CN114355889A - Control method, robot charging stand, and computer-readable storage medium - Google Patents
Control method, robot charging stand, and computer-readable storage medium Download PDFInfo
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- CN114355889A CN114355889A CN202111490286.2A CN202111490286A CN114355889A CN 114355889 A CN114355889 A CN 114355889A CN 202111490286 A CN202111490286 A CN 202111490286A CN 114355889 A CN114355889 A CN 114355889A
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Abstract
The invention provides a control method for controlling a robot to go to a charging seat and charge, which comprises the following steps: scanning and determining a positioning surface of the charging seat by using a sensor of the robot; acquiring the distance and the angle of a charging interface of a charging seat relative to the robot; and controlling the robot to move to the charging seat according to the distance relation and the angle relation between the robot and the charging interface, and enabling the charging slot of the robot to be connected with the charging interface of the charging seat in an alignment manner. The embodiment of the invention realizes accurate alignment with the charging seat by using the sensor, simplifies the internal structure, reduces the production cost and optimizes the control method for automatic charging of the robot. The embodiment of the invention also provides a robot and a robot charging seat, which control the robot to identify, position and butt joint the charging seat so as to realize the complete autonomous positioning and charging of the robot. Embodiments of the present invention also include a computer-readable storage medium for storing a program for executing the aforementioned control method.
Description
Technical Field
The present invention generally relates to the field of robot control technologies, and in particular, to a method for controlling a robot, a charging stand for a robot, and a computer-readable storage medium.
Background
With the development of automatic control technology, the intelligent degree of the robot is higher and higher, and the application field is wider and wider. Most robots, such as distribution robots, warehousing robots, navigation robots, etc., have a relatively fixed application scene and move within a predetermined area. In order to supply power to a robot, a charging seat is usually arranged at a fixed position in a predetermined area, and when the electric quantity of the robot is reduced to a certain threshold value, the robot is controlled to automatically go to the charging seat for charging, but before charging, it is required to ensure that the charging interfaces of the robot and the charging seat are aligned accurately.
The existing robot automatic charging scheme generally adopts an infrared positioning technology, an infrared transmitting or receiving module is installed on a charging seat, when the electric quantity of the robot is lower than a threshold value, the robot starts the function of automatically searching the charging seat, the function of searching along a wall mode or a spiral mode is generally adopted, or in the running process of the robot, the advancing direction is continuously adjusted according to the running direction and the position of a charging pile, and finally the accurate alignment of the robot and the charging seat is realized. However, this method requires additional hardware support, and the corresponding infrared transmitting device and infrared receiving device are installed on the robot and charging stand, and the infrared transmitting device and infrared receiving device have single functions, and are only used for the alignment identification of the robot and charging stand, occupying limited space inside the robot, and increasing the complexity of structural design and the production cost of products.
The statements in the background section are merely prior art as they are known to the inventors and do not, of course, represent prior art in the field.
Disclosure of Invention
Aiming at one or more defects in the prior art, the invention provides a control method of a robot, which realizes the accurate alignment of the robot and a charging seat without an additional sensor, simplifies the internal structures of the robot and the charging seat, reduces the production and processing cost and optimizes the control method of the automatic charging of the robot. The invention also provides a robot and a robot charging seat, and the robot control method is applied to realize alignment connection and charge the robot. The present invention also includes a computer-readable storage medium for storing a program for executing the aforementioned robot control method.
In order to solve the technical problems, the invention adopts the following technical scheme:
a control method is used for controlling a robot to go to a charging seat and charge, the charging seat is arranged at a preset position of a robot movement area, and the charging seat is provided with a positioning surface, and the control method comprises the following steps:
scanning and determining a positioning surface of a charging seat by using a sensor of the robot, wherein the positioning surface and a charging interface of the charging seat have a preset position relationship;
acquiring the distance and the angle of a charging interface of a charging seat relative to the robot; and
and controlling the robot to move to the charging seat according to the distance relation and the angle relation between the robot and the charging interface, and enabling the charging slot of the robot to be connected with the charging interface of the charging seat in an alignment manner.
According to an aspect of the invention, the control method further comprises: and controlling the robot to move to a first H preset point position, and scanning and determining a positioning surface of a charging seat by using a sensor of the robot, wherein the distance between the first preset point position and the charging seat is not more than a first preset distance.
According to an aspect of the present invention, the step of controlling the robot to move to the charging stand further comprises:
controlling the robot to move to the positioning line;
controlling the robot to rotate until the charging slot of the robot is positioned in the direction of the positioning line; and
and controlling the robot to move to the charging seat along the positioning line.
According to an aspect of the invention, the first predetermined point location is disposed on a positioning line.
According to an aspect of the present invention, the step of controlling the robot to move to the charging stand further comprises:
controlling the robot to rotate until the charging slot of the robot is positioned in the direction of the positioning line; and
and controlling the robot to move to the charging seat along the positioning line.
According to an aspect of the present invention, the step of controlling the robot to move to the charging stand along the positioning line further comprises: and when the robot is controlled to move to a second preset point position or the distance between the robot and the charging seat is not more than a second preset distance, the robot is controlled to rotate until the charging groove of the robot is aligned with the charging interface.
According to an aspect of the present invention, wherein the positioning surface of the charging stand has preset structural features and/or optical features, the control method further comprises: and identifying a graph according with the characteristics of the positioning surface according to the result of the scanning of the sensor, and confirming the specific position and the specific direction of the charging seat relative to the robot.
According to an aspect of the present invention, wherein the step of confirming the specific position and the specific orientation of the charging stand with respect to the robot further comprises:
dividing point cloud data of a charging seat according to data of the sensor;
placing a point cloud template of a charging seat at the central position of the point cloud data;
the posture of the charging seat relative to the robot coordinate system is obtained through a calculation method, and the relative distance and the azimuth angle between the robot and the charging seat are calculated.
According to an aspect of the present invention, the control method further includes determining whether the remaining power of the robot is lower than a preset power, controlling the robot to move to the charging base when the remaining power of the robot is lower than the preset power, and controlling the robot to move to an idle charging base having a shortest moving distance when a plurality of charging bases are disposed in an active area of the robot.
According to an aspect of the present invention, a robot includes:
the robot comprises a main body, wherein a battery is arranged in the main body and supplies energy for the operation of the robot;
the driving device is arranged on the main body and can be controlled to drive the robot to move;
a charging slot provided on the main body and configured to be powered by an external power source to the battery;
a sensor disposed on the body, the sensor configured to scan an environment surrounding the robot; and
a control system disposed on the body and in communication with the drive device and the sensor, the control system configured to perform the control method as previously described.
According to an aspect of the present invention, a robot charging stand includes:
the fixed seat is fixedly connected with the ground and/or the wall surface of the robot moving area;
the charging interface is arranged on the fixed seat and is configured to be matched with the charging groove and supply power to the robot through the charging groove; and
the locating surface, the locating surface set up in on the fixing base, the locating surface has predetermined structural feature and/or optical feature, and the locating surface is fixed with the position relation of the interface that charges.
According to one aspect of the invention, a computer-readable storage medium includes computer-executable commands stored thereon, which when executed by a processor implement the control method as previously described.
Compared with the prior art, the embodiment of the invention provides a control method of a robot, which realizes accurate alignment between the robot and a charging seat by utilizing a sensor of the robot, wherein the sensor is a necessary device of the robot, no additional structure or device is required to be added, the internal structures of the robot and the charging seat are simplified, the production and manufacturing cost is reduced, the control method for automatic charging of the robot is optimized, the one-time alignment success is realized, and the times for adjusting the direction of the robot are reduced. The embodiment of the invention also provides a robot and a robot charging seat, and the robot is controlled to identify, position and butt joint the charging seat by the control method, so that the robot can be completely and autonomously positioned and charged. Embodiments of the present invention also include a computer-readable storage medium for storing a program for executing the aforementioned control method.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic flow diagram of one embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a case where the first default point is not located on the alignment line according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a first default point located on a location line according to an embodiment of the present invention;
FIG. 4 is a detailed flow diagram of one embodiment of the present invention;
FIG. 5 is a flow diagram illustrating the scanning and determining of a charging dock, in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of a path of movement of a robot in an embodiment of the present invention;
FIG. 7 is a control block diagram of a robot in an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a charging cradle according to an embodiment of the present invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection, either mechanically, electrically, or in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Fig. 1 illustrates a control method 100 for controlling automatic charging of a robot according to an embodiment of the present invention, which is described in detail below in conjunction with fig. 1.
The embodiment is used for controlling the robot to move to the charging seat and charging. The robot moves in a specific area to execute tasks, such as a food delivery robot moving in a restaurant range, a warehousing robot moving in a warehouse range and the like, wherein the moving area of the robot is a main working area, a charging seat is required to be arranged for ensuring the continuation of the journey of the robot, the conventional charging seat is usually arranged near an entrance wire interface in the moving area of the robot and is communicated with an entrance circuit, and the position of the charging seat can be adjusted according to specific use requirements, for example, different numbers of charging seats are distributed according to the busy degree of the robot in the moving area.
In order to realize accurate alignment between the robot and the charging seat, the charging seat is provided with an alignment surface, according to a preferred embodiment of the present invention, as shown in fig. 8, the robot charging seat 2 includes a fixing seat 21, a charging interface 22 and an alignment surface 23, wherein the fixing seat 21 is used for supporting and protecting internal circuits of the charging seat 2, the charging interface 22 is arranged on the fixing seat 21, the installation position of the robot charging seat 2 in the robot active area can be set according to specific requirements, and meanwhile, the charging interface 22 is also matched with the design structure of the robot, and the fixing seat 21 can be arranged on the ground and/or the wall surface. The positioning surface 23 of the robot charging stand 2 is disposed on the fixing base 21, and the positioning surface 23 has a predetermined structural feature and/or an optical feature, and the positional relationship between the positioning surface 23 and the charging interface 22 is fixed. The positioning surface 23 is used for matching with a sensor of the robot to realize the purpose of positioning the robot charging seat 2, and the specific structure or specific characteristics of the positioning surface 23 can be determined according to the type of the sensor on the robot.
As shown in fig. 1, in the method 100 for controlling a robot, in step S101, a positioning surface of a charging seat is scanned and determined by using a sensor of the robot, wherein the positioning surface and a charging interface of the charging seat have a predetermined positional relationship, for example, as shown in fig. 8, a plane where the positioning surface 23 and the charging seat 21 are located is perpendicular to each other, and after obtaining position information of the positioning surface 23, a position of the charging seat can be determined according to a predetermined shape. For the robot that moves about in the work area, generally all have the sensor to carry out work point location and prevent the collision, the sensor includes lidar sensor and binocular vision sensor, and the robot generally is provided with one of them or two kinds.
In step S102, the distance and angle of the charging interface of the charging stand with respect to the robot are acquired. Because the relative position of the positioning surface and the charging interface is fixed, after the robot obtains the position of the positioning surface through scanning, the position relation, namely the distance and the angle, of the charging interface relative to the robot can be obtained according to the position relation of the positioning surface and the charging interface.
In step S103, the robot is controlled to move to the charging seat according to the distance relationship and the angle relationship between the robot and the charging interface, and the charging slot of the robot is connected to the charging interface of the charging seat in an alignment manner. In traditional location process, need embed infrared transmitting device in the charging seat, outwards launch infrared signal, in order to prevent the ambient signal interference, still generally can encode infrared signal, and the inside of robot sets up infrared receiving module, decodes after receiving the infrared signal that the charging seat sent to this position of confirming the charging seat. Correspondingly, an infrared transmitting device can be arranged in the robot, and an infrared receiving device is arranged in the charging seat. However, the method of positioning the charging seat by means of the infrared signal requires additional equipment to be matched, the structural complexity of the robot and the charging seat is increased, and the production and manufacturing cost is increased. In this embodiment, the positioning surface is disposed on the charging seat, the sensor in the robot is used to position the charging seat, and the position relationship between the robot and the charging seat can be accurately obtained without adding an additional device, so as to control the robot and the charging seat to be aligned accurately.
Fig. 2 shows a robot control method 200 according to a preferred embodiment of the present invention, specifically including a movement path of the robot, and fig. 6 shows a movement path of the robot according to a preferred embodiment of the present invention, which is described in detail below with reference to fig. 2 and 6.
As shown in fig. 2, in step S201, the robot is controlled to move to a first preset position Z1, where a distance between the first preset position Z1 and the charging seat is not greater than a first preset distance R, the first preset position Z1 is a position preset in an activity area of the robot, and the first preset position Z1 should be close to the charging seat to ensure that the sensor of the robot can scan a positioning surface of the charging seat, where the first preset distance R should not be greater than a distance of a field of view of the sensor of the robot, and a specific value may be determined according to a type of the sensor of the robot, for example, a laser radar in the robot is used to scan the positioning surface of the charging seat, and the first preset distance R may be 5 meters. As shown in fig. 6, the first preset position Z1 can be located within a circle with a first preset distance R from the charging base, and since the charging base is usually located at an edge position or a corner of the robot moving area, the preset range of the first preset position Z1 is substantially a sector with a certain angle. In fig. 6, the charging stand is disposed at a position close to the wall, and the first preset position Z1 may be set at a position within a semicircular arc line, but the moving position of the robot is not suitable for being close to the wall, which may cause difficulty in accurately scanning the positioning surface. Furthermore, the sensor of the robot mainly comprises a laser radar sensor, a binocular vision sensor and the like, which are positioned by using an optical principle, so that in order to ensure that the robot can scan the positioning surface through the sensor at the first preset point position Z1, no obstacle, such as a wall, a shelf and the like, is arranged between the first preset point position Z1 and the charging seat.
In step S202, the positioning surface of the charging seat is scanned and determined by using the sensor of the robot, in this embodiment, the position of the positioning surface may be selected as needed, and only the position between the positioning surface and the charging interface needs to be relatively fixed, but in order to facilitate the sensor of the robot to accurately scan the position of the positioning surface, the positioning surface should not be disposed at the position of the charging seat facing the wall and the scanning blind area of the sensor, and the positioning surface may be disposed at the front side surface of the charging seat as shown in fig. 8. Furthermore, according to a preferred embodiment of the present invention, the positioning surface can be disposed at multiple positions of the charging seat, and only a distinction is needed, so as to ensure that the sensor of the robot can scan the positioning surface, or check the specific position and angle of the charging seat by scanning multiple positioning surfaces.
In the robot control method 200, step S203 is substantially the same as step S102 in the control method 100, and will not be described again. In step S204, the robot is controlled to rotate to be perpendicular to the positioning line O, and the robot is controlled to move onto the positioning line O, as shown by a route L1 in fig. 6. The positioning line O is a virtual line having a specific position relationship with the charging interface of the charging stand, taking fig. 8 as an example, the charging interface 22 of the charging stand 2 is two conductive elastic pieces arranged in parallel, the conductive groove of the robot needs to be aligned and connected along a perpendicular bisector of the connection line between the two conductive elastic pieces, and the perpendicular bisector of the connection line between the two conductive elastic pieces is the positioning line O, i.e. the moving direction and route when the robot is accurately aligned with the charging stand. Of course, if the charging interface of the charging dock is a single or multiple asymmetric charging interfaces, the positioning line O is also the accurate alignment direction of the charging interface, and the robot can be accurately aligned with the charging dock along the positioning line O. In the existing infrared positioning mode, firstly, the robot needs to determine the position of the robot, and the position of the charging seat is determined through infrared signals, when the robot needs to be charged, the robot is controlled to move to the position near the charging seat, and the position and the posture are repeatedly adjusted by utilizing the infrared signals until a charging slot of the robot corresponds to a charging interface of the charging seat, and then the robot is controlled to be connected with the charging seat in an alignment mode. However, the positioning is not accurate by using the infrared signal alignment method, so that generally, after the direction is roughly determined, the robot is controlled to gradually approach the charging seat, and the posture of the robot is repeatedly and finely adjusted in the process, so that the speed is low, the alignment accuracy is not high, and multiple adjustments are needed. In the embodiment, the robot is controlled to move onto the positioning line O in advance, so that the alignment process between the robot and the charging seat is simplified, and the fine adjustment times of the robot are reduced.
In step S205, the robot is controlled to rotate to a charging slot located on the positioning line O, in step S206, the robot is controlled to move to the charging seat along the positioning line O and to be connected with the charging seat in an alignment manner, the charging slot and the charging interface can be aligned in advance, after the robot acquires the specific position and posture of the charging seat, the position of the positioning line O is determined accordingly, after the robot moves to the positioning line O, the robot ensures that the charging slot is also located on the positioning line O by rotating the body, the alignment is completed in advance, and when the robot moves to the charging seat along the positioning line O, the alignment accuracy can be ensured by fine adjustment.
Fig. 3 shows a robot control method 300 according to a preferred embodiment of the invention, in which the first preset position Z1 is set directly on the positioning line O, as described in detail below in connection with fig. 3 and 6.
As shown in fig. 3, in the control method 300 of the robot, steps S301, S303 and S304 are substantially the same as steps S201, S205 and S206 in the control method 200, respectively, except that the first preset point Z1 in this embodiment is located on the location line O of the charging stand. In step S302, a sensor of the robot is used to scan and determine the positioning surface of the charging seat, and the robot is located on the positioning line O, but in this case, it cannot be guaranteed that the robot and the charging seat are aligned accurately, and in the moving process of the robot, deviations in distance and direction may still occur, and the posture of the robot relative to the charging seat cannot be accurately determined, so that the charging seat still needs to be scanned and positioned. Accordingly, after the position of the robot is fixed, the scanning range of the sensor is relatively fixed, and the position of the scanning blind area is also changed, so that the positioning surface needs to be arranged at a position where the robot can scan, for example, the positioning surface and the charging interface face in the same or approximately the same direction.
Fig. 4 shows a detailed flow of a control method 400 according to a preferred embodiment of the present invention, and the control method 400 of the robot is described in detail below.
In step S401, it is determined whether the remaining power of the robot is lower than a preset power, where the preset power may be set according to a power consumption condition of the robot, for example, 10% or 15%, so as to ensure that the remaining power of the robot can support the robot to move to a charging seat and perform charging. According to the specific application scenario of the robot, the electric quantity required by the robot to empty the load may need to be calculated, and a certain redundancy is usually reserved for the preset electric quantity. If the residual electric quantity of the robot is lower than the preset electric quantity, the robot needs to be charged, and the robot is controlled to execute the subsequent steps; and if the residual electric quantity of the robot is not lower than the preset electric quantity, controlling the robot to continuously execute the task which is being executed without charging. In many application scenes, a plurality of robots can be arranged in an activity area to work simultaneously, correspondingly, a plurality of charging seats can be arranged in the activity area, when the residual electric quantity of the robots is lower than the preset electric quantity, the robots are controlled to move to the idle charging seats with the shortest movement distance, and the working state of the charging seats can be reported to a server through the robots which are charging and can be recorded.
Steps S402, S403, and S404 are substantially the same as steps S201, S202, and S203, respectively, and are not described again here. In step S405, the robot is controlled to move to the positioning line O, after the position and the posture of the charging seat are determined, the position and the direction of the positioning line O are determined accordingly, the situation that the robot is controlled to move perpendicular to the positioning line O in step S204 can avoid deviation caused by the movement of the robot as much as possible, but in the moving scene of the robot, the positioning line O may be blocked by other objects and cannot guarantee that the robot can move to the foot of the first preset point Z1 on the positioning line O, in order to avoid the situation that the robot cannot reach the position, in this embodiment, the robot is controlled to move directly to the positioning line O without being limited to the point determined on the positioning line O, further, according to a preferred embodiment of the present invention, the position of the charging seat of the robot can be controlled to move to the positioning line O, as shown in a line L2 in fig. 6, the robot is prevented from being blocked by other objects, the situation that the charging interface is not accurately positioned due to new deviation generated in the process that the robot bypasses the obstacle is avoided.
In step S406, the robot is controlled to rotate until the charging slot is located on the positioning line O, and further, the current posture of the robot can be recorded, in the structural design of the conventional robot, the charging slot is generally located behind the forward direction of the robot, although the robot can be controlled to move backward, since most of the sensors are arranged in the forward direction of the robot, the position and posture of the robot cannot be effectively controlled to be stable in the backward process, the charging slot of the robot is rotated onto the positioning line O in advance, and after the charging seat is approached, the charging slot is still located right behind the forward direction of the robot, for example, the robot is controlled to rotate 180 degrees, so that the robot can be accurately positioned, and the distance of the robot moving backward is reduced as much as possible. In step S407, the robot is controlled to move to a second preset position along the positioning line O or to move to a position that is not more than a second preset distance away from the charging seat. Wherein the second preset point position is a point position close to the charging seat, and the distance between the second preset point position and the charging seat is not more than the second preset distance, the step comprises two control methods, one of the two points is to control the robot to move to a second preset point position so as to ensure that the distance between the robot and the charging seat is close enough, the other point is to directly control the robot to be close enough to the charging seat by using the distance so as to reduce the distance of backward movement, the second preset distance may be determined according to the characteristics of the robot, for example, 20 cm, and the distance between the robot and the charging seat may be detected in real time by a sensor carried by the robot, or the position and posture of the charging seat detected by the robot at the first preset position Z1 may be recorded in a map of the robot without real-time detection, so as to prevent the situation that the charging seat enters the blind area of the robot sensor because the robot is close to the charging seat. After the robot approaches the charging dock, in step S408, the robot is controlled to rotate to the charging slot and align with the charging interface, that is, the robot is controlled to rotate to the charging slot and is located on the positioning line O, and is electrically connected to the charging interface.
According to a preferred embodiment of the invention, the positioning surface 23 of the charging stand 2 has predetermined structural and/or optical characteristics, such as those shown in figure 8, two grooves with preset shapes are arranged on the positioning surface 23 of the charging stand 2, the grooves are scanned and positioned through a sensor, optical marks which can be captured by a robot sensor, such as fluorescent marks or two-dimensional codes, can be arranged on the positioning surface 23, when the robot sensor is used for scanning and determining the positioning surface of the charging seat, the figure which accords with the characteristics of the positioning surface is identified according to the result of the scanning of the sensor, for example, two-dimensional codes are identified according to the scanning result, so as to determine the specific position and the specific direction of the charging seat relative to the robot, and compared with the installation of an infrared emission device, the cost is lower and the efficiency is higher when the shell of the charging seat 2 with the groove is manufactured or the mark is printed on the shell.
Further, according to a preferred embodiment of the present invention, fig. 5 shows a step of confirming a specific position and a specific orientation of the charging stand relative to the robot, and in step S501, a sensor of the robot is controlled to scan and determine a positioning surface of the charging stand, for example, a laser radar sensor is used to acquire a shape and a structure of the positioning surface as a groove as shown in fig. 8, that is, to determine an approximate position and an orientation of the charging stand. In step S502, the cloud data of the charging-seat point is divided according to the scanning result of the laser radar sensor, in step S503, the point cloud template of the charging seat is placed at the point cloud data center of the charging seat obtained in the previous step, wherein the point cloud template of the charging seat is the shape structure data of the charging seat arranged in the moving range of the robot, and the point cloud template of the charging seat is positioned by utilizing the characteristic structure or the characteristic graph on the positioning surface so as to determine the specific position and the posture of the charging seat, in step S504, the posture of the charging seat relative to the robot coordinate system is obtained through a calculation method, the relative distance and the azimuth angle between the robot and the charging seat are calculated, the accurate position and the posture of the charging seat are obtained after the scanning result is fitted with the point cloud template of the charging seat, the distance and the angle of the charging seat relative to the robot can be calculated, and the robot and the charging seat can be controlled to be aligned accurately.
As shown in fig. 7, the embodiment of the present invention further provides a robot 1, which includes a main body 11, a driving device 12, a charging slot 13, a sensor 14 and a control system 15, wherein the main body 11 is a frame structure of the robot 1, the robot 1 in the embodiment moves by electric power, a battery 16 is disposed inside the main body 11, and the battery 16 supplies power for the robot movement. The driving device 12 is used for driving the robot 1 to move, is arranged on the main body 11 of the robot 1, is a driving wheel fixedly arranged at the bottom of the main body 11, is powered by a battery 16, and is controlled by a control system 15. The charging slot 13 is disposed on the main body 11, and is electrically connected to the battery in the main body 11 directly or through a wire, and can be powered by an external power source, such as a conductive elastic sheet disposed in a groove below the main body 11. The sensor 14 is provided on the main body 11 of the robot 1 and is capable of scanning and acquiring an environment around the robot 1, such as a laser radar sensor and a binocular vision sensor. The control system 15 is provided on the main body 11 of the robot 1 and communicates with the driving device and the sensor, and the control system can execute the aforementioned control method to control the robot 1 to go to the charging stand 2 for charging.
As shown in fig. 8, an embodiment of the present invention further provides a robot charging seat 2, including a fixing seat 21, a charging interface 22 and a positioning surface 23, where the fixing seat 21 is a main bearing and supporting structure of the robot charging seat 2, the fixing seat 21 is fixedly connected to a ground and/or a wall of a robot active area, for example, fixed on the ground by bolts, and if the conductive slot 13 of the robot 1 is disposed at a higher position, the fixing seat 21 may also be fixed on the wall to match the conductive slot 13, and the shape, structure and position of the robot charging seat 2 are matched with the robot 1. The charging interface 22 is arranged on the fixed seat 21 and is held by the fixed seat 21, the charging interface 22 can be matched with the charging slot 13, only the charging slot 13 supplies power to the robot 1, and the charging interface 22 is also electrically connected with an external power supply, such as an entrance circuit of a warehouse or a restaurant. The positioning surface 23 is disposed on the fixing base 21, the positioning surface 23 has preset structural features and/or optical features, and the positional relationship between the positioning surface 23 and the charging interface 21 is fixed, where the structural features and the optical features refer to features, such as shapes or optical marks, that can be acquired by the sensor 14 of the robot 1 and can be recognized. As mentioned above, the positioning surface 23 is used to cooperate with the sensor 14 of the robot 1, and the structural and/or optical features on the positioning surface 23 can be used as a basis for confirming and positioning the charging dock 2, and can thus determine the specific distance and angular relationship between the charging interface 22 and the charging slot 13.
Embodiments of the present invention also provide a computer-readable storage medium including computer-executable instructions stored thereon, which, when executed by a processor, implement the control method as described above.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A control method is used for controlling a robot to go to a charging seat and charge, the charging seat is arranged at a preset position of a robot movement area, and the charging seat is provided with a positioning surface, and the control method comprises the following steps:
scanning and determining a positioning surface of a charging seat by using a sensor of the robot, wherein the positioning surface and a charging interface of the charging seat have a preset position relationship;
acquiring the distance and the angle of a charging interface of a charging seat relative to the robot; and
and controlling the robot to move to the charging seat according to the distance relation and the angle relation between the robot and the charging interface, and enabling the charging slot of the robot to be connected with the charging interface of the charging seat in an alignment manner.
2. The control method according to claim 1, further comprising: the method comprises the steps of controlling a robot to move to a first preset point position, scanning and determining a positioning surface of a charging seat by using a sensor of the robot, wherein the distance between the first preset point position and the charging seat is not greater than a first preset distance.
3. The control method according to claim 2, wherein the step of controlling the robot to move to the charging stand further comprises:
controlling the robot to move to the positioning line;
controlling the robot to rotate until the charging slot of the robot is positioned in the direction of the positioning line; and
and controlling the robot to move to the charging seat along the positioning line.
4. The control method according to claim 2, wherein the first predetermined point location is disposed on a positioning line.
5. The control method of claim 4, wherein the step of controlling the robot to move to the charging stand further comprises:
controlling the robot to rotate until the charging slot of the robot is positioned in the direction of the positioning line; and
and controlling the robot to move to the charging seat along the positioning line.
6. The control method according to claim 3 or 5, wherein the step of controlling the robot to move to a charging stand along the positioning line further comprises: and when the robot is controlled to move to a second preset point position or the distance between the robot and the charging seat is not more than a second preset distance, the robot is controlled to rotate until the charging groove of the robot is aligned with the charging interface.
7. The control method according to any one of claims 2 to 5, wherein a positioning surface of the charging stand has a preset structural feature and/or an optical feature, the control method further comprising: and identifying a graph according with the characteristics of the positioning surface according to the result of the scanning of the sensor, and confirming the specific position and the specific direction of the charging seat relative to the robot.
8. The control method of claim 7, wherein the step of confirming a specific position and a specific orientation of the charging stand with respect to the robot further comprises:
dividing point cloud data of a charging seat according to data of the sensor;
placing a point cloud template of a charging seat at the central position of the point cloud data;
the posture of the charging seat relative to the robot coordinate system is obtained through a calculation method, and the relative distance and the azimuth angle between the robot and the charging seat are calculated.
9. The control method according to any one of claims 1 to 5, further comprising determining whether the remaining power of the robot is lower than a preset power, controlling the robot to travel to the charging station when the remaining power of the robot is lower than the preset power, and controlling the robot to travel to an idle charging station having a shortest moving distance when a plurality of charging stations are provided in an active area of the robot.
10. A robot, comprising:
the robot comprises a main body, wherein a battery is arranged in the main body and supplies energy for the operation of the robot;
the driving device is arranged on the main body and can be controlled to drive the robot to move;
a charging slot provided on the main body and configured to be powered by an external power source to the battery;
a sensor disposed on the body, the sensor configured to scan an environment surrounding the robot; and
a control system disposed on the body and in communication with the drive device and the sensor, the control system configured to perform the control method of any of claims 1-9.
11. A robotic charging stand, comprising:
the fixed seat is fixedly connected with the ground and/or the wall surface of the robot moving area;
the charging interface is arranged on the fixed seat and is configured to be matched with the charging groove and supply power to the robot through the charging groove; and
the locating surface, the locating surface set up in on the fixing base, the locating surface has predetermined structural feature and/or optical feature, and the locating surface is fixed with the position relation of the interface that charges.
12. A computer-readable storage medium comprising computer-executable instructions stored thereon which, when executed by a processor, implement the control method of any one of claims 1-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111490286.2A CN114355889A (en) | 2021-12-08 | 2021-12-08 | Control method, robot charging stand, and computer-readable storage medium |
| PCT/CN2022/099744 WO2023103326A1 (en) | 2021-12-08 | 2022-06-20 | Control method, robot, robot charging base, and computer-readable storage medium |
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| CN202111490286.2A CN114355889A (en) | 2021-12-08 | 2021-12-08 | Control method, robot charging stand, and computer-readable storage medium |
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