Mobile robot autonomous charging method based on ArUco code guidance

Abstract

The invention relates to a mobile robot autonomous charging method based on ArUco code guidance. The method comprises the steps: setting a charging contact and a monocular camera for a robot, and arranging a charging pile with an ArUco code in an operation environment of the robot; establishing an environment map, and marking the position and orientation of the charging pile; setting a navigationtarget point and a target posture, and planning a movement track of the mobile robot; recognizing an ArUco code on the charging pile, and obtaining an angular point coordinate of the ArUco code on theimage; combining the robot pose collected by the monocular camera with the linear speed and the angular speed provided by the robot to acquire an accurate mobile robot pose; and a PID method is adopted to control the robot to go to the charging pile for butt joint, and autonomous charging is carried out. Compared with the prior art, ArUco codes are used for guiding stably, and on the premise thatlight exists, the 100% charging success rate can be achieved; and guiding is smooth, and the robot can be in butt joint with the charging pile quickly and smoothly.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to an autonomous charging method for mobile robots guided by ArUco codes. Background technique [0002] An autonomous mobile robot is a robot that uses guidance devices such as lasers and cameras to autonomously follow any guidance route. Because of its autonomous mobility, it can also be used with superstructures such as platforms, boxes, and screens. Mobile robots can save manpower and reduce operating costs in industries, logistics, and commerce. They have a wide range of application platforms and prospects. Autonomous mobile robots are generally powered by on-board batteries. Due to the limited battery capacity, they usually need to replenish power after running for a few hours. Therefore, autonomous charging is one of the important functions that they need to achieve. When the power is low or needs to be charged At this time, the robot needs to autonomously return to the...

AI Technical Summary

Problems solved by technology

However, the use of infrared technology has the following disadvantages: 1. The infrared signal has the inherent nature of a small transmission distance, and can only be received when it is close to the charging pile; 2. When the infrared signal is transmitted, the emission intensity of the large-angle range is very small , need to use high-precision infrared signal detection circuit to be able to detect; 3, easily interfered by other infrared signals

In addition, there are methods to locate mobile robots by identifying specially made color blocks or icons, but they have not been applied in the field of autonomous charging

Recently, some studies have proposed to use feature point methods such as SIFT to directly identify charging piles. Although this method has achieved certain results, it consumes a lot of computing resources and has a certain misidentification rate.

Therefore, the current autonomous charging method for mobile robots based on vision guidance cannot meet the needs of practical applications in terms of guidance accuracy and speed.

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