Automatic charging control method of intelligent patrol robot based on machine vision

A technology of intelligent inspection and automatic charging, which is applied to charging stations, current collectors, electric vehicles and other directions for charging mobile devices. It can solve the problems of odometer error superposition, insufficient positioning accuracy, and deviation of arrival points, so as to reduce positioning errors. , the effect of enhancing intelligence

Inactive Publication Date: 2018-12-21
SICHUAN CHAOYING TECH CO LTD
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AI Technical Summary

Problems solved by technology

However, due to the cumulative error of mileage estimation and insufficient positioning accuracy, it is easy to cause automatic charging failure
[0003] The autonomous positioning system of the intelligent inspection robot based on laser positioning enables the robot to run along the set path indoors and calculate the arrival point according to the odometer. Check robot task completion

Method used

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  • Automatic charging control method of intelligent patrol robot based on machine vision
  • Automatic charging control method of intelligent patrol robot based on machine vision

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Embodiment Construction

[0018] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0019] Such as figure 1 As shown, it is a schematic flow chart of the automatic charging control method of the intelligent inspection robot based on machine vision of the present invention. A method for automatic charging control of an intelligent inspection robot based on machine vision, comprising the following steps:

[0020] A. Use the camera to obtain the video stream data, and use the detection algorithm to process it to obtain the image containing the charging pile;

[0021] B. According to the position and size data of the charging pile in the image, the tracking algorithm is used for pro...

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Abstract

The invention discloses an intelligent patrol robot automatic charging control method based on machine vision, which comprises acquiring an image of a charging pile by using a detection algorithm, calculating the relative angle between the intelligent patrol robot and the charging pile, converting the relative angle to the rotation angle and adjusting the attitude of the intelligent patrol robot;calculating the distance between the intelligent patrol robot and the charging pile and adjusting the running speed of the intelligent patrol robot to complete the automatic charging. At each char point, according to that detect and tracked target rectangular frame, the invention adjusts the movement state of the intelligent patrol inspection robot in real time, and reduces the positioning error;And because of the non-contact, high efficiency and convenience of visual information, it can robustly and precisely assist the intelligent patrol robot to approach the charging pile with proper angleand speed, accomplish the automatic charging, enhance the intelligent degree of the intelligent patrol robot, and make it truly complete the 24-hour unmanned patrol task.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to an automatic charging control method for an intelligent inspection robot based on machine vision. Background technique [0002] The automatic charging of the robot is generally done by laser positioning or magnetic navigation. Magnetic navigation needs to embed magnetic strips in the construction of the substation plant, which requires a large amount of engineering and high maintenance costs, so it is not suitable. Laser positioning is performed by the laser emission and receiver installed on the inspection robot to measure the distance between the equipment and the environment, and the traditional odometer is used to estimate whether it has reached the preset point, adjust the pose, and complete the charging. However, due to the cumulative error in mileage estimation and insufficient positioning accuracy, it is easy to cause automatic charging failure. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02J7/00G01C21/20
CPCG01C21/20H02J7/0027Y02B40/00
Inventor 张雪飞卿明姚宇童静曾爱萍
Owner SICHUAN CHAOYING TECH CO LTD
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