A robot autonomous charging control method, device and medium

Abstract

The present invention relates to the field of robot technology, and in particular to a robot autonomous charging control method, device and medium, the method comprising: responding to charging request information triggered by a robot, controlling the robot to travel to a waiting area; acquiring laser scanning data collected by the robot within a 360-degree range in the waiting area, and determining the current position of the robot in the waiting area based on the laser scanning data and predetermined template data; after controlling the robot to travel from the current position to a positioning position, determining a deflection angle between a charging contact on the robot and a charging base; determining a rotation angle of the robot according to the deflection angle, controlling the robot to rotate at the rotation angle, and driving the charging contact to dock with a conductive sheet; the embodiments provided by the present invention can improve the efficiency of autonomous charging of the robot.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot autonomous charging control method, device and medium. Background Art

[0002] When a mobile robot realizes autonomous recharging, it is not only necessary for the robot to reach the charging base that provides charging power, but also for the robot to dock with the charging base at an accurate angle and direction.

[0003] In the related technology, when implementing automatic recharging technology based on lidar, in order to ensure the accuracy of positioning and docking of the charging base, a large amount of laser scanning data needs to be collected and processed, resulting in a large amount of processed data, increasing hardware costs to meet the demand for computing resources, or causing a certain amount of delay, affecting the efficiency of the robot's autonomous charging.

[0004] Therefore, in order to meet the real-time needs of autonomous charging of robots in practical applications, it is necessary to improve the existing robot charging method to improve the efficiency of autonomous charging of robots. Summary of the invention

[0005] The purpose of the present invention is to provide a robot autonomous charging control method, device and medium to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] In a first aspect, an embodiment of the present invention provides a robot autonomous charging control method, the method comprising the following steps:

[0008] In response to the charging request information triggered by the robot, the robot is controlled to travel to a waiting area; wherein the waiting area is an area separated from the charging base by a set distance, the robot is provided with a charging contact, the charging base is provided with a groove, and a conductive sheet that conducts electricity to the charging contact is provided in the groove;

[0009] Acquire laser scanning data collected by the robot within a 360-degree range in the area to be stopped, and determine the current position of the robot in the area to be stopped based on the laser scanning data and predetermined template data; wherein the template data includes distances and angles between a plurality of positions including a positioning position in the area to be stopped and the groove; and the laser scanning data includes distance values ​​measured by each light beam;

[0010] After controlling the robot to travel from the current position to the positioning position, determining a deflection angle between a charging contact on the robot and the charging base;

[0011] The rotation angle of the robot is determined according to the deflection angle, and after the robot is controlled to rotate at the rotation angle, the charging contact is driven to dock with the conductive sheet.

[0012] Further, the determining the current position of the robot in the waiting area based on the laser scanning data and the predetermined template data includes:

[0013] Acquiring template data of the charging base;

[0014] The matching degree between the laser scanning data and the template data is calculated, the position corresponding to the template data with the highest matching degree with the laser scanning data is determined, and the current position of the robot in the waiting area is determined based on the position corresponding to the template data.

[0015] Furthermore, before responding to the charging request information triggered by the robot, the method further includes:

[0016] A waiting area is determined in front of the charging base, and a positioning position is set in the waiting area; wherein the robot can scan the charging base in the waiting area, and the robot can achieve docking between the charging contact and the conductive sheet at the positioning position;

[0017] Taking the positioning position as the origin, dividing the waiting area into a plurality of identical grids;

[0018] Control the robot to perform laser scanning on the charging base at any grid, quantify the collected laser scanning data, and obtain a depth image matrix of the charging base; the depth image matrix includes a scanning distance between the laser sensor on the robot and the laser scanning point corresponding to each scanning angle;

[0019] Converting the depth image matrix into an amplitude image matrix, and then performing gradient calculation on the amplitude image matrix to obtain a gradient amplitude image matrix;

[0020] Traversing the gradient amplitude image matrix to determine a mutation point in the gradient amplitude image matrix; wherein the mutation point is a pixel point in the gradient amplitude image matrix where the fluctuation amount of the gradient amplitude is greater than a gradient amplitude threshold;

[0021] Determine a connected domain in the depth image matrix based on the mutation points in the gradient amplitude image matrix, and determine a region where the groove in the charging base is located based on the connected domain;

[0022] The distance and angle between the laser sensor and the boundary of the connected domain are determined, and the distance and angle between the robot and the groove in the grid are obtained.

[0023] Further, determining the connected domain in the depth image matrix based on the mutation points in the gradient magnitude image matrix includes:

[0024] Extracting the mutation points with the largest number of clusters from the gradient amplitude image matrix;

[0025] Determine the first mutation interval based on the mutation point with the largest number of clusters;

[0026] Perform sliding window filtering on the left and right sides of the first mutation interval, and obtain the mutation points obtained by filtering to obtain the second mutation interval;

[0027] Determine the laser scanning points corresponding to the mutation points in the first mutation interval and the second mutation interval in the depth image matrix as feature points in the gradient amplitude image matrix;

[0028] The left and right boundaries of the feature points in the gradient magnitude image matrix are determined, and the connected domain is determined based on the feature points of the left and right boundaries.

[0029] Further, the determining of the deflection angle between the charging contact on the robot and the charging base includes:

[0030] Determine the reference point position of the laser sensor on the robot; wherein the reference laser beam emitted by the laser sensor toward the reference point position is consistent with the direction of the charging contact;

[0031] Controlling the robot to perform laser scanning on the charging base to determine two laser beams that scan the left and right boundaries of the connected domain;

[0032] The angles between the two laser beams and the reference laser beam are averaged and used as the deflection angle between the charging contact on the robot and the charging base.

[0033] In a second aspect, an embodiment of the present invention further provides a robot autonomous charging control device, the device comprising:

[0034] at least one processor;

[0035] at least one memory for storing at least one program;

[0036] When the at least one program is executed by the at least one processor, the at least one processor implements the robot autonomous charging control method as described in the first aspect.

[0037] In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a robot autonomous charging control program is stored. When the robot autonomous charging control program is executed by a processor, the steps of the robot autonomous charging control method described in the first aspect are implemented.

[0038] The beneficial effects of the present invention are as follows: the present invention discloses a robot autonomous charging control method, device and medium. After controlling the robot to travel to the waiting area, the current position of the robot in the waiting area is determined by quickly matching the laser scanning data with the predetermined template data, thereby avoiding the complicated data processing process and quickly determining the driving destination of the robot body. After controlling the robot to travel from the current position to the positioning position, it is only necessary to determine the deflection angle between the charging contact on the robot and the charging base, determine the rotation angle of the robot according to the deflection angle, control the robot to rotate at the rotation angle, drive the charging contact to rotate to the direction facing the groove, drive the charging contact to dock with the conductive sheet, and realize autonomous charging. The embodiments provided by the present invention can improve the efficiency of autonomous charging of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0040] Figure 1 is a flow chart of a robot autonomous charging control method in an embodiment of the present invention;

[0041] Figure 2 It is a schematic diagram of the structure of the robot autonomous charging control device in an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of this application, so as to fully understand the purpose, scheme and effect of this application. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other without conflict.

[0043] See also Figure 1 , Figure 1 This is a flow chart of a robot autonomous charging control method provided by the present application, the method comprising the following steps:

[0044] Step S100, in response to the charging request information triggered by the robot, the robot is controlled to travel to a waiting area; wherein the waiting area is an area separated from the charging base by a set distance, the robot is provided with a charging contact, the charging base is provided with a groove, and a conductive sheet that conducts electricity to the charging contact is provided in the groove;

[0045] In some embodiments, the remaining power and current position of the robot are obtained in real time to determine whether the remaining power of the robot is sufficient for it to return to the charging base. If the remaining power of the robot is not sufficient for it to return to the charging base, the robot triggers the charging request information, plans the driving path of the robot to the charging base, and controls the robot to drive in the direction of the charging base according to the driving path until it reaches the parking area. The parking area is a pre-planned area. When the robot is in the parking area, it can scan the charging base and the groove in the charging base through a laser sensor.

[0046] Step S200, acquiring laser scanning data collected by the robot within a 360-degree range in the area to be stopped, and determining the current position of the robot in the area to be stopped based on the laser scanning data and predetermined template data; wherein the template data includes distances and angles between a plurality of positions including a positioning position in the area to be stopped and the groove; and the laser scanning data includes distance values ​​measured by each light beam;

[0047] Specifically, the robot is provided with a laser sensor. When the robot is in the waiting area, the laser sensor provided on the robot is controlled to emit a laser beam. When the laser sensor receives the laser echo, a distance detection signal corresponding to each laser beam is obtained, thereby obtaining distance information at each angle. In this embodiment, on the one hand, the groove is used to limit the area range of the conductive sheet and protect the conductive sheet; in this embodiment, there is a certain depth difference between the notch of the groove and the conductive sheet, which can also be used as a basis for laser positioning.

[0048] Step S300, after controlling the robot to travel from the current position to the positioning position, determining the deflection angle between the charging contact on the robot and the charging base;

[0049] Specifically, the distance and angle from the current position to the positioning position are determined based on the template data, and then the robot is controlled to travel from the current position to the positioning position; then, the deflection angle between the charging contacts on the robot and the charging base is determined at the positioning position as the rotation angle of the robot, and the robot is controlled to drive the charging contacts to rotate in the direction facing the groove, and drive the charging contacts to dock with the conductive sheet, so as to realize autonomous charging of the robot.

[0050] Step S400, determining the rotation angle of the robot according to the deflection angle, controlling the robot to rotate at the rotation angle, and driving the charging contact to dock with the conductive sheet.

[0051] In the embodiment provided by the present invention, after controlling the robot to travel to the waiting area, the current position of the robot in the waiting area is determined by quickly matching the laser scanning data with the predetermined template data, thereby avoiding the complicated data processing process and quickly determining the travel destination of the robot body. After controlling the robot to travel from the current position to the positioning position, it is only necessary to determine the deflection angle between the charging contact on the robot and the charging base, determine the rotation angle of the robot according to the deflection angle, control the robot to rotate at the rotation angle, drive the charging contact to rotate to the direction facing the groove, drive the charging contact to dock with the conductive sheet, and realize autonomous charging. The embodiment provided by the present invention can improve the efficiency of autonomous charging of the robot.

[0052] As a further improvement of the above embodiment, in step S200, determining the current position of the robot in the to-be-parked area based on the laser scanning data and the predetermined template data includes:

[0053] Step S210, obtaining template data of the charging base;

[0054] Step S220, calculating the matching degree between the laser scanning data and the template data, determining the position corresponding to the template data having the highest matching degree with the laser scanning data, and determining the current position of the robot in the to-be-parked area based on the position corresponding to the template data.

[0055] In one embodiment, after determining the position corresponding to the template data with the highest matching degree with the laser scanning data, since there is a certain deviation between the current position of the robot and the positions corresponding to each template data, it is necessary to calibrate the position corresponding to the template data to determine the current position of the robot in the area to be stopped; specifically, determine the template data with the highest matching degree with the laser scanning data, and the template data with the second highest matching degree, determine the position corresponding to the template data with the highest matching degree and the position corresponding to the template data with the second highest matching degree, and average them as the current position of the robot in the area to be stopped, thereby reducing the error of the robot's position positioning, so that the subsequent charging contacts and conductive sheets can meet the docking requirements.

[0056] As a further improvement of the above embodiment, before step S100, the method further includes:

[0057] Step S110, determining a waiting area in front of the charging base, and setting a positioning position in the waiting area; wherein the robot can scan the charging base in the waiting area, and the robot can achieve docking between the charging contact and the conductive sheet at the positioning position;

[0058] In one embodiment, the positioning position is a position directly opposite to the charging contact;

[0059] Step S120, taking the positioning position as the origin, dividing the waiting area into a plurality of identical grids; wherein the grid is the minimum circumscribed rectangle of the laser sensor on the robot;

[0060] Step S130, controlling the robot to perform laser scanning on the charging base at any grid, quantifying the collected laser scanning data, and obtaining a depth image matrix of the charging base; the depth image matrix includes a scanning distance between the laser sensor on the robot and the laser scanning point corresponding to each scanning angle;

[0061] It should be noted that the scanning angle is the angle between the laser beam emitted by the laser sensor and the outer surface of the charging base, the scanning distance is the straight-line distance between the laser sensor and the charging base at the scanning angle, the laser beam emitted by the laser sensor forms laser scanning points on the charging base, and the depth image matrix reflects the distance values ​​between the laser sensor and each laser scanning point.

[0062] Step S140, converting the depth image matrix into an amplitude image matrix, and then performing gradient calculation on the amplitude image matrix to obtain a gradient amplitude image matrix;

[0063] It should be noted that the amplitude image matrix reflects the change size and direction of the distance value of each laser scanning point; when the laser sensor performs laser scanning on the charging base, the measurement distance of two adjacent laser beams will increase or decrease in sequence, and the formed amplitude image matrix presents regular change characteristics. However, when the laser sensor performs laser scanning on the charging base at different positions, due to the different angles between the laser sensor and the charging base, there are differences in the gradient change amplitudes of the pixel points in the amplitude image matrix. The difference caused by the angle between the laser sensor and the charging base can be reflected through the gradient amplitude image matrix.

[0064] Step S150, traversing the gradient amplitude image matrix to determine a mutation point in the gradient amplitude image matrix; wherein the mutation point is a pixel point in the gradient amplitude image matrix where the fluctuation amount of the gradient amplitude is greater than a gradient amplitude threshold;

[0065] It should be noted that due to the influence of the scanning accuracy of the laser sensor and the surface flatness of the charging base, the gradient change amplitude of the pixel points in the amplitude image matrix will fluctuate to a certain extent, which is a normal fluctuation. By setting a reasonable gradient amplitude threshold according to the actual situation, such fluctuation can be filtered out. When the fluctuation amount of the gradient amplitude is greater than the gradient amplitude threshold, it means that there is a large depth difference on the surface of the charging base, which is determined to be caused by the groove set in the charging base.

[0066] Step S160, determining a connected domain in the depth image matrix based on the mutation points in the gradient amplitude image matrix, and determining a region where the groove in the charging base is located based on the connected domain;

[0067] It should be noted that, by determining the mutation point in the gradient amplitude image matrix, the area where the groove is located is determined based on the mutation point;

[0068] Step S170, determining the distance and angle between the laser sensor and the boundary of the connected domain, and obtaining the distance and angle between the robot in the grid and the groove.

[0069] Specifically, the distance between the laser sensor and the boundary of the connected domain is used as the positioning distance of the robot in the area to be stopped, and the angle between the laser sensor and the boundary of the connected domain is used as the positioning angle of the robot in the area to be stopped; by determining the distances and angles between the laser sensor at multiple different positions of the area to be stopped and the boundary of the connected domain, the distances and angles of multiple positions of the robot in the area to be stopped are obtained.

[0070] As a further improvement of the above embodiment, in step S160, determining the connected domain in the depth image matrix based on the mutation points in the gradient magnitude image matrix includes:

[0071] Step S161, extracting the mutation points with the largest number of clusters from the gradient amplitude image matrix;

[0072] Step S162, determining a first mutation interval based on the mutation point with the largest number of clusters;

[0073] Step S163, performing sliding window filtering on the left and right sides of the first mutation interval, and obtaining the mutation points obtained by filtering to obtain the second mutation interval;

[0074] Step S164, determining the laser scanning points corresponding to the mutation points in the first mutation interval and the second mutation interval in the depth image matrix as feature points in the gradient amplitude image matrix;

[0075] Step S165, determining the left and right boundaries of the feature points in the gradient magnitude image matrix, and determining a connected domain based on the feature points at the left and right boundaries.

[0076] It should be noted that, because there is an angle between the robot and the charging base, the number of mutation points obtained by scanning the left and right sides of the charging base is inconsistent, and there are even very few scanning points on one side, so the boundary of the charging base is not accurately defined. By taking the mutation points with the largest number of clusters as the basis, as the first mutation interval, the mutation points in the first mutation interval form a rising edge or a falling edge; determine the boundary of the other side of the charging base, and by determining the left and right boundaries, determine the connected domain in the depth image matrix, and eliminate the interference of the laser scanning points in the groove. In one embodiment, the lateral distance corresponding to the feature points of the left and right boundaries is used as the width of the connected domain, and the longitudinal height corresponding to the feature points of the left and right boundaries is expanded as the width of the connected domain.

[0077] As a further improvement of the above embodiment, in step S300, determining the deflection angle between the charging contact on the robot and the charging base includes:

[0078] Step S310, determining the reference point position of the laser sensor on the robot; wherein the reference laser beam emitted by the laser sensor toward the reference point position is consistent with the direction of the charging contact;

[0079] Step S320, controlling the robot to perform laser scanning on the charging base, and determining two laser beams that scan the left and right boundaries of the connected area;

[0080] Step S330: taking an average of the angles between the two laser beams and the reference laser beam as the deflection angle between the charging contact on the robot and the charging base.

[0081] and Figure 1 Corresponding to the method, refer to Figure 2 An embodiment of the present application further provides an electronic device 10, wherein the electronic device 10 includes a memory 11, a processor 12, and a computer program stored in the memory 11 and executable on the processor 12.

[0082] The processor 12 and the memory 11 may be connected via a bus or other means.

[0083] The non-transient software program and instructions required to implement the robot autonomous charging control method of the above embodiment are stored in the memory 11, and when executed by the processor 12, the robot autonomous charging control method of the above embodiment is executed.

[0084] and Figure 1Corresponding to the method, an embodiment of the present application further provides a computer-readable storage medium, on which a robot autonomous charging control program is stored. When the robot autonomous charging control program is executed by a processor, the steps of the robot autonomous charging control method as described in any of the above embodiments are implemented.

[0085] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0086] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the robot autonomous charging control device, and uses various interfaces and lines to connect various parts of the entire robot autonomous charging control device that can operate the device.

[0087] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the robot autonomous charging control device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart-Media-Card, SMC), a secure digital (Secure-Digital, SD) card, a flash card (Flash-Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0088] Although the description of the present application has been quite detailed and specifically describes several described embodiments, it is not intended to be limited to any of these details or embodiments or any particular embodiment, but should be regarded as providing a broad possible interpretation of these claims by reference to the attached claims, taking into account the prior art, so as to effectively cover the intended scope of the present application. In addition, the above description of the present application is based on the embodiments foreseeable by the inventor, and its purpose is to provide a useful description, and those non-substantial changes to the present application that have not yet been foreseen may still represent equivalent changes to the present application.

Claims

1. A robot autonomous charging control method, characterized in that: The method comprises the following steps: In response to the charging request information triggered by the robot, the robot is controlled to travel to a waiting area; wherein the waiting area is an area separated from the charging base by a set distance, the robot is provided with a charging contact, the charging base is provided with a groove, and a conductive sheet that conducts electricity to the charging contact is provided in the groove; Acquire laser scanning data collected by the robot within a 360-degree range in the area to be stopped, and determine the current position of the robot in the area to be stopped based on the laser scanning data and predetermined template data; wherein the template data includes distances and angles between a plurality of positions including a positioning position in the area to be stopped and the groove; and the laser scanning data includes distance values ​​measured by each light beam; After controlling the robot to travel from the current position to the positioning position, determining a deflection angle between a charging contact on the robot and the charging base; Determining a rotation angle of the robot according to the deflection angle, controlling the robot to rotate at the rotation angle, and driving the charging contact to dock with the conductive sheet; Before responding to the charging request information triggered by the robot, the method further includes: A waiting area is determined in front of the charging base, and a positioning position is set in the waiting area; wherein the robot can scan the charging base in the waiting area, and the robot can achieve docking between the charging contact and the conductive sheet at the positioning position; Taking the positioning position as the origin, dividing the waiting area into a plurality of identical grids; Control the robot to perform laser scanning on the charging base at any grid, quantify the collected laser scanning data, and obtain a depth image matrix of the charging base; the depth image matrix includes a scanning distance between the laser sensor on the robot and the laser scanning point corresponding to each scanning angle; Converting the depth image matrix into an amplitude image matrix, and then performing gradient calculation on the amplitude image matrix to obtain a gradient amplitude image matrix; Traversing the gradient amplitude image matrix to determine a mutation point in the gradient amplitude image matrix; wherein the mutation point is a pixel point in the gradient amplitude image matrix where the fluctuation amount of the gradient amplitude is greater than a gradient amplitude threshold; Determine a connected domain in the depth image matrix based on the mutation points in the gradient amplitude image matrix, and determine a region where the groove in the charging base is located based on the connected domain; Determine the distance and angle between the laser sensor and the boundary of the connected domain, and obtain the distance and angle between the robot and the groove in the grid; The determining of the connected domain in the depth image matrix based on the mutation points in the gradient magnitude image matrix comprises: Extracting the mutation points with the largest number of clusters from the gradient amplitude image matrix; Determine the first mutation interval based on the mutation point with the largest number of clusters; Perform sliding window filtering on the left and right sides of the first mutation interval, and obtain the mutation points obtained by filtering to obtain the second mutation interval; Determine the laser scanning points corresponding to the mutation points in the first mutation interval and the second mutation interval in the depth image matrix as feature points in the gradient amplitude image matrix; The left and right boundaries of the feature points in the gradient magnitude image matrix are determined, and the connected domain is determined based on the feature points of the left and right boundaries.

2. A robot autonomous charging control method according to claim 1, characterized in that: The determining the current position of the robot in the to-be-parked area based on the laser scanning data and the predetermined template data comprises: Acquiring template data of the charging base; The matching degree between the laser scanning data and the template data is calculated, the position corresponding to the template data with the highest matching degree with the laser scanning data is determined, and the current position of the robot in the waiting area is determined based on the position corresponding to the template data.

3. A robot autonomous charging control method according to claim 1, characterized in that: The determining of the deflection angle between the charging contact on the robot and the charging base comprises: Determine the reference point position of the laser sensor on the robot; wherein the reference laser beam emitted by the laser sensor toward the reference point position is consistent with the direction of the charging contact; Controlling the robot to perform laser scanning on the charging base to determine two laser beams that scan the left and right boundaries of the connected domain; The angles between the two laser beams and the reference laser beam are averaged and used as the deflection angle between the charging contact on the robot and the charging base.

4. A robot autonomous charging control device, characterized in that: The device comprises: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the robot autonomous charging control method as described in any one of claims 1 to 3.

5. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a robot autonomous charging control program, and when the robot autonomous charging control program is executed by the processor, the steps of the robot autonomous charging control method according to any one of claims 1 to 3 are implemented.

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