Method for determining a recharging position of a robot, device and implementation method thereof

Abstract

The embodiment of the present application discloses a method for determining the recharging position of a robot, a device and an implementation method thereof, and the method comprises the following steps: importing a preset map, wherein the preset map comprises position data of a charging pile; detecting whether the driving motor of the robot is stopped; if yes, detecting whether the robot is connected to the charging pile; if yes, performing and completing the position calibration of the robot; detecting whether the robot is disconnected from the charging pile; if yes, detecting whether the driving motor is started; if yes, acquiring the position data of the robot in the preset map at this time, and setting the position data as the recharging position. Through the above method, the embodiment of the present application combines the map position calibration and the recharging position setting, so that the complexity of the operation process can be reduced. In addition, the consecutive operation steps can improve the accuracy of the map position calibration and the recharging position setting, and avoid the setting loss in the operation process.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of robotics, and in particular to a method, apparatus and implementation method for determining the recharge position of a robot. Background Technology

[0002] Service robots and mobile robots such as patrol and logistics robots, when in use, may encounter problems due to design flaws or other factors. Figure 1 Excessive inconsistency or human intervention can cause the robot to fail to accurately locate its position and orientation on the map, resulting in sluggish or erroneous movement. Once an error occurs, the robot's position and orientation must be corrected promptly to ensure smooth operation.

[0003] The recharge area or buffer zone in front of the robot's charging station is crucial for the robot to accurately complete automatic recharge. Inaccurate recharge point settings cannot guarantee the proper functioning of the robot's automatic recharge function. That is, when the robot needs to return to the charging station, it must first stop in this buffer zone and then slowly move to the charging station for alignment. The charging station usually has positioning sensors, such as the cheapest infrared sensors, to help the robot gradually align itself with the charging station from the buffer zone. In existing technologies, map position calibration and recharge location determination are often two separate or non-automatically connected processes, making the operation cumbersome. Furthermore, setting the recharge point is an independent process, so there is a possibility of settings being lost. Summary of the Invention

[0004] To solve the above-mentioned technical problems, one technical solution adopted in this invention is: providing a method for determining the recharging location of a robot, comprising: importing a preset map, the preset map including the location data of charging piles; detecting whether the robot's drive motor is turned off; if so, detecting whether the robot is connected to the charging pile; if so, performing and completing the robot's position calibration; detecting whether the robot is disconnected from the charging pile; if so, detecting whether the drive motor is turned on; if so, obtaining the robot's current location data in the preset map and setting the location data as the recharging location.

[0005] In some embodiments, the position calibration includes: using the position data of the charging pile as the position data of the robot on the preset map at this time.

[0006] To solve the above-mentioned technical problems, another technical solution adopted in this embodiment of the invention is: providing a device for determining the recharging position of a robot, comprising: a map import module for importing a preset map, the preset map including the location data of charging piles; a first detection module for detecting whether the robot's drive motor is turned off; a second detection module for detecting whether the robot is connected to the charging pile after detecting that the drive motor is turned off; a position calibration module for performing and completing the position calibration of the robot after detecting that the robot is connected to the charging pile; a third detection module for detecting whether the robot is disconnected from the charging pile; a fourth detection module for detecting whether the drive motor is turned on after detecting that the robot is disconnected from the charging pile; and a calibration module for obtaining the robot's position data in the preset map at this time after detecting that the drive motor is turned on, and setting the position data as the recharging position.

[0007] To solve the above-mentioned technical problems, another technical solution adopted in the embodiments of the present invention is: providing a method for determining the recharging position of a robot, comprising: starting the robot to import a preset map, the preset map including the location data of the charging pile; turning off the robot's drive motor; moving the robot to the location of the charging pile and connecting the robot to the charging pile; after the robot completes position calibration, disconnecting the robot from the charging pile and moving the robot to a preset area; and starting the drive motor so that the robot sets its current position as the recharging position.

[0008] In some embodiments, shutting down the robot's drive motor includes: pressing and holding the robot's emergency stop button to shut down the drive motor; or sending a shutdown command to the robot via the control terminal to cause the robot to shut down the drive motor.

[0009] In some embodiments, starting the drive motor includes: releasing the emergency stop button of the robot to start the drive motor; or, sending a start command to the robot through the control terminal to cause the robot to start the drive motor.

[0010] In some embodiments, the preset area is a region between 50cm and 120cm along the signal transmission direction of the sensor of the charging pile.

[0011] To solve the above-mentioned technical problems, another technical solution adopted in the embodiments of the present invention is to provide an electronic device, including: at least one processor; at least one network interface, the network interface being communicatively connected to a corresponding processor; and a memory communicatively connected to the at least one processor; wherein the network interface is used to establish a communication connection between the processor and other external devices; the memory stores instructions that can be executed by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform a method for determining the recharge position of a robot as described above.

[0012] To solve the above-mentioned technical problems, another technical solution adopted in the embodiments of the present invention is to provide a non-volatile computer storage medium storing computer-executable instructions, which are executed by one or more processors to enable the one or more processors to perform a method for determining the recharge position of a robot as described above.

[0013] The beneficial effects of the embodiments of the present invention are as follows: Unlike existing technologies, the embodiments of the present invention combine map location calibration and recharge location setting, thereby reducing the complexity of the operation process. Furthermore, the continuous operation steps improve the accuracy of map location calibration and recharge location setting, preventing the loss of settings during operation. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the contact surface between the robot and the charging pile provided in an embodiment of the present invention;

[0015] Figure 2 This is a side cross-sectional view of the robot and charging pile provided in the embodiments of the present invention;

[0016] Figure 3 This is a flowchart illustrating a method for determining the recharge position of a robot according to an embodiment of the present invention.

[0017] Figure 4 This is a schematic diagram of the structure of a device for determining the recharging position of a robot according to an embodiment of the present invention;

[0018] Figure 5 This is a flowchart illustrating a method for determining the recharging position of a robot according to an embodiment of the present invention.

[0019] Figure 6 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Detailed Implementation

[0020] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "inner," "outer," "bottom," etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0022] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0023] The existing method for determining the robot's recharge area is as follows: After shutting down the robot's motors (e.g., by pressing the emergency stop button / using the control panel / voice control), the operator pushes the robot to the charging station for calibration (for safety, when manually pushing the robot, the motors / wheel motors should be shut down first), then pushes the robot about 50-120cm away from the charging station and stops it. Then, the operator manually sets the robot's current position as the buffer zone (also called setting the recharge point) on the control panel or the robot's mobile app. This process of setting the current position as the buffer zone on the control panel or mobile app is quite cumbersome.

[0024] Figure 1 A schematic diagram of the contact surface between the robot 30 and the charging station provided in this embodiment is shown, with this contact surface serving as the back of the robot 30. A receiver 330 for receiving alignment signals from the charging station is provided on the robot 30; an emergency stop button 320 for controlling the start or stop of the robot 30's drive motor is also provided on the back of the robot 30, as well as a first charging contact terminal 310 for charging the robot 30.

[0025] When the receiver of robot 30 is aligned with the transmitter of charging pile, robot 30 receives the alignment signal emitted by the transmitter of charging pile through receiver 330, so that the back of robot 30 is parallel to the front of charging pile and the first charging contact terminal 310 of robot 30 is aligned with the second charging contact terminal of charging pile.

[0026] In this embodiment, there are four receivers 330, which are arranged at the same horizontal height on the back of the robot; the receivers 330 are infrared receivers.

[0027] In other embodiments, any number of receivers 330 may be provided, and the receivers 330 may be positioned anywhere on the back of the robot 30, provided that they are aligned with the corresponding transmitters on the front of the charging station.

[0028] Figure 2 This is a cross-sectional view of the robot and the charging station from a side perspective. The front of the charging station 40 is provided with a transmitter 420 for transmitting alignment signals to the corresponding receiver 330 on the robot 30, and a second charging contact terminal 410 for charging the robot 30. Specifically, the robot 30 can be charged by contacting the first charging contact terminal 310 with the second charging contact terminal 410.

[0029] It should be noted that the number of transmitters 420 is equal to the number of receivers 330. In this embodiment, similar to the receivers 330, the transmitters 420 are arranged horizontally on the front of the charging pile 40, and the distance between any two transmitters 420 is the same as the distance between any two receivers 330.

[0030] It is easy to see from the cross-sectional view that the receiver 330 arranged horizontally on the back of the robot 30 and the transmitter 420 arranged horizontally on the front of the charging pile 40 are at the same height, and the first charging contact terminal 310 and the second charging contact terminal 410 are at the same height.

[0031] Corresponding to receiver 330, transmitter 420 in this embodiment is an infrared transmitter. In other embodiments, other types of transmitters may be used, and correspondingly, different types of receivers may also be used, as long as it is ensured that the transmitter's transmitted signal can be received by the receiver. No particular limitations are imposed on the selection of transmitter and receiver types.

[0032] Based on the aforementioned robot and charging station, this invention provides a method for determining the robot's recharging location, the flowchart of which is shown below. Figure 3 As shown, in this solution, it is no longer necessary to set the charging location separately through an operation control terminal or mobile app. The specific steps include the following:

[0033] Step S100: Import a preset map, which includes the location data of charging stations.

[0034] After the robot is powered on, it will import a pre-created preset map, which will be used as the standard for subsequent position calibration and recharge location settings. The preset map includes the location data of the charging station.

[0035] In this embodiment, the location data included in the preset map is two-dimensional spatial location data. The location data of the charging pile and the return charging location can be regarded as coordinate positions in a plane coordinate system. During the creation of the preset map, the location data of the charging pile can be used as the origin of the coordinate system in this plane coordinate system. In other embodiments, the location data included in the preset map can also be three-dimensional spatial location data.

[0036] Step S200: Check whether the robot's drive motor is turned off.

[0037] For accuracy reasons, some robot repositioning requires manual pushing to a designated location. When pushing a robot manually, to ensure the safety of both the operator and the robot, the robot's motors must be shut off beforehand. This is to prevent the motors from remaining operational during the pushing process, which could damage the robot or cause further harm.

[0038] Specifically, the robot detects whether its drive motor is in a shut-off state. If so, step S300 is executed; otherwise, the operator is prompted to shut down the motor via the control terminal or through voice prompts. The motor can be shut down by pressing the robot's emergency stop button or by sending a control signal to the robot via communication control to shut down the drive motor.

[0039] Step S300: Detect whether the robot is connected to the charging station.

[0040] Specifically, after detecting that the drive motor has stopped, the system further checks whether the robot is connected to the charging station. If yes, step S400 is executed; if no, the operator is prompted via the control terminal or voice prompts to push the robot to the charging station and connect it to the charging station. The specific detection method can be that the robot determines whether it is in a charging state. If yes, it is determined that the robot is connected to the charging station; if no, it is determined that the robot is not connected to the charging station.

[0041] Step S400: Perform and complete the robot's position calibration.

[0042] In some embodiments of this application, after detecting that the robot is connected to the charging station, the robot's position calibration specifically involves adjusting the robot's current position on the map to the position of the charging station, that is, using the charging station's position data as the robot's current position data on the preset map.

[0043] If the location data of the charging pile is used as the origin of the preset map coordinate system, then the position calibration of the robot in this embodiment is simply to adjust the robot's current position on the map to the coordinate origin.

[0044] Step S500: Detect whether the robot is disconnected from the charging station.

[0045] Further, after completing the robot's position calibration, it checks whether the robot has been disconnected from the charging station. If yes, proceed to step S600; if no, the operator is prompted on the control terminal to disconnect the robot from the charging station and move the robot from its current position to a preset area. It is necessary to ensure that the robot's four receivers are aligned with the four transmitters of the charging station so that the receivers can receive the alignment signals sent by the corresponding transmitters. Specifically, the robot can determine whether it is in a charging state. If no, it is determined that the robot has been disconnected from the charging station; if yes, it is determined that the robot has not disconnected from the charging station.

[0046] In some embodiments of this application, the preset area is a range of 50-120cm directly in front of the charging pile, that is, the area between 50cm and 120cm in the direction of signal transmission from the transmitter of the charging pile. The size of the preset area depends on the type of transmitter and receiver; if the selected receiver can receive signals transmitted by a transmitter at a greater distance, the preset area will be larger.

[0047] Step S600: Detect whether the drive motor is turned on.

[0048] Further, the robot checks whether the drive motor is turned on. If yes, step S700 is executed; if no, the operator is prompted to turn on the motor via the control terminal or through voice prompts. Specifically, the motor can be turned off by releasing the robot's emergency stop button, or by the control terminal sending a control signal to the robot to turn on the drive motor via communication control.

[0049] Step S700: Obtain the robot's current position data on the preset map and set this position data as the recharge position.

[0050] Whether the drive motor is on or off is the criterion for determining whether the robot is within the preset area. If the drive motor is on, it means the robot is within the preset area; if the drive motor is off, it means the robot is still within the preset area. Therefore, assuming the drive motor is on, the robot's position data on the preset map is further obtained, and this position data is set as the recharging position.

[0051] Based on the above-described method for determining the recharge position of a robot, this invention also provides a device for determining the recharge position of a robot, the structural diagram of which is shown below. Figure 4 As shown, the device for determining the robot's recharge position includes a map import module 100, a first detection module 200, a second detection module 300, a position calibration module 400, a third detection module 500, a fourth detection module 600, and a calibration module 700.

[0052] The system includes the following modules: a map import module 100 for importing a preset map, which includes the location data of charging stations; a first detection module 200 for detecting whether the robot's drive motor is off; a second detection module 300 for detecting whether the robot is connected to the charging station after detecting that the drive motor is off; a position calibration module 400 for performing and completing the robot's position calibration after detecting that the robot is connected to the charging station; a third detection module 500 for detecting whether the robot is disconnected from the charging station; a fourth detection module 600 for detecting whether the drive motor is on after detecting that the robot is disconnected from the charging station; and a calibration module 700 for obtaining the robot's position data in the preset map after detecting that the drive motor is on and setting this position data as the return-to-charging position.

[0053] The present invention also provides an electronic device based on the above-described method for determining the robot's recharging position, the schematic diagram of which is shown below. Figure 6 As shown, the electronic device 200 includes:

[0054] One or more processors 201, a network interface 202, and a memory 203, Figure 6 The example consists of a processor 201, a network interface 202, and a memory 203.

[0055] The network interface 202 is communicatively connected to the corresponding processor 201, and the processor 201 and the memory 202 can be connected via a bus or other means. Figure 6 Taking the example of a connection between China and Israel via a bus.

[0056] Network interface 202 is used to establish communication connections between processor 201 and other external devices, including the following types: RJ-45 interface, SC fiber optic interface, AUI interface, FDDI interface and Console interface.

[0057] The memory 203, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The processor 201 executes various functional applications and data processing of the electronic device by running the non-volatile software programs, instructions, and units stored in the memory 203, that is, implementing the method of determining the robot's recharging position as described in the above method embodiment.

[0058] The memory 203 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the electronic device. Furthermore, the memory 203 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 203 may optionally include memory remotely located relative to the processor 201, and these remote memories can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0059] The one or more units are stored in the memory 203. When executed by one or more processors 201, they perform the method for determining the robot's recharging position in any of the above method embodiments, for example, performing the above-described method. Figure 3 Method steps S100 to S700 or implementation Figure 4 The functions of each module in the device shown.

[0060] The aforementioned electronic device can execute the signal demodulation method provided in the embodiments of the present invention, and has the corresponding program modules and beneficial effects for executing the method. Technical details not described in detail in the electronic device embodiments can be found in the method for determining the robot's recharging position provided in the embodiments of the present invention.

[0061] This invention also provides a non-volatile computer-readable storage medium, which may be included in the device described in the above embodiments; or it may exist independently and not assembled into the device. The non-volatile computer-readable storage medium carries one or more programs, which, when executed, implement the method for determining the recharging position of a robot according to embodiments of this disclosure.

[0062] Unlike existing technologies, the embodiments of this invention combine map location calibration and recharge location setting, thereby reducing the complexity of the operation process. Furthermore, the continuous operation steps improve the accuracy of map location calibration and recharge location setting, preventing the loss of settings during operation.

[0063] Based on the method for determining the robot's recharging position provided in the above embodiments, this invention also provides a method for determining the robot's recharging position from the operator's perspective, as illustrated in the flowchart below. Figure 5 As shown, the method specifically includes the following steps:

[0064] Step S100: Start the robot to import a preset map, which includes the location data of the charging stations.

[0065] Specifically, once the robot is started, it will automatically import a pre-created preset map after powering on. This preset map will serve as the standard for subsequent location calibration and recharge location settings. The preset map includes the location data of the charging station.

[0066] Step S200: Shut down the robot's drive motor.

[0067] For accuracy reasons, some robot repositioning requires manual pushing to a designated location. When pushing a robot manually, to ensure the safety of both the operator and the robot, the robot's motors must be shut off beforehand. This is to prevent the motors from remaining operational during the pushing process, which could damage the robot or cause further harm.

[0068] Specifically, before moving the robot, the robot's drive motors need to be turned off. This can be done by pressing and holding the robot's emergency stop button, or by sending a shutdown command to the robot via the control terminal.

[0069] Step S300: Move the robot to the location of the charging station and connect the robot to the charging station.

[0070] Step S400: After the robot completes position calibration, disconnect the robot from the charging station and move the robot to the preset area.

[0071] Specifically, after the robot completes position calibration, disconnect the robot from the charging station and push the robot from its current position to a preset area. Ensure that the robot's four receivers are aligned with the charging station's four transmitters so that the receivers can receive the alignment signals sent by the corresponding transmitters.

[0072] In some embodiments of this application, the preset area is a range of 50-120cm directly in front of the charging pile, that is, the area between 50cm and 120cm in the direction of signal transmission from the transmitter of the charging pile. The size of the preset area depends on the type of transmitter and receiver; if the selected receiver can receive signals transmitted by a transmitter at a greater distance, the preset area will be larger.

[0073] Step S500: Start the drive motor so that the robot sets its current position to the recharge position.

[0074] Whether the drive motor is on or off is the criterion for determining whether the robot is within the preset area. If the drive motor is on, it means the robot is within the preset area; if the drive motor is off, it means the robot is still within the preset area. Once it is confirmed that the drive motor is on, the robot can then proceed to set its current position as the recharging position.

[0075] Therefore, after moving the robot to the preset area, the drive motor is activated so that the robot sets its current position as the recharge position. Specific methods for activating the drive motor include: releasing the robot's emergency stop button to activate the drive motor; or sending a start command to the robot via the control terminal to activate the drive motor.

[0076] Unlike existing technologies, the embodiments of this invention combine map location calibration and recharge location setting, thereby reducing the complexity of the operation process. Furthermore, the continuous operation steps improve the accuracy of map location calibration and recharge location setting, preventing the loss of settings during operation.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above. For the sake of brevity, they are not provided in detail; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for determining the recharging position of a robot, characterized in that, include: Import a preset map, which includes the location data of charging stations; Detect whether the robot's drive motor is turned off; If so, then check whether the robot is connected to the charging station; If so, then perform and complete the robot's position calibration; The location calibration includes: using the location data of the charging pile as the current location data of the robot on the preset map; Detect whether the robot is disconnected from the charging station; If so, then it is detected whether the drive motor is turned on; wherein, the drive motor turning from off to on is used to indicate that the robot has been moved to a preset area, the preset area being the area between 50cm and 120cm along the signal transmission direction of the sensor of the charging pile; If so, then obtain the robot's current position data in the preset map and set that position data as the recharge location.

2. A device for determining the recharging position of a robot, characterized in that, include: The map import module is used to import a preset map, which includes the location data of charging piles; The first detection module is used to detect whether the robot's drive motor is turned off; The second detection module is used to detect whether the robot is connected to the charging pile after the drive motor is detected to have stopped. The position calibration module is used to perform and complete the position calibration of the robot when it is detected that the robot is connected to the charging pile. The location calibration includes: using the location data of the charging pile as the current location data of the robot on the preset map; The third detection module is used to detect whether the robot is disconnected from the charging pile; The fourth detection module is used to detect whether the drive motor is turned on after the robot is detected to be disconnected from the charging pile; the change of the drive motor from off to on is used to indicate that the robot has been moved to a preset area, which is an area between 50cm and 120cm along the signal transmission direction of the sensor of the charging pile. The calibration module is used to obtain the robot's position data in a preset map after detecting that the drive motor is turned on, and set the position data as the recharge position.

3. A method for determining the recharging position of a robot, characterized in that, include: The robot is activated to import a preset map, which includes the location data of charging stations. Turn off the robot's drive motor; Move the robot to the location of the charging station and connect the robot to the charging station; After the robot completes its position calibration, the robot is disconnected from the charging station and moved to a preset area. The position calibration includes: using the position data of the charging pile as the position data of the robot on the preset map at this time; the preset area is the area between 50cm and 120cm along the signal transmission direction of the sensor of the charging pile; The drive motor is activated so that the robot sets its current position to the recharge position. Activating the drive motor indicates that the robot has been moved to the preset area.

4. The method according to claim 3, characterized in that, The drive motor for shutting down the robot includes: Press and hold the emergency stop button on the robot to shut down the drive motor; Alternatively, a shutdown command can be sent to the robot via a control terminal to shut down the drive motor.

5. The method according to claim 3, characterized in that, Starting the drive motor includes: Release the emergency stop button on the robot to start the drive motor; Alternatively, a start command can be sent to the robot via a control terminal to start the drive motor.

6. An electronic device, characterized in that, include: At least one processor; At least one network interface, which is communicatively connected to a corresponding processor; as well as, A memory communicatively connected to the at least one processor; wherein, The network interface is used to establish communication connections between the processor and other external devices; The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform a method for determining the recharge position of a robot as described in claim 1.

7. A non-volatile computer storage medium, characterized in that, The computer storage medium stores computer-executable instructions that are executed by one or more processors, causing the one or more processors to perform a method for determining the recharge position of a robot as described in claim 1.

Images