CN108303984A - A kind of autonomous recharging method of mobile robot - Google Patents
A kind of autonomous recharging method of mobile robot Download PDFInfo
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- CN108303984A CN108303984A CN201810162920.1A CN201810162920A CN108303984A CN 108303984 A CN108303984 A CN 108303984A CN 201810162920 A CN201810162920 A CN 201810162920A CN 108303984 A CN108303984 A CN 108303984A
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- 230000007613 environmental effect Effects 0.000 claims abstract description 61
- 238000003032 molecular docking Methods 0.000 claims abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—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
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Aviation & Aerospace Engineering (AREA)
- Acoustics & Sound (AREA)
- Computer Vision & Pattern Recognition (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of autonomous recharging methods of mobile robot, belong to the technology of robot field, including：Step S1, obtains a first path for leading to the target area, and the mobile robot is moved to the target area along the first path；Step S2 judges whether the charging pile according to the environmental information of the front end, there is no then the charging pile is found by preset search strategy, exists, carries out step S3；Step S3 plans second path for leading to the charging pile according to the coordinate information in the environmental map；Step S4, behind the position that second path reaches the charging pile, the fuselage for carrying out the mobile robot is aligned to complete docking charging the mobile robot.The advantageous effect of the technical solution is：The present invention's recharges accuracy rate height, quickly can timely search charging pile and charge, reduce processing data amount, to improve the efficiency recharged and intelligentized level.
Description
Technical field
The present invention relates to a kind of technology of robot field, the autonomous side of recharging of specifically a kind of mobile robot
Method.
Background technology
The research of mobile robot starts from phase late 1960s, and mobile robot is that one kind for developing rapidly is comprehensive
Conjunction technology is integrated with computer, electronics, automatically controls and the multi-disciplinary newest research results such as artificial intelligence.
With the development of science and technology and improvement of living standard, more and more work can be replaced by robot, certain
Occasion needs robot itself even can quick and precisely be positioned after being moved and being restarted.
More and more with the function of robot, power consumption is also increasing, since robot space is limited, the electricity of installation
Chi little great is also limited, and it is an important problem to ensure that robot electric quantity abundance can work at any time.
Existing mobile robot, which recharges, to be had the following problems：
Accuracy rate is low, and some robots need artificial auxiliary manually to charge even without independently function is recharged.
It is few to recharge unsuccessfully abnormality processing function, it is not high independently to recharge stability.
Autonomous recharge is assisted using multiple infrared sensors, increases extra cost.
Invention content
The present invention is directed to deficiencies of the prior art, proposes a kind of autonomous recharging method of mobile robot.This
Invention recharges accuracy rate height, quickly can timely search charging pile and charge, even if not looking in the target area
When to charging pile, automatic searching can be carried out along wall, mobile shifting can be realized using one or two range sensor
The return of mobile robot is charged, and reduces processing data amount, to improve the efficiency recharged and intelligentized level.
The present invention is achieved by the following technical solutions：
The present invention relates to a kind of autonomous recharging methods of mobile robot, wherein the front end of the mobile robot is equipped with
First apart from acquisition module, and the mesh of a position including charging pile is preset in the environmental map for being stored in the mobile robot
Region is marked, the charging pile is set at wall, further comprising the steps of：
Step S1, the mobile robot carry out global path planning according to the current location in the environmental map,
A first path for leading to the target area is obtained, the mobile robot is moved to the target area along the first path
Domain；
Step S2, described first acquires the environmental information of the front end of the mobile robot apart from acquisition module, and according to
The environmental information determines coordinate information of the charging pile in the environmental map；
Step S3, the mobile robot plan that one leads to described fill according to the coordinate information in the environmental map
Second path of electric stake；
Step S4, the mobile robot carry out the shifting behind the position that second path reaches the charging pile
The alignment of the fuselage of mobile robot and the robot is to complete docking charging.
Preferably, the autonomous recharging method of the mobile robot, wherein the step S4 specifically includes following steps：
Step S41, the mobile robot are moved along second path, and by described first apart from acquisition module reality
When whether measure air line distance described in air line distance and real-time judge between the mobile robot and the charging pile small
In a preset first threshold：
If so, the mobile robot stops movement, it is subsequently diverted to step S42；
If it is not, then return to step S41；
Step S42 rotates the mobile robot so that the rear end of the mobile robot is opposite with the charging pile；
Step S43, the mobile robot are retreated to the charging pile, until the mobile robot connects the charging
Until stake.
Preferably, the autonomous recharging method of the mobile robot, wherein the rear end of the mobile robot is equipped with one second
Apart from acquisition module, the second distance acquisition module is used to acquire the rear end of the mobile robot and the charging pile
Between real-time range；
In the step S43, during the mobile robot retreats, if the real-time range is preset less than one
Second threshold, then it represents that the mobile robot has turned on the charging pile, and the mobile terminal stops retreating at this time, with complete
The process being aligned at the fuselage.
Preferably, the autonomous recharging method of the mobile robot, wherein in the step S3, second path is
One straight line path.
Preferably, the autonomous recharging method of the mobile robot, wherein in the step S2, if the mobile machine
People can not determine coordinate information of the charging pile in the environmental map according to the environmental information, then the mobile machine
People continues search for the charging pile using a preset search strategy；
Described search strategy specifically includes following steps：
Step S21, at least one circumference of mobile robot rotation, and pass through first distance during rotation
Acquisition module acquires the environmental information in the circumferential direction of the mobile robot；
Step S22, the mobile robot judge that the target area is according to the environmental information in the circumferential direction
It is no that there are the charging piles：
If so, determining coordinate information of the charging pile in the environmental map according to the environmental information, then
It turns to and carries out step S3；
If it is not, then the mobile robot searches the charging according to a preset wall search strategy along the wall
Stake, until finding the charging pile.
Preferably, the autonomous recharging method of the mobile robot, wherein in the step S22, the wall searches plan
Slightly include the following steps：
Step S221, the mobile robot randomly choose a direction of advance along wall；
Step S222, the mobile robot mobile fixed range in the direction of advance then pass through described the
One acquires the environmental information in the circumferential direction of the current location of the mobile robot apart from acquisition module；
Step S223, the mobile robot judge that the current location is filled with the presence or absence of described according to the environmental information
Electric stake：
If so, determining coordinate information of the charging pile in the environmental map according to the environmental information, then
Turn to the step S3
If it is not, then returning to step S222.
Preferably, the autonomous recharging method of the mobile robot, wherein after the step S4, the mobile machine
The coordinate information for the charging pile currently connected is saved as and is associated with the target area in the environmental map by people
The charging pile position.
Preferably, the autonomous recharging method of the mobile robot, wherein described first apart from acquisition module be laser thunder
It reaches.
Preferably, the autonomous recharging method of the mobile robot, wherein the second distance acquisition module be ultrasonic wave away from
From sensor.
The advantageous effect of above-mentioned technical proposal is：
The present invention's recharges accuracy rate height, quickly can timely search charging pile and charge, even if in target area
When not finding charging pile in domain, automatic searching can be carried out along wall, it can using one or two range sensor
The return charging for realizing mobile mobile robot, reduces processing data amount, to improve the efficiency recharged with it is intelligentized
It is horizontal.
Description of the drawings
Fig. 1 is a kind of autonomous recharging method flow diagram of mobile robot in the preferred embodiment of the present invention；
Fig. 2 is a kind of search strategy stream of the autonomous recharging method of mobile robot in the preferred embodiment of the present invention
Journey schematic diagram；
In the preferred embodiment of Fig. 3 present invention, a kind of autonomous recharging method wall search strategy stream of mobile robot
Journey schematic diagram；
In the preferred embodiment of Fig. 4 present invention, a kind of fuselage alignment procedures of the autonomous recharging method of mobile robot
Schematic diagram.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of not making creative work it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The invention will be further described in the following with reference to the drawings and specific embodiments, but not as limiting to the invention.
The present embodiment is related to a kind of autonomous recharging method of mobile robot so that mobile robot, which can be returned independently, fills
Electricity.
The front end of mobile robot is equipped with first apart from acquisition module, in the environmental map for being stored in mobile robot in advance
If one includes the target area of the position of charging pile.
Charging pile is set at wall, by charging pile be set to wall can robot easy to remove charge while,
The utilization in remaining space is not interfered.
The first of the front end of mobile robot is set to apart from acquisition module, the ring of the front end of mobile robot can be acquired
Border information.First collects in mobile robot and current environment distance between object apart from acquisition module and forms a depth map
Picture, the characteristic information extracted in depth image is environmental information.It can be identified and be worked as by the comparison to characteristic information
Object in preceding environment, can charging pile present in environment-identification.
As shown in Figure 1, autonomous recharging method specifically includes following steps：
Step S1 carries out global path planning according to current location of the mobile robot in environmental map, it is logical to obtain one
Toward the first path of target area, mobile robot is moved to target area along first path.
After mobile robot is in low battery state or receives the instruction independently recharged, mobile robot proceeds by
Step S1 starts independently to recharge.
The position for the charging pile for including in target area, the position are inaccurate for historical position.
Mobile robot cooks up first path according to the environmental map of storage, and is moved to target area along first path
In domain.
Step S2, first acquires the environmental information of the front end of mobile robot apart from acquisition module, and according to environmental information
Determine coordinate information of the charging pile in environmental map.
The first of the front end of mobile robot is only responsible for the environmental information in front of acquisition mobile robot apart from acquisition module,
And by Characteristic Contrast, the front charging pile of mobile robot is obtained, and obtain coordinate information of the charging pile in environmental map.
If mobile robot can not determine coordinate information of the charging pile in environmental map, moving machine according to environmental information
Device people continues search for charging pile using a preset search strategy；
As shown in Fig. 2, search strategy specifically includes following steps：
Step S21, at least one circumference of mobile robot rotation, and during rotation by first apart from acquisition module
Acquire the environmental information in the circumferential direction of mobile robot；
Step S22, mobile robot judge that target area whether there is charging pile according to the environmental information in circumferential direction：
If so, determining coordinate information of the charging pile in environmental map according to environmental information, it is subsequently diverted to carry out step
S3；
If it is not, then mobile robot searches charging pile according to a preset wall search strategy along wall, filled until finding
Until electric stake.
It, then can be with according to by circling certainly or the environmental information of more week acquisition judges that there are charging piles in target area
Continue to execute step S3.
As shown in figure 3, in step S22, wall search strategy includes the following steps：
Step S221, mobile robot randomly choose a direction of advance along wall；
Step S222, mobile robot move a fixed range in a forward direction, then acquire mould by the first distance
Block acquires the environmental information in the circumferential direction of the current location of mobile robot；
Step S223, mobile robot judge that current location whether there is charging pile according to environmental information：
If so, determining coordinate information of the charging pile in environmental map according to environmental information, it is subsequently diverted to step S3
If it is not, then returning to step S222.
Contrast_environment information, mobile robot move fixed range after position nearby there are charging piles then to carry out step
S3.If returning to step S222 there is no if, i.e., fixed range is continued to move in a selected direction.
Step S3, mobile robot plan second path for leading to charging pile according to coordinate information in environmental map.
Characteristic matching, which is carried out, according to environmental information and environmental map obtains coordinate information of the charging pile in environmental map.And
The second path for leading to charging pile can be cooked up according to coordinate information.
Second path is a straight line path.Second path is the line of mobile robot and charging pile.Mobile robot is wanted
It walks along the second path i.e. straight line path.Angle between the positive direction of mobile robot front end and the second path is less than default
Definite value, then i.e. it is believed that mobile robot walk along the second path.
Step S4, mobile robot carry out mobile robot and robot behind the position that the second path reaches charging pile
Fuselage be aligned with complete docking charging.
As shown in figure 4, step S4 specifically includes following steps：
Step S41, mobile robot is moved along the second path, and measures moving machine in real time apart from acquisition module by first
Whether air line distance and real-time judge air line distance between device people and charging pile are less than a preset first threshold, and first
Threshold value can be 5cm or 6cm：
If so, mobile robot stops movement, it is subsequently diverted to step S42；
If it is not, then return to step S41.
After mobile robot reaches the position of charging pile, need progress fuselage alignment that can charge.First away from
When being less than first threshold from the collected air line distance of acquisition module, step S42 is carried out.Otherwise return to step S41.
Step S42, moving in rotation robot so that the rear end of mobile robot is opposite with charging pile.
Mobile robot movement is that front end is facing forward, and when charging then needs its rear end being directed at charging pile.This just needs to move
Robot main body turning so that rear end is opposite with charging pile.
Step S43, mobile robot are retreated to charging pile, until mobile robot connects charging pile.
It moves in the right direction before mobile robot when the positive direction angle of charging pile is less than third threshold value, i.e. judgement movement
The rear end of robot is opposite with charging pile rear end.Third threshold value can be 0.5 degree or 0.6 degree.
The rear end of mobile robot is equipped with a second distance acquisition module, and second distance acquisition module is for acquiring moving machine
Real-time range between the rear end and charging pile of device people；
In step S43, during mobile robot retreats, if real-time range is less than a preset second threshold,
Indicate that mobile robot has turned on charging pile, mobile terminal stops retreating at this time, to complete the process of fuselage alignment.Second threshold
Value is 0.1cm or 0.12cm.
After step s4, the coordinate information for the charging pile currently connected is saved as in environmental map and is closed by mobile robot
It is coupled to the position of the charging pile of target area.
The position for the charging pile that mobile robot is stored between recharging is not necessarily accurate, in order to ensure mobile robot is deposited
The accurate location for storing up charging pile, improves the efficiency that recharges next time, then needs this recharging the middle coordinate letter for obtaining charging pile
Breath is stored in mobile robot, carries out the update of position.
In preferred embodiment, first apart from acquisition module be laser radar.
In preferred embodiment, second distance acquisition module is ultrasonic distance sensor.
The autonomous recharging method of the mobile robot of the present invention, compared with prior art：
The present invention's recharges accuracy rate height, quickly can timely search charging pile and charge, even if in target area
When not finding charging pile in domain, automatic searching can be carried out along wall, it can using one or two range sensor
The return charging for realizing mobile mobile robot, reduces processing data amount, to improve the efficiency recharged with it is intelligentized
It is horizontal.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (9)
1. a kind of autonomous recharging method of mobile robot, which is characterized in that the front end of the mobile robot be equipped with first away from
From acquisition module, the target area of a position including charging pile is preset in the environmental map for being stored in the mobile robot
Domain, the charging pile is set at wall, further comprising the steps of：
Step S1, the mobile robot carry out global path planning according to the current location in the environmental map, obtain
One leads to the first path of the target area, and the mobile robot is moved to the target area along the first path；
Step S2, described first acquires the environmental information of the front end of the mobile robot apart from acquisition module, and according to described
Environmental information determines coordinate information of the charging pile in the environmental map；
Step S3, the mobile robot plan that one leads to the charging pile according to the coordinate information in the environmental map
The second path；
Step S4, the mobile robot carry out the moving machine behind the position that second path reaches the charging pile
The alignment of the fuselage of device people and the robot is to complete docking charging.
2. the autonomous recharging method of mobile robot according to claim 1, which is characterized in that the step S4 is specifically wrapped
Include following steps：
Step S41, the mobile robot is moved along second path, and is surveyed in real time apart from acquisition module by described first
Measure whether air line distance described in the air line distance and real-time judge between the mobile robot and the charging pile is less than one
Preset first threshold：
If so, the mobile robot stops movement, it is subsequently diverted to step S42；
If it is not, then return to step S41；
Step S42 rotates the mobile robot so that the rear end of the mobile robot is opposite with the charging pile；
Step S43, the mobile robot are retreated to the charging pile, until the mobile robot connection charging pile is
Only.
3. the autonomous recharging method of mobile robot according to claim 2, which is characterized in that the mobile robot
Rear end be equipped with a second distance acquisition module, the second distance acquisition module be used for acquire the mobile robot it is described after
Real-time range between end and the charging pile；
In the step S43, during the mobile robot retreats, if the real-time range is less than one preset second
Threshold value, then it represents that the mobile robot has turned on the charging pile, and the mobile terminal stops retreating at this time, to complete
State the process of fuselage alignment.
4. the autonomous recharging method of mobile robot according to claim 1, which is characterized in that in the step S3,
Second path is a straight line path.
5. the autonomous recharging method of mobile robot according to claim 1, which is characterized in that in the step S2,
If the mobile robot can not determine coordinate information of the charging pile in the environmental map according to the environmental information,
Then the mobile robot continues search for the charging pile using a preset search strategy；
Described search strategy specifically includes following steps：
Step S21, at least one circumference of mobile robot rotation, and acquired by first distance during rotation
Module acquires the environmental information in the circumferential direction of the mobile robot；
Step S22, the mobile robot judge whether the target area deposits according to the environmental information in the circumferential direction
In the charging pile：
If so, determining coordinate information of the charging pile in the environmental map according to the environmental information, it is subsequently diverted to
Carry out step S3；
If it is not, then the mobile robot searches the charging pile according to a preset wall search strategy along the wall, directly
Until finding the charging pile.
6. the autonomous recharging method of mobile robot according to claim 5, which is characterized in that in the step S22,
The wall search strategy includes the following steps：
Step S221, the mobile robot randomly choose a direction of advance along wall；
Step S222, the mobile robot mobile fixed range in the direction of advance, then by described first away from
The environmental information in circumferential direction from the current location that acquisition module acquires the mobile robot；
Step S223, the mobile robot judge that the current location whether there is the charging according to the environmental information
Stake：
If so, determining coordinate information of the charging pile in the environmental map according to the environmental information, it is subsequently diverted to
The step S3；
If it is not, then return to step S222.
7. the autonomous recharging method of mobile robot according to claim 1, which is characterized in that the step S4 it
Afterwards, the coordinate information for the charging pile currently connected is saved as in the environmental map and is associated with by the mobile robot
In the position of the charging pile of the target area.
8. the autonomous recharging method of mobile robot according to claim 1, which is characterized in that the first distance acquisition
Module is laser radar.
9. the autonomous recharging method of mobile robot according to claim 1, which is characterized in that the second distance acquisition
Module is ultrasonic distance sensor.
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| CN108829112A (en) * | 2018-08-24 | 2018-11-16 | 北京猎户星空科技有限公司 | Charging method, device, equipment and the storage medium of robot |
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| CN112792820A (en) * | 2021-03-16 | 2021-05-14 | 千里眼(广州)人工智能科技有限公司 | Automatic robot recharging method and device and robot system |
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