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Autonomous robot charging docking control method and device, and computer-readable storage medium

A charging equipment and autonomous charging technology, applied in non-electric variable control, control/regulation system, two-dimensional position/channel control and other directions, which can solve the problem of many docking angle deviations, docking angle deviation, and the inability of robots to efficiently complete autonomous docking. Charging action, etc.

Active Publication Date: 2020-01-31
JUXING TECH SHENZHEN CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of this, the purpose of the embodiments of the present invention is to provide a robot autonomous charging and docking control method, system, device, and computer-readable storage medium to solve the problem that the docking angle of the above-mentioned robot often varies when performing the docking action with the charging interface of the charging pile. Deviations will cause the robot to be unable to efficiently complete the autonomous docking and charging action, and when there are many docking angle deviations, it will even cause equipment damage.

Method used

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  • Autonomous robot charging docking control method and device, and computer-readable storage medium
  • Autonomous robot charging docking control method and device, and computer-readable storage medium
  • Autonomous robot charging docking control method and device, and computer-readable storage medium

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Embodiment 1

[0071] image 3 It is a schematic flow chart of the specific implementation of the robot autonomous charging and docking control method provided in Embodiment 1 of the present invention. The execution body of this method is figure 1 The first shown robot autonomously charges the docking control device 101 . see image 3 As shown, the robot autonomous charging and docking control method provided in this embodiment may include the following steps:

[0072] Step S301 , acquiring the current geographic location of the robot 100 , querying the target charging device 200 according to the geographic location, and navigating the robot 100 to a preset distance from the target charging device 200 .

[0073] In this embodiment, the robot 100 itself is provided with a positioning device, and the autonomous charging and docking control device of the robot obtains the current geographic location information of the robot 100 through the positioning device, and can Query all charging devi...

Embodiment 2

[0099] Figure 4 It is a schematic flow chart of the specific implementation of the robot autonomous charging and docking control method provided in the second embodiment of the present invention. The execution body of this method is figure 1 The first shown robot autonomously charges the docking control device 101 . Compared with the previous embodiment, in this embodiment, the robot 100 is provided with an elastic device, and the end of the target charging device 200 is provided with a free end fastening device for fixing to the elastic device; see Figure 4 As shown, the robot autonomous charging and docking control method provided in this embodiment may include the following steps:

[0100] Step S401, obtaining the current geographic location of the robot 100, querying the target charging device 200 according to the geographic location, and navigating the robot 100 to a preset distance from the target charging device 200;

[0101] Step S402, acquiring the pose of the ta...

Embodiment 3

[0114] Figure 5 It is a schematic flow chart of the specific implementation of the robot autonomous charging and docking control method provided in the third embodiment of the present invention. The execution body of this method is figure 1 The first shown robot autonomously charges the docking control device 101 . Compared with Embodiment 1, in this embodiment, the target charging device 200 is provided with an elastic device, and the robot 100 is provided with a fastening device that cooperates with the elastic device; see Figure 5 As shown, the robot autonomous charging and docking control method provided in this embodiment may include the following steps:

[0115] Step S501, obtaining the current geographic location of the robot 100, querying the target charging device 200 according to the geographic location, and navigating the robot 100 to a preset distance from the target charging device 200;

[0116] Step S502, acquiring the pose of the target charging device 200 ...

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Abstract

The invention discloses an autonomous robot charging docking control method and device, and a storage medium. The method comprises the steps: acquiring a current geographic position of a robot, querying a target charging device according to the geographic position, and navigating a robot to a position at a preset distance to the charging device; acquiring the pose of the charging device relative to the robot and adjusting the pose of the robot according to the pose of the charging device; determining whether a first wireless transceiving device of the robot can successfully establish wirelesscommunication connection with a second wireless transceiving device of the charging device or not in the process of adjusting the pose of the robot; if so, controlling the robot to stop pose adjustment, establishing wireless communication connection with the charging device , and sending a charging preparation request information to the charging device; and controlling the robot to move forward till the butt joint of a charging plug of the robot and a charging base of the charging device under the condition of receiving confirmation information of charging preparation readiness fed back by thecharging device. Therefore, the robot can efficiently complete the autonomous charging butt-joint action.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of robot autonomous charging, and in particular, to a robot autonomous charging docking control method, device, and computer-readable storage medium. Background technique [0002] Robot autonomous charging and docking refers to the installation of inductive detection elements on the robot. The inductive detection elements transmit the sensed signals to the robot control system, and then the robot control system plans the driving path of the robot to realize the docking with the charging interface of the charging pile. However, when the robot performs the docking action with the charging port of the charging pile, the docking angle often deviates, resulting in the robot being unable to efficiently complete the autonomous docking and charging action, and when there are many docking angle deviations, it may even lead to equipment damage. Contents of the invention [0003] In view of this...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02H02J50/90
CPCG05D1/0246G05D1/0257G05D1/0225G05D1/0214G05D1/0221G05D1/0276H02J50/90
Inventor 何淼张军强
Owner JUXING TECH SHENZHEN CO LTD
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