile characteristic of filling of predetermineeing quantity, obtains the process of target characteristic matching result, includes:
matching the sensor data acquired by the camera with the appearance characteristics of the charging pile to obtain a first characteristic matching result;
and matching the sensor data acquired by the laser radar with the internal characteristics of the charging tank to obtain a second characteristic matching result, and forming the target characteristic matching result by the first characteristic matching result and the second characteristic matching result.
3. The method of claim 2, wherein the internal charging slot characteristics comprise internal charging slot structural characteristics and internal charging slot material characteristics;
matching the sensor data acquired by the laser radar with the internal characteristics of the charging groove to obtain a second characteristic matching result, wherein the second characteristic matching result comprises the following steps:
matching the point cloud data acquired by the laser radar with the internal structural features of the charging slot to obtain an internal structural feature matching result;
and/or the presence of a gas in the gas,
matching the object reflected light intensity data acquired by the laser radar with the internal material characteristics of the charging groove to obtain an internal material characteristic matching result;
and taking the internal structure feature matching result and/or the internal material feature matching result as the second feature matching result.
4. The method of claim 2,
after determining that the target feature matching result indicates that the number of matched features is equal to 1, before determining the initial position of the charging pile, the method further includes:
and if the matched characteristic is matched with the appearance characteristic of the charging pile, executing the step of determining the final position of the charging pile, otherwise, executing the step of determining the initial position of the charging pile.
5. The method of claim 2, wherein matching sensor data collected by the camera to appearance characteristics of the charging post comprises:
calculating the matching degree between the environmental image data acquired by the camera and the appearance characteristics of the charging pile by adopting an image recognition algorithm;
and if the matching degree exceeds a set matching degree threshold value, confirming that the appearance characteristics of the charging pile are matched, otherwise, confirming that the appearance characteristics of the charging pile are not matched.
6. The method of claim 3, wherein the charging slot of the charging post is provided with at least two materials having different coefficients of retroreflection;
the object reverberation intensity data that will laser radar gathers with the inside material characteristic of charging groove matches, obtains inside material characteristic matching result, includes:
and matching the object reflected light intensity data acquired by the laser radar with the material characteristics of the at least two materials with different retroreflection coefficients to obtain an internal material matching result.
7. The method according to any one of claims 1-6, wherein acquiring sensor data collected by the robot via the camera and the lidar after detecting that the robot needs to be charged comprises:
after the fact that the robot needs to be charged is detected, sensor data collected by the robot through a camera and a laser radar in the moving process are obtained;
or after the fact that the robot needs to be charged is detected, sensor data collected by the robot through the camera and the laser radar in the static state are obtained.
8. The method of claim 7, wherein the acquiring sensor data collected by the robot through the camera and the lidar during the moving comprises:
the robot is controlled to move towards a preset charging pile position, and sensor data collected by the robot through a camera and a laser radar in the moving process are obtained;
the preset charging pile position is a starting point position of a current driving path of the robot, or a registered charging pile position in a global map of the robot, or a potential charging pile position determined by sensor data acquired by a camera and a laser radar in the moving process of the robot before charging is needed.
9. The method according to any one of claims 1-6, wherein if the target feature matching result indicates that the number of matched features is equal to 1, the method further comprises:
determining a preliminary pose of the charging pile based on the sensor data, and obtaining a preliminary pose from the preliminary pose and the preliminary position;
the controlling the robot to move to the preliminary location includes:
controlling the robot to move to a set distance position right in front of the charging pile indicated by the preliminary pose;
if the target feature matching result indicates that the number of matched features is not less than 2, the method further comprises:
determining the final posture of the charging pile based on the sensor data, and obtaining a final posture from the final posture and the final position;
the controlling the robot to move to the final position includes:
and controlling the robot to move to a set distance right in front of the charging pile indicated by the final pose.
10. A robot charging device, comprising:
the sensor data acquisition unit is used for acquiring sensor data acquired by the robot through the camera and the laser radar after the fact that the robot needs to be charged is detected;
the characteristic matching unit is used for matching the sensor data with charging pile characteristics of a preset number to obtain a target characteristic matching result, wherein the preset number is not less than 2;
a preliminary position determining unit, configured to determine a preliminary position of the charging pile based on the sensor data if the target feature matching result indicates that the number of matched features is equal to 1, control the robot to move to the preliminary position, and return to the step of executing the sensor data acquiring unit to acquire the sensor data acquired by the robot through the camera and the laser radar;
and the final position determining unit is used for determining the final position of the charging pile based on the sensor data and controlling the robot to move to the final position to realize pile feeding charging if the target feature matching result indicates that the number of matched features is not less than 2.
11. A robot, comprising: the robot comprises a robot body, a power module, a camera, a laser radar, a memory and a processor, wherein the power module, the camera, the laser radar, the memory and the processor are arranged on the robot body;
the memory is used for storing programs;
the processor is configured to execute the program to implement the steps of the robot charging method according to any one of claims 1 to 9.
12. A robot system comprising the robot of claim 11 and a charging pile;
the charging pile comprises a charging groove, a power supply interface is arranged in the charging groove and used for being matched with a charging interface on the robot to charge the robot;
at least two materials with different retro-reflection coefficients are arranged in the charging groove.
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