Robot automatic charging method and system

Abstract

The invention provides a robot automatic charging method and system and relates to the technical field of robots. The method comprises steps that a planar map of a robot movement area is established, and positions of charging piles are labeled on the planar map; the current position of a robot on the planar map is obtained, a path is planned according to the current position of the robot and the positions of the charging piles on the planar map, and the robot is enabled to move toward a charging pile according to the planned path; when the charging pile appears in a field angle of a top camera of the robot, the robot detects a vision positioning identifier on the charging pile via the camera, and orientation information of the robot relative to the charging pile is calculated according to the detected vision positioning identifier; the robot automatically adjusts the position and angle according to the orientation information until a charging slot in the bottom of the robot is fully matched with a contact point of the charging pile. The invention enables the robot to rapidly and accurately position the position of the charging pile, and improves the robot automatic charging efficiency.

Description

technical field [0001] The invention belongs to the field of real-time robots, and in particular relates to a method and system for autonomous charging of a robot. Background technique [0002] Many service mobile robots are tasked with performing tasks such as cleaning, garbage collection, package delivery, cooking, beverage delivery, and surveillance in home and office environments, freeing humans from heavy labor. These service-type mobile robots are usually equipped with an autonomous charging system, through which the robot can periodically and automatically charge the battery in the body, so that it can operate fully automatically without manual intervention. [0003] The existing autonomous charging system of a mobile robot is mainly composed of a charging pile and an infrared sensor or a sonar sensor installed on the robot. Specific location to realize automatic docking with charging piles to complete autonomous charging. However, the charging effect of this autono...

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Problems solved by technology

[0004] The purpose of the embodiments of the present invention is to provide a method and system for autonomous charging of a robot, aiming at solving the problem that the existing autonomous charging method of a robot cannot accurately mark the location of the charging pile, and it is necessary to try to find the charging pile multiple times each time charging. And when the mobile robot and the charging pile are not in the same room, the mobile robot often cannot find the charging pile smoothly and cannot complete the problem of autonomous charging

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