Robot automatic return charging method and system based on image visual guidance

Abstract

The invention relates to a robot automatic return charging method and system based on image visual guidance. The system comprises a charging pile and a robot. The robot is in wireless connection with the charging pile. The robot transmits a charging instruction to the charging pile, the charging pile starts an infrared light source to transmit an infrared signal, the robot searches for, finds and recognizes the infrared signal of the charging pile through an infrared camera, the robot is guided through image vision to automatically move to the charging pile, and the robot is charged. According to the system and method, the infrared signal transmitted by the charging pile is searched for, found and recognized through the infrared camera of the robot, the position of the charging pile is judged, the robot is guided to move to the charging pile, when the robot reaches the position 0.5 m away from the charging pile, the charging pile starts a transmission encoding module, the robot falls within the short-range infrared signal range and is guided to walk along a path Z, and autonomous charging is completed fast. By means of the system and method, the robot docking success rate is greatly increased, and the efficiency is greatly improved.

Description

technical field [0001] The invention relates to the technical field of automatic charging systems, in particular to a method and system for automatically returning and charging a robot based on image vision guidance. Background technique [0002] With the continuous development of science and technology, robots have gradually entered human life and played an active role. Power supply technology is the key technology of the robot and the guarantee for the long-term autonomous work of the robot. Due to the limited capacity of the mobile power supply, it is often necessary to manually charge the robot. At present, the main idea to solve the problem of the robot’s power supply is to return to charge independently. The most commonly used technical method is to guide the robot back to the charging stand for docking and charging based on infrared signals. [0003] Domestic patent CN104626204A discloses a robot autonomous charging and docking system and method, which consists of an...

AI Technical Summary

Problems solved by technology

This method uses a combination of infrared sensors and ultrasonic guidance. The infrared sensor itself has a short range. The robot needs to search for infrared signals in a blanket manner, which itself has consumed a lot of remaining power for the robot. Two pairs of ultrasonic waves are used to quickly guide the tube. At the same time, it is determined whether the robot is facing the charging pile by comparing the errors of the two ultrasonic distance measurements. However, the ultrasonic wave is a very precise device. If the robot’s walking control is not good, the comparison distance will always be unequal. The robot was repeatedly compared there and stopped halfway to recharge when the power was exhausted.

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