Charging equipment identification method, mobile robot and charging equipment identification system
A technology of mobile robots and charging equipment, which is applied in the field of mobile robots, can solve the problems of low accuracy of identification methods and achieve the effect of improving the accuracy of identification
Active Publication Date: 2020-02-25
HANGZHOU EZVIZ SOFTWARE CO LTD
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[0031] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.
[0032] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "an...
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The invention provides a charging equipment identification method, a mobile robot and a charging equipment identification system. The charging equipment identification method provided by the inventioncan comprise the following steps: acquiring an infrared image and a depth image under a current visual field through a depth camera; judging whether a charging equipment suspected area meeting a first specified condition exists or not according to the infrared image; if yes, judging whether a target charging equipment suspected area which is in a specified range relative to the height of the depth camera exists in the charging equipment suspected areas or not according to the depth image; and if so, identifying the charging equipment according to the suspected area of the target charging equipment. The first specified condition is that the gray value of each pixel point in the region is greater than a second specified value, and the number of the pixel points in the region is greater thana third specified value. According to the charging equipment identification method, the mobile robot and the charging equipment identification system provided by the invention, the charging equipmentin the environment can be accurately identified.
Description
technical field [0001] This application relates to the field of mobile robots, in particular to a charging device identification method, a mobile robot and a charging device identification system. Background technique [0002] As mobile robots are more and more widely used, users have higher and higher requirements for mobile robots to be able to achieve long-term on-duty and extended autonomy. Therefore, how to supplement the power source of mobile robots has become a hot spot of current attention. At present, mobile robots realize autonomous charging through automatic contact charging technology to supplement power sources. [0003] In order to realize autonomous charging, the mobile robot needs to identify the charging equipment in the environment when the battery power is lower than the preset threshold, and then move from the current location to the location of the charging equipment to dock with the charging equipment and perform autonomous charging. [0004] At pres...
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Login to View More IPC IPC(8): G06T7/73G06T7/50
CPCG06T7/73G06T7/50G06T2207/10048G06V20/10G06V10/225G06T7/80G06T5/50G06T7/60G06T2207/10024G06T2207/10028G06T2207/20208G06T2207/20221G06T2207/30204H02J7/0047G06V20/20G06F18/22G06F18/251G06T5/92
Inventor 蒋腻聪朱建华沈冰伟郭斌蒋海青
Owner HANGZHOU EZVIZ SOFTWARE CO LTD