CN110109450A - A kind of automatic recharging method of robot, device and terminal device - Google Patents
A kind of automatic recharging method of robot, device and terminal device Download PDFInfo
- Publication number
- CN110109450A CN110109450A CN201910269950.7A CN201910269950A CN110109450A CN 110109450 A CN110109450 A CN 110109450A CN 201910269950 A CN201910269950 A CN 201910269950A CN 110109450 A CN110109450 A CN 110109450A
- Authority
- CN
- China
- Prior art keywords
- robot
- line segment
- continuous line
- cradle
- reflection point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000002310 reflectometry Methods 0.000 claims abstract description 49
- 230000006870 function Effects 0.000 claims description 33
- 238000004590 computer program Methods 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000005516 engineering process Methods 0.000 abstract description 11
- 230000005611 electricity Effects 0.000 description 9
- 239000006185 dispersion Substances 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- H02J7/0027—
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The application is suitable for automatic control technology field, provides a kind of automatic recharging method of robot, device and terminal device, which comprises when starting recharges function automatically, transmitting positioning laser；Laser reflectance data is received, the laser reflectance data is handled, the corresponding position of laser reflection point and reflectivity are obtained；The laser reflection point for being greater than default reflectivity threshold value using the reflectivity determines that the position of the cradle, the position that control robot is moved to the cradle execute charging operations according to the position of the target laser reflection point as target laser reflection point.It is poor that the application can solve the existing stability for recharging technology automatically, is easy disturbed problem.
Description
Technical field
The application belongs to the automatic recharging method of automatic control technology field more particularly to a kind of robot, device and terminal
Equipment.
Background technique
With the development of science and technology, mobile robot progresses into people's lives, cleaning, inspection, official communication are provided for people
The service such as inquiry.
In order to facilitate the use of robot, mobile robot not will use cable usually as robot power supply, but select
It selects and is powered using battery.When being powered using battery, robot is needed when electricity reduces to a certain extent certainly
The dynamic charging socket that returns charges.
It is current to recharge in technology automatically, using it is more be it is infrared recharge technology automatically, staff is on cradle
Infrared carrier wave transmitter is installed, then infrared receiving module is set on robot body, robot passes through infrared receiving module
Infrared signal is received, so that positioning charging block position carries out refilling operation.But the stability of this mode is poor, infrared signal is held
It is easily interfered and fails by strong light, be difficult to apply in outdoor.
In addition some products are to realize that cradle positions by way of identifying cradle profile, as ultrasonic wave is fixed
Position, there is also the determinations of stability difference to easily identify mistake under some barriers and the similar situation of cradle for this mode
Accidentally, cause to recharge failure.
To sum up, the existing stability for recharging technology automatically is poor, is easy disturbed.
Summary of the invention
In view of this, the embodiment of the present application provides a kind of automatic recharging method of robot, device and terminal device, with solution
The certainly existing stability for recharging technology automatically is poor, is easy disturbed problem.
The first aspect of the embodiment of the present application provides a kind of automatic recharging method of robot, comprising:
When starting recharges function automatically, transmitting positioning laser；
Laser reflectance data is received, the laser reflectance data is handled, the corresponding position of laser reflection point is obtained
And reflectivity；
It is greater than the laser reflection point for presetting reflectivity threshold value as target laser reflection point, according to described using the reflectivity
The position of target laser reflection point determines that the position of the cradle, the position that control robot is moved to the cradle execute
Charging operations.
The second aspect of the embodiment of the present application provides a kind of automatic recharging device of robot, comprising:
Laser emitting module, for when starting recharges function automatically, transmitting to position laser；
Reflectance data module handles the laser reflectance data, obtains laser for receiving laser reflectance data
The corresponding position of reflection point and reflectivity；
Charging module is positioned, the laser reflection point for being greater than default reflectivity threshold value using the reflectivity swashs as target
Light reflection point, the position of the cradle is determined according to the position of the target laser reflection point, and control robot is moved to institute
The position for stating cradle executes charging operations.
The third aspect of the embodiment of the present application provides a kind of terminal device, including memory, processor and is stored in
In the memory and the computer program that can run on the processor, when the processor executes the computer program
It realizes such as the step of the above method.
The fourth aspect of the embodiment of the present application provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, realizes when the computer program is executed by processor such as the step of the above method.
Existing beneficial effect is the embodiment of the present application compared with prior art:
In the automatic recharging method of the robot of the application, cradle positioning is carried out using laser, due to charging seating face patch
There is laser reflector, therefore the reflectivity of laser reflector can handle laser reflection number much higher than the reflectivity of familiar object
According to the laser reflection point using reflectivity higher than default reflectivity is as target laser reflection point, according to target laser reflection point
Position determines that the position of cradle, the position that control robot is moved to cradle are charged, and carrying out positioning by laser can
To improve the accuracy of cradle positioning, detection range is improved, reduces the interference of strong light, recognition accuracy is high, solves existing
The stability for recharging technology automatically it is poor, be easy disturbed problem.
Detailed description of the invention
It in order to more clearly explain the technical solutions in the embodiments of the present application, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some of the application
Embodiment for those of ordinary skill in the art without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is the implementation process schematic diagram of the automatic recharging method of robot provided by the embodiments of the present application；
Fig. 2 is the schematic diagram of the automatic recharging device of robot provided by the embodiments of the present application；
Fig. 3 is the schematic diagram of terminal device provided by the embodiments of the present application；
Fig. 4 is the schematic diagram of laser ranging map provided by the embodiments of the present application.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, so as to provide a thorough understanding of the present application embodiment.However, it will be clear to one skilled in the art that there is no these specific
The application also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, so as not to obscure the description of the present application with unnecessary details.
In order to illustrate technical solution described herein, the following is a description of specific embodiments.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " instruction is described special
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded one or more of the other feature, entirety, step,
Operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this present specification merely for the sake of description specific embodiment
And be not intended to limit the application.As present specification and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in present specification and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
The cradle of the application is used to charge for robot, can be by machine when near robot motion to cradle
The charging interface of people is docked with cradle carries out wired charging, or can also carry out wireless charging, and the surface of cradle is posted
Laser reflector, laser reflector have high reflectance.
Embodiment one:
The automatic recharging method of a kind of robot provided below the embodiment of the present application one is described, and please refers to attached drawing 1,
The automatic recharging method of robot in the embodiment of the present application one includes:
Step S101, when starting recharges function automatically, transmitting positioning laser；
When robot starting recharges function automatically, the position of positioning charging block is needed, is planned according to the position of cradle
Movement routine.
When the position of robot localization cradle, positioning laser can be emitted by laser radar.
Step S102, laser reflectance data is received, the laser reflectance data is handled, laser reflection point pair is obtained
The position answered and reflectivity；
The type of present laser radar is mainly rotary laser radar, and the laser emitter of laser radar follows rotation bottom
Seat rotation successively emits laser in all angles, and receives the reflection laser of all angles return, obtains laser reflectance data,
Laser reflectance data is handled, the distance and reflectivity of laser emission point can be obtained, can be obtained in conjunction with distance and angle
To the position of laser reflection point, to establish laser ranging map, as shown in Figure 4.
Step S103, it is reflected using the laser reflection point that the reflectivity is greater than default reflectivity threshold value as target laser
Point, the position of the cradle is determined according to the position of the target laser reflection point, and control robot is moved to the charging
The position of seat executes charging operations.
Since the reflectivity of laser reflector is much higher than the reflectivity of common objects and smooth metal surface, setting is closed
Suitable default reflectivity threshold value can distinguish the reflection point of the laser reflection point and non-laser reflector of laser reflector.
It is greater than the laser reflection point for presetting reflectivity threshold value as target laser reflection point, according to target laser using reflectivity
The position of reflection point is the position that can determine cradle, as shown in figure 4, when the region where target laser reflection point has been determined
When, robot can carry out route planning according to the position of cradle, and robot, which is controlled, according to programme path is moved to cradle,
Charging operations are executed, that realizes robot recharges function automatically.
Further, the laser reflection point for being greater than default reflectivity threshold value using the reflectivity is anti-as target laser
Exit point, the position of the cradle is determined according to the position of the target laser reflection point, and control robot is moved to described fill
The position of electric seat executes charging operations and specifically includes:
A1, it is greater than the laser reflection point of default reflectivity threshold value using the reflectivity as target laser reflection point；
A2, judge whether the target laser reflection point can form the length of continuous line segment and the continuous line segment
Greater than pre-set length threshold；
When two target laser reflection points laser reflection point corresponding for adjacent angular, then the two target lasers reflect
Point be adjacent target laser reflection point, when there are two or more target laser reflection points be adjacent target laser
When reflection point, continuous line segment can be formed.
When forming continuous line segment, each adjacent target laser reflection point can be sequentially connected, be obtained continuous
Line segment can also carry out straight line or curve matching to multiple adjacent target laser reflection points, obtain continuous line segment.
It obtains after forming continuous line segment, the length of continuous line segment should be limited, judge continuous line segment
Whether length is greater than pre-set length threshold.
A3, it is greater than institute when the length that the target laser reflection point can form continuous line segment and the continuous line segment
When stating pre-set length threshold, using the position of the central point of the continuous line segment as the position of cradle；
When target laser reflection point can form continuous line segment, and the length of continuous line segment is greater than pre-set length threshold
When, then it can be using the center position of the continuous line segment as the position of cradle.
When the length of continuous line segment is less than or equal to pre-set length threshold, then ignore the continuous line segment.
The position that A4, control robot are moved to the cradle executes charging operations.
After the position for determining cradle, the position that robot is moved to cradle can control, execute charging operations, it is complete
Function is recharged automatically at robot.
Further, described when the target laser reflection point can form continuous line segment and the continuous line segment
It is specific using the position of position as the cradle of the central point of the continuous line segment when length is greater than the pre-set length threshold
Include:
B1, it is greater than institute when the length that the target laser reflection point can form continuous line segment and the continuous line segment
When stating pre-set length threshold, judge whether the radian of the continuous line segment is less than default radian threshold value；
Other than the length to continuous line segment limits, the radian of line segment can also be limited, judge to connect
Whether the radian of continuous line segment is less than default radian threshold value.
B2, when the radian of the continuous line segment be less than the default radian threshold value when, in the continuous line segment
Position of the position of heart point as cradle.
When the radian of continuous line segment is less than default radian threshold value, just using the position of the central point of continuous line segment as
The position of cradle.
When the radian of continuous line segment is greater than or equal to default radian threshold value, then it represents that the shape of the continuous line segment is not
The shape for meeting cradle ignores the continuous line segment.
Further, it is also possible to dispersion degree calculating is carried out according to the position of target laser reflection point each in continuous line segment,
Judge whether the dispersion degree of continuous line segment is lower than default dispersion degree threshold value, when the dispersion degree of continuous line segment is lower than pre-
If then the position of the central point of the continuous line segment is the position of cradle when dispersion degree threshold value, when continuous line segment from
When the degree of dissipating is greater than or equal to default dispersion degree threshold value, then ignore the continuous line segment.
Further, the position that the control robot is moved to the cradle executes charging operations and specifically includes:
C1, using the normal of the central point of the continuous line segment as contraposition straight line, with distance institute in the contraposition straight line
The nearest point in current location of robot is stated as straight line loci, the robot is controlled and is moved to the straight line loci；
During controlling robot motion, the conduct of the central point of continuous line segment can be aligned into straight line, with right
The nearest point in the current location of position linear distance robot controls robot and is moved to straight line loci as straight line loci.
Contraposition described in C2, the control Robot moves linearly to the position of the cradle.
Robot is moved to after straight line loci, can control Robot contraposition linear movement to the position of cradle
It sets, due to the normal for the central point that contraposition straight line is continuous line segment, the direction of contraposition straight line can be considered as the court of cradle
To, robot is contacted along the direction that contraposition linear motion to cradle can make robot face cradle with cradle,
There is maximum contact area, robot is allowed preferably to dock charging with cradle.
Further, described when starting recharges function automatically, before transmitting positioning laser further include:
D1, the remaining capacity of robot is monitored in real time, when the remaining capacity of the robot is lower than default electricity
When threshold value, starting recharges function automatically.
Before starting recharges function automatically, default power threshold can be set, the remaining capacity of robot is carried out real
When monitor, when the remaining capacity of robot is lower than default power threshold, starting recharges function automatically.
The setting of default power threshold should be guaranteed that robot has enough electricity to be back to cradle, and specific value can be with
It is configured according to the actual situation, such as can be set to the 10% of total electricity.
Further, since robot when execution recharges function automatically, is not necessarily in the room where cradle, such as machine
Device people low battery when the room A is swept, cradle can be set before transmitting positions laser at this time, first control in the room B
Robot is back to specified region, such as control robot returns to the room B, is back to behind specified region and emits positioning laser again,
Improve the efficiency recharged automatically.
In the automatic recharging method of robot that the present embodiment one provides, cradle positioning is carried out using laser, due to charging
Seating face posts laser reflector, therefore the reflectivity of laser reflector can handle sharp much higher than the reflectivity of familiar object
Light reflectance data is higher than the laser reflection point for presetting reflectivity as target laser reflection point, according to target laser using reflectivity
The position of reflection point determines the position of cradle, and the position that control robot is moved to cradle is charged, by laser into
The accuracy of cradle positioning can be improved in row positioning, extends detection range, reduces the interference of strong light, and recognition accuracy is high, solution
The existing stability for recharging technology automatically of having determined is poor, is easy disturbed problem.
After obtaining target laser reflection point, it can be determined that whether target laser reflection point can form continuous line segment, and
The length of continuous line segment is limited, when target laser reflection point can form the length of continuous line segment and continuous line segment
When degree is greater than pre-set length threshold, using the center position of continuous line segment as the position of cradle.Further, it is also possible into one
Step limits the radian and dispersion degree of continuous line segment, and specific choice can be configured according to the actual situation.
It, can be using the normal of the central point of continuous line segment as contraposition during controlling robot return cradle
Straight line, control robot are moved on contraposition straight line, along the position of contraposition linear motion cradle, so that Robot cradle
Direction contacted with cradle, have maximum contact area, robot allowed preferably to dock charging with cradle.
Before starting recharges function automatically, the remaining capacity of robot can be monitored in real time, once discovery machine
The remaining capacity of device people just controls robot starting lower than default power threshold and recharges function automatically, it is ensured that robot possesses enough
Electricity be back to cradle, realization recharges continuation of the journey automatically, charges without robot, user side, improves the intelligence of robot
Degree.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present application constitutes any limit
It is fixed.
Embodiment two:
The embodiment of the present application two provides a kind of automatic recharging device of robot, for purposes of illustration only, only showing and the application
Relevant part, as shown in Fig. 2, the automatic recharging device of robot includes,
Laser emitting module 201, for when starting recharges function automatically, transmitting to position laser；
Reflectance data module 202 handles the laser reflectance data, obtains for receiving laser reflectance data
The corresponding position of laser reflection point and reflectivity；
Charging module 203 is positioned, for being greater than the laser reflection point of default reflectivity threshold value using the reflectivity as mesh
Laser reflection point is marked, the position of the cradle is determined according to the position of the target laser reflection point, control robot is mobile
Charging operations are executed to the position of the cradle.
Further, the positioning charging module specifically includes:
Target submodule, for being greater than the laser reflection point of default reflectivity threshold value using the reflectivity as target laser
Reflection point；
Line segment submodule, for judging whether the target laser reflection point can form continuous line segment and the line segment
Length be greater than pre-set length threshold；
Position submodule, for continuous line segment and the continuous line segment can be formed when the target laser reflection point
Length be greater than the pre-set length threshold when, using the position of the central point of the continuous line segment as the position of cradle；
Charge submodule, and the position that the cradle is moved to for controlling robot executes charging operations.
Further, the position submodule specifically includes:
Radian submodule, for continuous line segment and the continuous line segment can be formed when the target laser reflection point
Length be greater than the pre-set length threshold when, judge whether the radian of the continuous line segment is less than default radian threshold value；
Center submodule, for when the radian of the continuous line segment be less than the default radian threshold value when, with the company
Position of the position of the central point of continuous line segment as cradle.
Further, the charging submodule specifically includes:
Loci submodule, for using the normal of the central point of the continuous line segment as contraposition straight line, with described right
The nearest point in the current location of robot described in distance controls the robot and is moved to institute as straight line loci in the straight line of position
State straight line loci；
Straight line submodule, for controlling contraposition linear movement described in the Robot to the position of the cradle.
Further, described device further include:
Electricity monitoring module monitors in real time for the remaining capacity to robot, when the residue electricity of the robot
When amount is lower than default power threshold, starting recharges function automatically.
It should be noted that the contents such as information exchange, implementation procedure between above-mentioned apparatus/unit, due to the application
Embodiment of the method is based on same design, concrete function and bring technical effect, for details, reference can be made to embodiment of the method part, this
Place repeats no more.
Embodiment three:
Fig. 3 is the schematic diagram for the terminal device that the embodiment of the present application three provides.As shown in figure 3, the terminal of the embodiment is set
Standby 3 include: processor 30, memory 31 and are stored in the meter that can be run in the memory 31 and on the processor 30
Calculation machine program 32.The processor 30 realizes above-mentioned robot automatic recharging method embodiment when executing the computer program 32
In step, such as step S101 to S103 shown in FIG. 1.Alternatively, when the processor 30 executes the computer program 32
Realize the function of each module/unit in above-mentioned each Installation practice, such as the function of module 201 to 203 shown in Fig. 2.
Illustratively, the computer program 32 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 31, and are executed by the processor 30, to complete the application.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 32 in the terminal device 3 is described.For example, the computer program 32 can be divided
It is as follows to be cut into laser emitting module, reflectance data module and positioning charging module, each module concrete function:
Laser emitting module, for when starting recharges function automatically, transmitting to position laser；
Reflectance data module handles the laser reflectance data, obtains laser for receiving laser reflectance data
The corresponding position of reflection point and reflectivity；
Charging module is positioned, the laser reflection point for being greater than default reflectivity threshold value using the reflectivity swashs as target
Light reflection point, the position of the cradle is determined according to the position of the target laser reflection point, and control robot is moved to institute
The position for stating cradle executes charging operations.
The terminal device 3 can be the calculating such as desktop PC, notebook, palm PC and cloud server and set
It is standby.The terminal device may include, but be not limited only to, processor 30, memory 31.It will be understood by those skilled in the art that Fig. 3
The only example of terminal device 3 does not constitute the restriction to terminal device 3, may include than illustrating more or fewer portions
Part perhaps combines certain components or different components, such as the terminal device can also include input-output equipment, net
Network access device, bus etc..
Alleged processor 30 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 31 can be the internal storage unit of the terminal device 3, such as the hard disk or interior of terminal device 3
It deposits.The memory 31 is also possible to the External memory equipment of the terminal device 3, such as be equipped on the terminal device 3
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card) etc..Further, the memory 31 can also both include the storage inside list of the terminal device 3
Member also includes External memory equipment.The memory 31 is for storing needed for the computer program and the terminal device
Other programs and data.The memory 31 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
Scope of the present application.
In embodiment provided herein, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the application realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as does not include electric carrier signal and electricity according to legislation and patent practice, computer-readable medium in certain jurisdictions
Believe signal.
Embodiment described above is only to illustrate the technical solution of the application, rather than its limitations；Although referring to aforementioned reality
Example is applied the application is described in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution should all
Comprising within the scope of protection of this application.
Claims (10)
1. a kind of automatic recharging method of robot, which is characterized in that charging seating face posts laser reflector, and the cradle is used
It charges in for robot, which comprises
When starting recharges function automatically, transmitting positioning laser；
Laser reflectance data is received, the laser reflectance data is handled, obtains the corresponding position of laser reflection point and anti-
Penetrate rate；
It is greater than the laser reflection point for presetting reflectivity threshold value as target laser reflection point, according to the target using the reflectivity
The position of laser reflection point determines that the position of the cradle, the position that control robot is moved to the cradle execute charging
Operation.
2. the automatic recharging method of robot as described in claim 1, which is characterized in that it is described be greater than with the reflectivity it is default
The laser reflection point of reflectivity threshold value is as target laser reflection point, according to the determination of the position of the target laser reflection point
The position of cradle, the position that control robot is moved to the cradle execute charging operations and specifically include:
It is greater than the laser reflection point of default reflectivity threshold value as target laser reflection point using the reflectivity；
Judge whether the target laser reflection point can form continuous line segment and the length of the continuous line segment is greater than in advance
If length threshold；
When the length that the target laser reflection point can form continuous line segment and the continuous line segment is greater than described preset
When length threshold, using the position of the central point of the continuous line segment as the position of cradle；
The position that control robot is moved to the cradle executes charging operations.
3. the automatic recharging method of robot as claimed in claim 2, which is characterized in that described to work as the target laser reflection point
When can form the length of continuous line segment and the continuous line segment and being greater than the pre-set length threshold, with the continuous line
The position of the central point of section is specifically included as the position of cradle:
When the length that the target laser reflection point can form continuous line segment and the continuous line segment is greater than described preset
When length threshold, judge whether the radian of the continuous line segment is less than default radian threshold value；
When the radian of the continuous line segment is less than the default radian threshold value, with the position of the central point of the continuous line segment
Set the position as cradle.
4. the automatic recharging method of robot as claimed in claim 2 or claim 3, which is characterized in that the control robot is moved to
The position of the cradle executes charging operations and specifically includes:
Using the normal of the central point of the continuous line segment as contraposition straight line, with robot described in distance in the contraposition straight line
The nearest point in current location as straight line loci, control the robot and be moved to the straight line loci；
Contraposition linear movement described in the Robot is controlled to the position of the cradle.
5. the automatic recharging method of robot as described in claim 1, which is characterized in that described when starting recharges function automatically
When, transmitting positions before laser further include:
The remaining capacity of robot is monitored in real time, when the remaining capacity of the robot is lower than default power threshold,
Starting recharges function automatically.
6. a kind of automatic recharging device of robot characterized by comprising
Laser emitting module, for when starting recharges function automatically, transmitting to position laser；
Reflectance data module handles the laser reflectance data, obtains laser reflection for receiving laser reflectance data
The corresponding position of point and reflectivity；
Charging module is positioned, the laser reflection point for being greater than default reflectivity threshold value using the reflectivity is anti-as target laser
Exit point, the position of the cradle is determined according to the position of the target laser reflection point, and control robot is moved to described fill
The position of electric seat executes charging operations.
7. the automatic recharging device of robot as claimed in claim 6, which is characterized in that the positioning charging module specifically wraps
It includes:
Target submodule, the laser reflection point for being greater than default reflectivity threshold value using the reflectivity are reflected as target laser
Point；
Line segment submodule, for judging whether the target laser reflection point can form continuous line segment and the continuous line
The length of section is greater than pre-set length threshold；
Position submodule, for the length of continuous line segment and the continuous line segment can be formed when the target laser reflection point
When degree is greater than the pre-set length threshold, using the position of the central point of the continuous line segment as the position of cradle；
Charge submodule, and the position that the cradle is moved to for controlling robot executes charging operations.
8. the automatic recharging device of robot as claimed in claim 7, which is characterized in that the position submodule specifically includes:
Radian submodule, for the length of continuous line segment and the continuous line segment can be formed when the target laser reflection point
When degree is greater than the pre-set length threshold, judge whether the radian of the continuous line segment is less than default radian threshold value；
Center submodule, for when the radian of the continuous line segment is less than the default radian threshold value, with described continuous
Position of the position of the central point of line segment as cradle.
9. a kind of terminal device, including memory, processor and storage are in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as claim 1 to 5 when executing the computer program
The step of any one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 5 of realization the method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910269950.7A CN110109450A (en) | 2019-04-01 | 2019-04-01 | A kind of automatic recharging method of robot, device and terminal device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910269950.7A CN110109450A (en) | 2019-04-01 | 2019-04-01 | A kind of automatic recharging method of robot, device and terminal device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110109450A true CN110109450A (en) | 2019-08-09 |
Family
ID=67485111
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910269950.7A Pending CN110109450A (en) | 2019-04-01 | 2019-04-01 | A kind of automatic recharging method of robot, device and terminal device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110109450A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110890772A (en) * | 2019-11-29 | 2020-03-17 | 小狗电器互联网科技（北京）股份有限公司 | Recharging method, recharging equipment and recharging storage medium |
| CN111427351A (en) * | 2020-03-31 | 2020-07-17 | 深圳乐动机器人有限公司 | Robot recharging method and robot |
| CN111694360A (en) * | 2020-06-22 | 2020-09-22 | 珠海格力电器股份有限公司 | Method and device for determining position of sweeping robot and sweeping robot |
| CN111830969A (en) * | 2020-06-12 | 2020-10-27 | 北京布科思科技有限公司 | Fusion docking method based on reflector and two-dimensional code |
| CN112792820A (en) * | 2021-03-16 | 2021-05-14 | 千里眼(广州)人工智能科技有限公司 | Automatic robot recharging method and device and robot system |
| CN113324549A (en) * | 2021-05-28 | 2021-08-31 | 广州科语机器人有限公司 | Method, device, equipment and storage medium for positioning mobile robot charging seat |
| CN113740872A (en) * | 2021-08-16 | 2021-12-03 | 河南牧原智能科技有限公司 | Method for automatically charging a robot and related product |
| CN113917926A (en) * | 2021-10-25 | 2022-01-11 | 北京京东乾石科技有限公司 | Pile return guide device, pile driving guide device, system, method and medium |
| CN116501070A (en) * | 2023-06-30 | 2023-07-28 | 深圳市欢创科技有限公司 | Recharging method, robot and storage medium |
| WO2023236697A1 (en) * | 2022-06-07 | 2023-12-14 | 速感科技（北京）有限公司 | Charging method and apparatus for autonomous mobile device |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006090896A1 (en) * | 2005-02-23 | 2006-08-31 | Matsushita Electric Works, Ltd. | Autonomous vehicle and planar obstacle recognition method |
| CN101430383A (en) * | 2007-11-05 | 2009-05-13 | 保定市天河电子技术有限公司 | Monitoring method and system for obstacles |
| CN105589463A (en) * | 2016-03-15 | 2016-05-18 | 南京亚标机器人有限公司 | Automatic guiding trolley with built-in laser scanner |
| CN106052676A (en) * | 2016-05-26 | 2016-10-26 | 深圳市神州云海智能科技有限公司 | Robot navigation positioning method and device and robot |
| WO2017018694A1 (en) * | 2015-07-28 | 2017-02-02 | 주식회사 파인로보틱스 | Pollution measurement device and autonomous cleaning robot system comprising same |
| US20170131721A1 (en) * | 2015-11-06 | 2017-05-11 | Samsung Electronics Co., Ltd. | Robot cleaner and method for controlling the same |
| CN106679671A (en) * | 2017-01-05 | 2017-05-17 | 大连理工大学 | Navigation marking graph recognition method based on laser data |
| CN107577236A (en) * | 2017-09-27 | 2018-01-12 | 上海有个机器人有限公司 | Robot automatic homing charging method, robot, system and storage medium |
| CN107608358A (en) * | 2017-09-30 | 2018-01-19 | 爱啃萝卜机器人技术（深圳）有限责任公司 | High-efficiency and low-cost based on outline identification technology recharges system and method automatically |
| CN207328186U (en) * | 2017-10-25 | 2018-05-08 | 三峡大学 | A kind of polling transmission line unmanned plane laser positioning charging system |
| CN108319262A (en) * | 2017-12-21 | 2018-07-24 | 合肥中导机器人科技有限公司 | A kind of the filtering method and laser navigation method of laser reflection plate pip |
| CN108596084A (en) * | 2018-04-23 | 2018-09-28 | 宁波Gqy视讯股份有限公司 | A kind of charging pile automatic identifying method and device |
| CN109144071A (en) * | 2018-09-30 | 2019-01-04 | 青岛港国际股份有限公司 | AGV traffic control method in a kind of narrow lane |
| CN109270963A (en) * | 2018-09-29 | 2019-01-25 | 武汉理工大学 | A kind of wheelchair automatic following system and method based on reflective fabric and laser radar |
| CN109491382A (en) * | 2018-11-07 | 2019-03-19 | 深圳乐动机器人有限公司 | A kind of robot charging method, device, storage medium and robot |
| CN109508014A (en) * | 2018-12-24 | 2019-03-22 | 珠海市微半导体有限公司 | A kind of the laser aiming recharging method and chip of mobile robot |
-
2019
- 2019-04-01 CN CN201910269950.7A patent/CN110109450A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006090896A1 (en) * | 2005-02-23 | 2006-08-31 | Matsushita Electric Works, Ltd. | Autonomous vehicle and planar obstacle recognition method |
| CN101430383A (en) * | 2007-11-05 | 2009-05-13 | 保定市天河电子技术有限公司 | Monitoring method and system for obstacles |
| WO2017018694A1 (en) * | 2015-07-28 | 2017-02-02 | 주식회사 파인로보틱스 | Pollution measurement device and autonomous cleaning robot system comprising same |
| US20170131721A1 (en) * | 2015-11-06 | 2017-05-11 | Samsung Electronics Co., Ltd. | Robot cleaner and method for controlling the same |
| CN105589463A (en) * | 2016-03-15 | 2016-05-18 | 南京亚标机器人有限公司 | Automatic guiding trolley with built-in laser scanner |
| CN106052676A (en) * | 2016-05-26 | 2016-10-26 | 深圳市神州云海智能科技有限公司 | Robot navigation positioning method and device and robot |
| CN106679671A (en) * | 2017-01-05 | 2017-05-17 | 大连理工大学 | Navigation marking graph recognition method based on laser data |
| CN107577236A (en) * | 2017-09-27 | 2018-01-12 | 上海有个机器人有限公司 | Robot automatic homing charging method, robot, system and storage medium |
| CN107608358A (en) * | 2017-09-30 | 2018-01-19 | 爱啃萝卜机器人技术（深圳）有限责任公司 | High-efficiency and low-cost based on outline identification technology recharges system and method automatically |
| CN207328186U (en) * | 2017-10-25 | 2018-05-08 | 三峡大学 | A kind of polling transmission line unmanned plane laser positioning charging system |
| CN108319262A (en) * | 2017-12-21 | 2018-07-24 | 合肥中导机器人科技有限公司 | A kind of the filtering method and laser navigation method of laser reflection plate pip |
| CN108596084A (en) * | 2018-04-23 | 2018-09-28 | 宁波Gqy视讯股份有限公司 | A kind of charging pile automatic identifying method and device |
| CN109270963A (en) * | 2018-09-29 | 2019-01-25 | 武汉理工大学 | A kind of wheelchair automatic following system and method based on reflective fabric and laser radar |
| CN109144071A (en) * | 2018-09-30 | 2019-01-04 | 青岛港国际股份有限公司 | AGV traffic control method in a kind of narrow lane |
| CN109491382A (en) * | 2018-11-07 | 2019-03-19 | 深圳乐动机器人有限公司 | A kind of robot charging method, device, storage medium and robot |
| CN109508014A (en) * | 2018-12-24 | 2019-03-22 | 珠海市微半导体有限公司 | A kind of the laser aiming recharging method and chip of mobile robot |
Non-Patent Citations (1)
| Title |
|---|
| 张清华等: "基于激光定位技术的智能变电站巡检机器人设计", 《中国新通信》 * |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110890772B (en) * | 2019-11-29 | 2021-06-29 | 小狗电器互联网科技（北京）股份有限公司 | Recharging method, recharging equipment and recharging storage medium |
| CN110890772A (en) * | 2019-11-29 | 2020-03-17 | 小狗电器互联网科技（北京）股份有限公司 | Recharging method, recharging equipment and recharging storage medium |
| CN111427351A (en) * | 2020-03-31 | 2020-07-17 | 深圳乐动机器人有限公司 | Robot recharging method and robot |
| CN111830969B (en) * | 2020-06-12 | 2024-03-26 | 北京布科思科技有限公司 | Fusion butt joint method based on reflecting plate and two-dimensional code |
| CN111830969A (en) * | 2020-06-12 | 2020-10-27 | 北京布科思科技有限公司 | Fusion docking method based on reflector and two-dimensional code |
| CN111694360B (en) * | 2020-06-22 | 2021-12-03 | 珠海格力电器股份有限公司 | Method and device for determining position of sweeping robot and sweeping robot |
| CN111694360A (en) * | 2020-06-22 | 2020-09-22 | 珠海格力电器股份有限公司 | Method and device for determining position of sweeping robot and sweeping robot |
| CN112792820B (en) * | 2021-03-16 | 2021-09-14 | 千里眼(广州)人工智能科技有限公司 | Automatic robot recharging method and device and robot system |
| CN112792820A (en) * | 2021-03-16 | 2021-05-14 | 千里眼(广州)人工智能科技有限公司 | Automatic robot recharging method and device and robot system |
| CN113324549A (en) * | 2021-05-28 | 2021-08-31 | 广州科语机器人有限公司 | Method, device, equipment and storage medium for positioning mobile robot charging seat |
| CN113740872A (en) * | 2021-08-16 | 2021-12-03 | 河南牧原智能科技有限公司 | Method for automatically charging a robot and related product |
| CN113917926A (en) * | 2021-10-25 | 2022-01-11 | 北京京东乾石科技有限公司 | Pile return guide device, pile driving guide device, system, method and medium |
| WO2023236697A1 (en) * | 2022-06-07 | 2023-12-14 | 速感科技（北京）有限公司 | Charging method and apparatus for autonomous mobile device |
| CN116501070A (en) * | 2023-06-30 | 2023-07-28 | 深圳市欢创科技有限公司 | Recharging method, robot and storage medium |
| CN116501070B (en) * | 2023-06-30 | 2023-09-19 | 深圳市欢创科技有限公司 | Recharging method, robot and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110109450A (en) | A kind of automatic recharging method of robot, device and terminal device | |
| US10793014B2 (en) | Automated electric vehicle charging system and method | |
| US8169186B1 (en) | Automated electric vehicle charging system and method | |
| WO2020062835A1 (en) | Robot and automatic recharging method and system therefor, electronic device and storage medium | |
| WO2019210745A1 (en) | Replaceable battery pack electric vehicle charging method, system, device, and storage medium | |
| US20180373258A1 (en) | Docking system and method for charging a mobile robot | |
| CN112654470A (en) | Robot cleaner and control method thereof | |
| CN112256024B (en) | Method, apparatus, device and computer readable medium for controlling robot charging | |
| CN106584466A (en) | System for automatically conveying mobile robots | |
| CN107825425A (en) | Robot control method, device, robot and cradle | |
| US9692485B1 (en) | Wireless energy reception management | |
| CN108173308A (en) | A kind of robot charging method and its device | |
| CN109991970A (en) | Robot charging control method and robot | |
| CN110051289A (en) | Robot voice control method and device, robot and medium | |
| CN110412530A (en) | Method and device for identifying charging pile and robot | |
| CN109719728A (en) | A kind of method and device of robot adjustment charging pose | |
| CN110543170A (en) | Charging control method and device for robot and robot with charging control device | |
| CN110136704A (en) | Robot voice control method and device, robot and medium | |
| CN208808368U (en) | A kind of cradle and sweeping robot | |
| CN110370266A (en) | A kind of localization method and robot of robot charging pile | |
| CN109343521A (en) | A kind of robot cleans the method and robot in room | |
| US12004702B2 (en) | Mobile robot and method of controlling mobile robot | |
| CN108820633A (en) | Mobile dustbin and its localization method, sanitation equipment localization method | |
| CN110133681B (en) | Recharge guiding system based on laser radar and recharge guiding method thereof | |
| US20240106255A1 (en) | Electronic device for charging service use device, and operation method therefor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20221111 |
|
| AD01 | Patent right deemed abandoned |