An automatic charging control method of an intelligent inspection robot

Abstract

The embodiment of the application discloses an automatic charging control method of an intelligent inspection robot, relates to the technical field of automatic charging, and solves the problems of high cost, poor docking precision control, low work efficiency and poor adaptability in the prior art; the robot automatically navigates and walks to a charging point, the robot judges the position of the charging pile through the reflection of the laser signals of a laser radar sensor and two reflecting devices, walks towards the charging pile to be closer to the charging pile, and the infrared receiving device of the robot receives the infrared signals of the infrared sending device of the charging pile; the second charging part of the robot is aligned with the first charging part of the charging pile, and continues to advance towards the charging pile, the second charging part is aligned with the first charging part and starts charging; the embodiment of the application realizes the effects of reducing cost, automatic alignment, high efficiency and high success rate.

Description

Technical Field

[0001] This application relates to the field of automatic charging technology, and in particular to an automatic charging control method for an intelligent inspection robot. Background Technology

[0002] Service robots are increasingly entering our lives, with a large number of them, such as cleaning robots and security robots responsible for home safety, already being put into practical use.

[0003] Improving the efficiency of these service robots, reducing human intervention and maintenance, enhancing product reliability, and lowering costs are key to their mass production and practical application. These mobile robots are typically powered by rechargeable batteries, and enabling them to automatically recharge is a crucial issue we must address. Various manufacturers, both domestic and international, have offered numerous solutions for automatic robot charging, such as the American ROOMBA product and Electrolux's Trilobite. Their solutions essentially work on the following principles: ROOMBA utilizes two beams of guiding light emitted from the charging base and its own 360-degree receiver to guide charging; Electrolux's Trilobite and domestic manufacturers utilize wall-mounted return combined with signal emission (electromagnetic or infrared) from the charging base to guide charging.

[0004] However, these existing technologies share a common drawback: high cost, poor control over docking precision, low work efficiency, and poor adaptability. Summary of the Invention

[0005] This invention provides an automatic charging control method for an intelligent inspection robot, which solves the problems of high cost, poor docking accuracy control, low work efficiency, and poor adaptability in the prior art, and achieves the effects of reducing costs, improving automatic alignment efficiency, and increasing success rate.

[0006] This invention provides an automatic charging control method for an intelligent inspection robot, comprising:

[0007] A first charging unit and an infrared transmitting device are provided on the same side of the charging pile. The line connecting the midpoint of the first charging unit and the midpoint of the infrared transmitting device is perpendicular to the first charging unit and the infrared transmitting device.

[0008] Two reflective devices are arranged on the charging pile, and the two reflective devices are located on the same horizontal plane as the first charging unit.

[0009] An infrared receiver and a second charging unit are installed on the same side of the robot. The line connecting the midpoint of the infrared receiver and the midpoint of the second charging unit is perpendicular to the infrared receiver and the second charging unit. The infrared receiver and the second charging unit correspond to the first charging unit and the infrared transmitting unit, respectively. A lidar sensor is installed on one side of the robot.

[0010] The robot automatically navigates to the charging point;

[0011] The robot determines the location of the charging station by using the laser signal from the lidar sensor and the reflection from the two reflective devices.

[0012] The robot walks toward the charging pile to a position closer to the charging pile, and the infrared receiver of the robot receives the infrared signal from the infrared transmitter of the charging pile.

[0013] The robot's second charging unit aligns with the first charging unit of the charging pile and continues to move towards the charging pile. The second charging unit then aligns with the first charging unit and begins charging.

[0014] In one possible implementation, when the lidar sensor and the infrared receiver are respectively located on two opposite sides of the robot, the infrared receiver of the robot receives the infrared signal from the infrared transmitter. The robot first rotates 180 degrees and then approaches the charging station, so that the second charging unit aligns with the first charging unit and begins charging.

[0015] When the lidar sensor and the infrared receiver are positioned on the same side of the robot, the robot walks from the charging point until the infrared receiver receives the infrared signal from the infrared transmitter. The robot then continues to walk forward and approaches the charging station, aligning the second charging unit with the first charging unit and starting to charge.

[0016] In one possible implementation, the lidar sensor and the infrared receiver are respectively located on two opposite sides of the robot; after the robot walks to the charging point, the robot receives the enhanced signals reflected by the two reflective devices and begins a two-stage adjustment.

[0017] In the first stage, a second straight line is identified. The second straight line passes through the midpoint of the first charging unit and is perpendicular to the surface of the charging pile. The vertical plane of the first charging unit is perpendicular to the charging pile, and the second straight line is located on the vertical plane. The robot adjusts itself to move towards the charging pile near the vertical plane and moves closer to the charging pile.

[0018] In the second stage, the robot makes a 180-degree turn adjustment, and then continues to retreat guided by the signal received by the infrared receiver from the infrared transmitter until the second charging unit contacts the first charging unit.

[0019] In one possible implementation, the lidar sensor includes a lidar coordinate system; the lidar sensor of the robot receives laser emission signals from the two reflective devices and fits and determines a first straight line where the charging pile is located, the first straight line passing through the midpoint of the first charging unit and the two reflective devices;

[0020] A second straight line is determined based on the first straight line and the center of the first charging unit. The second straight line passes through the center of the first charging unit and is perpendicular to the first straight line.

[0021] A third straight line perpendicular to the second straight line is determined through the origin of the lidar coordinate system, and the distance from the origin of the lidar coordinate system to the perpendicular plane containing the second straight line is calculated.

[0022] A fourth line parallel to the second line is determined through the origin of the lidar coordinate system. Based on the first angle between the fourth line and the positive X-axis of the lidar coordinate system, the second angle between the positive Y-axis of the lidar coordinate system and the fourth line is calculated.

[0023] In one possible implementation, when the robot detects that the distance from the origin of the lidar coordinate system to the perpendicular bisector of the second line is less than a set first threshold, the robot is traveling along the perpendicular bisector to the charging pile. At this time, the robot's posture is adjusted according to the size of the second angle. If the second angle is greater than 0, the robot adjusts its posture to the left; if the second angle is less than 0, the robot adjusts its posture to the right.

[0024] In one possible implementation, if the distance from the origin of the lidar coordinate system to the perpendicular bisector of the second line is greater than the first threshold, the robot detects that it is to the left of the perpendicular bisector of the second line and the second included angle is less than the set second threshold. Then the robot adjusts its posture to the right until the second included angle is greater than the second threshold. If the second included angle is greater than the second threshold, the robot maintains its posture and moves forward.

[0025] If the robot detects that it is to the right of the perpendicular plane containing the second straight line, and the second included angle is greater than the second threshold, then the robot adjusts its posture to the left until the second included angle is less than the second threshold; if the second included angle is less than the second threshold, then the robot maintains its posture and moves forward.

[0026] In one possible implementation, when the robot travels to a distance less than a set third threshold, the robot rotates 180 degrees so that the infrared receiver faces the charging pile. During the rotation, if the infrared receiver receives an infrared light signal, the robot continues to move backward while maintaining its current left-right position until the second charging unit contacts the first charging unit.

[0027] In one possible implementation, if the robot does not receive an infrared signal after rotating 180 degrees, the robot moves left and right and rotates in place to search for the infrared light signal until it receives the infrared light signal. Then, the robot maintains its current left and right position and continues to move backward until the second charging unit contacts the first charging unit. If the robot still does not receive an infrared light signal within a specified time, an alarm is triggered directly.

[0028] In one possible implementation, if the robot is aligned with the charging station and the second charging unit is in contact with the first charging unit, but the robot does not detect charging voltage and charging current within a set time, the robot leaves the charging station and realigns; when the number of times the robot is aligned with the charging station but still does not detect charging voltage and charging current reaches a set value, the robot alarms.

[0029] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0030] This invention embodiment arranges a first charging unit and an infrared transmitting device on the same side of a charging pile. The line connecting the midpoints of the first charging unit and the infrared transmitting device is perpendicular to both the first charging unit and the infrared transmitting device. This allows the position of the infrared transmitting device to determine the direction and location of the robot moving towards the first charging unit. Correspondingly, an infrared receiving device and a second charging unit are arranged on the same side of the robot. The line connecting the midpoints of the infrared receiving device and the second charging unit is perpendicular to both the infrared receiving device and the second charging unit. This ensures that the position of the infrared receiving device corresponds to the position of the second charging unit and guides the second charging unit towards the first charging unit. The positions of the second charging unit of the charging pile and the first charging unit of the robot correspond, as do the infrared receiving device and the infrared transmitting device. This precise guidance of the positions of the corresponding infrared transmitting and receiving devices, along with the two reflective devices and the first... The charging units are located on the same horizontal plane. The robot is equipped with a lidar sensor, which allows the robot to determine the approximate location of the charging pile and the first charging unit from the position of the reflective device. The robot then moves towards the approximate location of the first charging unit. When it approaches the charging pile, the robot's infrared receiver and the charging pile's infrared transmitter accurately determine the positions of the second and first charging units and achieve precise charging. This embodiment of the invention has higher accuracy and saves time. The robot is guided through the charging process by the lidar sensor installed on the robot for navigation. Only the receiving device and lidar sensor at the charging pile line are needed, which effectively solves the problems of high operating costs, poor docking accuracy control, low work efficiency, and poor adaptability. This results in a cost-effective, high-efficiency, and high-success-rate intelligent inspection robot. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments of the present invention or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 A flowchart of a robot charging method provided in an embodiment of the present invention;

[0033] Figure 2 The three-dimensional robot provided in the embodiments of the present invention Figure 1 ;

[0034] Figure 3 The three-dimensional robot provided in the embodiments of the present invention Figure 2 ;

[0035] Figure 4 This is a frontal view of the robot provided in an embodiment of the present invention;

[0036] Figure 5 This is a rear front view of the robot provided in an embodiment of the present invention;

[0037] Figure 6 A perspective view provided for an embodiment of the present invention;

[0038] Figure 7 This is a front view of a charging pile provided in an embodiment of the present invention;

[0039] Figure 8 A path diagram for a robot to find a charging station provided in an embodiment of the present invention;

[0040] Figure 9 This is a schematic diagram illustrating the algorithm principle for locating charging stations using a lidar sensor, as provided in an embodiment of the present invention.

[0041] Icons: 1-Robot; 11-LiDAR sensor; 12-Second charging unit; 13-Infrared receiver; 2-Charging pile; 21-First charging unit; 22-Infrared transmitter; 23-Reflector; 3-First straight line; 4-Second straight line; 5-Third straight line; 6-Fourth straight line; 7-First included angle; 8-Second included angle. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0043] Reference Figure 1-7 As shown, this embodiment of the invention provides an automatic charging control method for an intelligent inspection robot, including:

[0044] A first charging unit 21 and an infrared transmitting device 22 are provided on the same side of the charging pile 2. The line connecting the midpoint of the first charging unit 21 and the midpoint of the infrared transmitting device 22 is perpendicular to the first charging unit 21 and perpendicular to the infrared transmitting device 22.

[0045] Two reflective devices 23 are arranged on the charging pile 2, and the two reflective devices 23 are located on the same horizontal plane as the first charging part 21.

[0046] An infrared receiver 13 and a second charging unit 12 are installed on the same side of the robot 1. The line connecting the midpoint of the infrared receiver 13 and the midpoint of the second charging unit 12 is perpendicular to the infrared receiver 13 and the second charging unit 12. The infrared receiver 13 and the second charging unit 12 correspond to the first charging unit 21 and the infrared transmitter 22, respectively. A lidar sensor 11 is also installed on one side of the robot 1.

[0047] Combination Figure 8 As shown, robot 1 automatically navigates to the charging point; robot 1 determines the location of charging pile 2 by using the laser signal from lidar sensor 11 and the reflection from two reflective devices 23.

[0048] Robot 1 walks towards charging pile 2 and gets closer to charging pile 2. The infrared receiver 13 of robot 1 receives the infrared signal from the infrared transmitter 22 of charging pile 2.

[0049] The second charging unit 12 of robot 1 aligns with the first charging unit 21 of charging pile 2 and continues to move towards charging pile 2. The second charging unit 12 aligns with the first charging unit 21 and begins charging.

[0050] In existing technologies, some charging robots require the installation of multiple infrared transmitters and receivers, as well as laser signal transmitters and receivers, on both the charging station and the robot. This necessitates wiring and connecting these devices, increasing procurement costs. Strict requirements are placed on the size and height of the openings for the infrared and laser signal devices on the charging station and the robot, as well as the installation angles of the devices. These parameters affect the success rate of the robot's automatic alignment with the charging station. For example, the infrared transmitter on the charging station and the infrared receiver on the robot must be on the same horizontal plane. Furthermore, the reliability and adaptability are low, as the ground in the robot's working environment may be uneven, which affects the signal reception of the infrared and laser signal receivers on the robot, reducing the success rate of the robot's automatic alignment with the charging station.

[0051] In this embodiment of the invention, a first charging unit 21 and an infrared transmitting device 22 are arranged on the same side of the charging pile 2. The line connecting the midpoints of the first charging unit 21 and the infrared transmitting device 22 is perpendicular to the first charging unit 21 and the infrared transmitting device 13. This allows the direction and position of the robot 1 moving towards the first charging unit 21 to be determined by the position of the infrared transmitting device 22. Correspondingly, an infrared receiving device 13 and a second charging unit 12 are arranged on the same side of the robot 1. The line connecting the midpoints of the infrared receiving device 13 and the second charging unit 12 is perpendicular to the infrared receiving device 13 and the infrared transmitting device 13. The charging unit 12 is positioned so that the position of the infrared receiver 13 corresponds to the position of the second charging unit 12, and can guide the second charging unit 12 toward the first charging unit 21; the second charging unit 12 of the charging pile 2 corresponds to the position of the first charging unit 21 of the robot 1, and the infrared receiver 13 corresponds to the infrared transmitter 22. The precise guidance of the positions of the corresponding infrared transmitter 22 and infrared receiver 13, the two reflective devices 23 are located on the same horizontal plane as the first charging unit 21, and the two reflective devices 23 are adhered to the surface of the charging pile 2. The robot 1 is equipped with a lidar sensor 11. This allows robot 1 to determine the approximate location of charging pile 2 and the first charging unit 21 from the location of the charging point using the reflective device 23. Robot 1 then moves towards the first charging unit 21. Upon approaching the charging pile 2, the infrared receiver 13 of robot 1 and the infrared transmitter 22 of charging pile 2 precisely determine the locations of the second charging unit 12 and the first charging unit 21, achieving accurate charging. This embodiment of the invention offers higher accuracy and saves time. The charging process of robot 1 is monitored using the laser radar sensor 11 installed on robot 1 for navigation. The guidance only requires the infrared receiver 13 and the lidar sensor 11 of the charging pile 2, which effectively solves the problems of high operating cost, poor docking accuracy control, low work efficiency and poor adaptability. This leads to the realization of a smart inspection robot 1 with reduced cost, high automatic alignment efficiency and success rate. The reflective device 23 on the charging pile 2 is low cost and easy to operate. The reflective device 23 does not need to be drilled in the charging pile 2 or installed inside. The reflective device 23 uses reflective strips, and the position of the two reflective devices 23 on the same horizontal plane is easy to determine, thereby enhancing the guidance effect between the charging pile 2 and the robot 1.

[0052] Optionally, when the lidar sensor 11 and the infrared receiver 13 are respectively set on two opposite sides of the robot 1, the infrared receiver 13 of the robot 1 receives the infrared signal from the infrared transmitter 22. The robot 1 first rotates 180 degrees and then approaches the charging pile 2, so that the second charging part 12 is aligned with the first charging part 21 and charging begins.

[0053] When the lidar sensor 11 and the infrared receiver 13 are set on the same side of the robot 1, the robot 1 walks from the charging point to the point where the infrared receiver 13 receives the infrared signal from the infrared transmitter 22. The robot 1 continues to walk forward and approaches the charging pile 2, so that the second charging unit 12 is aligned with the first charging unit 21 and charging begins.

[0054] Using the above scheme, robot 1 first walks to the charging point, which is generally set 1.5-2 meters away from charging pile 2. At the same time, the location of the charging point must ensure that the lidar sensor 11 at the charging point can include the reflective device 23 on the charging pile 2 in its field of vision. Robot 2 first walks to the charging pile 2 and moves closer to the charging pile 2 along the distance between the charging point and the charging pile 2. In this way, the walking trajectory from the charging point to the charging pile 2 has fewer detours, and robot 1 will be closer to the first charging part 21 of the charging pile 2. Robot 1 continues to walk closer to the charging pile 2. When the infrared receiver 13 receives the infrared transmitter 22, robot 1 walks forward again. Depending on whether the lidar sensor 11 and the infrared receiver 13 are set on the same side of robot 1, it is determined whether robot 1 needs to flip its body again before charging. The purpose is to align the second charging part 12 with the first charging part 21 and start charging.

[0055] Optionally, the lidar sensor 11 and the infrared receiver 13 are respectively set on two opposite sides of the robot 1; after the robot 1 walks to the charging point, the robot 1 receives the enhanced signal reflected by the two reflective devices 23 and begins two-stage adjustment.

[0056] Reference Figure 9 As shown, in the first stage, the second straight line 4 is confirmed. The second straight line 4 passes through the midpoint of the first charging part 21 and is perpendicular to the surface of the charging pile 2. The vertical plane of the first charging part 21 is perpendicular to the charging pile 2, and the second straight line 4 is located on the vertical plane. The robot 1 adjusts itself to move towards the charging pile 2 near the vertical plane and moves to a position closer to the charging pile 2.

[0057] In the second stage, robot 1 makes a 180-degree turn adjustment. After the adjustment, guided by the signal received by infrared receiver 13 from infrared transmitter 22, it continues to retreat until the second charging unit 12 contacts the first charging unit 21.

[0058] With the above scheme, the lidar sensor 11 and the infrared receiver 13 are respectively set on two opposite sides of the robot 1 to avoid mutual interference or influence. After the robot 1 arrives at the charging point, when the robot 1 starts to walk towards the charging pile 2, it walks along the vertical plane where the first charging part 21 of the charging pile 2 is located. In this way, the robot 1 can make small adjustments when it is close to or walking on the vertical plane. Because the robot 1 is moving, it is impossible for it to stay on the vertical plane of the first charging part 21 all the time. By walking on the vertical plane and making small adjustments, the second charging part 12 of the robot 1 is basically aligned with the position of the first charging part 21. Only small and more precise adjustments are needed to improve the charging efficiency.

[0059] Optional, continue to combine Figure 9 As shown, the lidar sensor 11 includes a lidar coordinate system; the lidar sensor 11 of the robot 1 receives the laser emission signals from the two reflective devices 23 and fits and determines the first straight line 3 where the charging pile 2 is located. The first straight line 3 passes through the midpoint between the first charging unit 21 and the two reflective devices 23.

[0060] A second straight line 4 is determined based on the first straight line 3 and the center of the first charging unit 21. The second straight line 4 passes through the center of the first charging unit 21 and is perpendicular to the first straight line 3.

[0061] A third line 5 perpendicular to the second line 4 is determined through the origin of the lidar coordinate system, and the distance from the origin of the lidar coordinate system to the perpendicular plane containing the second line 4 is calculated.

[0062] A fourth line 6, parallel to the second line 4, is determined by passing through the origin of the lidar coordinate system. Based on the first angle 7 between the fourth line 6 and the positive X-axis of the lidar coordinate system, the second angle 8 between the positive Y-axis of the lidar coordinate system and the fourth line 6 is calculated.

[0063] With the above scheme, a laser radar coordinate system is installed on robot 1. Due to the more precise positions and data of the second straight line 4, the third straight line 5, the first included angle 7 and the second included angle 8, the position of robot 1 can be adjusted in time when the position changes slightly, so that robot 1 can walk towards a more accurate position of charging pile 2, thereby improving charging efficiency and also improving the alignment accuracy of the second charging part 12 and the first charging part 21 of robot 1.

[0064] Optionally, when robot 1 detects that the distance from the origin of the lidar coordinate system to the perpendicular plane where the second straight line 4 is located is less than the set first threshold, robot 1 is moving along the perpendicular plane to the charging pile 2. At this time, robot 1 adjusts its posture according to the size of the second included angle 8. If the second included angle 8 is greater than 0, robot 1 adjusts its posture to the left; if the second included angle 8 is less than 0, robot 1 adjusts its posture to the right.

[0065] Using the above method, if the second included angle 8 is greater than 0, based on the lidar coordinate system, it means that the robot 1's body is tilted to the right, and its posture needs to be adjusted to the left; if the second included angle 8 is less than 0, it means that the robot 1's body is tilted to the left, and its posture needs to be adjusted to the right. This method of adjusting the robot 1's posture based on the second included angle 8 ensures that the robot 1's overall direction is towards the charging pile 2, rather than deviating from the walking trajectory of the charging pile 2, thus ensuring that the robot 1's approximate direction is correct and improving the robot 1's walking accuracy.

[0066] Optionally, if the distance from the origin of the lidar coordinate system to the perpendicular plane where the second straight line 4 is located is greater than the first threshold, and the robot 1 detects that it is to the left of the perpendicular plane where the second straight line 4 is located, and the second included angle 8 is less than the set second threshold, then the robot 1 adjusts its posture to the right until the second included angle 8 is greater than the second threshold. If the second included angle 8 is greater than the second threshold, then the robot 1 maintains its posture and moves forward.

[0067] If robot 1 detects that it is to the right of the vertical plane where the second straight line 4 is located, and the second included angle 8 is greater than the second threshold, then robot 1 adjusts its posture to the left until the second included angle 8 is less than the second threshold; if the second included angle 8 is less than the second threshold, then robot 1 maintains its posture and moves forward.

[0068] Through the above scheme, the first threshold is the acceptable distance that the second charging part 12 of robot 1 deviates from the vertical plane of the first charging part 21 on the charging pile 2. As long as it does not exceed the range of the first threshold, it can be basically considered that robot 1 moves towards the first charging part 21 of the charging pile 2 along the vertical plane of the second charging part 12. When robot 1 detects that it is to the left of the vertical plane of the second straight line 4 and the second included angle 8 is less than the set second threshold, robot 1 adjusts its posture to the right. The second threshold is the acceptable angle that robot 1 deviates from the vertical plane of the first charging part 21 on the charging pile 2. The walking direction of robot 1 is controlled by the range of robot 1 deviating from the first threshold and the second threshold, so that robot 1 can walk more accurately towards the midpoint of the second charging part 12 on the charging pile 2. Since the position of the second charging part 12 on robot 1 corresponds to the position of the first charging part 21 on the charging pile 2, as long as robot 1 keeps moving forward along the line of the vertical plane of the first charging part 21 and adjusts the angle, it can be ensured that the second charging part 12 of robot 1 is accurately charged with the first charging part 21. At the same time, it can avoid robot 1 doing some useless work and improve charging efficiency.

[0069] Optionally, when robot 1 travels to a distance less than the set third threshold from the charging pile 2, robot 1 rotates 180 degrees to face the charging pile 2 with the infrared receiver 13. During the rotation, if the infrared receiver 13 receives an infrared light signal, robot 1 maintains its current left-right position and continues to move backward until the second charging unit 12 contacts the first charging unit 21. The third threshold is the distance at which robot 1 is about to reach the charging pile 2. When the infrared receiver 13 receives the infrared light signal from the infrared transmitter 22 of the charging pile 2, it means that robot 1 has found the position of the infrared transmitter 22 of the charging pile 2. Due to the positional relationship between the infrared transmitter 22 and the first charging unit 21, i.e., the accurate position of the first charging unit 21 has been found, robot 1 can rotate 180 degrees to face its second charging unit 12 towards the first charging unit 21, and achieve more precise charging by making small adjustments during the backward movement.

[0070] Optionally, if robot 1 does not receive an infrared signal after rotating 180 degrees, it will move left and right in place and rotate to search for the infrared light signal until it receives it. Then, robot 1 will maintain its current left and right position and continue to move backward until the second charging unit 12 contacts the first charging unit 21. If robot 1 still does not receive an infrared light signal within a specified time, it will directly sound an alarm. This scheme allows robot 1 to achieve accurate charging. When it is affected by external factors and cannot charge accurately, the alarm from robot 1 allows for timely detection and handling of the problem.

[0071] Optionally, if robot 1 is aligned with charging pile 2 and the second charging unit 12 is in contact with the first charging unit 21, but robot 1 does not detect charging voltage and charging current within a set time, then robot 1 leaves charging pile 2 and realigns; when the number of times robot 1 is aligned with charging pile 2 but still does not detect charging voltage and charging current reaches a set value, robot 1 will sound an alarm.

[0072] Optionally, if robot 1 is aligned with charging pile 2 and charging has started, and robot 1 is moved away from charging pile 2 by external force, charging pile 2 will immediately cut off power, and robot 1 will realign with charging pile 2 and start charging again; if charging pile 2 itself is in an abnormal state, charging pile 2 will sound an alarm.

[0073] While this application provides method operation steps as shown in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive labor. The order of steps listed in this embodiment is merely one possible execution order among many and does not represent the only execution order. In actual device or client product execution, the method can be executed sequentially according to this embodiment or the accompanying drawings, or in parallel (e.g., in a parallel processor or multi-threaded processing environment).

[0074] The apparatus or module described in the above embodiments can be implemented by a computer chip or physical entity, or by a product with a certain function. For ease of description, the above apparatus is described by dividing it into various modules according to their functions. In implementing this application, the functions of each module can be implemented in one or more software and / or hardware. Of course, a module that implements a certain function can also be implemented by combining multiple sub-modules or sub-units.

[0075] The methods, apparatus, or modules in this application can be implemented in a computer-readable program code manner. The controller can be implemented in any suitable manner, such as a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. Memory controllers can also be implemented as part of the control logic of memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code manner, the same functions can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included within it for implementing various functions can also be considered as structures within the hardware component. Alternatively, the device used to implement various functions can be viewed as either a software module that implements the method or a structure within a hardware component.

[0076] Some modules in the apparatus of this application can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc., that perform a specific task or implement a specific abstract data type. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0077] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary hardware. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, or it can be embodied in the process of data migration. The computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, mobile terminal, server, or network device, etc.) to execute the methods of various embodiments or some parts of the embodiments of this application.

[0078] The various embodiments described in this specification are presented in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. All or part of this application can be used in numerous general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, mobile communication terminals, multiprocessor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices, etc.

[0079] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of this application.

Claims

1. An automatic charging control method of an intelligent inspection robot, characterized by, include: A first charging unit (21) and an infrared transmitting device (22) are provided on the same side of the charging pile (2). The line connecting the midpoint of the first charging unit (21) and the midpoint of the infrared transmitting device (22) is perpendicular to the first charging unit (21) and perpendicular to the infrared transmitting device (22). Two reflective devices (23) are arranged on the charging pile (2), and the two reflective devices (23) are located on the same horizontal plane as the first charging part (21); An infrared receiver (13) and a second charging unit (12) are installed on the same side of the robot (1). The line connecting the midpoint of the infrared receiver (13) and the midpoint of the second charging unit (12) is perpendicular to the infrared receiver (13) and the second charging unit (12). The infrared receiver (13) and the second charging unit (12) correspond to the first charging unit (21) and the infrared transmitter (22), respectively. A laser radar sensor (11) is also installed on one side of the robot (1). The robot (1) automatically navigates to the charging point; The robot (1) determines the location of the charging pile (2) by the laser signal from the lidar sensor (11) and the reflection from the two reflective devices (23); The robot (1) walks toward the charging pile (2) to a position closer to the charging pile (2), and the infrared receiver (13) of the robot (1) receives the infrared signal from the infrared transmitter (22) of the charging pile (2). The second charging unit (12) of the robot (1) is aligned with the first charging unit (21) of the charging pile (2) and continues to move towards the charging pile (2). The second charging unit (12) is aligned with the first charging unit (21) and begins charging. The lidar sensor (11) includes a lidar coordinate system; the lidar sensor (11) of the robot (1) receives the laser emission signals from the two reflective devices (23) and fits and determines the first straight line (3) where the charging pile (2) is located, the first straight line (3) passes through the midpoint between the first charging unit (21) and the two reflective devices (23); A second straight line (4) is determined based on the first straight line (3) and the center of the first charging unit (21). The second straight line (4) passes through the center of the first charging unit (21) and is perpendicular to the first straight line (3). And through the origin of the laser radar coordinate system, a third line (5) perpendicular to the second line (4) is determined, and the distance from the origin of the laser radar coordinate system to the vertical plane where the second line (4) is located is calculated. A fourth line (6) parallel to the second line (4) is determined through the origin of the laser radar coordinate system. Based on the first angle (7) between the fourth line (6) and the positive direction X-axis of the laser radar coordinate system, the second angle (8) between the positive direction Y-axis of the laser radar coordinate system and the fourth line (6) is calculated. 2.The automatic charging control method of the intelligent inspection robot according to claim 1, characterized in that, When the lidar sensor (11) and the infrared receiver (13) are respectively set on two opposite sides of the robot (1), the infrared receiver (13) of the robot (1) receives the infrared signal from the infrared transmitter (22). The robot (1) first rotates 180 degrees and then approaches the charging pile (2), so that the second charging part (12) is aligned with the first charging part (21) and begins charging. When the lidar sensor (11) and the infrared receiver (13) are located on the same side of the robot (1), the robot (1) walks from the charging point to the point where the infrared receiver (13) receives the infrared signal from the infrared transmitter (22). The robot (1) continues to walk forward and approaches the charging pile (2), so that the second charging part (12) is aligned with the first charging part (21) and begins charging.

3. The automatic charging control method for the intelligent inspection robot according to claim 2, characterized in that, The lidar sensor (11) and the infrared receiver (13) are respectively set on two opposite sides of the robot (1); after the robot (1) walks to the charging point, the robot (1) receives the enhanced signal reflected by the two reflective devices (23) and begins two-stage adjustment. In the first stage, the second straight line (4) is confirmed. The second straight line (4) passes through the midpoint of the first charging part (21) and is perpendicular to the surface of the charging pile (2). The vertical plane of the first charging part (21) is perpendicular to the charging pile (2), and the second straight line (4) is located on the vertical plane. The robot (1) adjusts itself to move towards the charging pile (2) near the vertical plane and moves to a position closer to the charging pile (2). In the second stage, the robot (1) makes a 180-degree turn adjustment. After the adjustment, guided by the signal received by the infrared receiving device (13) from the infrared transmitting device (22), it continues to retreat until the second charging unit (12) contacts the first charging unit (21).

4. The automatic charging control method for the intelligent inspection robot according to claim 3, characterized in that, When the robot (1) detects that the distance from the origin of the laser radar coordinate system to the perpendicular plane where the second straight line (4) is located is less than the set first threshold, the robot (1) is moving along the perpendicular plane to the charging pile (2). At this time, the robot (1) adjusts its posture according to the size of the second included angle (8). If the second included angle (8) is greater than 0, the robot (1) adjusts its posture to the left; if the second included angle (8) is less than 0, the robot (1) adjusts its posture to the right.

5. The automatic charging control method for the intelligent inspection robot according to claim 4, characterized in that, If the distance from the origin of the laser radar coordinate system to the perpendicular plane where the second straight line (4) is located is greater than the first threshold, the robot (1) detects that it is to the left of the perpendicular plane where the second straight line (4) is located, and the second included angle (8) is less than the set second threshold. Then the robot (1) adjusts its posture to the right until the second included angle (8) is greater than the second threshold. If the second included angle (8) is greater than the second threshold, the robot (1) maintains its posture and moves forward. If the robot (1) detects that it is to the right of the vertical plane where the second straight line (4) is located, and the second included angle (8) is greater than the second threshold, then the robot (1) adjusts its posture to the left until the second included angle (8) is less than the second threshold; if the second included angle (8) is less than the second threshold, then the robot (1) maintains its posture and moves forward.

6. The automatic charging control method for the intelligent inspection robot according to claim 2, characterized in that, When the robot (1) travels to a distance less than the set third threshold from the charging pile (2), the robot (1) rotates 180 degrees so that the infrared receiver (13) faces the charging pile (2). During the rotation of the robot (1), if the infrared receiver (13) of the robot (1) receives an infrared light signal, the robot (1) continues to move backward while maintaining its current left and right position until the second charging unit (12) contacts the first charging unit (21).

7. The automatic charging control method for the intelligent inspection robot according to claim 6, characterized in that, If the robot (1) does not receive an infrared signal after rotating 180 degrees, the robot (1) moves left and right and rotates in place to search for the infrared light signal until it receives the infrared light signal. Then the robot (1) maintains its current left and right position and continues to move backward until the second charging unit (12) contacts the first charging unit (21). If the robot (1) still does not receive an infrared light signal within a specified time, it will directly alarm.

8. The automatic charging control method for the intelligent inspection robot according to claim 1, characterized in that, If the robot (1) is aligned with the charging pile (2) and the second charging unit (12) is in contact with the first charging unit (21), but the robot (1) does not detect the charging voltage and charging current within a set time, the robot (1) leaves the charging pile (2) and realigns; when the number of times the robot (1) is aligned with the charging pile (2) but still does not detect the charging voltage and charging current reaches a set value, the robot (1) will sound an alarm.

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