Charging robot transfer point identification method and device and charging robot

An identification method and identification device technology, which are applied in the directions of instruments, non-electric variable control, two-dimensional position/channel control, etc., and can solve the problems of charging failure and large venue.

Pending Publication Date: 2021-07-30
SHENZHEN TOPBAND CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present invention provides a charging robot transfer point identification method, which aims to solve the problem that the large-scale charging robot in the prior art requires a large space, and in a relatively narrow environment, it is easy to cause charging failure due to obstacles

Method used

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  • Charging robot transfer point identification method and device and charging robot
  • Charging robot transfer point identification method and device and charging robot
  • Charging robot transfer point identification method and device and charging robot

Examples

Experimental program
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Effect test

Embodiment 1

[0032] figure 1 It shows the implementation flow chart of a charging robot transfer point identification method provided by Embodiment 1 of the present invention, and the method includes the following steps:

[0033] In step S101, when the charging robot can recognize the charging pile, the current location of the charging robot and the pose of the charging pile are acquired.

[0034] In the embodiment of the present invention, the charging robot includes an intelligent robot with an automatic charging function, such as a sweeping robot, a floor washing robot, and a lawn mowing robot.

[0035] In one embodiment of the present invention, the charging pile can be used in conjunction with the charging pile robot.

[0036] As an embodiment of the present invention, the current location point of the charging robot may be any point in the area in front of the charging pile where the location of the charging pile can be identified.

[0037] In the embodiment of the present inventio...

Embodiment 2

[0051] see image 3 , the preset docking parameters include a preset docking angle range and a preset docking distance range, and when the pose of the charging pile includes the distance and angle of the charging pile relative to the charging robot, the above step S102 specifically includes:

[0052] In step S201, it is judged whether the angle of the charging pile relative to the charging robot is within a preset docking angle range; if the judgment result is yes, step S202 is executed; when the judgment result is no, step S104 is executed.

[0053] As an example of the present invention, the above step S201 is to judge whether the angle θ of the charging pile relative to the midline in front of the charging robot at the current location satisfies θ min max .

[0054] In step S202, it is judged whether the distance between the charging pile and the charging robot is within the preset docking distance range; if the judgment result is yes, step S103 is executed; when the judgm...

Embodiment 3

[0060] see also Figure 5 , after the above step S103, also include:

[0061] In step S301, the pose of the charging robot at the transfer point is saved.

[0062] In the embodiment of the present invention, the pose of the charging robot at the transfer point includes the coordinates and pose of the charging robot at the transfer point, and the pose of the charging robot at this time is relative to its pose in the global map.

[0063] The charging robot transfer point recognition method provided by the embodiment of the present invention saves the pose of the charging robot at the transfer point at the current position, and can continue to use the saved pose for subsequent charging pile docking when the charging robot reaches the transfer point again , which ensures the convenience of subsequent transfer points.

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Abstract

The invention is suitable for the technical field of charging robots, and provides a charging robot transfer point identification method, which comprises the following steps: when a charging robot can identify a charging pile, acquiring the current position point of the charging robot and the pose of the charging pile; judging whether the pose of the charging pile accords with a preset docking parameter or not; and when it is judged that the pose of the charging pile accords with the preset docking parameter, determining that the current position point is a transfer point. The embodiment of the invention further provides a charging robot transfer point identification device, a charging robot and a computer readable storage medium. According to the charging robot transfer point identification method provided by the invention, the transfer point can be set at will according to user requirements, and the problem that the transfer point cannot reach due to automatic conversion can be effectively avoided especially in a relatively narrow environment, an environment with obstacles or an environment with entry posture limitation.

Description

technical field [0001] The invention belongs to the technical field of charging robots, and in particular relates to a charging robot transfer point identification method and device, a charging robot and a computer-readable storage medium. Background technique [0002] With the advancement of science and technology, robot technology is also developing rapidly. More and more robots are equipped with automatic charging function, which can be called charging robots. [0003] During the automatic recharging process of the robot, in order to allow the robot to quickly return to the vicinity of the charging pile and accurately dock the charging pile for charging, the charging robot in the prior art generally records the position and posture of the charging robot when it is accurately docked with the charging pile. Then calculate the position of the transfer point through the position and attitude of the charging robot, and then control the charging robot to go to the position of t...

Claims

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0225G05D1/0214G05D1/0276
Inventor王可可张金岗
OwnerSHENZHEN TOPBAND CO LTD