WO2020062835A1 - 机器人及其自动回充方法、***、电子设备、存储介质 - Google Patents
机器人及其自动回充方法、***、电子设备、存储介质 Download PDFInfo
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- WO2020062835A1 WO2020062835A1 PCT/CN2019/082317 CN2019082317W WO2020062835A1 WO 2020062835 A1 WO2020062835 A1 WO 2020062835A1 CN 2019082317 W CN2019082317 W CN 2019082317W WO 2020062835 A1 WO2020062835 A1 WO 2020062835A1
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- 238000003860 storage Methods 0.000 title claims abstract description 35
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
Definitions
- the present disclosure relates to the field of robots, and in particular, to a robot and an automatic recharging method, system, electronic device, and storage medium thereof.
- the existing automatic recharging method of the sweeping robot is: 1) The charging base emits infrared signals. After the robot enters the area of infrared signals during the movement of the robot, it receives infrared signals through the infrared receiver on the front end of the robot, and continuously adjusts the movement direction until it reaches the charging base The metal electrodes on the sensor are in contact. 2) Using navigation technology, two beacon light spots are projected to the ceiling through the charging base. A four-quadrant infrared receiving window is set on the upper end of the robot. The projection area of the light spot on the sensor is converted into an electrical signal. Find out the current coordinates and attitude of the robot.
- the present disclosure provides a robot and an automatic recharging method, system, electronic device, and storage medium thereof.
- the robot can be automatically recharged without the guidance of an active light source, thereby reducing the cost of the robot.
- a computer-implemented method including:
- the robot is moved from the initial position to a docking position, the docking position is opposite to the charging interface of the charging pile, and the docking position is determined based on the position of the charging pile identified by an image collected by the robot in real time ;
- the robot is driven on the first path from the docking position to the charging position to make the robot dock with the charging pile at the charging position.
- the first path is a straight line or a substantially straight path, and during the travel of the first path , The robot maintains the docking posture and the charging pile is always recognized in the images collected by the robot in real time.
- a robot including:
- the processor is configured to:
- the docking position is opposite to a charging interface of the charging pile, and the docking position is a position of the charging pile identified based on an image collected by the robot in real time Determined;
- the robot is driven on the first path from the docking position to the charging position to dock the charging pile at the charging position.
- the first path is a straight or approximately straight path, and during the first path, the robot The docking posture is maintained and the charging pile is always recognized in the images acquired by the robot in real time.
- a robot automatic refill system including:
- an electronic device including: a processor; a storage medium having a computer program stored thereon, which is executed by the processor when the computer program is executed step.
- a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps described above are performed.
- FIG. 1 shows a flowchart of a robot automatic refilling method according to an embodiment of the present disclosure
- FIG. 2 shows a schematic diagram of a robot automatic refilling of a robot automatic refilling system according to an embodiment of the present disclosure
- 3 to 7 illustrate schematic diagrams of automatic recharging of a robot according to an exemplary embodiment of the present disclosure
- FIG. 8 illustrates a block diagram of a robot according to an embodiment of the present disclosure.
- FIG. 9 schematically illustrates a computer-readable storage medium in an exemplary embodiment of the present disclosure.
- FIG. 10 schematically illustrates a schematic diagram of an electronic device in an exemplary embodiment of the present disclosure.
- a long-wavelength beam is usually used, and the long-wavelength beam has poor penetrating power to obstacles.
- the active light source cannot penetrate the obstacle and is received by the beam sensing device on the robot.
- the automatic return pile is blocked, the environment is poor, the equipment is easily damaged, and the life is short.
- a model-matching light-emitting device and a light-sensing receiving device are needed. If one of them is damaged, the model-matching transmitting device or sensor-receiving device needs to be replaced.
- the present disclosure provides a robot and an automatic recharging method, system, electronic device, and storage medium thereof.
- the robot can be automatically recharged without the guidance of an active light source, reducing the cost of the robot, and at the same time, the flexibility of the device high.
- FIG. 1 shows a flowchart of a robot automatic refilling method according to an embodiment of the present disclosure.
- Step S110 moving the robot from an initial position to a docking position, where the docking position is opposite to a charging interface of the charging pile;
- Step S120 The robot is driven on the first path from the docking position to the charging position to make the robot dock with the charging pile at the charging position.
- the first path is a straight or approximately straight path and travels on the first path.
- the robot maintains the docking posture and the charging pile is always identified in the images collected by the robot in real time.
- the robot automatic refilling method provided by the present disclosure has the following advantages:
- the segmented path planning on the pile return path enables different robot driving modes or path planning / adjustment methods to be used in different path segments, which helps to efficiently solve the problem of robot pile return.
- FIG. 2 shows a schematic diagram of a robot automatic refilling of a robot automatic refilling system according to an embodiment of the present disclosure.
- the robot 202 recognizes that the battery is insufficient at the initial position 213 and needs to dock the charging pile 201 at the charging position 211 for charging.
- the robot 202 To move to the charging position 211, the robot 202 first determines the position of its initial position 213 in the environment map.
- the environment map may be trained and established while the robot 202 is in use.
- the initial position 213 of the robot 202 is determined according to the motion trajectory in the environment map before the robot 202 recharges.
- the robot 202 can know its motion trajectory, and then can determine the position of its initial position 213 in the environment map according to the motion trajectory.
- the robot 202 can directly collect the charging post 201 before recharging, and the position of the initial position 213 in the environment map can be determined by collecting the charging post 201 in the image.
- the robot 202 may have just been turned on or may have been moved manually before recharging. Therefore, the robot 202 cannot know its actual motion trajectory and cannot determine the position of the initial position 213 in the environment map based on the actual motion trajectory. .
- the initial position 213 of the robot 202 is determined based on the images acquired by the robot in real time. For example, multiple identification features can be set in the environment map where the robot 202 is located (for example, in the form of a contour of an object such as a chair, table, sofa, or a two-dimensional code so that the coordinates of the identification features can be read).
- the position of the initial position 213 of the robot 202 in the environment map can be determined according to the coordinates of the recognition feature (the position in the environment map).
- the recognition feature can also be set on the charging post. If the robot 202 recognizes the charging post in the image collected at the initial position 213, the initial position 213 can be determined in the environment map through the recognition feature on the charging post. s position.
- the robot 202 After the robot 202 determines the position of its initial position 213 in the environment map, the robot 202 needs to determine the boundary of the transit area 241 preset in the environment map to which it is to move.
- the transit area 241 is preset in the environment map, the transit area 241 is preset based on the area where the charging pile 201 can be identified in the acquired image when the environment map is established.
- an arbitrary position may be selected at the boundary of the transit area 241.
- the boundary position of the selected transit area 241 is located at the shortest path to avoid obstacles from the initial position 213 to the border of the transit area 241. If there are no obstacles, it is from the initial position 213 to the transit area The shortest straight path of the boundary of 241.
- the boundary position of the selected transit area 241 is located on the line connecting the initial position 213 and the charging position 211, so that the transit position 212 can be uniquely determined and the shortest path planning between the positions can be achieved .
- the present disclosure can implement more variations, which will not be repeated here.
- the robot 202 After the robot 202 determines the initial position 213 and the boundary of the transit area 241 preset in the environment map to be moved to, the robot 202 plans a second path 221 from the initial position 213 to the boundary of the transit area 241.
- the second path 221 is preferably the shortest path that can avoid obstacles, and is preferably a straight path. Then, the robot 202 travels along the second path 221 from the initial position 213 to the boundary of the transit area 241.
- the robot 202 when the robot 202 is in the initial position 213 and can capture an image of the charging pile, that is, when the initial position 213 is located in the transit area 241, the robot 202 may not need to plan the second path 221.
- the robot 202 moves to the boundary of the transit area 241, and determines whether the charging pile 201 is recognized in the image collected by the robot 202 in real time.
- the robot 202 may pre-store the image of the charging post 201, determine the image characteristics of the charging post 201 according to the image of the charging post 201, and match the image characteristics of the charging post 201 with the images collected in real time to determine the charging post 201 Whether the robot is located in an image acquired by the robot in real time is not limited thereto. If the charging pile 201 is identified in the image acquired by the robot 202 in real time, the current position of the robot 202 is taken as the transit position 212, and the robot 202 follows the third path from the transit position 212 to the docking position 214 travel.
- the initial position 213 can be used as the transit position 212 for subsequent steps. If the charging pile 201 is not recognized in the image acquired by the robot 202 in real time, the robot 202 is caused to operate in a predetermined mode or an adaptive mode (for example, in a predetermined range according to a predetermined rotation or displacement) until The charging pile 201 is identified in the image acquired by the robot 202 in real time, and the current position of the robot 202 is used as the transit position 212.
- a predetermined mode or an adaptive mode for example, in a predetermined range according to a predetermined rotation or displacement
- a prompt indicating that the charging pile 201 is not found is generated.
- the prompt information is used to indicate that the charging pile 201 is blocked or the charging pile 201 is displaced.
- the robot 202 needs to be retrained, and the position of the charging pile 201 is remarked based on the existing environment map.
- the predetermined mode or the adaptive mode may be adopted.
- the action determines a transfer position 212 of the image of the charging pile 201 within a predetermined range to solve the above problem.
- the robot 202 determines a docking position 214 in the transit area 241 at the transit position 212, and the docking position 214 is opposite to the charging interface of the charging pile 201, that is, The robot 202 is in a docking position 214, that is, it has a posture for docking with the charging interface of the charging pile 201.
- the docking position 214 is the position of the preset marker on the environment map.
- the robot 202 recognizes the position of the charging post 201 at the transit position 212 in real-time, and determines the position in the transit area 241 based on the position of the charging post 201. Docking position 214. For example, on a horizontal plane, taking the direction of the charging interface of the charging pile 201 as the Y axis and the direction vertical to the charging interface as the X axis, the coordinates of the charging pile 201 are (x 1 , y 1 ).
- the robot 202 follows a third path from the transit position 212 to the docking position 214.
- the third path is based on the coordinates of the determined transit position in the environment map, and based on the robot 202 in transit.
- the image of the charging pile collected at the position is calculated, and the calculated third path can ensure that the moment the robot moves from the transit position to the docking position, that is, the posture of docking and charging with the charging pile is set, and the third path is not limited to a straight line.
- the robot 202 travels in a first path from the docking position 214 to the charging position 211, the first path is a straight line or an approximately straight path, and during the first path, the robot 202 collects in real time
- the charging pile 201 is always identified in the image (ie, only the X-axis direction is fine-tuned in the first path so that the charging pile 201 is always identified in the image collected by the robot 202 in real time).
- the robot 202 maintains a docking posture (for example, the charging socket of the robot 202 is always facing the charging interface of the charging pile 201), for example, the robot 202 and the charging The posts 201 all remain in the docking state (for example, the cover of the charging interface is kept open, or the charging interface is in a retractable state for docking, etc.).
- the robot 202 may, for example, use an auxiliary pattern (such as a specific pattern) identified in an image acquired by the robot 202 in real time. Pattern or two-dimensional code) to adjust the first path, and the auxiliary pattern is disposed on the charging pile.
- the robot 202 may also adjust the first path by a stretchable auxiliary robot arm provided on the charging pile 201.
- the present disclosure is not limited to this, and the above two methods can also be used in combination, which will not be repeated here.
- the robot 202 moves to the charging position 211, it docks with the charging pile 201 and performs charging.
- FIGS. 3 to 7 illustrate schematic diagrams of automatic recharging of a robot according to an exemplary embodiment of the present disclosure.
- the cleaning robot 202 is taken as an example for description.
- the cleaning robot 202 performs a cleaning operation according to a predetermined working path 229 in an environment map 250 composed of rooms 251, 252, and 253.
- the location and transit area 241 of the charging pile 201 are marked in the environment map 250.
- the charging position 211 to be reached by the cleaning robot 202 may also be marked on the environment map.
- the cleaning robot 202 moves and cleans the room 251 in the environment map 250 according to the working path 229.
- the current position of the cleaning robot 202 is used as the initial position 213, and the position of the initial position 213 in the environment map may be determined according to the working path 229 of the cleaning robot 202.
- the initial position 213 is also used for the cleaning robot 202 after charging is completed, and then returns to the initial position 213 to continue the unfinished cleaning work according to the work path 229.
- the cleaning robot 202 plans a second path 221 according to the boundary between the initial position 213 and the transit area 241.
- the second path 221 is to avoid obstacles from the boundary between the initial position 213 and the transit area 241
- the shortest path of the object is a straight path from the initial position 213 to the boundary of the transit area 241 if there is no obstacle.
- the cleaning robot 202 moves from the initial position 213 to the boundary of the transit area 241 according to the second path 221.
- the current position of the robot 202 is used as the transit position 212.
- the robot 202 is caused to operate in a predetermined mode or an adaptive mode (for example, in a predetermined range according to a predetermined rotation or displacement) until The charging pile 201 is identified in the image acquired by the robot 202 in real time, and the current position of the robot 202 is used as the transit position 212. If the cleaning robot 202 recognizes the charging pile 201 in an image acquired in real time by the initial position 213, the initial position 213 is used as the transit position 212.
- the cleaning robot 202 travels from the transit position 212 to the docking position 214 (the preset mark is on the environment map) along the third path 223.
- the cleaning robot 202 can recognize the position of the charging pile 201 at the transfer position 212 in real time, and determine the docking position 214 in the transfer area 241 according to the position of the charging pile 201 Or determine the docking position 214 according to the position of the charging pile 201 marked on the environment map.
- the cleaning robot 202 may encounter an obstacle 260 while traveling on the third path 223 from the transit position 212 to the docking position 214. To this end, the cleaning robot 202 can determine a ground plane from the images collected in real time during the driving process, and determine whether there is an obstacle 260 in the driving direction according to whether the ground plane is blocked. If the cleaning robot 202 recognizes the obstacle 260 on the third path 223, the cleaning robot 202 may adjust the third path 223 based on the positional relationship between the charging pile 201 and the obstacle 260 in the real-time acquisition image, for example.
- the charging pile 201 is located on one side of the center line of the image, the cleaning robot 202 turns to this side to plan the third path 223 while bypassing the obstacle 260, so that the cleaning robot 202 Move to the docking position 214.
- the third path 223 is calculated based on the coordinates of the determined transit position 212 in the environment map, based on the image of the charging pile collected by the robot 202 at the transit position 212, and calculated. The third path 223 can ensure that the moment the robot 202 moves from the transit position 212 to the docking position 214, that is, the robot 202 is in a posture of docking and charging with the charging pile 201.
- the third path 223 may be the shortest path avoiding obstacles from the transit position 212 to the docking position 214. If there are no obstacles, the third path 223 is a straight path from the transit position 212 to the docking position 214. The third path 223 is not limited to a straight path.
- the cleaning robot 202 travels to the charging position 211 through the first path 222 of the docking position 214 to the charging position 211 and performs subsequent docking charging.
- the robot 202 and the charging pile 201 both remain docked.
- the charging interface 261 of the cleaning robot 202 for plugging in the charging pile 201 and the sensor 262 of the cleaning robot 202 are located on the same side of the cleaning robot. When 202 reaches the charging position 211, its charging interface 261 just docks with the charging pile 201.
- a straight path can be planned, thereby reducing the cleaning robot 202 to rotate in place after reaching the charging position 211.
- the charging interface 261 is connected to the docking step of the charging pile 201.
- the cleaning robot 202 can be first moved to the docking position 214 for the charging interface of the charging pile 201 so that the cleaning robot 202 is at the docking position 214, and its charging interface 261 has already faced the charging interface of the charging pile 201.
- the cleaning robot 202 only needs to The path is adjusted in real time so that the charging interface of the charging pile 201 in the first path 222 is always located at the image center of the image collected by the cleaning robot 202 in real time.
- the above technical solution is adjusted based on the positions of the sensors 262 and the charging interface 261 provided on the cleaning robot 202.
- the sensors 262 and the charging interface 261 are disposed at different sides of the cleaning robot 202 at an angle. According to the angle of the sensor 262 and the charging interface 261, the orientation of the charging interface 261 can be confirmed in the image collected by the sensor 262, and the first path of the cleaning robot 202 can be fine-tuned according to whether the charging interface of the charging pile 201 is aligned with the orientation of the charging interface 261 222.
- This disclosure is not limited in this regard.
- the senor 262 of the cleaning robot 202 is, for example, a camera with a fixed viewing angle. In other embodiments, the sensor 262 of the cleaning robot 202 may be, for example, a panoramic camera that can rotate 360 degrees. The present disclosure can also implement more variations, which will not be repeated here.
- segmented path planning is performed on the return path, and different obstacle avoidance methods are adopted in different path segments with different possibilities of obstacles, so as to better solve the charging pile.
- the present disclosure also provides a robot.
- a robot Referring now to FIG. 8, a block diagram of a robot according to an embodiment of the present disclosure is shown.
- the robot 300 includes a sensor 310, a motor 320, and a processor 330.
- the sensor 310 is at least configured to acquire images around the robot in real time
- the motor 320 is configured to drive the robot to move
- the processor 330 is configured to move the robot from an initial position to a docking position, the docking position is opposite to a charging interface of the charging pile; the processor 330 is further configured to adjust the robot from the docking position to The first path of the charging position is driven to dock the charging pile at the charging position, the first path is a straight or approximately straight path, and during the first path, the robot maintains the docking posture and the robot collects real-time The charging pile is always identified in the image.
- the robot may be a sweeping robot or a mopping robot.
- FIG. 8 is only a block diagram schematically showing a robot provided by the present disclosure, and without breaking the concept of the present disclosure, the splitting, merging, and adding of the modules are all within the protection scope of the present disclosure.
- the present disclosure provides a robot automatic refill system. See Figure 2.
- the robot automatic recharging system includes a robot 300 (reference numeral 202 in FIG. 2) and a charging pile 201 as shown in FIG. 8.
- the robot moves from the initial position to the docking position, and the docking position is opposite to the charging interface of the charging pile; the robot travels on the first path from the docking position to the charging position to make all
- the robot docks the charging pile at a charging position, the first path is a straight line or an approximately straight path, and during the first path driving, the robot maintains a docking posture and the robot always recognizes all the images in the images collected by the robot in real time. Said charging pile.
- a computer-readable storage medium having stored thereon a computer program, which, when executed by, for example, a processor, can realize automatic recharging of the robot described in any one of the above embodiments.
- Method steps In some possible implementation manners, aspects of the present disclosure may also be implemented in the form of a program product, which includes program code.
- program product runs on a terminal device, the program code is used to make the program product
- the terminal device executes the steps according to various exemplary embodiments of the present disclosure described in the above-mentioned robot automatic refilling method section of this specification.
- a program product 900 for implementing the above method according to an embodiment of the present disclosure is described, which may adopt a portable compact disc read-only memory (CD-ROM) and include program code, and may be implemented in a terminal device. For example running on a personal computer.
- the program product of the present disclosure is not limited thereto.
- the readable storage medium may be any tangible medium containing or storing a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.
- the computer-readable storage medium may include a data signal in baseband or propagated as part of a carrier wave, in which a readable program code is carried. Such a propagated data signal may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
- a readable storage medium may also be any readable medium other than a readable storage medium, and the readable medium may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device.
- the program code contained on the readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
- the program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, which include object-oriented programming languages such as Java, C ++, and the like, as well as conventional procedural Programming language—such as "C" or a similar programming language.
- the program code can be executed entirely on the tenant computing device, partially on the tenant device, as a standalone software package, partially on the tenant computing device, partially on the remote computing device, or entirely on the remote computing device or server On.
- the remote computing device can be connected to the tenant computing device through any kind of network, including a local area network (LAN) or wide area network (WAN), or it can be connected to an external computing device (e.g., provided using an Internet service) (Commercially connected via the Internet).
- LAN local area network
- WAN wide area network
- an Internet service Commercially connected via the Internet
- an electronic device which may include a processor (which may be used to implement the aforementioned processor 330, for example), and a method for storing executable instructions of the processor.
- the processor is configured to execute the steps of the robot automatic recharging method in any one of the foregoing embodiments by executing the executable instructions.
- FIG. 10 An electronic device 1000 according to this embodiment of the present disclosure is described below with reference to FIG. 10.
- the electronic device 1000 shown in FIG. 10 is only an example, and should not impose any limitation on the functions and scope of use of the embodiments of the present disclosure.
- the electronic device 1000 is expressed in the form of a general-purpose computing device.
- the components of the electronic device 1000 may include, but are not limited to, at least one processing unit 1010 (for example, may be used to implement the aforementioned processor 330), at least one storage unit 1020, and connecting different system components (including the storage unit 1020 and the processing unit 1010) Bus 1030 and so on.
- the storage unit stores program code, and the program code can be executed by the processing unit 1010, so that the processing unit 1010 executes various exemplary embodiments according to the present disclosure described in the robot automatic recharging method section of the foregoing description. Steps of the implementation.
- the processing unit 1010 may perform steps as shown in FIG. 1.
- the storage unit 1020 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 10201 and / or a cache storage unit 10202, and may further include a read-only storage unit (ROM) 10203.
- RAM random access storage unit
- ROM read-only storage unit
- the storage unit 1020 may further include a program / utility tool 10204 having a group (at least one) of program modules 10205.
- program modules 10205 include, but are not limited to, an operating system, one or more application programs, other program modules, and programs. Data, each or some combination of these examples may include an implementation of the network environment.
- the bus 1030 may be one or more of several types of bus structures, including a storage unit bus or a storage unit controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local area using any of a variety of bus structures. bus.
- the electronic device 1000 may also communicate with one or more external devices 1100 (such as a keyboard, pointing device, Bluetooth device, etc.), and may also communicate with one or more devices that enable tenants to interact with the electronic device 1000, and / or with Any device (eg, router, modem, etc.) that enables the electronic device 1000 to communicate with one or more other computing devices. This communication can be performed through an input / output (I / O) interface 1050.
- the electronic device 1000 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 1060.
- the network adapter 1060 can communicate with other modules of the electronic device 1000 through the bus 1030.
- the technical solution according to the embodiment of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a U disk, a mobile hard disk, etc.) or on a network , Including several instructions to enable a computing device (which may be a personal computer, a server, or a network device, etc.) to execute the robot automatic refilling method according to the embodiment of the present disclosure.
- a non-volatile storage medium which may be a CD-ROM, a U disk, a mobile hard disk, etc.
- a computing device which may be a personal computer, a server, or a network device, etc.
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Abstract
Description
Claims (16)
- 一种计算机实现的方法,包括:使机器人自初始位置移动到一对接位置,所述对接位置与充电桩的充电接口相对,并且所述对接位置是基于通过所述机器人实时采集的图像而识别出的所述充电桩的位置而确定的;以及使所述机器人自所述对接位置至充电位置按第一路径行驶以使所述机器人在充电位置对接充电桩,所述第一路径为直线或近似直线路径,且在第一路径行驶的过程中,所述机器人保持对接姿势且所述机器人实时采集的图像中始终识别到所述充电桩。
- 如权利要求1所述的计算机实现的方法,其中,所述机器人自初始位置移动到一对接位置包括:使所述机器人自初始位置至中转区域的边界按第二路径行驶,所述第二路径在所述初始位置由所述机器人规划,所述中转区域预设在环境地图中,且所述中转区域定义为所述机器人生成环境地图时采集的图像中具有所述充电桩的区域;以及使所述机器人自中转区域的边界至对接位置按第三路径行驶,所述第三路径基于所述机器人实时采集的图像实时调整。
- 如权利要求2所述的计算机实现的方法,其中,所述机器人自中转区域的边界至对接位置按第三路径行驶,所述第三路径基于所述机器人实时采集的图像实时调整还包括:所述机器人移动到所述中转区域的边界时,判断在所述机器人实时采集的图像内是否识别到所述充电桩;若是,则将所述机器人的当前位置作为中转位置,并且所述机器人自中转位置至对接位置按第三路径行驶;若否,则使所述机器人按预定模式或自适应模式动作,直到在所述机器人实时采集的图像内识别到所述充电桩,并将所述机器人的当前位置作为中转位置。
- 如权利要求3所述的计算机实现的方法,其中,若使所述机器人按预定模式或自适应模式动作后仍未在所述机器人实时采集的图像内识别所述充电桩,则生成一指示未找到充电桩的提示信息。
- 如权利要求3所述的计算机实现的方法,其中,若所述机器人于初始位置实时采集图像内识别到所述充电桩,则将所述初始位置作为所述中转位置。
- 如权利要求3所述的机器人自动回充方法,其中,所述对接位置位于所述中转区域内,并且所述对接位置是基于通过所述机器人在所述中转位置处实时采集的图像而识别出的所述充电桩的位置而在所述中转位置处确定的。
- 如权利要求1至6任一项所述的计算机实现的方法,其中,所述机器人自所述对接位置至所述充电位置按第一路径行驶包括:所述机器人根据所述机器人实时采集的图像中识别的辅助图案调整所述第一路径,所述辅助图案设置在所述充电桩上。
- 如权利要求1至6任一项所述的计算机实现的方法,其中,所述机器人自所述对接位置至所述充电位置按第一路径行驶包括:所述机器人通过设置在充电桩上的可张合的辅助机械臂调整所述第一路径。
- 如权利要求1至6任一项所述的计算机实现的方法,其中,所述对接位置至所述充电桩的间距大于等于所述机器人的最大直径的两倍,且小于等于所述机器人的最大直径的三倍。
- 如权利要求1至6任一项所述的计算机实现的方法,其中,所述机器人的初始位置根据所述机器人回充前在环境地图中的运动轨迹、或/和根据所述机器人实时采集的图像中的识别特征在所述环境地图中的位置确定。
- 如权利要求10所述的计算机实现的方法,其中,所述识别特征包括所述充电桩的特征,或所述环境地图中的与所述充电桩的位置关系固定的物体或标记的特征。
- 一种机器人,其特征在于,包括:传感器,至少用于实时采集机器人周围的图像;马达,用于驱动所述机器人移动;处理器,被配置为:使所述机器人自初始位置移动到一对接位置,所述对接位置与充电桩的充电接口相对,并且所述对接位置是基于通过所述机器人实时采集的图像而识别出的所述充电桩的位置而确定的;以及使所述机器人自所述对接位置至充电位置按第一路径行驶以在充电位置对接充电桩,所述第一路径为直线或近似直线路径,且在第一路径行驶的过程中,所述机器人保持对接姿势且所述机器人实时采集的图像中始终识别到所述充电桩。
- 如权利要求12所述的机器人,其特征在于,所述机器人为扫地机器人或拖地机器人。
- 一种机器人自动回充***,其特征在于,包括:如权利要求12或13所述的机器人;以及充电桩,供所述机器人对接,以向所述机器人进行充电。
- 一种电子设备,其特征在于,所述电子设备包括:处理器;存储介质,其上存储有计算机程序,所述计算机程序被所述处理器运行时执行如权利要求1至11任一项所述的方法的步骤。
- 一种存储介质,其特征在于,所述存储介质上存储有计算机程序,所述计算机程序被处理器运行时执行如权利要求1至11任一项所述的方法的步骤。
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- 2019-04-11 KR KR1020207034383A patent/KR20210003243A/ko not_active Application Discontinuation
- 2019-04-26 US US16/396,613 patent/US10585437B1/en active Active
- 2019-04-26 JP JP2019085127A patent/JP6631823B1/ja active Active
- 2019-04-29 EP EP19171516.8A patent/EP3629120B8/en active Active
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CN109683605B (zh) | 2020-11-24 |
CN109683605A (zh) | 2019-04-26 |
EP3629120A1 (en) | 2020-04-01 |
JP2020053007A (ja) | 2020-04-02 |
US10585437B1 (en) | 2020-03-10 |
US20200097017A1 (en) | 2020-03-26 |
JP6631823B1 (ja) | 2020-01-15 |
EP3629120B1 (en) | 2020-12-23 |
KR20210003243A (ko) | 2021-01-11 |
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