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A docking method between a robot and an object and its robot

A technology for robots and objects, applied in the field of robots, can solve the problems of magnetic strip wear, low precision, repeated docking, etc., and achieve the effect of fast efficiency and high precision

Active Publication Date: 2021-07-16
GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The above method has the following problems: slow docking speed, low efficiency, and low precision. For example, the charging dock docking method based on infrared often causes repeated docking and the failure to receive normal docking due to the lack of infrared signals; the working environment of the robot needs to be adjusted For example, the docking based on the magnetic strip needs to install the magnetic strip on the ground, and the magnetic strip will wear out after a long time of use, which will affect the docking accuracy

Method used

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  • A docking method between a robot and an object and its robot

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Embodiment 1

[0063] Such as figure 1 As shown, the embodiment of the present invention proposes a docking method between a robot and an object. The robot is provided with an image acquisition device, and the object is provided with an electronic identification code. The robot is set (for example, moved) to the alignment preparation position relative to the object, so that the image acquisition device on the robot can acquire the electronic identification code on the object. In the prior art, various methods can be used to position the robot to the alignment preparation position. The embodiment of the present invention uses the laser radar-based particle filter positioning algorithm for real-time positioning of the robot and the global path planning based on the A* algorithm (A-Star algorithm is the most effective direct search method for solving the shortest path in a static road network), Navigation based on local path planning of DWA algorithm (Dynamic Window Approach). Those skilled i...

Embodiment 2

[0086] In this embodiment, the forklift robot is docked with a container as an example to further describe the above method. Such as Figure 4 As shown, a vision-based docking method between a forklift robot and a cargo box, wherein the forklift robot is provided with an image acquisition device, and the cargo box is provided with an electronic identification code. The robot is set (for example, moved) to the alignment preparation position relative to the cargo box, so that the image acquisition device on the robot can acquire the electronic identification code on the cargo box.

[0087] Figure 4 The image acquisition device of the robot in the middle is facing the electronic identification code on the cargo box, and those skilled in the art can understand that the method in the embodiment of the present invention is not limited to this facing method, and can also be applied to Figure 5 As shown, the image acquisition device on the robot is obliquely facing the electronic ...

Embodiment 3

[0120] As another application of the embodiment of the present invention, the same method as the method in embodiment 1 or 2 can be applied to the docking of the robot and its charging stand. Among them, the robot is equipped with an image acquisition device, and the charging base is equipped with an electronic identification code, such as Figure 7a , 7b shown. The robot is set (for example, moved) to the alignment preparation position relative to the charging base, so that the image acquisition device on the robot can acquire the electronic identification code on the charging base, such as Figure 7a shown. By performing the same method as in Embodiments 1 and 2, the precise docking of the robot and the charging plug can be realized, and the robot can be charged, such as Figure 7b shown.

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Abstract

Embodiments of the present invention relate to a method for docking a robot and an object and the robot thereof. The docking method includes: the robot is set at the alignment preparation position relative to the object; the robot acquires the image data of the electronic identification code on the object through the image acquisition device, and calculates the alignment distance of the object relative to the robot at the alignment preparation position according to the acquired image data. pose; the robot selects the initial trajectory point q corresponding to its alignment preparation position on the path passing through the object, and the trajectory of the path from the initial trajectory point q to the object is the docking trajectory; the robot determines based on the docking trajectory A reference pose that changes over time, and the reference pose is tracked. The embodiment of the present invention does not need to modify the environment, and through the recognition of the electronic identification code by machine vision, by combining various positioning, navigation and trajectory tracking algorithms, the robot can quickly, efficiently and accurately dock objects.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a method for docking a robot and an object and the robot. Background technique [0002] AGV is the abbreviation of Automated Guided Vehicle. It refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, which can drive along the prescribed guiding path, has safety protection and various transfer functions. In essence, it is a kind of robot, which has the advantages of quick action, high work efficiency, simple structure, strong controllability, and good safety. [0003] Each AGV has an onboard control system (Onboard System). After receiving instructions from the upper system, it is responsible for the navigation of the AGV stand-alone (measure and calculate the position and heading in the global coordinates through its own navigation device), guidance ( According to the current position, heading and preset theoretical t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05D1/00G05D1/02
CPCG05D1/0005G05D1/0231G05B13/042
Inventor 陈明建
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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