CN107894770A - Robot cradle, the charging method of robot and device - Google Patents
Robot cradle, the charging method of robot and device Download PDFInfo
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- CN107894770A CN107894770A CN201711191194.8A CN201711191194A CN107894770A CN 107894770 A CN107894770 A CN 107894770A CN 201711191194 A CN201711191194 A CN 201711191194A CN 107894770 A CN107894770 A CN 107894770A
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- 238000004891 communication Methods 0.000 claims description 17
- 230000007613 environmental effect Effects 0.000 description 31
- 238000010586 diagram Methods 0.000 description 16
- 238000011156 evaluation Methods 0.000 description 13
- 238000005516 engineering process Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
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Abstract
The invention discloses the charging method and device of a kind of robot cradle, robot.Wherein, robot cradle includes：Cradle body, wherein, it is further provided with cradle body：At least two set the characteristic area of rule setting according to default region, for identifying robot cradle；Wherein, region sets the spacing between the regular specification for being used to set each characteristic area and two characteristic areas；The first kind contact of rule setting is set according to region, charged for the second class contact by being arranged in robot for robot；Wherein, region sets rule to be further used for setting at least two and sets the characteristic area of rule setting relative to the orientation and/or distance of first kind contact according to default region.Using scheme provided by the invention, it can allow the robot to identify the position of cradle exactly and it is charged exactly, stability and the degree of accuracy are high.
Description
Technical field
The present invention relates to Smart Home technical field, and in particular to a kind of robot cradle, the charging method of robot
And device.
Background technology
With the development of science and technology, and requirement of the people to quality of life constantly increase, smart home occurs gradually over
In daily life, wherein, more representative ratio is if any sweeping robot, all kinds of service robots
Deng.Robot is charged during work when electricity is less than a certain threshold values, it is necessary to return to cradle position.
However, inventor has found that robot of the prior art uses infrared ray mostly during the present invention is realized
The technologies such as positioning, bluetooth positioning make robot return cradle position be charged.But machine is usually made using above-mentioned technology
The position that people can not return to cradle exactly is charged, such as during using infrared confirming orientation technology, because feux rouges line can not
Penetrate object so that infrared ray is merely able to position in horizon range, and the infrared receiver window on robot fuselage is also very
Easily disturbed by some dust chips, so that robot can not find the position of cradle.Skill is positioned using bluetooth
Art, robot can only position in short distance to cradle, also be highly susceptible to the interference of other signals.As can be seen here,
Lack a kind of robot cradle, robot charging method and device in the prior art to fill to make robot relatively accurately find
Simultaneously it is charged the position of point seat.
The content of the invention
In view of the above problems, it is proposed that the present invention so as to provide one kind overcome above mentioned problem or at least in part solve on
State robot cradle, the charging method and device of robot of problem.
According to an aspect of the invention, there is provided a kind of robot cradle, including：
Cradle body, wherein, it is further provided with cradle body：
At least two set the characteristic area of rule setting according to default region, for identifying robot cradle；Its
In, region sets the spacing between the regular specification for being used to set each characteristic area and two characteristic areas；
The first kind contact of rule setting is set according to region, is for the second class contact by being arranged in robot
Robot charges；Wherein, region sets rule to be further used for setting at least two and sets rule setting according to default region
Characteristic area relative to first kind contact orientation and/or distance.
Alternatively, the characteristic area is laser invisible area, for making robot according to the laser point cloud got
Data identify the robot cradle.
Alternatively, the specification of each characteristic area includes：The shape, and/or size of characteristic area；Wherein, each
The specification of characteristic area is identical or different.
Alternatively, when the first kind contact includes the first contact and the second contact, described at least two according to pre-
If region set rule setting characteristic area include first area and second area；
Also, the region sets rule to be further used for setting rule to set according to default region by described at least two
The characteristic area put is set as relative to the orientation and/or distance of the first kind contact：
First area is located above first contact and apart from the first position of the pre-determined distance of the first contact first,
Second area is located above second contact and apart from the second place of the pre-determined distance of the second contact second.
Alternatively, first area includes the first vertical edges boundary line, then the first area is located above first contact
Specially：The first vertical edges boundary line is located above first contact；
Second area includes the second vertical edges boundary line, then the second area, which is located above second contact, is specially：
The second vertical edges boundary line is located above second contact.
Alternatively, the first vertical edges boundary line is located above first contact and specifically included：First vertical edges
Boundary line is located at the surface or oblique upper of first contact, wherein, when the first vertical edges boundary line is touched positioned at described first
During the oblique upper of point, the region set rule be further used for setting the first vertical edges boundary line it is relative in the horizontal direction
The first offset in first contact；
The second vertical edges boundary line, which is located above second contact, to be specifically included：The second vertical edges boundary line is located at
The surface or oblique upper of second contact, wherein, when the second vertical edges boundary line be located at second contact it is oblique on
Fang Shi, the region set rule to be further used for setting the second vertical edges boundary line in the horizontal direction relative to described the
Second offset of two contacts.
Alternatively, first contact is located in same horizontal line with second contact, and first pre-determined distance
Equal to second pre-determined distance.
Alternatively, the quantity of the characteristic area is more than 2, and the interval between each characteristic area is equal.
Alternatively, the first kind contact is male contact, and the second class contact is female contact；Or described
A kind of contact is female contact, and the second class contact is male contact.
According to another aspect of the present invention, there is provided a kind of charging method of robot, including：
At least two included in environment-identification map set the characteristic area of rule setting according to default region；
Feature object corresponding to characteristic area is defined as robot cradle, control machine people is to robot cradle
It is mobile；
Rule is set to determine that characteristic area touches relative to the first kind set on robot cradle according to default region
The orientation and/or distance of point；
According to orientation and/or distance, control machine people be moved to can make the second class contact for being arranged in robot with
Position that first kind contact contacts with each other simultaneously charged.
Alternatively, when the characteristic area is laser invisible area, included at least in the environment-identification map
Two according to default region set rule setting characteristic area the step of specifically include：
Obtain the laser point cloud data corresponding with environmental map；
The white space corresponding to the laser point cloud data is extracted, judges the specification and/or spacing of the white space
Whether meet the default region and rule is set；
If, it is determined that the region corresponding to the white space is the characteristic area.
According to another aspect of the present invention, there is provided a kind of charging device of robot, including：
Identification module, at least two suitable for being included in environment-identification map set rule setting according to default region
Characteristic area；
Mobile module, suitable for the feature object corresponding to the characteristic area is defined as into robot cradle, control institute
Robot is stated to move to the robot cradle；
Determining module, suitable for setting rule to determine the characteristic area relative to the machine according to the default region
The orientation and/or distance of the first kind contact set on people's cradle；
Charging module, suitable for according to the orientation and/or distance, controlling the robot to be moved to can make to be arranged on machine
Position that the second class contact on device people contacts with each other with the first kind contact simultaneously charged.
Alternatively, when the characteristic area is laser invisible area, the identification module is particularly adapted to：
Obtain the laser point cloud data corresponding with environmental map；
The white space corresponding to the laser point cloud data is extracted, judges the specification and/or spacing of the white space
Whether meet the default region and rule is set；
If, it is determined that the region corresponding to the white space is the characteristic area.
Alternatively, the mobile module is particularly adapted to：
Determine that the position between the current location of robot and the position of the robot cradle is closed according to environmental map
System；
Charging route is planned according to the position relationship, controls charging route described in the Robot to the robot
Cradle moves.
According to another aspect of the invention, there is provided a kind of electronic equipment, including：Processor, memory, communication interface and
Communication bus, the processor, the memory and the communication interface complete mutual communication by the communication bus；
The memory is used to deposit an at least executable instruction, and the executable instruction makes the computing device above-mentioned
Operated corresponding to the charging method of robot.
In accordance with a further aspect of the present invention, there is provided a kind of computer-readable storage medium, be stored with the storage medium to
A few executable instruction, the executable instruction make computing device be operated as corresponding to the charging method of above-mentioned robot.
According to the charging method and device of the robot cradle of the present invention, robot, by pre-setting simultaneously cognitron
At least two set on device people's cradle set the characteristic area of rule setting according to default region, so that it is determined that cradle
Position.Then further, determine characteristic area relative to the first kind set on robot cradle according to preset rules
The orientation and/or distance of contact, so that the second class contact phase on first kind contact and robot on robot cradle
Mutually contact and charged.According to the solution of the present invention, robot can be made to identify the position and exactly of cradle exactly
It is charged.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by the embodiment of the present invention.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this area
Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 shows the schematic diagram for the robot cradle that one embodiment of the invention provides；
Fig. 2 shows the schematic diagram for the robot that one embodiment of the invention provides；
Fig. 3 shows the schematic diagram for the robot cradle that another embodiment of the present invention provides；
Fig. 4 shows the charging method schematic diagram for the robot that one embodiment of the invention provides；
Fig. 5 shows the charging method schematic diagram for the robot that another embodiment of the present invention provides；
Fig. 6 shows the laser point cloud schematic diagram that the robot that another embodiment of the present invention provides obtains；
Fig. 7 shows the functional block diagram of the charging device for the robot that one embodiment of the invention provides；
Fig. 8 shows the structural representation of a kind of electronic equipment according to embodiments of the present invention.
Embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
Fig. 1 shows the schematic diagram for the robot cradle that one embodiment of the invention provides.Fig. 2 shows the present invention one
The schematic diagram for the robot that individual embodiment provides.As shown in figure 1, the cradle that the present embodiment provides includes：Cradle body 10,
It is further provided with cradle body 10：At least two set the characteristic area 11 of rule setting according to default region and press
The first kind contact 12 of rule setting is set according to above-mentioned zone.As shown in Fig. 2 the second class contact 20 is provided with robot.Need
It is emphasized that the robot in robot cradle and Fig. 2 in Fig. 1 is merely illustrative schematic diagram, in practice, robot can
Think other shapes, such as ellipse, robot cradle can also be other shapes similar to Fig. 1.Wherein, characteristic area
11 are used to identify robot cradle.Above-mentioned zone sets rule to can be used for the specification and two for setting each characteristic area 11
Spacing between individual characteristic area 11.Wherein, the specification of each characteristic area 11 includes:The shape of characteristic area 11, size etc..
Such as when characteristic area 11 is when being shaped as rectangle as shown in Figure 1, its horizontal border line and vertical boundary line it is i.e. long and
It is some preset value that width can be set rule settings by region, and alternatively, characteristic area 11 can also be other shapes
Such as circle, polygon etc..The specification of each characteristic area 11 can be with identical, it can also be provided that different figures and size.
Alternatively, characteristic area 11 is laser invisible area.When the laser signal scanning that the laser radar set in robot is sent
To characteristic area 11 position when, characteristic area 11 absorb laser signal so that robot does not receive the institute of characteristic area 11
The laser signal reflected, the laser point cloud data that such robot obtains just have the blank corresponding with characteristic area 11
Region.According to features described above, robot then can identify robot cradle according to the laser point cloud data got.It is preferred that
Ground, the quantity in features described above region 11 are more than 2, can be 3,4 or more, and between each characteristic area 11
Interval it is equal.
First kind contact 12 is used to charge for robot by the second class contact 20 being arranged in robot.Above-mentioned zone
Rule is set to be further used for setting above-mentioned at least two characteristic areas 11 for setting rule setting according to default region
Relative to the orientation and/or distance of first kind contact 12.
Specifically, first kind contact is male contact, and the second class contact is female contact or first kind contact is female
Contact, the second class contact are male contact.First kind contact, the second class contact can also be other types of contact, this area
Personnel can voluntarily select according to actual conditions, and this is not restricted.
The robot cradle provided according to the present embodiment, by setting at least two on cradle body according to default
Region set rule setting characteristic area, for identifying the robot cradle；And set and rule is set according to region
The first kind contact of setting, charged for the second class contact by being arranged in robot for robot.Robot can be made
The position of cradle is identified exactly and it is charged exactly.
Fig. 3 shows the schematic diagram for the robot cradle that another embodiment of the present invention provides.With reference to Fig. 1 and Fig. 3, when
When first kind contact 12 includes the first contact 121 and the second contact 122, above-mentioned at least two set rule according to default region
The characteristic area 11 then set can include first area 111 and second area 112.Then above-mentioned zone sets rule further
For setting the characteristic area 11 of rule setting relative to the orientation of first kind contact 12 according to default region by least two
And/or distance is set as：First area 111 is located at the top of the first contact 121 and the pre-determined distance of the first contact of distance 121 first
First position, second area 112 are located at the second of the top of the second contact 122 and the pre-determined distance of the second contact of distance 122 second
Put.Preferably, the first contact 121 and the second contact 122 are located in same horizontal line, and the first pre-determined distance is equal to second and preset
Distance.It should be noted that when first kind contact 11 is two, above-mentioned at least two set rule according to default region
The characteristic area 11 then set can be for 2,3 or multiple, and this is not restricted.Wherein, the first pre-determined distance is set
Method can be, it is first determined the central point O of first area 1111, the first contact 121 central point O2, then set central point
O1With central point O2Between length d1For the first pre-determined distance.The above method can also be used by setting the second pre-determined distance.It is optional
Ground, can also first find out positioned at the rear of the first contact 121 and and the first contact 121 bottom first area at grade
111 lower horizontal line L, and minimum distance (i.e. vertical range) d between the first contact 121 and horizontal line L is set2It is pre- for first
If distance, the second pre-determined distance can also use the above method to set.Other methods can also be used in practical operation, than
A certain selected end points on a certain selected end points and the first contact 121 is such as determined on first area 111, then above-mentioned two end is set
The distance between point be the first pre-determined distance, and the second pre-determined distance of setting can also use the method, and other methods are herein not
Stated as class, those skilled in the art can voluntarily select.
In addition, herein it is emphasized that characteristic area 11 is located at the rear of first kind contact 12, i.e. first kind contact 12
Surface any shelter is not present, to prevent robot from being collided during first kind contact 12 is found.
Further, as shown in figure 3, first area 111 includes the first vertical edges boundary line L1, second area 112 includes the
Two vertical edges boundary line L2.Then first area 111, which is located above the first contact 121, is specially：First vertical edges boundary line L1Positioned at first
The top of contact 121.Second area 112 is located at the top of the second contact 122：Second vertical edges boundary line L2Positioned at described second
The top of contact 122.
Specifically, the first vertical edges boundary line L1It is specially above the first contact：First vertical edges boundary line L1Positioned at first
The surface or oblique upper of contact 121.Wherein, as shown in figure 3, as the first vertical edges boundary line L1Positioned at the oblique of the first contact 121
During top, above-mentioned zone sets rule to be further used for setting the first vertical edges boundary line L1In the horizontal direction relative to institute
State the first offset d of the first contact 1213。
Second vertical edges boundary line L2It is specially above the second contact 122：The second vertical edges boundary line L2Positioned at second
The surface or oblique upper of contact 122.Wherein, as shown in figure 3, working as the second vertical edges boundary line L2Positioned at second contact
During 122 oblique upper, above-mentioned zone sets rule to be further used for setting the second vertical edges boundary line L2It is relative in the horizontal direction
The second offset d in the second contact 1224。
Pass through default first distance, second distance, the first offset d3, the second offset d4Value, and first area
111st, the interval between the specification of second area 112, first area 111, second area 112, so as to accurately determine
One contact 121 and the second contact 122 are relative to first area 111 and the azimuth-range of second area 112.So as to make machine
Device people recognizes the particular location of first kind contact 12 by the position in identification feature region 11 exactly, so make according to
Above-mentioned zone sets the first kind contact 11 of rule setting to be filled by the second class contact 20 being arranged in robot for robot
Electricity.
The robot cradle that the present embodiment provides sets rule setting by setting at least two according to default region
Characteristic area, so as to identify the position of cradle.Then be further advanced by above-mentioned preset rules setting at least two by
The characteristic area of rule setting is set relative to the orientation and/or distance of the first kind contact according to default region, according to upper
Stating orientation and/or distance makes robot recognize the particular location of first kind contact exactly, so that being set according to above-mentioned zone
Charged by the second class contact being arranged in robot for robot the first kind contact for putting rule setting.Carried using this implementation
The robot cradle of confession, it can allow the robot to identify the position of cradle exactly and it is charged exactly.
A kind of charging method of the robot using above-mentioned robot cradle is described below.Fig. 4 shows the present invention one
The charging method schematic diagram for the robot that individual embodiment provides.As shown in figure 4, this method includes：
Step S401, at least two included in environment-identification map set the feature of rule setting according to default region
Region.
Robot is when normal work, for example sweeping robot can fill in detection always during normal clean
The feature of electric seat.After powering, the laser radar set in robot starts to scan peripheral region and establishes map for robot.Machine
The map that device people is established according to it, at least two included in environment-identification map set rule setting according to default region
Characteristic area.Wherein, at least two in the environmental map that the above method is identified set rule to set according to default region
The characteristic area put be specially in the cradle of the robot in above-described embodiment at least two according to default region set
The characteristic area of rule setting.When at least two included in environment-identification map set rule setting according to default region
After characteristic area, the position corresponding to this feature region is defined as cradle position candidate, and by cradle position candidate
It is recorded in environmental map.In order to allow the robot to the position of enough electric power detection cradles and return to the position of cradle
Put and charged, it is necessary to default power threshold.When the dump energy of robot is less than default power threshold, environmental map is inquired about
The cradle position candidate of middle record.
Step S402, the feature object corresponding to characteristic area is defined as robot cradle, control machine people is to machine
Device people cradle moves.
Rule setting is set according to default region by included in the environmental map that identifies robot at least two
Characteristic area and robot cradle body on set at least two according to default region set rule setting feature
After Region Matching succeeds, cradle select location is then determined according to the cradle position candidate recorded in environmental map and incited somebody to action
Feature object corresponding to characteristic area in the environmental map of identification is defined as robot cradle.Then according to environmental map
In include at least two according to default region set rule setting characteristic area corresponding to cloud data, so that it is determined that
Direction and distance of the robot cradle relative to robot, then control machine people is to the movement of robot cradle.
Step S403, rule is set to determine characteristic area relative to setting on robot cradle according to default region
The orientation and/or distance of first kind contact.
After execution of step S402, robot is moved near robot cradle position, is then proceeded to according to pre-
If region set rule determine characteristic area relative to the first kind contact set on robot cradle orientation and/or away from
From.Specifically, robot sets rule according at least two on the robot cradle pre-set according to default region
The details of the characteristic area 11 of setting, such as the specific shape of first area 111 as shown in Figure 1 and second area 112
Interval between shape and size and first area 111 and second area 112.Then according to default region set rule so as to
It is determined that such as it is located at the first distance of the first contact of distance 121 of first area 111 of the top of the first contact 121, is touched positioned at second
Second distance, the first vertical edges boundary line L of the second contact of distance 122 of second area 112 of the top of point 1221In the horizontal direction
Relative to the first offset d of the first contact 1213, the second vertical edges boundary line L2In the horizontal direction relative to the second contact 122
The second offset d4Etc. information, so as to according to the first distance, second distance, the first offset d3, the second offset d4Etc. information
Determine the first kind contact that is set on robot cradle orientation and/or distance relative to robot.
Step S404, according to orientation and/or distance, control machine people is moved to can make to be arranged in robot second
Position that class contact contacts with each other with first kind contact simultaneously charged.
Orientation and/or distance according to the first kind contact obtained in step S403 relative to characteristic area, then basis
The particular location that second class contact is set in robot, it can make to be arranged in robot so as to which control machine people is moved to
The position that second class contact contacts with each other with first kind contact, makes the second class contact contact with each other and be filled with first kind contact
Electricity.
The charging method of the robot provided according to the present embodiment, is pressed by included in environment-identification map at least two
The characteristic area of rule setting is set according to default region, so that it is determined that the position of cradle, can be such that robot knows exactly
The position of other cradle, and control machine people moves to robot cradle.Rule is set to determine according to default region special
Orientation and/or distance of the region relative to the first kind contact set on robot cradle are levied, so as to lead to robot
The position that the characteristic area set identifies first kind contact exactly is crossed on robot cradle body, reduces fault rate, from
And orientation and/or distance according to the first contact relative to characteristic area, control machine people, which is moved to, can make to be arranged on machine
Position that the second class contact on people contacts with each other with first kind contact simultaneously charged.The robot provided using the present embodiment
Charging method, can allow the robot to identify exactly cradle position and to exactly its charge.
Fig. 5 shows the charging method schematic diagram for the robot that another embodiment of the present invention provides.As shown in figure 5, should
Method includes：
Step S501, obtain the laser point cloud data corresponding with environmental map.
Fig. 6 shows the laser point cloud schematic diagram that the robot that another embodiment of the present invention provides obtains.Require emphasis
, the arrangement of the laser point cloud in Fig. 6 and density are merely illustrative schematic diagram.In practical operation, the non-NULL white area of acquisition
The density of the laser point cloud in domain and arrangement are not necessarily identical with shown in Fig. 6, can also be other arrangements and density.Robot exists
When normal work, for example sweeping robot can detect the feature of cradle always during normal clean.Robot
After powering, the laser radar set in robot starts to scan peripheral region and establishes map and acquisition and environmental map
Corresponding laser point cloud data.As shown in fig. 6, the laser point cloud data corresponding with environmental map that robot obtains has two
Block can reflect formed white space by laser is absorbed without.There is homologue pole corresponding to the two white spaces
It is probably two characteristic areas that rule setting is set according to default region on robot cradle.In order to judge above-mentioned two
Whether homologue corresponding to individual white space is two on robot cradle sets rule setting according to default region
Characteristic area is, it is necessary to further perform step S502.
Step S502, the white space corresponding to laser point cloud data is extracted, judge the specification and/or spacing of white space
Whether meet default region and rule is set.
The white space corresponding to laser point cloud data as shown in Figure 6 is extracted, and determines the shape of white space, chi
Spacing between very little and white space, so as to further judge whether the specification of white space and/or spacing meet machine
The setting rule of predeterminable area on people's cradle.
Step S503, if, it is determined that region is characterized region corresponding to white space.
If it is determined that the specification and/or spacing of white space meet the setting rule of the predeterminable area on robot cradle
Then, then it can determine that region is characterized region corresponding to white space.
Step S504, the feature object corresponding to characteristic area is defined as robot cradle, and according to environmental map
Determine the position relationship between the current location of robot and robot cradle.
Specifically, after it is determined that region is characterized region corresponding to white space, by the position corresponding to this feature region
Put and be defined as cradle position candidate, cradle position candidate is recorded in environmental map.Alternatively, it is characteristic area institute is right
The position candidate answered is by default cradle identifier record in environmental map.Wherein, default cradle identifier sheet
Field personnel can voluntarily be set, for example can be arranged to thunder and lightning symbol or other identifiers, and this is not restricted.For
Charged, it is necessary to be preset the position for allowing the robot to the position of enough electric power detection cradles and returning to cradle
Power threshold.Then set when the dump energy of robot is less than default power threshold, start a query in environmental map and record
Cradle position candidate.Whether the cradle position candidate for further judging to record in environmental map is one, if
The cradle position candidate is then defined as cradle select location by one.If it is determined that the cradle recorded in environmental map is waited
Bit selecting be set to it is multiple, then according to default cradle determine rule determine cradle select location.Wherein, default cradle is true
Set pattern can be then following rule one：The dump energy of robot is less than to robot position corresponding when presetting power threshold
Put and be defined as the original position that charges, calculate each cradle position candidate and the distance between the original position that charges respectively；According to
Result of calculation determines the distance between charging original position nearest cradle position candidate；Should with charging original position it
Between closest cradle position candidate be defined as cradle select location.Tool
Alternatively, above-mentioned default cradle determines that rule can also be following rule two：Each charging is determined respectively
Seat position candidate recorded the initial time in environmental map；According to the initial time, from multiple cradle position candidates
A cradle position candidate is selected as cradle select location.
Alternatively, above-mentioned default cradle determines that rule can also be following rule three：Each charging is determined respectively
Seat position candidate recorded the duration in environmental map；According to above-mentioned duration, from multiple cradle position candidates
A cradle position candidate is selected as cradle select location.
Further, determine that rule determines that cradle select location can also be specially according to default cradle：
Determine that rule determines the evaluation score of each cradle position candidate according to default cradle, by evaluation score most
High cradle position candidate is as cradle select location.
Specifically, when only a kind of default cradle determines regular, such as only regular a period of time, according to each charging
Seat position candidate can set the height of score with charging the distance between original position, for example, set cradle position candidate with
The evaluation of cradle position candidate of the distance between the charging original position less than 0.5m is scored at 5 points, and distance is 0.5m~1m
Between the evaluation of cradle position candidate be scored at 3 points, the evaluation of cradle position candidate of the distance more than 1m is scored at 1
Point.If cradle position candidate A, tri- cradle position candidate B, cradle position candidate C position candidates.Position A with
Charging the distance between original position be 0.4m, the distance between position B and charging original position are 1m, position C is with charging
Beginning, the distance between position was 2m.May thereby determine that position A evaluation be scored at 5 points, position B evaluation be scored at 3 point,
The evaluation for putting C is scored at 1 point.So as to which the cradle position candidate A using highest scoring is evaluated is as cradle position candidate.
Alternatively, only regular two when, the starting in environmental map can be recorded according to each cradle position candidate
Moment determines the evaluation score of each cradle position candidate, will evaluate the cradle position candidate of highest scoring as cradle
Select location.
Alternatively, only regular three when, can be recorded in environmental map and continued according to each cradle position candidate
Duration determines the evaluation score of each cradle position candidate, will evaluate the cradle position candidate of highest scoring as cradle
Select location.
Further, when default cradle determines that rule includes a variety of, rule is determined for every kind of cradle respectively
Weight corresponding to setting, then it is above-mentioned to determine that rule determines the evaluation score of each cradle position candidate according to default cradle
The step of specifically include：Weight with reference to corresponding to every kind of cradle determines rule determines the evaluation of each cradle position candidate
Score.Such as default cradle determine rule not only regular one again regular two when, rule one and regular can be set
Two weight, the evaluation score of each cradle position candidate is determined then in conjunction with the weight corresponding to rule one and rule two.
It is corresponding according to environmental map after feature object corresponding to characteristic area is defined as into robot cradle
Laser point cloud data, the current position coordinates of robot and the position coordinates that robot cradle is current are determined, so as to judge
Go out the distance between current location and robot cradle of robot and direction relationses.
Step S505, charging route is planned according to position relationship, control machine people is along charging route to robot cradle
It is mobile.
Specifically, control machine people is moved to cradle adjacent locations first, and then control machine people closes in cradle
Opening position is scanned to cradle select location.Wherein, the distance between cradle close position and cradle select location
Less than pre-determined distance.Select location can be any position on robot cradle, be not limited thereto, and pre-determined distance can be with
It is 1m, 2m, 3m or other distances, those skilled in the art can voluntarily be set.The detailed process of scanning is to control the machine
People rotates the first predetermined angle towards first direction, and rotates the second predetermined angle towards second direction；Wherein, in rotary course
In the cradle select location is scanned.Then judge cradle select location with the presence or absence of charging according to scanning result
Seat.If so, then according to the relation between the current location of robot and robot cradle current location, such as distance and direction
Relation, if cooking up robot will reach robot cradle position needs which direction to rotate how many angle towards, and
Cooking up needs mobile distance, and so as to cook up charging route, then control machine people charges along charging route to robot
Seat is mobile, so as to be moved to robot cradle position.If judge that charging is not present in cradle select location according to scanning result
Seat, then redefine cradle select location according to the cradle position candidate recorded in environmental map.
Step S506, rule is set to determine characteristic area relative to setting on robot cradle according to default region
The orientation and/or distance of first kind contact.
After execution of step S505, robot is moved near robot cradle position, is then proceeded to according to pre-
If region set rule determine characteristic area relative to the first kind contact set on robot cradle orientation and/or away from
From.Specifically, at least two on robot cradle that robot acquisition is pre-set set rule according to default region
The details of the characteristic area 11 of setting, such as the specific shape of first area 111 as shown in Figure 3 and second area 112
Interval between shape and size and first area 111 and second area 112.Then according to default region set rule so as to
It is determined that such as it is located at the first distance of the first contact of distance 121 of first area 111 of the top of the first contact 121, is touched positioned at second
Second distance, the first vertical edges boundary line L of the second contact of distance 122 of second area 112 of the top of point 1221In the horizontal direction
Relative to the first offset d of the first contact 1213, the second vertical edges boundary line L2In the horizontal direction relative to the second contact 122
The second offset d4Etc. information, so as to according to the first distance, second distance, the first offset d3, the second offset d4Etc. information
Determine the first kind contact that is set on robot cradle orientation and/or distance relative to robot.
Step S507, according to orientation and/or distance, control machine people is moved to can make to be arranged in robot second
Position that class contact contacts with each other with first kind contact simultaneously charged.
Orientation and/or distance according to the first kind contact obtained in step S506 relative to robot, then according to
The particular location that two class contacts are set in robot, so as to which control machine people is moved to can make to be arranged in robot the
The position that two class contacts contact with each other with first kind contact, makes the second class contact contact with each other and be filled with first kind contact
Electricity.
The charging method of the robot provided according to the present embodiment, the laser point cloud corresponding with environmental map is obtained first
Data, extract the white space corresponding to laser point cloud data, judge the specification of white space and/or spacing whether meet it is default
Region set rule.If it is, determine that region corresponding to white space is characterized region, by the spy corresponding to characteristic area
Sign object is defined as robot cradle, and is determined according to environmental map between the current location of robot and robot cradle
Position relationship, according to position relationship plan charging route, control machine people along charging route moved to robot cradle.By
It is the Laser Radar Scanning set in robot and the cloud data obtained in what is utilized, rather than conventional infrared ray, bluetooth
Etc. positioning, so being not readily susceptible to the interference of barrier, orientation range is also bigger, so as to identify cradle exactly
Position.Then further, rule is set to determine characteristic area relative to being set on robot cradle according to default region
The orientation and/or distance for the first kind contact put, so as to make robot pass through the spy that is set on robot cradle body
Sign region identifies the position of first kind contact exactly, reduces fault rate, then according to the first contact relative to characteristic area
Orientation and/or distance, control machine people, which is moved to, can make the second class contact for being arranged in robot and first kind contact
The position that contacts with each other simultaneously charged.The robot charging method provided using the present embodiment, can allow the robot to standard
Really identify the position of cradle and it charged exactly, and due to utilize be laser radar obtain point cloud number
According to so being not readily susceptible to the influence of peripheral obstacle and other signals, stability and the degree of accuracy are high.
Fig. 7 shows the functional block diagram of the charging device for the robot that one embodiment of the invention provides.The present embodiment carries
The charging device of confession is applied to robot cradle provided by the invention.Shown in Fig. 7, the device includes：Identification module 701, move
Dynamic model block 702, determining module 703 and charging module 704.Wherein,
Identification module 701, at least two suitable for being included in environment-identification map set rule to set according to default region
The characteristic area put；
Mobile module 702, suitable for the feature object corresponding to characteristic area is defined as into robot cradle, control machine
People moves to robot cradle；
Determining module 703, suitable for setting rule to determine characteristic area relative to robot cradle according to default region
The orientation and/or distance of the first kind contact of upper setting；
Charging module 704, suitable for according to orientation and/or distance, control machine people, which is moved to, can make to be arranged on robot
On the position that is contacted with each other with first kind contact of the second class contact and charged.
Alternatively, when the characteristic area is laser invisible area, the identification module specific 701 is suitable to：
Obtain the laser point cloud data corresponding with environmental map；
The white space corresponding to the laser point cloud data is extracted, judges the specification and/or spacing of the white space
Whether meet the default region and rule is set；
If, it is determined that the region corresponding to the white space is the characteristic area.
Alternatively, the mobile module 702 is particularly adapted to：
Determine that the position between the current location of robot and the position of the robot cradle is closed according to environmental map
System；
Charging route is planned according to the position relationship, controls charging route described in the Robot to the robot
Cradle moves.
Concrete structure and operation principle on above-mentioned modules can refer to the description of corresponding steps in embodiment of the method,
Here is omitted.
Fig. 8 shows the structural representation of a kind of electronic equipment according to embodiments of the present invention, the specific embodiment of the invention
The specific implementation to electronic equipment does not limit.
As shown in figure 8, the electronic equipment can include：Processor (processor) 802, communication interface
(Communications Interface) 804, memory (memory) 806 and communication bus 808.
Wherein：
Processor 802, communication interface 804 and memory 806 complete mutual communication by communication bus 808.
Communication interface 804, for being communicated with the network element of miscellaneous equipment such as client or other servers etc..
Processor 802, for configuration processor 810, in the charging method embodiment that can specifically perform above-mentioned robot
Correlation step.
Specifically, program 810 can include program code, and the program code includes computer-managed instruction.
Processor 802 is probably central processor CPU, or specific integrated circuit ASIC (Application
Specific Integrated Circuit), or it is arranged to implement the integrated electricity of one or more of the embodiment of the present invention
Road.The one or more processors that electronic equipment includes, can be same type of processor, such as one or more CPU；Also may be used
To be different types of processor, such as one or more CPU and one or more ASIC.
Memory 806, for depositing program 810.Memory 806 may include high-speed RAM memory, it is also possible to also include
Nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.
Program 810 specifically can be used for so that processor 802 performs following operation：
At least two included in environment-identification map set the characteristic area of rule setting according to default region；
Feature object corresponding to characteristic area is defined as robot cradle, control machine people is to robot cradle
It is mobile；
Rule is set to determine that characteristic area touches relative to the first kind set on robot cradle according to default region
The orientation and/or distance of point；
According to orientation and/or distance, control machine people be moved to can make the second class contact for being arranged in robot with
Position that first kind contact contacts with each other simultaneously charged.
In a kind of optional mode, program 810 can specifically be further used for so that processor 802 performs following behaviour
Make：
Obtain the laser point cloud data corresponding with environmental map；
The white space corresponding to the laser point cloud data is extracted, judges the specification and/or spacing of the white space
Whether meet the default region and rule is set；
If, it is determined that the region corresponding to the white space is the characteristic area.
In a kind of optional mode, program 810 can specifically be further used for so that processor 802 performs following behaviour
Make：
Determine that the position between the current location of robot and the position of the robot cradle is closed according to environmental map
System；
Charging route is planned according to the position relationship, controls charging route described in the Robot to the robot
Cradle moves.
Algorithm and display be not inherently related to any certain computer, virtual system or miscellaneous equipment provided herein.
Various general-purpose systems can also be used together with teaching based on this.As described above, required by constructing this kind of system
Structure be obvious.In addition, the present invention is not also directed to any certain programmed language.It should be understood that it can utilize various
Programming language realizes the content of invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In the specification that this place provides, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention
Example can be put into practice in the case of these no details.In some instances, known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this description.
Similarly, it will be appreciated that in order to simplify the disclosure and help to understand one or more of each inventive aspect,
Above in the description to the exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：I.e. required guarantor
The application claims of shield features more more than the feature being expressly recited in each claim.It is more precisely, such as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following embodiment are expressly incorporated in the embodiment, wherein each claim is in itself
Separate embodiments all as the present invention.
Those skilled in the art, which are appreciated that, to be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more equipment different from the embodiment.Can be the module or list in embodiment
Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or
Sub-component.In addition at least some in such feature and/or process or unit exclude each other, it can use any
Combination is disclosed to all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and so to appoint
Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power
Profit requires, summary and accompanying drawing) disclosed in each feature can be by providing the alternative features of identical, equivalent or similar purpose come generation
Replace.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included some features rather than further feature, but the combination of the feature of different embodiments means in of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
One of meaning mode can use in any combination.
The all parts embodiment of the present invention can be realized with hardware, or to be run on one or more processor
Software module realize, or realized with combinations thereof.It will be understood by those of skill in the art that it can use in practice
Microprocessor or digital signal processor (DSP) are realized in the hit-treatment device of robot according to embodiments of the present invention
Some or all parts some or all functions.The present invention is also implemented as being used to perform side as described herein
The some or all equipment or program of device (for example, computer program and computer program product) of method.It is such
Realizing the program of the present invention can store on a computer-readable medium, or can have the shape of one or more signal
Formula.Such signal can be downloaded from internet website and obtained, and either be provided or with any other shape on carrier signal
Formula provides.
It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of some different elements and being come by means of properly programmed computer real
It is existing.In if the unit claim of equipment for drying is listed, several in these devices can be by same hardware branch
To embody.The use of word first, second, and third does not indicate that any order.These words can be explained and run after fame
Claim.
Claims (10)
1. a kind of robot cradle, including：Cradle body, wherein, it is further provided with the cradle body：
At least two set the characteristic area of rule setting according to default region, for identifying the robot cradle；Its
In, the region sets the spacing between the regular specification for being used to set each characteristic area and two characteristic areas；
The first kind contact of rule setting is set according to the region, is for the second class contact by being arranged in robot
Robot charges；Wherein, the region sets rule to be further used for setting described at least two according to the setting of default region
The characteristic area of rule setting relative to the first kind contact orientation and/or distance.
2. robot cradle according to claim 1, wherein, the characteristic area is laser invisible area, is used for
Robot is set to identify the robot cradle according to the laser point cloud data got.
3. robot cradle according to claim 1 or 2, wherein, the specification of each characteristic area includes：Feature
The shape, and/or size in region；Wherein, the specification of each characteristic area is identical or different.
4. according to any described robot cradles of claim 1-3, wherein, when the first kind contact includes the first contact
And during the second contact, described at least two according to default region set rule setting characteristic area include first area with
And second area；
Also, the region sets rule to be further used for setting rule setting according to default region by described at least two
Characteristic area is set as relative to the orientation and/or distance of the first kind contact：
First area is located above first contact and apart from the first position of the pre-determined distance of the first contact first, and second
Region is located above second contact and apart from the second place of the pre-determined distance of the second contact second.
5. robot cradle according to claim 4, wherein, first area includes the first vertical edges boundary line, then described
First area is located above first contact：The first vertical edges boundary line is located above first contact；
Second area includes the second vertical edges boundary line, then the second area, which is located above second contact, is specially：It is described
Second vertical edges boundary line is located above second contact.
6. robot cradle according to claim 5, wherein, the first vertical edges boundary line is located at first contact
Top specifically includes：The first vertical edges boundary line is located at the surface or oblique upper of first contact, wherein, when described
When one vertical edges boundary line is located at the oblique upper of first contact, the region sets rule to be further used for setting described first
Vertical edges boundary line is in the horizontal direction relative to the first offset of first contact；
The second vertical edges boundary line, which is located above second contact, to be specifically included：The second vertical edges boundary line is positioned at described
The surface or oblique upper of second contact, wherein, when the second vertical edges boundary line is located at the oblique upper of second contact,
The region sets rule to be further used for setting the second vertical edges boundary line and touched in the horizontal direction relative to described second
Second offset of point.
7. a kind of charging method of robot, suitable for any described robot cradles of claim 1-6, including：
At least two included in environment-identification map set the characteristic area of rule setting according to default region；
Feature object corresponding to the characteristic area is defined as robot cradle, controls the robot to the machine
People's cradle moves；
Rule is set to determine the characteristic area relative to being set on the robot cradle according to the default region
The orientation and/or distance of first kind contact；
According to the orientation and/or distance, control the robot to be moved to the second class that can make to be arranged in robot and touch
Put the position to be contacted with each other with the first kind contact and charged.
8. a kind of charging device of robot, suitable for any described robot cradles of claim 1-6, including：
Identification module, suitable for included in environment-identification map at least two according to default region set rule setting feature
Region；
Mobile module, suitable for the feature object corresponding to the characteristic area is defined as into robot cradle, control the machine
Device people moves to the robot cradle；
Determining module, suitable for setting rule to determine that the characteristic area fills relative to the robot according to the default region
The orientation and/or distance of the first kind contact set on electric seat；
Charging module, suitable for according to the orientation and/or distance, controlling the robot to be moved to can make to be arranged on robot
On the position that is contacted with each other with the first kind contact of the second class contact and charged.
9. a kind of electronic equipment, including：Processor, memory, communication interface and communication bus, the processor, the storage
Device and the communication interface complete mutual communication by the communication bus；
The memory is used to deposit an at least executable instruction, and the executable instruction makes the computing device such as right will
Ask and operated corresponding to the charging method of the robot described in 7.
10. a kind of computer-readable storage medium, an at least executable instruction, the executable instruction are stored with the storage medium
Make to operate corresponding to the charging method of computing device robot as claimed in claim 7.
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Application publication date: 20180410 |