CN114047771A - Docking method and system for mobile robot, computer equipment and storage medium - Google Patents
Docking method and system for mobile robot, computer equipment and storage medium Download PDFInfo
- Publication number
- CN114047771A CN114047771A CN202210046114.4A CN202210046114A CN114047771A CN 114047771 A CN114047771 A CN 114047771A CN 202210046114 A CN202210046114 A CN 202210046114A CN 114047771 A CN114047771 A CN 114047771A
- Authority
- CN
- China
- Prior art keywords
- docking
- mobile robot
- interval
- sensor
- moment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003032 molecular docking Methods 0.000 title claims abstract description 179
- 238000000034 method Methods 0.000 title claims abstract description 59
- 238000003860 storage Methods 0.000 title claims abstract description 14
- 238000005520 cutting process Methods 0.000 claims abstract description 11
- 238000002360 preparation method Methods 0.000 claims description 18
- 230000003068 static effect Effects 0.000 claims description 7
- 230000003321 amplification Effects 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 11
- 238000005259 measurement Methods 0.000 abstract description 7
- 230000002829 reductive effect Effects 0.000 abstract description 6
- 230000004044 response Effects 0.000 abstract description 4
- 230000006870 function Effects 0.000 description 13
- 210000001503 joint Anatomy 0.000 description 12
- 238000010586 diagram Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 8
- 238000003384 imaging method Methods 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000000717 retained effect Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a docking method, a docking system, computer equipment and a storage medium of a mobile robot, wherein the method comprises the following steps: acquiring a first interval of a docking mark at a first moment in an airborne sensor coordinate system; determining the body motion amount of the mobile robot; determining a second interval according to the body exercise amount and the first interval; cutting sensor data acquired by the airborne sensor at a second moment according to a second interval; and controlling the mobile robot to move towards the docking device according to the sensor data in the second interval. According to the invention, the sensor data acquired by the airborne sensor at the second moment is cut by utilizing the second interval, so that redundant data is removed, and when the sensor data in the second interval is utilized to control the mobile robot to move, the data processing capacity of the mobile robot is reduced, and the computing resources are saved, so that the real-time response performance of the pose control of the mobile robot is improved, and the real-time performance of the measurement feedback in the closed-loop control is effectively improved.
Description
Technical Field
The present invention relates to the field of robot technology, and in particular, to a docking method and system for a mobile robot, a computer device, and a storage medium.
Background
In the actual use process of the mobile robot, the mobile robot has the requirements of secondary positioning and accurate butt joint under certain specific scenes, such as automatic charging, inter-production line transportation butt joint and the like.
The power source of the mobile robot mainly comes from an onboard battery carried by the mobile robot, and due to the development of battery technology, the endurance capacity of the onboard battery of the current mobile robot is limited, and if the onboard battery is not charged automatically, manual charging is carried out at the cost of increasing manual supervision and intervention. The automatic charging scheme of the mobile robot at present mainly comprises two charging modes, namely wired charging and wireless charging, wherein the two charging modes both need the mobile robot to reach a certain fixed space area relative to a charging pile, and only the wireless charging mode is larger than the wired charging mode, so that the allowable range of the docking pose error of the mobile robot is larger.
The requirement of transportation and butt joint between production lines of the mobile robot, such as butt joint of roller lines, also requires that the mobile robot reaches the port of the roller line with certain pose precision.
The accurate butt joint mode of present mobile robot is with whether carrying out the environmental transformation as distinguishing the condition, can divide into two kinds:
one type of docking mode needs to perform necessary transformation on the environment to increase effective positioning information, such as laying electromagnetic wires, magnetic stripes, magnetic nails, color tapes, two-dimensional codes and the like to guide a mobile robot to reach a fixed machine position, or adding a laser reflector plate with known position information beside the docking machine position to assist the robot in effective positioning. According to the scheme, on one hand, the environmental modification and maintenance cost is increased, on the other hand, the flexibility and flexibility of butt joint are greatly reduced, for example, the relative spatial position relationship between the butt joint device and the auxiliary positioning devices cannot be changed, otherwise, the calibrated pose relationship during scheme deployment is damaged, and the docking is required to be redeployed once the relative spatial position relationship is changed.
The second type of docking mode is to bind the auxiliary positioning mark with the docking device, then identify and measure the auxiliary positioning mark by using vision or laser radar technology to obtain secondary positioning information, and further control the mobile robot to reach the docking station. For example, based on vision, auxiliary positioning marks such as color blocks, two-dimensional codes and the like can be pasted on the docking device, and the relative pose relationship is obtained by utilizing an image processing technology. If the system is based on the laser radar, specific geometric features and the like can be embedded into the docking device, and the relative pose relationship can be obtained by utilizing a related point cloud processing technology. The technical scheme is equivalent to the improvement of the docking device, so that the auxiliary positioning mark is strongly bound with the docking device, the flexibility of the scheme is increased, and the normal use of the docking function is not influenced even if the docking device is moved.
With the increasing advocated flexible automation of industrial production, the second type of docking mode is gradually emphasized, but it is worth noting that, no matter the image processing technology based on vision or the point cloud processing technology based on laser radar, compared to the first type of docking mode, they are considered to be a large computational power consumption user, the task of identifying the auxiliary positioning mark and the task of measuring the relative pose relationship have higher requirements on the computing power and computing resources of the processor unit, which means a higher-performance processor and cost on one hand, and a large number of complex computing tasks also means that the real-time performance of the auxiliary positioning information supply is restricted on the other hand.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide a docking method, a docking system, a computer device, and a storage medium for a mobile robot, which reduce the data processing amount of the mobile robot and improve the real-time response performance of pose control of the mobile robot.
In one aspect, an embodiment of the present invention provides a docking method for a mobile robot, where the mobile robot is equipped with an onboard sensor, and the docking method includes the following steps:
acquiring a first interval of a docking mark at a first moment in an onboard sensor coordinate system, wherein the docking mark is arranged on a docking device;
determining the body motion quantity of the mobile robot according to first mileage data of the mobile robot at a first moment and second mileage data of the mobile robot at a second moment;
determining a second interval of the docking mark at the second moment in the coordinate system of the airborne sensor according to the body exercise amount and the first interval;
cutting the sensor data acquired by the airborne sensor at the second moment according to the second interval to obtain the sensor data in the second interval;
and controlling the mobile robot to move to the docking device according to the sensor data in the second interval.
Further, the step of acquiring a second interval of the docking indicator in the coordinate system of the airborne sensor at the second time according to the amount of movement of the body and the first interval includes the steps of:
determining the relative motion amount of the airborne sensor according to the motion amount of the body;
and determining the second interval according to the relative motion amount and the first interval.
Further, the docking method further comprises the following steps:
acquiring the first mileage data and the second mileage data by an odometer.
Further, the docking method further comprises the following steps:
controlling the mobile robot to move to a docking preparation point and then to be static, wherein the docking preparation point is a starting point of docking of the mobile robot;
searching a docking mark at the docking preparation point through the airborne sensor, and acquiring a relative pose, wherein the relative pose refers to the pose of the docking mark in a coordinate system of the airborne sensor;
further, the docking method further comprises the following steps:
and determining that the docking mark is not searched at the docking preparation point by the airborne sensor, and alarming.
Further, the step of controlling the mobile robot to move to the docking preparation point and then to be stationary includes the steps of:
navigating the mobile robot to the docking preparation point.
Further, before the step of cropping the sensor data acquired by the onboard sensor at the second time according to the second interval, the docking method further includes the steps of:
and carrying out region amplification on the second interval by using a preset coefficient.
On the other hand, this application still provides a docking system of mobile robot, mobile robot installs the on-board sensor, mobile robot's docking system includes:
the system comprises a first interval acquisition module, a second interval acquisition module and a control module, wherein the first interval acquisition module is used for acquiring a first interval of a docking mark in an onboard sensor coordinate system at a first moment, and the docking mark is arranged on a docking device;
the body motion amount determining module is used for determining the body motion amount of the mobile robot according to first mileage data of the mobile robot at a first moment and second mileage data of the mobile robot at a second moment;
the second interval determining module is used for determining a second interval of the docking mark at the second moment in the coordinate system of the airborne sensor according to the body motion amount and the first interval;
the cutting module is used for cutting the sensor data acquired by the airborne sensor at the second moment according to the second interval to obtain the sensor data in the second interval;
and the control module is used for controlling the mobile robot to move to the docking device according to the sensor data in the second interval.
In another aspect, the present application further provides a computer device, including:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one program causes the at least one processor to implement the docking method of the mobile robot as described above.
In another aspect, the present application also provides a storage medium having stored therein processor-executable instructions, which when executed by a processor, are used to perform the docking method of a mobile robot as described above.
The invention has the beneficial effects that: the second interval of the butt joint mark in the coordinate system of the airborne sensor is determined by utilizing the body motion amount of the mobile robot in the first moment and the second moment to the time interval and the first interval of the butt joint mark of the first moment in the coordinate system of the airborne sensor, the sensor data acquired by the airborne sensor at the second moment is cut by utilizing the second interval, redundant data is removed, when the mobile robot is controlled to move by utilizing the sensor data in the second interval, the data processing amount of the mobile robot is reduced, computing resources are saved, the real-time response performance of the pose control of the mobile robot is improved, and the real-time performance of the measurement feedback in the closed-loop control is further effectively improved.
Drawings
FIG. 1 is a schematic flow chart of a docking method for a mobile robot according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a docking method of a mobile robot according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of a laser radar sensor-based docking method for a mobile robot according to an embodiment of the present invention;
fig. 4 is a schematic view of the docking based on the monocular camera according to the docking method of the mobile robot in the embodiment of the present invention;
fig. 5 is a schematic diagram of a docking two-dimensional code position in an imaging plane of a monocular camera corresponding to a first time in the docking method of the mobile robot according to the embodiment of the present invention;
fig. 6 is a schematic diagram of a docking two-dimensional code position in the imaging plane of the monocular camera corresponding to the second moment in the docking method according to the embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a docking system of a mobile robot according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an embodiment of a computer device according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
The invention will be further explained and explained with reference to the drawings and the embodiments in the description.
Referring to fig. 1, in a first aspect, an embodiment of the present invention provides a docking method for a mobile robot, the mobile robot being equipped with an onboard sensor, the docking method including the following steps S1-S5:
s1, acquiring a first interval of a docking mark at a first moment in a coordinate system of the onboard sensor, wherein the docking mark is arranged on the docking device;
specifically, during the process of docking the mobile robot with the docking device, it is usually required to first use an onboard sensor on the mobile robot to sense and identify a docking mark on the docking device, and an onboard sensor coordinate system is determined by centering on the onboard sensor.
The first time and the second time mentioned below are a pair of opposite concepts, for example, the first time may refer to the current time, and then the second time refers to the next time of the current time; alternatively, the first time may refer to a previous time, and then the second time refers to a current time. In addition, the time interval between the first time and the second time can be flexibly set according to the actual situation.
The docking mark is usually fixedly arranged on the docking device for assisting positioning, and positioning the docking mark is equivalent to indirectly positioning the docking device.
In the coordinate system of the airborne sensor, the pose relationship of the docking indicator in the coordinate system of the airborne sensor needs to be acquired, and generally, the docking indicator will be in an interval of the coordinate system of the airborne sensor, where the interval may be an angle interval, for example, when the docking indicator is in the angle interval [ θ 1, θ 2] of the coordinate system of the airborne sensor at the first moment; the first interval may also be a location area. Of course, the first interval may have other forms, and is not limited herein.
S2, determining the body motion quantity of the mobile robot according to the first mileage data of the mobile robot at the first moment and the second mileage data of the mobile robot at the second moment;
specifically, a concept of a mobile robot coordinate system defined centering on the mobile robot is also specified here.
And acquiring mileage data of the mobile robot at a first moment and mileage data of the mobile robot at a second moment, and determining the body motion amount of the mobile robot through two mileage data of the front moment and the rear moment.
S3, determining a second interval of the docking mark at the second moment in the coordinate system of the airborne sensor according to the body motion amount and the first interval;
specifically, when the body movement amount of the mobile robot is determined, the relative movement amount of the airborne sensor can be indirectly determined, so that the second interval of the docking mark at the second moment in the coordinate system of the airborne sensor is determined according to the relative movement amount of the airborne sensor and the first interval.
S4, cutting the sensor data acquired by the airborne sensor at the second moment according to the second interval to obtain the sensor data in the second interval;
specifically, the airborne sensor is used for scanning and acquiring pose data of the docking marks in a coordinate system of the airborne sensor in real time, however, the sensor data acquired by the airborne sensor usually contains a large amount of redundant data, the redundant data usually has no effect on positioning and docking, and if all the sensor data acquired at the second moment are sent to the mobile robot to be processed, the moving condition (docking pose) of the following mobile robot is controlled, so that the mobile robot wastes more computing resources to process a large amount of data, and the real-time performance of pose control of the mobile robot is influenced.
The second interval can be used for representing the interval range of the docking marks in the coordinate system of the airborne sensor, so that the sensor data in the second interval is useful for positioning and docking the docking marks, the sensor data acquired by the airborne sensor at the second moment is cut by the second interval, the sensor data outside the second interval is cut, and only the sensor data in the second interval is reserved.
And S5, controlling the mobile robot to move to the docking device according to the sensor data in the second interval.
Specifically, in step S4, the sensor data outside the second interval is filtered, the sensor data located in the second interval is retained, the retained sensor data used for docking and positioning are sent to the pose estimation module of the mobile robot for calculation processing, so as to obtain pose data for controlling the motion of the mobile robot, and the pose data for controlling the motion of the mobile robot is sent to the pose controller, so as to determine the next action of the mobile robot.
Repeating the above steps S1 to S5 until the mobile robot is successfully docked with the docking device.
To sum up, the second interval of the docking mark in the airborne sensor coordinate system is determined by utilizing the body motion amount of the mobile robot in the first moment and the second moment to the time interval and the first interval of the docking mark in the airborne sensor coordinate system at the first moment, the sensor data acquired by the airborne sensor at the second moment is cut by utilizing the second interval, redundant data is removed, when the mobile robot is controlled to move by utilizing the sensor data in the second interval, the data processing amount of the mobile robot is reduced, computing resources are saved, the real-time response performance of the pose control of the mobile robot is improved, the real-time of the measurement feedback in the closed-loop control is effectively improved, and the real-time of the measurement feedback in the closed-loop control is improved.
Further as an alternative embodiment, step S3 includes the following steps S31-S32:
s31, determining the relative motion quantity of the airborne sensor according to the motion quantity of the body, wherein the relative motion quantity is the motion quantity of the airborne sensor between the first time and the second time;
and S32, determining a second interval according to the relative movement amount and the first interval.
Specifically, because the airborne sensor is mounted on the mobile robot, the relative pose relationship between the mobile robot coordinate system and the airborne sensor coordinate system can be obtained through external reference calibration.
In the time interval between the first moment and the second moment, when the body motion amount of the mobile robot is determined, the relative motion amount of the airborne sensor in the time interval determined by the first moment and the second moment can be determined according to the relative pose relation between the two coordinate systems (the airborne sensor coordinate system and the mobile robot coordinate system), and the second interval of the docking mark at the second moment in the airborne sensor coordinate system can be obtained according to the relative motion amount and the first interval of the docking mark at the first moment in the airborne sensor coordinate system.
As a further optional implementation manner, the docking method further includes the following steps:
and S6, acquiring the first mileage data and the second mileage data through the odometer.
Specifically, the mileage data in the embodiment of the present application may be obtained by using a odometer, and it should be noted that the odometer mentioned in the present application is not limited to its type, and for example, the odometer may be a wheel speed odometer, a laser odometer, a visual odometer, etc., as long as it can directly or indirectly provide the motion information of the mobile robot.
As a further optional implementation manner, the docking method of the mobile robot further includes the following steps:
s7, controlling the mobile robot to move to a docking preparation point and then to be static, wherein the docking preparation point is a starting point of docking of the mobile robot;
specifically, before performing steps S1 to S4, it is also necessary to control the mobile robot to move to a preliminary docking point, which is generally disposed right in front of or right behind the docking device, at which the mobile robot starts performing a docking task with the docking device.
And S8, starting to search the docking marks at the docking preparation points through the airborne sensor, and acquiring relative poses, wherein the relative poses refer to the poses of the docking marks in a coordinate system of the airborne sensor.
Specifically, the mobile robot starts to be stationary after reaching the prepared docking point, the airborne sensor is used for searching the docking mark, and if the docking mark is searched in the view field of the airborne sensor, the airborne sensor is used for acquiring the pose of the docking mark in the coordinate system of the airborne sensor, namely the relative pose, which is an initial starting pose. The relative pose is an important parameter, the relative pose relation between the docking mark and the airborne sensor (mobile robot) is recorded, and the relative pose is selected to be obtained in the static state of the mobile robot because the precision of the relative pose has a large influence on a subsequent algorithm and the static measurement precision of the airborne sensor is higher than the dynamic measurement precision in consideration of the fact that the current mobile robot is static.
And under the static state of the mobile robot, repeatedly acquiring a plurality of relative poses for a plurality of times, finally taking an average value of the relative poses (the average value is taken to reduce random errors in measurement and calculation of the relative poses) as a final relative pose, and sending the final relative pose as a cold start value to a pose controller of the mobile robot for subsequent data calculation.
The butt joint method further comprises the following steps:
and S9, determining that the docking mark is not searched at the docking preparation point by the airborne sensor, and alarming.
It should be noted that, if the docking flag is not searched in the full field of view of the onboard sensor, it is proved that the mobile robot does not reach the designated docking preparation point, and an alarm needs to be given, so as to remind the staff to check the mobile robot.
Further as an alternative embodiment, step S8 includes the following steps:
and navigating the mobile robot to a docking preparation point.
Specifically, in an embodiment, the mobile robot may be moved to the preliminary docking point by using a navigation strategy, it should be noted that the present application does not limit the navigation strategy, and two-dimensional code navigation, natural contour navigation, and the like in the prior art may be used.
As a further optional implementation manner, before the step S4, the docking method further includes the following steps:
and S10, performing area amplification on the second section by a preset coefficient.
Specifically, the second interval can be used for representing the interval range of the docking indicator in the airborne sensor coordinate system, the error effect is considered, the second interval (interval range) is amplified by a certain preset coefficient, the second area is changed into an attention interval with a safety margin, and then the attention interval is used for cutting the sensor data at the second moment (the sensor data which are located at the edge of the interval and used for positioning and docking are prevented from being cut), so that redundant data outside the attention interval are filtered, and the calculation burden of the mobile robot on the attitude controller is relieved.
Finally, in order to more clearly illustrate the implementation principle of the present application, the present application further provides another embodiment, wherein the airborne sensor is a lidar sensor, and with reference to fig. 2, the docking method includes the following steps:
step1, navigating the mobile robot to a prepared docking point by using a navigation strategy and keeping the mobile robot still, searching a docking mark in the full field of view by using the laser radar sensor, and acquiring a relative pose (calculating and averaging repeatedly to obtain a final relative pose value) if the docking mark appears in the field of view of the laser radar sensor, wherein the relative pose is an initial starting pose; and if the laser radar sensor is determined not to search the butt joint mark, reporting the abnormity.
And Step2, sending the relative pose as a cold start value to a pose controller of the mobile robot, and controlling the mobile robot to start moving to a docking mark (docking device).
Step3, acquiring mileage data of the mobile robot at the previous moment (an embodiment of a first moment) and mileage data at the current moment (an embodiment of a second moment) during the process that the mobile robot approaches the docking device, determining the body motion amount of the mobile robot between the two moments according to the two mileage data, acquiring the relative motion amount of the laser radar sensor between the two moments according to the relative pose relationship between the coordinate system of the mobile robot and the coordinate system of the laser radar sensor, and determining the second interval of the docking mark at the current moment in the coordinate system of the laser radar sensor according to the relative motion amount and the first interval of the docking mark at the previous moment in the coordinate system of the laser radar sensor, referring to fig. 3, the coordinate systems O1 and O2 respectively represent the coordinate systems of the mobile robot at the previous moment and the next moment, coordinate systems S1 and S2 correspond to the lidar sensor coordinate systems at two moments before and after, respectively, and the MARK coordinate system represents a geometric feature (docking marker) coordinate system for positioning.
Because the laser point cloud data measured by the laser radar sensor is usually represented in a polar coordinate form, the value range of the first interval is [ theta 1, theta 2] (at the last moment, the docking mark is in the value range of [ theta 1, theta 2 ]), and the value range of the second interval is [ theta 3, theta 4] (at the current moment, the docking mark is in the value range of [ theta 3, theta 4 ]).
Step4, utilizing the second interval to cut the sensor data acquired by the laser radar sensor at the current moment, and because the second interval is an angle interval, the sensor data outside the angle interval and irrelevant to positioning and butt joint can be easily filtered, and only the sensor data in the angle interval is reserved.
Of course, the sensor data can be cut by using the amplified second interval after the second interval is amplified.
And Step5, inputting the sensor data in the second interval into a pose measuring and calculating module of the mobile robot for calculation processing to obtain pose data for controlling the motion of the mobile robot, and sending the pose data for controlling the motion of the mobile robot into a pose controller of the mobile robot so as to control the mobile robot to move towards a docking mark (docking device).
And repeating the steps of Step3-Step5, cutting the sensor data acquired by the laser radar sensor at the second moment by using the second interval, so that the data processing amount of the mobile robot can be remarkably reduced, and finally, determining that the current pose of the mobile robot is within the threshold value of the target pose, and finishing the execution of the steps of Step3-Step5 after the mobile robot is completely docked with the docking device.
In another embodiment, the airborne sensor uses a monocular camera, and this embodiment has some steps similar to those of the previous embodiment of the radar laser sensor, and the similar steps are not repeated.
Two-dimensional code marks for assisting positioning are pasted at equal heights of the docking device and the monocular camera, the size of the two-dimensional code marks is known, and internal and external parameters of the monocular camera are calibrated.
The monocular camera imaging follows the corresponding imaging principle and imaging model, and the pose of the two-dimensional code marker coordinate system relative to the monocular camera coordinate system, namely the relative pose, can be obtained through calculation through reasonable design.
Similar to the above-mentioned embodiment based on the lidar sensor, referring to fig. 4, taking two moments in the subsequent movement process, a mobile robot coordinate system and a monocular camera coordinate system at the time of t1 and a robot body coordinate system at the time of t2 and an onboard camera coordinate system at the time of t1 and a second time t2 and a monocular camera coordinate system at the time of t 4934 and a schematic diagram of a two-dimensional code projected onto a camera imaging plane at the time of t1 as O2 and C2, as shown in fig. 5, a schematic diagram of the relative movement amount of the monocular camera at the time of t1 to t2 can be estimated by means of the body movement amount of the mobile robot provided by the odometer, so as to obtain the relative spatial relationship of the two-dimensional code mark at the time of t2 in the monocular camera coordinate system, and a schematic diagram of the two-dimensional code projected onto the camera imaging plane at the time of t2 is shown in fig. 6. The monocular camera images and is transmitted and processed in a matrix form after being digitized, so that the area of the non-two-dimensional code can be easily removed, and the iterative search calculation amount for searching the corner point of the two-dimensional code in the full-width imaging surface is greatly reduced.
In a second aspect, the present application also provides a docking system, in which a mobile robot is mounted with an onboard sensor, and referring to fig. 7, the docking system of the mobile robot includes:
a first interval obtaining module 201, configured to obtain a first interval of a docking indicator at a first time in a coordinate system of the onboard sensor, where the docking indicator is disposed on the docking device;
the body motion amount determining module 202 is used for determining the body motion amount of the mobile robot according to first mileage data of the mobile robot at a first moment and second mileage data of the mobile robot at a second moment;
the second interval determining module 203 determines a second interval of the docking mark at the second moment in the coordinate system of the airborne sensor according to the body motion amount and the first interval;
the cutting module 204 is configured to cut the sensor data acquired by the airborne sensor at the second time according to the second interval to obtain sensor data in the second interval;
and the control module 205 is used for controlling the mobile robot to move towards the docking device according to the sensor data in the second interval.
It can be seen that the contents in the foregoing method embodiments are all applicable to this system embodiment, the functions specifically implemented by this system embodiment are the same as those in the foregoing method embodiment, and the advantageous effects achieved by this system embodiment are also the same as those achieved by the foregoing method embodiment.
In a third aspect, referring to fig. 8, the present application further provides a computer device, including:
at least one processor 301;
at least one memory 302 for storing at least one program;
when the at least one program is executed by the at least one processor 301, the at least one processor 301 may implement the docking method of the mobile robot.
Similarly, the contents in the foregoing method embodiments are all applicable to this computer apparatus embodiment, the functions specifically implemented by this computer apparatus embodiment are the same as those in the foregoing method embodiments, and the beneficial effects achieved by this computer apparatus embodiment are also the same as those achieved by the foregoing method embodiments.
Embodiments of the present invention also provide a storage medium having stored therein processor-executable instructions, which when executed by a processor, are used to perform a docking method of a mobile robot.
Likewise, the contents of the above method embodiments are all applicable to the present storage medium embodiment, the functions specifically implemented by the present storage medium embodiment are the same as those of the above method embodiments, and the advantageous effects achieved by the present storage medium embodiment are also the same as those achieved by the above method embodiments.
Similarly, the contents of the method embodiments are all applicable to the apparatus embodiments, the functions specifically implemented by the apparatus embodiments are the same as the method embodiments, and the beneficial effects achieved by the apparatus embodiments are also the same as the beneficial effects achieved by the method embodiments.
In alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flow charts of the present invention are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of larger operations are performed independently.
Furthermore, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the described functions and/or features may be integrated in a single physical device and/or software module, or one or more functions and/or features may be implemented in a separate physical device or software module. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary for an understanding of the present invention. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be understood within the ordinary skill of an engineer, given the nature, function, and internal relationship of the modules. Accordingly, those skilled in the art can, using ordinary skill, practice the invention as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative of and not intended to limit the scope of the invention, which is defined by the appended claims and their full scope of equivalents.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes programs for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable programs that can be considered for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with a program execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the programs from the program execution system, apparatus, or device and execute the programs. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the program execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable program execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the foregoing description of the specification, reference to the description of "one embodiment/example," "another embodiment/example," or "certain embodiments/examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The docking method of the mobile robot is characterized by comprising the following steps:
acquiring a first interval of a docking mark at a first moment in an onboard sensor coordinate system, wherein the docking mark is arranged on a docking device;
determining the body motion quantity of the mobile robot according to first mileage data of the mobile robot at a first moment and second mileage data of the mobile robot at a second moment;
determining a second interval of the docking mark at the second moment in the coordinate system of the airborne sensor according to the body exercise amount and the first interval;
cutting the sensor data acquired by the airborne sensor at the second moment according to the second interval to obtain the sensor data in the second interval;
and controlling the mobile robot to move to the docking device according to the sensor data in the second interval.
2. The docking method for a mobile robot according to claim 1, wherein the step of acquiring a second interval of the docking indicator in the onboard sensor coordinate system at the second time point based on the body movement amount and the first interval includes the steps of:
determining the relative motion quantity of the airborne sensor according to the body motion quantity, wherein the relative motion quantity is the motion quantity of the airborne sensor between the first moment and the second moment;
and determining the second interval according to the relative motion amount and the first interval.
3. The docking method of a mobile robot according to claim 1, further comprising the steps of:
acquiring the first mileage data and the second mileage data by an odometer.
4. The docking method of a mobile robot according to claim 1, further comprising the steps of:
controlling the mobile robot to move to a docking preparation point and then to be static, wherein the docking preparation point is a starting point of docking of the mobile robot;
and searching the docking marks at the docking preparation points through the airborne sensor to acquire relative poses, wherein the relative poses refer to the poses of the docking marks in a coordinate system of the airborne sensor.
5. The docking method for a mobile robot according to claim 4, further comprising the steps of:
and determining that the docking mark is not searched at the docking preparation point by the airborne sensor, and alarming.
6. The docking method of claim 4, wherein the step of controlling the mobile robot to be stationary after moving to the docking preparation point comprises the steps of:
navigating the mobile robot to the docking preparation point.
7. The docking method for a mobile robot according to claim 1, wherein the step of clipping the sensor data acquired by the onboard sensor at the second time point according to the second interval is preceded by the step of:
and carrying out region amplification on the second interval by using a preset coefficient.
8. A docking system for a mobile robot, the mobile robot being equipped with an onboard sensor, the docking system comprising:
the system comprises a first interval acquisition module, a second interval acquisition module and a control module, wherein the first interval acquisition module is used for acquiring a first interval of a docking mark in an onboard sensor coordinate system at a first moment, and the docking mark is arranged on a docking device;
the body motion amount determining module is used for determining the body motion amount of the mobile robot according to first mileage data of the mobile robot at a first moment and second mileage data of the mobile robot at a second moment;
the second interval determining module is used for determining a second interval of the docking mark at the second moment in the coordinate system of the airborne sensor according to the body motion amount and the first interval;
the cutting module is used for cutting the sensor data acquired by the airborne sensor at the second moment according to the second interval to obtain the sensor data in the second interval;
and the control module is used for controlling the mobile robot to move to the docking device according to the sensor data in the second interval.
9. A computer device, comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, the at least one program causes the at least one processor to implement the docking method for a mobile robot of any one of claims 1-7.
10. A storage medium having stored therein processor-executable instructions, which when executed by a processor are configured to perform the method of docking a mobile robot according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210046114.4A CN114047771B (en) | 2022-01-17 | 2022-01-17 | Docking method and system for mobile robot, computer equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210046114.4A CN114047771B (en) | 2022-01-17 | 2022-01-17 | Docking method and system for mobile robot, computer equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114047771A true CN114047771A (en) | 2022-02-15 |
| CN114047771B CN114047771B (en) | 2022-04-08 |
Family
ID=80196552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210046114.4A Active CN114047771B (en) | 2022-01-17 | 2022-01-17 | Docking method and system for mobile robot, computer equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114047771B (en) |
Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009289212A (en) * | 2008-05-30 | 2009-12-10 | Sogo Keibi Hosho Co Ltd | System, method and program for controlling autonomous mobile object, and recording medium |
| CN106814739A (en) * | 2017-04-01 | 2017-06-09 | 珠海市微半导体有限公司 | A kind of mobile robot recharges control system and control method |
| CN108773433A (en) * | 2018-06-05 | 2018-11-09 | 广州市远能物流自动化设备科技有限公司 | A kind of butt junction location calibration method and AGV trolleies based on AGV trolleies |
| EP3508938A2 (en) * | 2018-01-05 | 2019-07-10 | iRobot Corporation | Mobile cleaning robot teaming and persistent mapping |
| CN209425441U (en) * | 2018-12-17 | 2019-09-24 | 广州里工实业有限公司 | Man-machine collaboration robot Multifunctional mobile pedestal |
| US20190332114A1 (en) * | 2018-04-26 | 2019-10-31 | Maidbot, Inc. | Robot Contextualization of Map Regions |
| CN110543178A (en) * | 2019-09-30 | 2019-12-06 | 深圳市银星智能科技股份有限公司 | Robot recharging method and system, robot and charging station |
| US20200046193A1 (en) * | 2019-08-23 | 2020-02-13 | Lg Electronics Inc. | Artificial intelligence robot cleaner |
| EP3627267A1 (en) * | 2017-05-18 | 2020-03-25 | Shanghai Slamtec Co., Ltd. | Method and apparatus for charging robot |
| CN111427061A (en) * | 2020-06-15 | 2020-07-17 | 北京云迹科技有限公司 | Robot mapping method and device, robot and storage medium |
| CN111427361A (en) * | 2020-04-21 | 2020-07-17 | 浙江欣奕华智能科技有限公司 | Recharging method, recharging device and robot |
| CN111572377A (en) * | 2020-05-13 | 2020-08-25 | 广州华立科技职业学院 | Visual guidance method for automatic alignment of mobile robot charging station |
| CN111679671A (en) * | 2020-06-08 | 2020-09-18 | 南京聚特机器人技术有限公司 | Method and system for automatic docking of robot and charging pile |
| CN111730607A (en) * | 2020-08-17 | 2020-10-02 | 广州里工实业有限公司 | Unmanned on duty intelligence man-machine cooperation robot system |
| CN111736606A (en) * | 2020-06-28 | 2020-10-02 | 杭州海康机器人技术有限公司 | Mobile robot driving method, device and storage medium |
| US10886763B1 (en) * | 2019-12-10 | 2021-01-05 | Lg Electronics Inc. | Charging device |
| CN112214015A (en) * | 2020-09-04 | 2021-01-12 | 安克创新科技股份有限公司 | Self-moving robot and recharging method, system and computer storage medium thereof |
| CN113525631A (en) * | 2021-06-10 | 2021-10-22 | 华中科技大学 | Underwater terminal docking system and method based on optical visual guidance |
| CN113703442A (en) * | 2020-03-20 | 2021-11-26 | 科沃斯机器人股份有限公司 | Robot operation control method and robot |
| CN113725943A (en) * | 2021-07-12 | 2021-11-30 | 科沃斯机器人股份有限公司 | Charging stand, recharging method and self-moving equipment |
| US11199853B1 (en) * | 2018-07-11 | 2021-12-14 | AI Incorporated | Versatile mobile platform |
| CN113900454A (en) * | 2021-09-09 | 2022-01-07 | 武汉联一合立技术有限公司 | Charging pile aligning method, device, equipment and storage medium |
-
2022
- 2022-01-17 CN CN202210046114.4A patent/CN114047771B/en active Active
Patent Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009289212A (en) * | 2008-05-30 | 2009-12-10 | Sogo Keibi Hosho Co Ltd | System, method and program for controlling autonomous mobile object, and recording medium |
| CN106814739A (en) * | 2017-04-01 | 2017-06-09 | 珠海市微半导体有限公司 | A kind of mobile robot recharges control system and control method |
| EP3627267A1 (en) * | 2017-05-18 | 2020-03-25 | Shanghai Slamtec Co., Ltd. | Method and apparatus for charging robot |
| EP3508938A2 (en) * | 2018-01-05 | 2019-07-10 | iRobot Corporation | Mobile cleaning robot teaming and persistent mapping |
| US20190332114A1 (en) * | 2018-04-26 | 2019-10-31 | Maidbot, Inc. | Robot Contextualization of Map Regions |
| CN108773433A (en) * | 2018-06-05 | 2018-11-09 | 广州市远能物流自动化设备科技有限公司 | A kind of butt junction location calibration method and AGV trolleies based on AGV trolleies |
| US11199853B1 (en) * | 2018-07-11 | 2021-12-14 | AI Incorporated | Versatile mobile platform |
| CN209425441U (en) * | 2018-12-17 | 2019-09-24 | 广州里工实业有限公司 | Man-machine collaboration robot Multifunctional mobile pedestal |
| US20200046193A1 (en) * | 2019-08-23 | 2020-02-13 | Lg Electronics Inc. | Artificial intelligence robot cleaner |
| CN110543178A (en) * | 2019-09-30 | 2019-12-06 | 深圳市银星智能科技股份有限公司 | Robot recharging method and system, robot and charging station |
| US10886763B1 (en) * | 2019-12-10 | 2021-01-05 | Lg Electronics Inc. | Charging device |
| CN113703442A (en) * | 2020-03-20 | 2021-11-26 | 科沃斯机器人股份有限公司 | Robot operation control method and robot |
| CN111427361A (en) * | 2020-04-21 | 2020-07-17 | 浙江欣奕华智能科技有限公司 | Recharging method, recharging device and robot |
| CN111572377A (en) * | 2020-05-13 | 2020-08-25 | 广州华立科技职业学院 | Visual guidance method for automatic alignment of mobile robot charging station |
| CN111679671A (en) * | 2020-06-08 | 2020-09-18 | 南京聚特机器人技术有限公司 | Method and system for automatic docking of robot and charging pile |
| CN111427061A (en) * | 2020-06-15 | 2020-07-17 | 北京云迹科技有限公司 | Robot mapping method and device, robot and storage medium |
| CN111736606A (en) * | 2020-06-28 | 2020-10-02 | 杭州海康机器人技术有限公司 | Mobile robot driving method, device and storage medium |
| CN111730607A (en) * | 2020-08-17 | 2020-10-02 | 广州里工实业有限公司 | Unmanned on duty intelligence man-machine cooperation robot system |
| CN112214015A (en) * | 2020-09-04 | 2021-01-12 | 安克创新科技股份有限公司 | Self-moving robot and recharging method, system and computer storage medium thereof |
| CN113525631A (en) * | 2021-06-10 | 2021-10-22 | 华中科技大学 | Underwater terminal docking system and method based on optical visual guidance |
| CN113725943A (en) * | 2021-07-12 | 2021-11-30 | 科沃斯机器人股份有限公司 | Charging stand, recharging method and self-moving equipment |
| CN113900454A (en) * | 2021-09-09 | 2022-01-07 | 武汉联一合立技术有限公司 | Charging pile aligning method, device, equipment and storage medium |
Non-Patent Citations (3)
| Title |
|---|
| ANJA BABIC 等: "Development of Visual Servoing-Based Autonomous Docking Capabilities in a Heterogeneous Swarm of Marine Robots", 《APPLIED SCIENCE》 * |
| 伊文康: "基于视觉的水下机器人自主对接导引算法研究", 《中国优秀硕士学位论文全文数据库》 * |
| 魏银: "扫地机器人自动回充***的设计与实现", 《中国优秀硕士学位论文全文数据库》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114047771B (en) | 2022-04-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108873904B (en) | Unmanned parking method and device for mining vehicle and readable storage medium | |
| US9802501B2 (en) | Guided vehicle positioning for inductive charging with the assistance of a vehicle camera | |
| CN101346603B (en) | Object recognition device | |
| WO2018227980A1 (en) | Camera sensor based lane line map construction method and construction system | |
| CN110969055B (en) | Method, apparatus, device and computer readable storage medium for vehicle positioning | |
| CN111409632A (en) | Vehicle control method and device, computer equipment and storage medium | |
| CN113311821B (en) | Drawing and positioning system and method for multi-pendulous pipeline flaw detection mobile robot | |
| CN113168189A (en) | Flight operation method, unmanned aerial vehicle and storage medium | |
| US9440651B2 (en) | Method and device for monitoring a setpoint trajectory of a vehicle | |
| CN114047771B (en) | Docking method and system for mobile robot, computer equipment and storage medium | |
| CN112102396B (en) | Method, device, equipment and storage medium for positioning vehicle under bridge crane | |
| CN113848940A (en) | AGV autonomous navigation control method and system | |
| CN116626670B (en) | Automatic driving model generation method and device, vehicle and storage medium | |
| CN108162860A (en) | A kind of vehicle guiding aided management system and vehicle guidance method | |
| JP2011128020A (en) | Device and method for position estimation of moving body | |
| CN113544034A (en) | Device and method for acquiring correction information of vehicle sensor | |
| CN116448146A (en) | Inertial navigation system self-calibration method, device, equipment and storage medium | |
| CN114779275B (en) | Automatic following obstacle avoidance method for mobile robot based on AprilTag and laser radar | |
| CN113048978B (en) | Mobile robot repositioning method and mobile robot | |
| JP7312089B2 (en) | Measuring device | |
| CN114281081A (en) | Navigation system and navigation method of metro vehicle inspection robot and robot | |
| JP2020190814A (en) | Trajectory generation device | |
| CN116443013B (en) | Reversing control system, method, equipment and medium of unmanned vehicle | |
| CN113799769B (en) | Parking space recognition precision detection method and device and automatic driving vehicle | |
| CN116499488B (en) | Target fusion method, device, vehicle and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |