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Robot charging method and device

A charging method and robot technology, which can be applied to instruments, motor vehicles, transportation and packaging, etc., can solve the problems of low charging efficiency and long time consumption of robots, and achieve the effect of improving charging efficiency and improving efficiency.

Active Publication Date: 2017-05-10
北京如布科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, relying solely on infrared sensors to judge the area where the robot is located, guide the robot to the charging area, and connect to the charging pile in the charging area to realize automatic docking and charging, it takes a relatively long time, resulting in the current low charging efficiency of the robot.

Method used

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  • Robot charging method and device

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Experimental program
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Effect test

Embodiment 1

[0025] Figure 1a This is a flowchart of a robot charging method provided in the first embodiment of the present invention. The method in this embodiment may be executed by a robot charging device, which may be implemented in hardware and / or software. reference Figure 1a The robot charging method provided in this embodiment may specifically include the following:

[0026] Step 11. Use the camera of the robot to collect images of the charging signs set on the charging pile.

[0027] Figure 1b It is a schematic diagram of a charging identification provided in the first embodiment of the present invention, refer to Figure 1b In order to improve the detection effect of the charging mark, the charging mark can be black and white and contains n*n cell units, that is, the charging mark can be expressed as a matrix of 0 and 1, where 0 means black and 1 means white.

[0028] Specifically, the image collection of the charging sign by the camera set by the robot may include: acquiring the ima...

Embodiment 2

[0058] This embodiment provides a new robot charging method on the basis of the first embodiment above. Figure 2a This is a flowchart of a robot charging method provided in the second embodiment of the present invention. reference Figure 2a The robot charging method provided in this embodiment may specifically include the following:

[0059] Step 21: Use the camera of the robot to collect images of the charging signs set on the charging pile.

[0060] Step 22: Determine the position and posture angle of the robot in the global coordinate system according to the collected charging identification image.

[0061] Wherein, the global coordinate system takes the center point of the charging mark as the coordinate origin, the vertical plane of the plane where the charging mark is located is the xoy plane, and the vertical upward direction is the z axis.

[0062] Step 23: Determine whether the viewing angle range of the camera is greater than the preset viewing angle threshold, if it is gr...

Embodiment 3

[0087] This embodiment provides a new robot charging method on the basis of the first and second embodiments above. Figure 3a This is a flowchart of a robot charging method provided in the second embodiment of the present invention. reference Figure 3a The robot charging method provided in this embodiment may specifically include the following:

[0088] Step 31: Use the camera of the robot to collect images of the charging signs set on the charging pile.

[0089] Step 32: Determine the position and posture angle of the robot in the global coordinate system according to the collected charging identification image.

[0090] Wherein, the global coordinate system takes the center point of the charging mark as the coordinate origin, the vertical plane of the plane where the charging mark is located is the xoy plane, and the vertical upward direction is the z axis.

[0091] Step 33: Guide the robot to a preset guide position point according to the position and attitude angle.

[0092] Step...

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Abstract

The invention discloses a robot charging method and device. The method includes performing image collection on a charge mark arranged on a charge pile through a camera of a robot; determining the position and attitude angle of the robot in an overall coordinate system according to the collected charge mark image; leading the robot to a preset guide position according to the position and attitude angle; controlling the robot to move from the guide position to the charge pile and charging the robot. The technical scheme provided by the invention improves robot charging efficiency.

Description

Technical field [0001] The embodiments of the present invention relate to the technical field of electronic equipment, and in particular to a method and device for charging a robot. Background technique [0002] Most of the existing automatic charging technologies for robots are realized by relying solely on infrared beams. Multiple infrared generators are used to comprehensively determine the area where the robot is located and guide the robot to automatically charge. [0003] The existing infrared beam technology main automatic charging mainly includes two parts, the first part is to guide the robot to the automatic charging area, and the second part is the automatic docking. However, relying solely on infrared sensors to determine the area of ​​the robot, guide the robot to the charging area, and connect the charging pile to the charging area to realize automatic docking and charging, which takes a relatively long time, resulting in low charging efficiency of the current robot. ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0246
Inventor 王奇徐勇志雷宇
Owner 北京如布科技有限公司
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