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Robot and charging pile butt joint method and device, robot and readable storage medium

A technology of a docking device and a charging pile, applied in the field of robots, can solve the problems of poor automatic recharging effect, difficulty in adjusting the docking position and attitude of the charging pile, and failure of recharging, and achieve the effect of improving the success rate of docking

Pending Publication Date: 2021-04-20
SHENZHEN TOPBAND CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The embodiment of the present invention provides a docking method between a robot and a charging pile, which aims to solve the problem of poor automatic recharging effect due to the difficulty in adjusting the docking position and posture of the charging pile when the existing floor washing machine is automatically recharged. Even the problem of recharging failure

Method used

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  • Robot and charging pile butt joint method and device, robot and readable storage medium
  • Robot and charging pile butt joint method and device, robot and readable storage medium
  • Robot and charging pile butt joint method and device, robot and readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0057] see figure 1 , the docking method of the robot and the charging pile in the embodiment of the present invention includes steps:

[0058] S1: Obtain the attitude position of the charging pile and the attitude line of the charging pile required for the docking between the robot and the charging pile;

[0059] S2: Adjust the robot pose relative to the charging pile according to the posture position of the charging pile;

[0060] S3: Control the robot to move toward the charging pile posture line with the robot posture;

[0061] S4: When the distance between the rear wheel center of the robot body and the attitude line of the charging pile is within the preset distance, adjust the pose of the robot according to the attitude position of the charging pile to be opposite to the charging pile;

[0062] S5: Control the robot to dock with the charging pile along the attitude line of the charging pile.

[0063] The robot can be a device with certain intelligence and self-cleani...

Embodiment 2

[0077] Further, see Figure 4 , the posture position of the charging pile includes the posture angle and plane coordinates of the charging pile, and step S1 includes the steps:

[0078]S11: Obtain the plane coordinates of the charging pile;

[0079] S12: Calculate the docking distance between the robot and the charging pile and the attitude line of the charging pile according to the plane coordinates;

[0080] S13: Calculate the attitude angle between the robot and the charging pile according to the docking distance;

[0081] Among them, the attitude angle includes the first included angle, the second included angle, and the third included angle between the robot's laser radar, the midpoint of the robot's two rear wheels, and the robot's front wheel relative to the charging pile at the docking distance.

[0082] Please combine the description of how the robot obtains docking parameters in Example 1:

[0083] When the robot determines that there is a charging pile within a c...

Embodiment 3

[0088] Further, see Figure 5 , step S4 includes the steps of:

[0089] S41: When the distance between the robot and the attitude line of the charging pile is within the preset distance, use the first included angle, the second included angle, and the third included angle as the first input and the second input of the motion control in the PID algorithm respectively Quantity and the third input quantity, the output is used to control the steering angle of the robot steering;

[0090] S42: Adjust the pose of the robot according to the steering angle to be opposite to the charging pile.

[0091] It can be understood that in this embodiment of the invention, the movement trend of the robot is determined by the driving of the steering wheel, so the steering control of the steering wheel is the main factor affecting the docking success, and the robot is controlled to move to the charging pile until the distance between the robot and the attitude line of the charging pile is within...

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Abstract

The invention provides a butt joint method of a robot and a charging pile. The butt joint method comprises the following steps: acquiring a charging pile attitude position and a charging pile attitude line of the charging pile required by butt joint of the robot and the charging pile; adjusting the robot pose of the robot relative to the charging pile according to the charging pile pose position; controlling the robot to move towards the charging pile posture line in the robot posture; when the distance between the center of a vehicle body rear wheel of the robot and the charging pile posture line is within a preset distance, adjusting the posture of the robot according to the posture position of the charging pile to be opposite to the charging pile; and controlling the robot to be in butt joint with the charging pile along the charging pile posture line. The invention further provides a butt joint device, a robot and a readable storage medium. By means of the butt joint method, the butt joint success rate of the robot in the automatic recharging process can be increased, and the problems that when an existing robot is automatically recharged, the automatic recharging effect is poor and even recharging fails due to the fact that the butt joint position and posture of the robot relative to the charging pile are difficult to adjust are effectively solved.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a docking method and device for a robot and a charging pile, a robot and a readable storage medium. Background technique [0002] In related technologies, the washing machine has been gradually equipped with an automatic recharging function, which can automatically return the washing machine to the vicinity of the charging pile and carry out docking and charging, which is conducive to the application of the washing machine in large scenarios and improves its work efficiency. At present, the usual recharging method is that the washing machine automatically records the transfer position and posture when it is accurately docked with the charging pile, and then controls itself to move to a certain range in front of the recorded position. After the washing machine reaches the transfer point, use other Positioning method for precise docking. [0003] The washing machine generally ado...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12G05D1/02G01C21/20G01S17/931
Inventor 张金岗王可可杨路
Owner SHENZHEN TOPBAND CO LTD
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