CN106204516B - Automatic charging method and device for robot - Google Patents
Automatic charging method and device for robot Download PDFInfo
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- CN106204516B CN106204516B CN201510228022.8A CN201510228022A CN106204516B CN 106204516 B CN106204516 B CN 106204516B CN 201510228022 A CN201510228022 A CN 201510228022A CN 106204516 B CN106204516 B CN 106204516B
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Abstract
The invention is suitable for the technical field of robots, and provides an automatic charging method and device for a robot, wherein a camera shooting vertically upwards is mounted on a body of the robot, and the method comprises the following steps: collecting a first ceiling image when the robot is in a first position docked with its external charging device; extracting feature points of the first ceiling image, and calculating a first world coordinate of the feature points and a second world coordinate of the first position; acquiring a second ceiling image when the robot triggers a charging task at a second location; extracting a feature point of the second ceiling image to obtain a third world coordinate of the feature point and a fourth world coordinate of the second position; and the robot calculates a path for moving from the fourth world coordinate to the second world coordinate, and moves to the first position for charging. The invention enables the robot to accurately move to the charging position for charging, and improves the execution efficiency of the charging operation.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an automatic charging method and device for a robot.
Background
An automatic robot (hereinafter referred to as a robot) is an intelligent device which can automatically move in a certain area range and execute tasks under the unmanned operation condition, a battery for providing energy for the work of the intelligent device is arranged in the automatic robot, and when the electric quantity of the battery is low, the automatic robot automatically returns to an external charging device to be in butt joint with the external charging device to finish charging.
In the prior art, the robot carries only one receiving device for receiving the high-frequency signal transmitted by the charging device, and the position of the external charging device is determined by the strength of the signal, however, in the case of a large range or a complicated surrounding environment, for example, in the case of a different room where the robot is separated from the external charging device, the high-frequency signal is only suitable for a small range, and therefore the receiving device may not accurately receive the high-frequency signal; in a case where the range is small, the high frequency signal is also easily affected by external factors such as reflected waves and interference waves, so that the robot cannot accurately find the external charging device, and the efficiency of performing the charging operation of the robot is affected.
Disclosure of Invention
The embodiment of the invention aims to provide an automatic charging method and device for a robot, and aims to solve the problems that the robot in the prior art cannot accurately position an external charging device of the robot and the execution efficiency of charging operation is low.
The embodiment of the invention is realized in such a way that an automatic charging method of a robot is provided, wherein a camera shooting vertically upwards is installed on a body of the robot, and the method comprises the following steps:
when the robot is located at a first position where the robot is docked with an external charging device of the robot, acquiring a first ceiling image through the camera;
extracting feature points of the first ceiling image, calculating first world coordinates of the feature points, and calculating second world coordinates of the first position according to the first world coordinates;
when the robot triggers a charging task at a second position, acquiring a second ceiling image through the camera;
extracting feature points of the second ceiling image to obtain third world coordinates of the feature points, and calculating fourth world coordinates of the second position according to the third world coordinates;
and the robot calculates a path for moving from the fourth world coordinate to the second world coordinate and moves to the first position for charging according to the path.
Another object of an embodiment of the present invention is to provide an automatic charging apparatus for a robot, in which a camera for shooting vertically upward is mounted on a body of the robot, the apparatus including:
the first acquisition unit is used for acquiring a first ceiling image through the camera when the robot is located at a first position in butt joint with an external charging device of the robot;
the first calculation unit is used for extracting the feature points of the first ceiling image, calculating first world coordinates of the feature points, and calculating second world coordinates of the first position according to the first world coordinates;
the second acquisition unit is used for acquiring a second ceiling image through the camera when the robot triggers a charging task at a second position;
the second calculation unit is used for extracting the feature points of the second ceiling image, acquiring third world coordinates of the feature points and calculating fourth world coordinates of the second position according to the third world coordinates;
and the charging unit is used for calculating a path for the robot to move from the fourth world coordinate to the second world coordinate and moving to the first position according to the path for charging.
According to the embodiment of the invention, the camera used for shooting the ceiling image is configured in the robot body, and the position of the external charging device and the real-time position of the robot are positioned through the shot ceiling image, so that the robot can accurately move to the charging position to complete charging, and the execution efficiency of the charging operation of the robot is improved.
Drawings
Fig. 1 is a diagram illustrating an internal module architecture of a robot body according to an embodiment of the present invention;
fig. 2 is an internal module architecture diagram of an external charging device according to an embodiment of the present invention;
fig. 3 is a flowchart of an implementation of an automatic charging method for a robot according to an embodiment of the present invention;
FIG. 4 is an illustration of image coordinates of feature points provided by an embodiment of the present invention;
fig. 5 is a flowchart of an implementation of an automatic charging method for a robot according to another embodiment of the present invention;
fig. 6 is a schematic diagram of a robot wireless charging system provided in an embodiment of the present invention;
fig. 7 is a block diagram of an automatic charging device for a robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In this embodiment, the robot system includes a robot body and an external charging device, and an internal module architecture of the robot body may be as shown in fig. 1, where the robot body includes a main processing chip 11, a wireless communication module 12, a storage module 13, a motor driver 14, a motor 15, a power management module 16, a rechargeable battery 17 and an upward camera 18, the robot body controls the wireless communication module 12, the storage module 13, the motor driver 14, the motor 15 and the power management module 16 to operate with the main processing chip 11 as a processing center, where the rechargeable battery 17 provides operating power for the robot body, and in addition, compared with an existing internal module architecture of the robot body, in this embodiment, an upward camera (hereinafter referred to as a "camera") 18 controlled by the main processing chip 11 is added, the camera 18 is installed on the robot body, the shooting angle of the robot is vertical upwards, and the robot is used for capturing a ceiling image of the position where the robot is located; the internal module architecture of the external charging device can be as shown in fig. 2, the external charging device includes a main processing chip 21, a power management module 22 and a wireless communication module 23, the main processing chip 21 controls the power management module 22 and the wireless communication module 23 to work, the wireless communication module 23 communicates with the wireless communication module 12 of the robot body, through data communication, the robot body can be navigated to the external charging device for charging, and during charging, the power management module 22 accesses the civil alternating current to supply power to the rechargeable battery 17.
Fig. 3 shows an implementation flow of the automatic charging method for the robot according to the embodiment of the present invention, which is detailed as follows:
in S301, a first ceiling image is captured by the camera while the robot is in a first position docked with its external charging device.
In this embodiment, the docking of the robot with the external charging device refers to that the robot is located at a position where the external charging device can complete a charging operation, and includes a case where the robot and the external charging device are precisely docked through a physical interface to complete charging, or a case where the robot approaches the external charging device to complete charging in a wireless manner.
When the robot is in butt joint with an external charging device, a camera installed in the robot body is used for collecting a ceiling image right above the robot body. It should be noted that, after the robot leaves the external charging device, if the position of the external charging device is changed, the robot needs to be docked with the external charging device again, and the ceiling image is taken again in the docked state, so as to achieve relocation of the charging device, otherwise, when the robot needs to be recharged after working, the robot cannot be accurately located to the external charging device.
In S302, feature point extraction is performed on the first ceiling image, a first world coordinate of the feature point is calculated, and a second world coordinate of the first position is calculated according to the first world coordinate.
The characteristic points of the image are extracted, and the corner points obtained by detection are filtered in different regions by adopting an ORB method based on Fast corners so as to ensure that the extracted characteristic points are moderate in quantity and uniformly distributed in space.
In this embodiment, before S302, the robot may continuously capture images of the ceiling by using a camera during the movement process, extract feature points from each image, respectively, and shoot the feature points through different displacements and different viewing angles generated by the movement of the robot, so as to calculate world coordinates of the feature points and establish a ceiling map. The map construction process can be obtained by adopting an EKF-SLAM method.
In the process of constructing the map by using the EKF-SLAM method, because a monocular camera is configured in the robot under most conditions, only the position information of the characteristic point can be obtained, and the depth information cannot be obtained, an inverse depth parameterized model can be used
Initializing the depth of the feature point, wherein (x)iyizi)TWorld coordinates, theta, representing the robot when the feature point is detected for the first timei、
Respectively representing the azimuth angle and the elevation angle between the characteristic point and the optical center of the camera under the world coordinate system, rhoiRepresenting the reciprocal of the distance between the feature point and the optical center of the camera. In the SLAM process, the characteristic points are continuously shot through different displacements and different visual angles generated by the motion of the robot, so that the model parameters of the characteristic points can be continuously corrected through the EKF, and the accurate depth value d is finally obtainedi＝1/ρi. The specific map construction process is not described herein again.
After extracting the feature points from the first ceiling image, matching the extracted feature points with the constructed map, and acquiring world coordinates of the feature points, as shown in fig. 4, recording coordinates of the feature points in the image as the coordinates, which are distances and angles from the feature points to the center of the image in the image coordinate system, respectively, according to the world coordinates of the feature points, the world coordinates of the first position where the robot is located are
Wherein G isr、GθThe actual distance and the angle from the characteristic point to the optical center of the camera under the world coordinate system are respectively, and f is the focal length of the camera. Here, since GθUnknown, therefore, it is necessary to take a plurality of feature points and calculate their G's respectivelyrThen, the center of the circle is taken as the mark, the radius of the circle is taken as the circle, and the intersection point of the circles is the world coordinate of the robot.
Because the calculation process has errors, circles made by the characteristic points cannot accurately intersect with one point, and therefore, the intersection point can be obtained by adopting a least square solution.
In S303, a second ceiling image is captured by the camera when the robot triggers a charging task at a second location.
In this embodiment, before the second ceiling image is captured by the camera, the charging task may be triggered by any of the following conditions:
1. and triggering the charging task when the battery capacity of the robot is reduced to a preset threshold value.
In the process of executing tasks by the robot, the system monitors the battery power in real time, once the battery power is reduced to a certain low power threshold, for example, when the remaining power is only 10%, the charging task is triggered, the robot suspends the execution of the current task, the priority of the charging process is improved, and the charging task is preferentially executed, so that the phenomenon that the robot stops working due to insufficient power is avoided.
2. And triggering the charging task after the target task of the robot is executed.
For the robot, the target task may include a task currently being executed, and after the robot executes the target task, even if the electric quantity is surplus, the robot may trigger a charging task because no task needs to be executed currently, so as to ensure the sufficiency of the electric quantity at any time.
Once the robot has triggered the charging task, an image of the ceiling above the current position of the robot (i.e. the second position) is captured by the camera.
In S304, feature point extraction is performed on the second ceiling image, third world coordinates of the feature point are obtained, and fourth world coordinates of the second position are calculated according to the third world coordinates.
After the second ceiling image is acquired, according to the method described in S302, third world coordinates of the feature points extracted from the second ceiling image are acquired, and fourth world coordinates of the second position are calculated from the third world coordinates to locate the current position of the robot.
In S305, the robot calculates a path from the fourth world coordinate to the second world coordinate, and moves to the first position according to the path to perform charging.
Through the steps, the robot acquires the fourth world coordinate of the current position of the robot, and according to the fourth world coordinate and the second world coordinate of the position acquired before, the robot background can calculate the path from the current position to the charging position, so that the robot moves to the first position of the charging position to perform charging operation.
After the charging is completed, the robot may also move from the first position to the second position according to the path calculated in S305, continue working or wait for the assignment of tasks, to ensure the consistency of the robot task execution.
According to the embodiment of the invention, the camera used for shooting the ceiling image is configured in the robot body, and the position of the external charging device and the real-time position of the robot are positioned through the shot ceiling image, so that the robot can accurately move to the charging position to complete charging, and the execution efficiency of the charging operation of the robot is improved.
As an embodiment of the present invention, as shown in fig. 5, before the robot triggers the charging task at the second position, the method further includes:
s501, the robot collects third ceiling images corresponding to different positions through the camera in the moving process.
And S502, respectively extracting characteristic points and calculating the world coordinates of the characteristic points for each third day pattern plate image.
S503, storing the world coordinates of the feature points in each third ceiling image.
S501 and S502 are actually processes of ceiling map construction by the EKF-SLAM method, and after the map construction is completed, the world coordinates of the feature points in each frame of ceiling image are stored.
S504, extracting the characteristic points of the second ceiling image, and acquiring third world coordinates of the characteristic points.
S505, searching the third ceiling plate image matched with the second ceiling plate image.
S506, according to the stored content, the world coordinates of the feature points of the third ceiling image matched with the second ceiling image are obtained.
Based on the stored content in S503, when the robot triggers a charging task, the ceiling image of the current position of the robot is image-matched with the ceiling image captured in S501, and after a consistent image is obtained, the world coordinates of the feature points in the image are directly extracted for robot positioning.
In the embodiment, after the second ceiling image is obtained by shooting, the world coordinates of the feature points are directly determined through image matching without calculating the world coordinates of the feature points, so that the background processing efficiency of the robot is improved.
Further, as an embodiment of the present invention, in the robot system, a primary coil is installed on the external charging device, and a secondary coil is installed on the robot, and in S305, when the robot moves to the first position according to the calculated path, the robot receives energy transmitted from the external charging device through electromagnetic induction, and completes charging of the robot, and the charging principle is as shown in fig. 6.
Because in the prior art, the robot and the charging device are connected by using a metal terminal, the robot and the charging device are required to be accurately butted, once the position of the robot deviates, the robot cannot be successfully charged, in the embodiment, the wireless charging of the robot is realized through electromagnetic induction, so that the robot can be charged without being accurately butted with the charging device, the whole charging process is simpler and more convenient, the requirement on the accuracy of the moving position of the robot is reduced, and the execution efficiency of the automatic charging operation of the robot is improved.
Fig. 7 shows a block diagram of an automatic charging device for a robot according to an embodiment of the present invention, which corresponds to the automatic charging method for a robot according to the above embodiment, and only the parts related to this embodiment are shown for convenience of description.
Referring to fig. 7, the automatic charging apparatus of the robot includes:
a first acquisition unit 71, which acquires a first ceiling image through the camera when the robot is located at a first position where the robot is docked with its external charging device;
a first calculating unit 72, which extracts feature points from the first ceiling image, calculates first world coordinates of the feature points, and calculates second world coordinates of the first position according to the first world coordinates;
a second collecting unit 73, which collects a second ceiling image through the camera when the robot triggers a charging task at a second position;
a second calculating unit 74, configured to perform feature point extraction on the second ceiling image, obtain a third world coordinate of a feature point, and calculate a fourth world coordinate of the second position according to the third world coordinate;
and a charging unit 75, wherein the robot calculates a path for moving from the fourth world coordinate to the second world coordinate, and moves to the first position according to the path for charging.
Optionally, the apparatus further comprises:
the robot collects third ceiling images corresponding to different positions through the camera in the moving process;
the third calculating unit is used for respectively extracting the characteristic points and calculating the world coordinates of the characteristic points of each third day pattern plate image;
the storage unit is used for storing the world coordinates of the feature points in each third ceiling image;
the second calculation unit 73 includes:
a searching subunit, which searches the third ceiling image matched with the second ceiling image;
and the acquisition subunit acquires the world coordinates of the feature points of the third ceiling image matched with the second ceiling image according to the stored content.
Optionally, a primary coil is installed on the external charging device, a secondary coil is installed on the robot, and the charging unit includes:
a moving subunit, the robot moving to the first position according to the path;
a charging electronic unit, wherein the robot receives the energy transmitted by the external charging device through electromagnetic induction at the first position to perform charging.
Optionally, the automatic charging device of the robot further includes:
and the moving unit moves the robot from the first position to the second position according to the path to continue working after the charging is finished.
Optionally, the automatic charging device of the robot further includes:
the triggering unit is used for triggering the charging task when the battery electric quantity of the robot is reduced to a preset threshold value; or
And triggering the charging task after the target task of the robot is executed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An automatic charging method of a robot, characterized in that a camera shooting vertically upwards is installed on a body of the robot, the method comprises:
when the robot is located at a first position where the robot is docked with an external charging device of the robot, acquiring a first ceiling image through the camera;
extracting feature points of the first ceiling image, calculating first world coordinates of the feature points, and calculating second world coordinates of the first position according to the first world coordinates;
when the robot triggers a charging task at a second position, acquiring a second ceiling image through the camera;
extracting feature points of the second ceiling image to obtain third world coordinates of the feature points, and calculating fourth world coordinates of the second position according to the third world coordinates;
the robot calculates a path for moving from the fourth world coordinate to the second world coordinate, and moves to the first position for charging according to the path;
wherein, in the step of extracting the feature point of the first ceiling image, calculating a first world coordinate of the feature point, and calculating a second world coordinate of the first position according to the first world coordinate, the method comprises:
the coordinates of the characteristic points in the image are recorded as
Wherein the content of the first and second substances,
respectively representing the distance and the angle from the characteristic point to the center of the image under the image coordinate system;
according to the first world coordinate of the feature point, marking the second world coordinate of the first position of the robot as the first world coordinate
Wherein G isr、GθRespectively the actual distance and angle from the characteristic point to the optical center of the camera under a first world coordinate system,
f is the focal length of the camera, the
Respectively are the coordinates of the characteristic points in the first world coordinate system;
g of a plurality of calculated characteristic pointsrIs marked as
And are provided with
Is used as the center of a circle,
and making a circle for the radius, solving the intersection point of the circle based on a least square solution mode, and recording the intersection point as a second world coordinate of the first position of the robot.
2. The method of claim 1, wherein prior to the robot triggering a charging task at the second location, the method further comprises:
the robot collects third ceiling images corresponding to different positions through the camera in the moving process;
respectively extracting characteristic points and calculating the world coordinates of the characteristic points of each third ceiling image;
storing the world coordinates of the feature points in each third ceiling image;
the extracting the feature points of the second ceiling image, and the obtaining the third world coordinates of the feature points comprises:
searching for the third ceiling image matching the second ceiling image;
and acquiring the world coordinates of the feature points of the third ceiling image matched with the second ceiling image according to the stored content.
3. The method of claim 1, wherein the external charging device has a primary coil mounted thereon, and the robot has a secondary coil mounted thereon, and wherein moving to the first position for charging according to the path comprises:
the robot moves to the first position according to the path;
the robot receives the energy transmitted by the external charging device through electromagnetic induction at the first position so as to perform charging.
4. The method of claim 1, wherein the method further comprises:
after charging is completed, the robot moves from the first position back to the second position according to the path to continue working.
5. The method of claim 1, wherein prior to said acquiring a second ceiling image by said camera, said method further comprises:
triggering the charging task when the battery power of the robot is reduced to a preset threshold value; or
And triggering the charging task after the target task of the robot is executed.
6. The utility model provides an automatic charging device of robot, its characterized in that, the camera of shooting perpendicularly upwards is installed to the body of robot, the device includes:
the first acquisition unit is used for acquiring a first ceiling image through the camera when the robot is located at a first position in butt joint with an external charging device of the robot;
the first calculation unit is used for extracting the feature points of the first ceiling image, calculating first world coordinates of the feature points, and calculating second world coordinates of the first position according to the first world coordinates;
the second acquisition unit is used for acquiring a second ceiling image through the camera when the robot triggers a charging task at a second position;
the second calculation unit is used for extracting the feature points of the second ceiling image, acquiring third world coordinates of the feature points and calculating fourth world coordinates of the second position according to the third world coordinates;
the charging unit is used for calculating a path for the robot to move from the fourth world coordinate to the second world coordinate and moving to the first position according to the path for charging;
wherein the first computing unit is specifically configured to:
the coordinates of the characteristic points in the image are recorded as
Wherein the content of the first and second substances,
respectively representing the distance and the angle from the characteristic point to the center of the image under the image coordinate system;
according to the first world coordinate of the feature point, marking the second world coordinate of the first position of the robot as the first world coordinate
Wherein G isr、GθRespectively the actual distance and angle from the characteristic point to the optical center of the camera under a first world coordinate system,
f is the focal length of the camera, the
Respectively are the coordinates of the characteristic points in the first world coordinate system;
g of a plurality of calculated characteristic pointsrIs marked as
And are provided with
Is used as the center of a circle,
and making a circle for the radius, solving the intersection point of the circle based on a least square solution mode, and recording the intersection point as a second world coordinate of the first position of the robot.
7. The apparatus of claim 6, wherein the apparatus further comprises:
the third acquisition unit is used for acquiring third ceiling images corresponding to different positions through the camera in the moving process of the robot;
the third calculating unit is used for respectively extracting the characteristic points of each third ceiling image and calculating the world coordinates of the characteristic points;
the storage unit is used for storing the world coordinates of the feature points in each third ceiling image;
the second calculation unit includes:
a searching subunit, configured to search for the third ceiling image matching the second ceiling image;
and the acquisition subunit is used for acquiring the world coordinates of the feature points of the third ceiling image matched with the second ceiling image according to the stored content.
8. The apparatus of claim 6, wherein the external charging device has a primary coil mounted thereon, and the robot has a secondary coil mounted thereon, the charging unit comprising:
a moving subunit, configured to move the robot to the first position according to the path;
and the charging subunit is used for receiving the energy transmitted by the external charging device by the robot at the first position through electromagnetic induction so as to charge.
9. The apparatus of claim 6, wherein the apparatus further comprises:
and the moving unit is used for moving the robot from the first position to the second position to continue working according to the path after the charging is finished.
10. The apparatus of claim 6, wherein the apparatus further comprises:
the triggering unit is used for triggering the charging task when the battery capacity of the robot is reduced to a preset threshold value; or
And triggering the charging task after the target task of the robot is executed.
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| CN106787266A (en) * | 2017-02-24 | 2017-05-31 | 安科智慧城市技术（中国）有限公司 | A kind of mobile robot wireless charging method and device |
| CN110263601A (en) * | 2018-03-12 | 2019-09-20 | 杭州萤石软件有限公司 | A kind of cradle recognition methods and mobile robot |
| CN109993326A (en) * | 2019-03-29 | 2019-07-09 | 北京猎户星空科技有限公司 | A kind of robot charging maintenance method, device and storage medium |
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