Autonomous refueling method and system for humanoid robot and storage medium

Abstract

The invention relates to an autonomous refueling method and system for a humanoid robot and a storage medium. The humanoid robot comprises an eye mechanism, a walking mechanism, a first mechanical arm and a first mechanical hand installed at the tail end of the first mechanical arm, and the autonomous refueling system comprises an oil gun recognizing and positioning module used for recognizing an oil gun from the environment through the eye mechanism according to a refueling instruction and positioning the position of the oil gun; the first walking indication module is used for controlling the walking mechanism to move towards the position of the oil gun so that the humanoid robot can advance to the area where the oil gun is located; and the oil gun grabbing module is used for enabling the first manipulator on the first mechanical arm to grab an oil gun so as to carry out oiling operation. According to the technical scheme, the characteristic that the humanoid robot structurally has left and right arms and left and right hands like people is fully utilized, manual refueling of the vehicle is replaced, and unmanned intelligent refueling is achieved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of machine vision technology, and more specifically, to a method, system and storage medium for autonomous refueling of a humanoid robot. Background Art

[0002] Most existing gas stations mainly rely on manual refueling, and during the refueling process, dedicated staff are required to perform the refueling operation. This traditional refueling method relies on manual labor. When the staff is absent or insufficient, the car owner needs to wait in line for refueling, which brings many inconveniences. Summary of the invention

[0003] The embodiments of the present application provide a humanoid robot autonomous refueling method, system and storage medium, which can enable the humanoid robot to refuel the vehicle instead of humans, thereby realizing unmanned intelligent refueling.

[0004] A humanoid robot autonomous refueling system, wherein the system utilizes a humanoid robot to achieve autonomous refueling;

[0005] The humanoid robot comprises a head and a neck that are movably connected, an eye mechanism disposed on the head, a walking mechanism, a mechanical arm, and a mechanical hand installed at the end of the mechanical arm;

[0006] When refueling, the head moves relative to the neck so that the eye mechanism can identify and locate the oil gun from the environment, and the walking mechanism drives the humanoid robot to move to the target position so that the humanoid robot can use the manipulator on the robotic arm to grab the oil gun for refueling.

[0007] In a first aspect, the present application provides an autonomous refueling system for a humanoid robot, wherein the humanoid robot comprises an eye mechanism, a walking mechanism, a first mechanical arm, and a first mechanical hand installed at the end of the first mechanical arm.

[0008] The autonomous refueling system comprises:

[0009] A fuel gun identification and positioning module, used to identify the fuel gun from the environment and locate the fuel gun position using the eye mechanism according to the refueling instruction;

[0010] A first walking instruction module is used to control the walking mechanism to move toward the oil gun location, so that the humanoid robot moves to the oil gun grabbing position;

[0011] The oil gun grabbing module is used to enable the first manipulator on the first manipulator arm to grab the oil gun to perform a refueling operation.

[0012] In some embodiments, the humanoid robot further comprises a head and a neck, the head can pitch forward and backward and / or swing left and right and / or rotate horizontally relative to the neck, and the eye mechanism is arranged on the head; wherein the oil gun identification and positioning module comprises:

[0013] An image acquisition unit, used to enable the eye mechanism to acquire an image of the current orientation environment according to the refueling instruction;

[0014] A judging unit, used for judging whether there is a fuel gun in the image;

[0015] The oil gun positioning unit is used to obtain the three-dimensional coordinates of the oil gun through three-dimensional reconstruction and stereoscopic detection if the oil gun exists;

[0016] The azimuth moving unit is used to control the head to move to the next orientation if there is no oil gun, so that the image acquisition unit can reacquire the image; the next orientation is the orientation of the head after pitching forward and backward and / or swinging left and right and / or rotating horizontally from the current orientation.

[0017] In some embodiments, the humanoid robot further comprises a second mechanical arm, and a second mechanical hand mounted at the end of the second mechanical arm, and the autonomous refueling system further comprises:

[0018] A fuel tank cover recognition and positioning module, used to use the eye mechanism to recognize the fuel tank cover from the environment and locate the position of the fuel tank cover;

[0019] A second walking instruction module is used to control the walking mechanism to move toward the position of the fuel tank outer cover, so that the humanoid robot moves to the refueling location;

[0020] A fuel tank cover opening module, used to enable the second manipulator on the second manipulator arm to open the fuel tank cover;

[0021] A fuel tank cap identification and positioning module, used to use the eye mechanism to identify the fuel tank cap from the environment and locate the position of the fuel tank cap;

[0022] A fuel tank cap opening module, used for controlling the second manipulator to unscrew the fuel tank cap according to the position of the fuel tank cap;

[0023] The refueling operation module is used to enable the first manipulator to place the oil gun into the oil tank opening to refuel.

[0024] In some embodiments, the autonomous refueling system further includes a reset module after refueling is completed, and the reset module includes:

[0025] The oil gun removal unit is used to control the first manipulator to remove the oil gun from the oil tank port after refueling is completed;

[0026] A fuel tank cap closing unit, used for controlling the second manipulator to tighten the fuel tank cap;

[0027] A fuel tank cover closing unit, used for controlling the second manipulator to close the fuel tank cover;

[0028] A walking unit, used for controlling the walking mechanism to move toward the location of the oil gun, so that the humanoid robot moves to the oil gun grabbing position; and

[0029] The oil gun hanging unit is used to enable the first manipulator to hang the oil gun on the fuel dispenser.

[0030] In some of the embodiments, the humanoid robot further includes a voice interaction module for performing voice interaction with the vehicle owner to obtain the refueling instruction; and / or

[0031] The humanoid robot also includes a touch screen for the car owner to input the refueling instruction, and is also used to display the payment QR code and the real-time display of the refueling status.

[0032] In a second aspect, the present application provides an autonomous refueling method for a humanoid robot, wherein the humanoid robot comprises an eye mechanism, a walking mechanism, a first mechanical arm, and a first mechanical hand installed at the end of the first mechanical arm, and the autonomous refueling method comprises:

[0033] According to the refueling instruction, the eye mechanism is used to identify the oil gun from the environment and locate the position of the oil gun;

[0034] Controlling the walking mechanism to move toward the location of the oil gun, so that the humanoid robot moves to the oil gun grabbing position;

[0035] The first manipulator on the first manipulator arm grabs the oil gun to perform a refueling operation.

[0036] In some embodiments, the humanoid robot further includes a head and a neck, the head can pitch forward and backward and / or swing left and right and / or rotate horizontally relative to the neck, and the eye mechanism is arranged on the head; wherein, according to the refueling instruction, the eye mechanism is used to identify the oil gun from the environment and locate the position of the oil gun, including:

[0037] enabling the eye mechanism to acquire an image of the current orientation environment according to the refueling instruction;

[0038] Determining whether there is a grease gun in the image;

[0039] If there is a fuel gun, the three-dimensional coordinates of the fuel gun are obtained through stereo matching and three-dimensional reconstruction;

[0040] If there is no oil gun, the head is controlled to move to a next position to reacquire the image; the next position is the position of the head after pitching forward and backward and / or swinging left and right and / or rotating horizontally from the current position.

[0041] In some embodiments, the humanoid robot further includes a second mechanical arm and a second mechanical hand installed at the end of the second mechanical arm, and the autonomous refueling method further includes:

[0042] Using the eye mechanism to identify the fuel tank cover from the environment and locate the position of the fuel tank cover;

[0043] Controlling the walking mechanism to move toward the position of the fuel tank outer cover, so that the humanoid robot moves to the refueling location;

[0044] enabling the second manipulator on the second manipulator arm to open the outer cover of the fuel tank;

[0045] Using the eye mechanism to identify the fuel tank cap from the environment and locate the position of the fuel tank cap;

[0046] Control the second manipulator to unscrew the fuel tank cap according to the position of the fuel tank cap;

[0047] The first manipulator places the oil gun into the oil tank opening to refuel.

[0048] In some embodiments, the autonomous refueling method further includes a reset method after refueling is completed, and the reset method includes:

[0049] After refueling is completed, controlling the first manipulator to move the oil gun out of the oil tank port;

[0050] Controlling the second manipulator to tighten the fuel tank cap;

[0051] Controlling the second manipulator to close the fuel tank outer cover;

[0052] Controlling the walking mechanism to move toward the location of the oil gun, so that the humanoid robot moves to the oil gun grabbing position; and

[0053] The first manipulator is enabled to hang the oil gun on the fuel dispenser.

[0054] In some of the embodiments, the humanoid robot further includes a voice interaction module for performing voice interaction with the vehicle owner to obtain the refueling instruction; and / or

[0055] The humanoid robot also includes a touch screen for the car owner to input the refueling instruction, and is also used to display the payment QR code and the real-time display of the refueling status.

[0056] In a third aspect, the present application provides an intelligent refueling system, comprising:

[0057] Memory; and

[0058] A processor coupled to the memory, the processor being configured to execute the humanoid robot autonomous refueling method as described in any one of the second aspects based on instructions stored in the memory.

[0059] In a fourth aspect, the present application provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the steps of the humanoid robot autonomous refueling method described in any one of the second aspects.

[0060] Therefore, according to the embodiment of the present application, the humanoid robot includes an eye mechanism, a walking mechanism, a first mechanical arm, and a first mechanical hand installed at the end of the first mechanical arm, and the autonomous refueling system includes: a fuel gun identification and positioning module, which is used to use the eye mechanism to identify the fuel gun from the environment and locate the fuel gun according to the refueling instruction; a first walking instruction module, which is used to control the walking mechanism to move to the location of the fuel gun so that the humanoid robot moves to the fuel gun grabbing position; a fuel gun grabbing module, which is used to make the first mechanical hand on the first mechanical arm grab the fuel gun to perform the refueling operation. In this way, the humanoid robot can replace manual refueling at the gas station, realizing unmanned intelligent refueling. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present invention, but are not intended to limit the present invention.

[0062] Figure 1 is a structural schematic diagram of a humanoid robot autonomous refueling system provided by at least one embodiment of the present application;

[0063] Figure 2 is a schematic structural diagram of a humanoid robot in a humanoid robot autonomous refueling system provided by at least one embodiment of the present application, wherein the humanoid robot is a wheel-footed type;

[0064] Figure 3 is a schematic structural diagram of a humanoid robot in a humanoid robot autonomous refueling system provided by at least one embodiment of the present application, wherein the humanoid robot is bipedal;

[0065] Figure 4 is a structural schematic diagram of a fuel gun positioning module in an autonomous fueling system for a humanoid robot provided in at least one embodiment of the present application;

[0066] Figure 5 is a structural schematic diagram of a humanoid robot autonomous refueling system provided by at least one embodiment of the present application;

[0067] Figure 6 is a structural schematic diagram of a humanoid robot autonomous refueling system provided by at least one embodiment of the present application;

[0068] Figure 7 is a flow chart of a method for autonomous refueling of a humanoid robot provided by at least one embodiment of the present application;

[0069] Figure 8 is a flow chart of a method for autonomous refueling of a humanoid robot provided by at least one embodiment of the present application;

[0070] Fig. 9 is a flow chart of a method for autonomous refueling of a humanoid robot provided by at least one embodiment of the present application;

[0071] Fig.10 is a flow chart of a method for autonomous refueling of a humanoid robot provided by at least one embodiment of the present application;

[0072] Fig.11 is a structural diagram of an intelligent refueling system provided by at least one embodiment of the present application;

[0073] Fig.12 It is a structural diagram of an intelligent refueling system provided in at least one embodiment of the present application. DETAILED DESCRIPTION

[0074] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0075] In the description of the present application, the terms "first", "second", "third", etc. are used to distinguish different objects and do not indicate any order or importance.

[0076] In the description of the present application, “plurality” means two or more than two, unless otherwise clearly and specifically defined.

[0077] In the description of this application, the term "and / or" is merely a term used to describe the association relationship between associated objects, indicating that three possible relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist at the same time, and B exists alone.

[0078] In the description of this application, words such as "connection" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0079] In the description of this application, "up", "down", "left", "right", etc. are only used to indicate relative position relationships. When the absolute position of the described object changes, the relative position relationship may also change accordingly.

[0080] It should be noted that, in the absence of conflict, the features in the following embodiments and implementations may be combined with each other.

[0081] As mentioned above, the traditional manual refueling method relies on staff. When the staff is absent or insufficient, the car owner needs to wait in line for refueling, which brings a lot of inconvenience.

[0082] Figure 1 It is a structural schematic diagram of a humanoid robot autonomous refueling system provided in at least one embodiment of the present application. Figure 2 and Figure 3 The humanoid robot 1 includes an eye mechanism 11, a walking mechanism 12, a first mechanical arm 13, and a first mechanical hand 14 installed at the end of the first mechanical arm 13. The humanoid robot autonomous refueling system includes a fuel gun identification and positioning module 100, a first walking indication module 200, and a fuel gun grasping module 300.

[0083] A humanoid robot is a type of robot, also known as a humanoid robot or a humanoid robot, which has anthropomorphic limbs, movement and operation skills, as well as perception, learning and cognitive abilities. According to the different ways of movement, it can be divided into bipedal robots, wheeled robots or tracked robots. Figure 2 Shown is a wheeled humanoid robot, Figure 3 Shown is a bipedal humanoid robot.

[0084] Continue to refer Figure 2 and Figure 3 The humanoid robot 1 includes a head, a neck, a trunk and legs which are connected in sequence.

[0085] The head is provided with an eye mechanism 11. The eye mechanism 11 functions similarly to human eyes and can perceive environmental information through vision. In the present application, the eye mechanism 11 can be a 3D camera, such as a binocular camera or a binocular line laser camera or an RGB-D camera.

[0086] In some embodiments of the present application, the head of the humanoid robot 1 has multiple degrees of freedom and can pitch forward and backward, swing left and right, and rotate horizontally relative to the neck, so that it can perceive environmental information from multiple angles, improve the field of view of the humanoid robot, and assist in target identification and positioning.

[0087] Mechanical arms are arranged on the left and right sides of the trunk, and mechanical hands are installed at the ends of the mechanical arms.

[0088] The legs are arranged below the torso. As mentioned above, the legs of the humanoid robot 1 can have different shapes. Based on the different shapes of the legs, the specific implementation methods of the walking mechanism 12 are also different. When the legs are bipedal, the walking mechanism 12 can be the leg structure of the humanoid robot 1. When the legs are wheeled, the walking mechanism 12 can be the bottom walking wheels of the legs. In addition, the leg mechanism can also be a mobile cart independent of the structure of the humanoid robot 1, such as an AVG cart.

[0089] refer to Figure 1 In the humanoid robot autonomous refueling system provided in at least one embodiment of the present application, the oil gun recognition and positioning module 100 is used to use the eye mechanism 11 to identify the oil gun from the environment and locate the oil gun according to the refueling instruction; the first walking instruction module 200 is used to control the walking mechanism 12 to move toward the location of the oil gun, so that the humanoid robot 1 moves to the oil gun grasping position; the oil gun grasping module 300 is used to enable the first manipulator 14 on the first manipulator arm 13 to grasp the oil gun to perform the refueling operation.

[0090] The above-mentioned humanoid robot autonomous refueling system provided in the embodiment of the present application fully utilizes the structural characteristics of the humanoid robot, which has left and right arms and left and right hands like a human, to replace manual refueling of the vehicle, thereby realizing unmanned intelligent refueling.

[0091] The system does not require any changes to the existing gas station hardware equipment, making it easy to promote.

[0092] It should be understood that the first mechanical arm 13 may be the left arm of the humanoid robot 1 or the right arm of the humanoid robot 1 .

[0093] In some embodiments, the humanoid robot 1 further includes a head and a neck, the head can pitch forward and backward and / or swing left and right and / or rotate horizontally relative to the neck, and the eye mechanism 11 is arranged on the head; wherein, reference Figure 4 The oil gun identification and positioning module 100 includes:

[0094] An image acquisition unit 110, configured to enable the eye mechanism 11 to acquire an image of the current orientation environment according to a refueling instruction;

[0095] A determination unit 120, used to determine whether there is a fuel gun in the image;

[0096] The oil gun positioning unit 130 is used to obtain the three-dimensional coordinates of the oil gun through three-dimensional reconstruction and stereoscopic detection if the oil gun exists;

[0097] The orientation moving unit 140 is used to control the head to move to the next orientation if there is no oil gun, so that the image acquisition unit 110 can reacquire the image; the next orientation is the orientation of the head after pitching forward and backward and / or swinging left and right and / or rotating horizontally from the current orientation.

[0098] In some embodiments, the humanoid robot 1 further includes a second mechanical arm 15 and a second mechanical hand 16 installed at the end of the second mechanical arm 15. Figure 5 , the autonomous refueling system also includes:

[0099] The fuel tank cover recognition and positioning module 400 is used to use the eye mechanism 11 to recognize the fuel tank cover from the environment and locate the position of the fuel tank cover;

[0100] The second walking instruction module 500 is used to control the walking mechanism 12 to move toward the position of the fuel tank cover, so that the humanoid robot 1 moves to the refueling location;

[0101] The fuel tank cover opening module 600 is used to enable the second manipulator 16 on the second manipulator 15 to open the fuel tank cover;

[0102] A fuel tank cap identification and positioning module 700 is used to identify the fuel tank cap from the environment and locate the position of the fuel tank cap using the eye mechanism 11;

[0103] The fuel tank cap opening module 800 is used to control the second manipulator 16 to unscrew the fuel tank cap according to the position of the fuel tank cap;

[0104] The refueling operation module 900 is used to enable the first manipulator 14 to place the oil gun into the oil tank opening to refuel.

[0105] In some embodiments, the autonomous refueling system further includes a reset module 1000 after refueling is completed. Figure 6 , the reset module 1000 includes:

[0106] The oil gun removal unit 1010 is used to control the first manipulator 14 to remove the oil gun from the oil tank port after refueling;

[0107] The fuel tank cap closing unit 1020 is used to control the second manipulator 16 to tighten the fuel tank cap;

[0108] The fuel tank cover closing unit 1030 is used to control the second manipulator 16 to close the fuel tank cover;

[0109] The walking unit 1040 is used to control the walking mechanism 12 to move toward the location of the oil gun, so that the humanoid robot 1 moves to the oil gun grabbing position; and

[0110] The oil gun hanging unit 1050 is used to enable the first manipulator 14 to hang the oil gun on the fuel dispenser.

[0111] In some embodiments, the humanoid robot 1 further includes a voice interaction module for performing voice interaction with the vehicle owner to obtain refueling instructions.

[0112] For example, when the car owner drives the vehicle into the refueling area, the car owner can say "refuel", "please refuel", "go refuel" and other voice instructions to the humanoid robot 1 to refuel, and the voice interaction module generates a refueling instruction based on the voice signal.

[0113] The voice interaction module may include hardware devices integrated on the humanoid robot 1, such as a microphone and a speaker, and may also include a voice interaction module embedded on the mainboard of the humanoid robot 1 for signal processing, data transmission, etc.

[0114] The refueling instruction may also include the fuel type and the refueling amount. The car owner may speak a voice including the fuel type and the refueling amount to the humanoid robot 1, and the voice interaction module generates a refueling instruction including the fuel type and the refueling amount according to the voice signal.

[0115] In some embodiments, the humanoid robot 1 also includes a touch screen for the car owner to input refueling instructions, and is also used to display a payment QR code and real-time display of refueling status.

[0116] For example, an icon indicating refueling may be provided on the interface of the touch screen, and the car owner may send a refueling instruction to the humanoid robot 1 by clicking the icon.

[0117] For example, icons indicating different fuel types and refueling amounts may be provided on the touch screen interface. The car owner may send a refueling instruction including the fuel type and refueling amount to the humanoid robot 1 by clicking on the corresponding icon.

[0118] When the humanoid robot 1 includes a touch screen, the touch screen can be arranged in the chest area of ​​the humanoid robot 1 to facilitate the operation of the vehicle owner.

[0119] In some embodiments, after receiving the refueling instruction, the humanoid robot 1 can send the refueling request corresponding to the refueling instruction to the refueling machine management system, so that the refueling machine management system authenticates the refueling request. In this solution, it should be understood that the humanoid robot 1 can send the refueling request to the refueling machine management system via a wireless connection (such as a wireless local area network, a mobile communication network, etc.).

[0120] Figure 7is a flow chart of a method for autonomous refueling of a humanoid robot provided by at least one embodiment of the present application. Figure 2 , Figure 3 and Figure 7 The humanoid robot 1 includes an eye mechanism 11, a walking mechanism 12, a first mechanical arm 13, and a first mechanical hand 14 installed at the end of the first mechanical arm 13. The autonomous refueling method includes:

[0121] Step S1: using the eye mechanism 11 to identify the oil gun from the environment and locate the oil gun according to the refueling instruction;

[0122] Step S2: Control the walking mechanism 12 to move toward the location of the oil gun, so that the humanoid robot 1 moves to the oil gun grabbing position;

[0123] Step S3: enabling the first robot hand 14 on the first robot arm 13 to grab the oil gun to perform a refueling operation.

[0124] The above steps may be executed by the processor of the humanoid robot itself, or by a server communicating with the humanoid robot sending control instructions to the humanoid robot.

[0125] In some embodiments, the humanoid robot 1 further includes a head and a neck, the head can pitch forward and backward and / or swing left and right and / or rotate horizontally relative to the neck, and the eye mechanism 11 is arranged on the head; wherein, reference Figure 8 Step S1 uses the eye mechanism 11 to identify the oil gun from the environment and locate the oil gun according to the refueling instruction, specifically including:

[0126] According to the refueling instruction, the eye mechanism 11 acquires an image of the current orientation environment;

[0127] Determine whether there is a grease gun in the image;

[0128] If there is a fuel gun, the three-dimensional coordinates of the fuel gun are obtained through stereo matching and three-dimensional reconstruction;

[0129] If there is no oil gun, the head is controlled to move to the next position to reacquire the image; the next position is the position of the head after pitching forward and backward and / or swinging left and right and / or rotating horizontally from the current position.

[0130] In some embodiments, the humanoid robot 1 further includes a second mechanical arm 15 and a second mechanical hand 16 installed at the end of the second mechanical arm 15. Fig. 9 , autonomous refueling methods also include:

[0131] Step S4: using the eye mechanism 11 to identify the fuel tank cover from the environment and locate the position of the fuel tank cover;

[0132] Step S5: Control the walking mechanism 12 to move toward the position of the fuel tank cover, so that the humanoid robot 1 moves to the refueling position;

[0133] Step S6: enabling the second robot 16 on the second robot arm 15 to open the outer cover of the fuel tank;

[0134] Step S7: using the eye mechanism 11 to identify the fuel tank cap from the environment and locate the position of the fuel tank cap;

[0135] Step S8: Control the second manipulator 16 to unscrew the fuel tank cap according to the position of the fuel tank cap;

[0136] Step S9: The first robot 14 places the oil gun into the oil tank opening to refuel.

[0137] In some embodiments, the autonomous refueling method further includes a reset method after refueling is completed, referring to Fig.10 , the reset methods include:

[0138] Step S1010: After refueling is completed, control the first manipulator 14 to move the oil gun out of the oil tank port;

[0139] Step S1020: controlling the second manipulator 16 to tighten the fuel tank cap;

[0140] Step S1030: controlling the second manipulator 16 to close the fuel tank cover;

[0141] Step S1040: Control the walking mechanism 12 to move toward the location of the oil gun, so that the humanoid robot 1 moves to the oil gun grabbing position; and

[0142] Step S1050: Make the first robot 14 hang the oil gun on the fuel dispenser.

[0143] In some embodiments, the humanoid robot 1 further includes a voice interaction module for performing voice interaction with the vehicle owner to obtain refueling instructions.

[0144] In some embodiments, the humanoid robot 1 also includes a touch screen for the car owner to input refueling instructions, and is also used to display a payment QR code and real-time display of refueling status.

[0145] In this specification, multiple embodiments are described in a progressive manner, and the focus of each embodiment is different, and the same or similar parts between the embodiments can be referred to each other. For the above-mentioned system embodiment, since its overall structure and the modules involved and their functions and effects correspond to the contents in the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0146] Fig.11 is a schematic diagram of the structure of an intelligent refueling system provided by at least one embodiment of the present application. Fig.11 An embodiment of the present application provides an intelligent refueling system, including a memory 1110 and a processor 1120 coupled to the memory 1110, wherein the processor 1120 is configured to execute the aforementioned humanoid robot autonomous refueling method based on instructions stored in the memory 1110.

[0147] The memory 1110 may be a disk, a flash memory, or any other non-volatile storage medium. The memory 1110 is used to store instructions in the corresponding embodiment of the intelligent refueling method. The processor 1120 is coupled to the memory 1110 and may be implemented as one or more integrated circuits, such as a microprocessor 1120 or a microcontroller. The processor 1120 is used to execute instructions stored in the memory 1110.

[0148] Fig.12 Schematic diagram of the structure of the intelligent refueling system of other embodiments of the present application. Fig.12 In some embodiments, the intelligent refueling system includes a memory 1110 and a processor 1120. The processor 1120 is coupled to the memory 1110 via a BUS 1130. The intelligent refueling system can also be connected to an external storage device 1200 via a storage interface 1140 to call external data, and can also be connected to a network or another computer system (not shown) via a network interface 1150. No further detailed description will be given here.

[0149] In one aspect of the present application, a computer-readable storage medium is provided, on which computer program instructions are stored, and when the instructions are executed by a processor, the steps of the humanoid robot autonomous refueling method described in any of the above are implemented. It should be understood by those skilled in the art that the embodiments of the present invention can be provided as methods, devices, or computer program products. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0150] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram and the combination of the processes and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0151] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0152] So far, the present application has been described in detail. In order to avoid obscuring the concept of the present application, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed herein.

[0153] The method and apparatus of the present application may be implemented in many ways. For example, the method and apparatus of the present application may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present application are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present application may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present application. Therefore, the present application also covers a recording medium storing a program for executing the method according to the present application.

[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application rather than to limit it. Although the present application has been described in detail with reference to the preferred embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present application can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present application, which should be included in the scope of the technical solution for protection in the present application.

Claims

1. A humanoid robot autonomous refueling system, characterized in that: The system utilizes a humanoid robot to achieve autonomous refueling; The humanoid robot comprises a head and a neck that are movably connected, an eye mechanism disposed on the head, a walking mechanism, a mechanical arm, and a mechanical hand installed at the end of the mechanical arm; When refueling, the head moves relative to the neck so that the eye mechanism can identify and locate the oil gun from the environment, and the walking mechanism drives the humanoid robot to move to the target position so that the humanoid robot can use the manipulator on the robotic arm to grab the oil gun for refueling.

2. A humanoid robot autonomous refueling system, characterized in that: The humanoid robot comprises an eye mechanism, a walking mechanism, a first mechanical arm, and a first mechanical hand installed at the end of the first mechanical arm. The autonomous refueling system comprises: A fuel gun identification and positioning module, used to identify the fuel gun from the environment and locate the fuel gun position using the eye mechanism according to the refueling instruction; A first walking instruction module is used to control the walking mechanism to move toward the oil gun location, so that the humanoid robot moves to the oil gun grabbing position; The oil gun grabbing module is used to enable the first manipulator on the first manipulator arm to grab the oil gun to perform a refueling operation.

3. The humanoid robot autonomous refueling system according to claim 2, characterized in that: The humanoid robot further comprises a head and a neck, wherein the head can pitch forward and backward and / or swing left and right and / or rotate horizontally relative to the neck, and the eye mechanism is arranged on the head; wherein the oil gun identification and positioning module comprises: An image acquisition unit, used to enable the eye mechanism to acquire an image of the current orientation environment according to the refueling instruction; A judging unit, used for judging whether there is a fuel gun in the image; The oil gun positioning unit is used to obtain the three-dimensional coordinates of the oil gun through three-dimensional reconstruction and stereoscopic detection if the oil gun exists; The azimuth moving unit is used to control the head to move to the next orientation if there is no oil gun, so that the image acquisition unit can reacquire the image; the next orientation is the orientation of the head after pitching forward and backward and / or swinging left and right and / or rotating horizontally from the current orientation.

4. The humanoid robot autonomous refueling system according to claim 2, characterized in that: The humanoid robot further includes a second mechanical arm and a second mechanical hand installed at the end of the second mechanical arm, and the autonomous refueling system further includes: A fuel tank cover recognition and positioning module, used to use the eye mechanism to recognize the fuel tank cover from the environment and locate the position of the fuel tank cover; A second walking instruction module is used to control the walking mechanism to move toward the position of the fuel tank outer cover, so that the humanoid robot moves to the refueling location; A fuel tank cover opening module, used to enable the second manipulator on the second manipulator arm to open the fuel tank cover; A fuel tank cap identification and positioning module, used to use the eye mechanism to identify the fuel tank cap from the environment and locate the position of the fuel tank cap; A fuel tank cap opening module, used for controlling the second manipulator to unscrew the fuel tank cap according to the position of the fuel tank cap; The refueling operation module is used to enable the first manipulator to place the oil gun into the oil tank opening to refuel.

5. The humanoid robot autonomous refueling system according to claim 4, characterized in that: The autonomous refueling system further includes a reset module after refueling is completed, and the reset module includes: The oil gun removal unit is used to control the first manipulator to remove the oil gun from the oil tank port after refueling is completed; A fuel tank cap closing unit, used for controlling the second manipulator to tighten the fuel tank cap; A fuel tank cover closing unit, used for controlling the second manipulator to close the fuel tank cover; A walking unit, used for controlling the walking mechanism to move toward the location of the oil gun, so that the humanoid robot moves to the oil gun grabbing position; and The oil gun hanging unit is used to enable the first manipulator to hang the oil gun on the fuel dispenser.

6. The humanoid robot autonomous refueling system according to claim 2, characterized in that: The humanoid robot further includes a voice interaction module for performing voice interaction with the vehicle owner to obtain the refueling instruction; and / or The humanoid robot also includes a touch screen for the car owner to input the refueling instruction, and is also used to display the payment QR code and the real-time display of the refueling status.

7. A humanoid robot autonomous refueling method, characterized in that: The humanoid robot comprises an eye mechanism, a walking mechanism, a first mechanical arm, and a first mechanical hand installed at the end of the first mechanical arm. The autonomous refueling method comprises: According to the refueling instruction, the eye mechanism is used to identify the oil gun from the environment and locate the position of the oil gun; Controlling the walking mechanism to move toward the location of the oil gun, so that the humanoid robot moves to the oil gun grabbing position; The first manipulator on the first manipulator arm grabs the oil gun to perform a refueling operation.

8. The humanoid robot autonomous refueling method according to claim 7, characterized in that: The humanoid robot further comprises a head and a neck, wherein the head can pitch forward and backward and / or swing left and right and / or rotate horizontally relative to the neck, and the eye mechanism is arranged on the head; wherein the step of using the eye mechanism to identify the oil gun from the environment and locate the position of the oil gun according to the refueling instruction comprises: enabling the eye mechanism to acquire an image of the current orientation environment according to the refueling instruction; Determining whether there is a grease gun in the image; If there is a fuel gun, the three-dimensional coordinates of the fuel gun are obtained through stereo matching and three-dimensional reconstruction; If there is no oil gun, the head is controlled to move to a next position to reacquire the image; the next position is the position of the head after pitching forward and backward and / or swinging left and right and / or rotating horizontally from the current position.

9. The humanoid robot autonomous refueling method according to claim 7, characterized in that: The humanoid robot further includes a second mechanical arm and a second mechanical hand installed at the end of the second mechanical arm, and the autonomous refueling method further includes: Using the eye mechanism to identify the fuel tank cover from the environment and locate the position of the fuel tank cover; Controlling the walking mechanism to move toward the position of the fuel tank outer cover, so that the humanoid robot moves to the refueling location; enabling the second manipulator on the second manipulator arm to open the outer cover of the fuel tank; Using the eye mechanism to identify the fuel tank cap from the environment and locate the position of the fuel tank cap; Control the second manipulator to unscrew the fuel tank cap according to the position of the fuel tank cap; The first manipulator places the oil gun into the oil tank opening to refuel.

10. The humanoid robot autonomous refueling method according to claim 9, characterized in that: The autonomous refueling method also includes a reset method after refueling is completed, and the reset method includes: After refueling is completed, controlling the first manipulator to move the oil gun out of the oil tank port; Controlling the second manipulator to tighten the fuel tank cap; Controlling the second manipulator to close the fuel tank outer cover; Controlling the walking mechanism to move toward the location of the oil gun, so that the humanoid robot moves to the oil gun grabbing position; and The first manipulator is enabled to hang the oil gun on the fuel dispenser.

11. The humanoid robot autonomous refueling method according to claim 7, characterized in that: The humanoid robot further includes a voice interaction module for performing voice interaction with the vehicle owner to obtain the refueling instruction; and / or The humanoid robot also includes a touch screen for the car owner to input the refueling instruction, and is also used to display the payment QR code and the real-time display of the refueling status.

12. An intelligent refueling system, comprising: Memory; as well as A processor coupled to the memory, wherein the processor is configured to execute the humanoid robot autonomous refueling method according to any one of claims 7 to 11 based on instructions stored in the memory.

13. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the instruction is executed by the processor, the steps of the humanoid robot autonomous refueling method described in any one of claims 7 to 11 are implemented.

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