Robot automatic charging method, electronic equipment and computer readable storage medium

Abstract

The invention discloses a robot automatic charging method, electronic equipment and a computer readable storage medium. The method comprises the steps that after a robot receives an infrared signal emitted by a charging base, radar point cloud data are acquired; performing charging base detection processing on the radar point cloud data to obtain a radar detection result; if the radar detection result represents that the charging base is detected, the target position of the charging base is determined based on the radar point cloud data, and the robot is controlled to move to the target position of the charging base for charging processing; if the radar detection result shows that the charging base is not detected, guiding the robot to move to the charging base for charging processing based on the infrared signal; therefore, when the laser radar fails, automatic charging of the robot can be completed by relying on the infrared signals again, and the stability of automatic charging of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a robot automatic charging method, an electronic device, and a computer-readable storage medium. Background Art

[0002] With the progress of technology and the development of society, the intelligent upgrade of mobile robots has brought great convenience to people's lives, but at the same time, there are also higher requirements and expectations for the working performance of mobile robots. Using a storage battery to provide power for the robot can not only improve the robot's movement freedom but also reduce its usage cost.

[0003] In order to improve the intelligence of the robot, the technology of automatically returning to the charging dock for charging is essential. The existing charging-back methods mainly use infrared signals as the positioning means, but the accuracy of infrared signals is limited, and infrared signal loss may occur due to various external factors, seriously affecting the efficiency and reliability of charging-back. Summary of the Invention

[0004] The main technical problem to be solved by this application is to provide a robot automatic charging method, an electronic device, and a computer-readable storage medium to improve the reliability of robot automatic charging.

[0005] To solve the above technical problem, one technical solution adopted by this application is: to provide a robot automatic charging method, which includes: in response to the robot receiving an infrared signal emitted by the charging dock, acquiring radar point cloud data; performing charging dock detection processing on the radar point cloud data to obtain a radar detection result; in response to the radar detection result indicating that the charging dock is detected, determining the target position of the charging dock based on the radar point cloud data, and controlling the robot to move to the target position of the charging dock for charging processing; in response to the radar detection result indicating that the charging dock is not detected, guiding the robot to move to the charging dock for charging processing based on the infrared signal.

[0006] To solve the above technical problem, another technical solution adopted by this application is: to provide an electronic device, including a memory and a processor, the memory stores program instructions, and the processor retrieves the program instructions from the memory to execute the above robot automatic charging method.

[0007] To solve the above technical problem, another technical solution adopted by this application is: to provide a computer-readable storage medium including stored program data, and the program data is used to implement the above robot automatic charging method when executed by a processor.

[0008] In the above solution, after the robot receives the infrared signal emitted by the charging dock, it obtains radar point cloud data; performs charging dock detection processing on the radar point cloud data to obtain a radar detection result; if the radar detection result indicates that the charging dock is detected, it determines the target position of the charging dock based on the radar point cloud data, and controls the robot to move to the target position of the charging dock for charging processing; thus, the general direction of the charging dock can be initially determined through the infrared signal, which can provide good observation conditions for the radar point cloud data, and then the accurate positioning of the charging dock is performed based on the radar point cloud data. If the radar detection result indicates that the charging dock is not detected, it guides the robot to move to the charging dock for charging processing based on the infrared signal; thus, the robot can rely on the infrared signal again to complete automatic charging when the lidar fails, improving the stability of automatic charging. Description of the Drawings

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings, where: Figure 1 is a schematic flowchart of an exemplary embodiment of the robot automatic charging method shown in the present application; Figure 2 is a schematic diagram of an exemplary embodiment of the robot shown in the present application; Figure 3 is a schematic diagram of the infrared signal area covered by the charging dock shown in the present application; Figure 4 is a schematic diagram of an exemplary embodiment of the radar point cloud data shown in the present application; Figure 5 is a schematic diagram of an exemplary embodiment of the orientation angles of the robot and the charging dock shown in the present application; Figure 6 is a schematic diagram of an exemplary embodiment of the robot moving process shown in the present application; Figure 7 is a schematic flowchart of the specific process of an exemplary embodiment of the robot automatic charging method shown in the present application; Figure 8 is a schematic structural diagram of an exemplary embodiment of the robot automatic charging device shown in the present application; Figure 9 is a schematic structural diagram of an embodiment of the electronic device provided by the present application; Figure 10 is a schematic structural diagram of an embodiment of the computer-readable storage medium provided by the present application. Detailed Embodiments

[0010] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. In addition, it should be noted that for the convenience of description, only parts related to the present application rather than all structures are shown in the accompanying drawings. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0011] First of all, it should be noted that robot automatic charging refers to the process in which a robot automatically returns to the charging dock for charging when it has completed a task or its battery level is lower than a preset level. The existing methods for guiding a robot to complete automatic charging include infrared guidance, which is achieved by relying on an infrared sensor installed on the robot. However, the anti-interference ability of the infrared sensor is relatively weak, and the infrared signal may be lost due to various external environmental interferences, affecting the efficiency and accuracy of the robot's automatic charging.

[0012] Based on this, the present application provides a robot automatic charging method, an electronic device, and a computer-readable storage medium, which combine infrared and radar to complete the automatic charging of the robot. The infrared signal provides good observation conditions for the radar, reducing the misidentification probability of the lidar in a complex environment. When the lidar fails, automatic charging can also be completed relying on infrared guidance, giving full play to the advantages of each sensor and greatly improving the stability and accuracy of the system.

[0013] Details can be referred to Figure 1 , Figure 1 which is a schematic flowchart of an exemplary embodiment of the robot automatic charging method shown in the present application.

[0014] The execution subject of the robot automatic charging method can be a terminal device, a server, or other processing devices. Among them, the terminal device can be a user equipment (UE), a computer, a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The execution subject of the robot automatic charging method can also be a robot automatic charging device. In some possible implementation manners, the robot automatic charging method can be implemented by a processor calling computer-readable instructions stored in a memory.

[0015] In the embodiments of the present application, the robot automatic charging device is used as the execution subject for description. Specifically, the robot automatic charging method in this embodiment includes the following steps: S110: When the robot receives the infrared signal emitted by the charging dock, obtain the radar point cloud data.

[0016] The robot includes at least one lidar and at least one receiving module, etc. The automatic charging device of the robot controls the receiving module of the robot to receive the infrared signal emitted from the outside, and controls the lidar of the robot to collect the radar point cloud data, and processes the received infrared signal and radar point cloud data. In some embodiments, the robot includes four receiving modules, and the four receiving modules are respectively installed in the front and the lateral sides of the robot. Two symmetric receiving modules are installed in the front, and one receiving module is installed on the far right and the far left respectively. The robot rotates in place until the two receiving modules in the front simultaneously receive the infrared signal emitted by the charging dock, then it is considered that the charging dock is in the front of the robot, and the lidar is turned on to obtain the radar point cloud data.

[0017] The charging dock is used to connect with the robot and provide charging service for the robot. In this embodiment, the charging dock includes at least one infrared emitter, and each infrared emitter has a fixed installation angle and infrared coverage range. Exemplarily, two infrared emitters can be installed on the charging dock to divide the front of the charging dock into three infrared signal areas, or four infrared emitters can be installed on the charging dock to divide the front of the charging dock into five infrared signal areas. The robot determines the positional relationship between the robot and the charging dock by judging which infrared signal area the received infrared signal belongs to in the coverage of the charging dock. In some embodiments, a highly reflective area or an absorbent area can also be preset on the charging dock, so that the robot can more accurately identify the target position of the charging dock from the radar point cloud data.

[0018] The infrared signal is emitted by the infrared emitter installed on the charging dock. In some embodiments, the automatic charging device of the robot can turn on the lidar to obtain the radar point cloud data after receiving the infrared signal in any infrared signal area of the charging dock. In other embodiments, the automatic charging device of the robot can also turn on the lidar to obtain the radar point cloud data only after receiving the infrared signal in the target infrared signal area of the charging dock. Among them, the target infrared signal area can be the central area in the front of the charging dock, which can preliminarily ensure that the robot can approach the charging port of the charging dock as much as possible.

[0019] The radar point cloud data is detected by the lidar installed on the robot. In some embodiments, after the robot receives the infrared signal emitted by the charging dock, the lidar can be turned on to scan the front area of the charging dock to obtain the radar point cloud data. Each point in the radar point cloud data includes information such as distance, angle, and point intensity. The point intensity refers to the strength of the optical signal that the laser pulse reflects back from the target surface to the lidar. The point intensity is a direct manifestation of the light intensity feedback, and there is a close relationship between the material, incident angle, color, etc. and the point intensity.

[0020] As a preferred embodiment, four infrared emitting tubes are installed on the charging dock, dividing the front of the charging dock into five infrared signal regions. Four receiving modules are installed on the robot, and the four receiving modules are respectively located in the due front and due side of the robot. A lidar is also installed at the center position of the robot. After the robot reaches the search area of the charging dock, it turns on the receiving modules and rotates in place to scan whether there is an infrared signal emitted by the charging dock around the robot. If the two receiving modules in the due front of the robot simultaneously receive the infrared signals of the target infrared region emitted by the charging dock, the lidar is turned on to obtain lidar point cloud data.

[0021] S120: Perform charging dock detection processing on the lidar point cloud data to obtain a radar detection result.

[0022] The radar detection result is the result of identifying the lidar point cloud data to obtain whether there is lidar point cloud data of the charging dock in the lidar point cloud data. In some embodiments, after the robot automatic charging device obtains the lidar point cloud data, it performs clustering processing on the lidar point cloud data to obtain the lidar point cloud data after clustering processing; then, based on the preset shape of the charging dock, it performs fitting processing on the lidar point cloud data after clustering processing to determine whether the lidar point cloud data after fitting processing meets the preset shape of the charging dock to obtain the lidar point cloud data. In other embodiments, after the robot automatic charging device obtains the lidar point cloud data, it performs screening processing on the lidar point cloud data according to the preset size of the charging dock to obtain the lidar point cloud data after screening processing; then, it performs clustering processing on the lidar point cloud data after screening processing to obtain the lidar point cloud data after clustering processing; according to the preset shape of the charging dock, it performs fitting processing on the lidar point cloud data after clustering processing to determine whether the lidar point cloud data after fitting processing meets the preset shape of the charging dock to obtain the lidar point cloud data. In other embodiments, after the robot automatic charging device obtains the lidar point cloud data, it performs screening processing on the lidar point cloud data according to the preset size and preset feedback intensity of the charging dock to obtain the lidar point cloud data after screening processing; then, it performs clustering processing on the lidar point cloud data after screening processing to obtain the lidar point cloud data after clustering processing; according to the preset shape of the charging dock, it performs fitting processing on the lidar point cloud data after clustering processing to determine whether the lidar point cloud data after fitting processing meets the preset shape of the charging dock to obtain the lidar point cloud data. The processing method of the lidar point cloud data is not limited here, as long as it can determine whether the lidar point cloud data can detect the charging dock.

[0023] It should be noted that the coverage range of infrared signals is wider than that of lidar, and infrared signals are more easily interfered by reflected signals. When the relative pose between the robot and the charging station is relatively remote, the robot can receive the infrared signal emitted by the charging station, but the lidar point cloud data detected for the charging station is scarce and the point cloud is unstable, resulting in the inability to normally identify the charging station based on the lidar point cloud data. In this case, the following step S140 can be executed; when the charging station can be identified from the lidar point cloud data, the following step S130 is executed.

[0024] S130: In response to the lidar detection result indicating that the charging station is detected, determine the target position of the charging station based on the lidar point cloud data, and control the robot to move to the target position of the charging station for charging processing.

[0025] The target position is the position of the charging station determined through the lidar point cloud data. In some embodiments, the target position of the charging station can be determined according to the lidar detection result of the lidar point cloud data. In some embodiments, the lidar detection result is a preliminary detection result. When the robot automatic charging device determines that there is a charging station in the lidar point cloud data, it can further process the lidar point cloud data to obtain the target position of the charging station.

[0026] After the robot automatic charging device obtains the target position of the charging station, plan the movement trajectory of the robot from the current position to the target position based on the current position of the robot, and control the robot to move along the planned movement trajectory. The movement strategy for controlling the robot can adopt PID control (Proportional-Integral-Derivative Control), LQR control (Linear Quadratic Regulator), MPC control (Model Predictive Control), etc., so that the robot can smoothly reach the target position of the charging station for charging processing.

[0027] S140: In response to the lidar detection result indicating that the charging station is not detected, guide the robot to move to the charging station for charging processing based on the infrared signal.

[0028] When the lidar detection result indicates that the charging station cannot be detected from the lidar point cloud data, that is, the lidar detection fails, the infrared signal can be reused to guide the robot to move to the charging station for charging processing. It should be noted that during the process of guiding the robot to the charging station using the infrared signal, the lidar will be continuously turned on to obtain the lidar point cloud data, and it will be continuously judged whether the charging station can be detected from the lidar point cloud data. When the charging station can be detected, it will jump to determine the target position of the charging station based on the lidar point cloud data, and control the robot to move to the target position of the charging station for charging processing.

[0029] It can be seen that in the robot automatic charging method according to the embodiment of the present application, after the robot receives the infrared signal emitted by the charging dock, it acquires radar point cloud data; performs charging dock detection processing on the radar point cloud data to obtain a radar detection result; if the radar detection result indicates that the charging dock is detected, the target position of the charging dock is determined based on the radar point cloud data, and the robot is controlled to move to the target position of the charging dock for charging processing; thus, the general direction of the charging dock is initially determined through the infrared signal, which can provide good observation conditions for the radar point cloud data, and then the accurate positioning of the charging dock is performed based on the radar point cloud data. If the radar detection result indicates that the charging dock is not detected, the robot is guided to move to the charging dock for charging processing based on the infrared signal; thus, the robot can rely on the infrared signal again to complete automatic charging when the lidar fails, improving the stability of automatic charging.

[0030] Further, the process of the above step S140 may further include: in response to the infrared signal received by the robot indicating that the robot is located in the middle signal area, controlling the robot to move in the direction close to the charging dock until the charging signal of the charging dock is received; in response to the infrared signal received by the robot indicating that the robot is located in the left signal area or the right signal area, controlling the robot to perform position adjustment processing until the robot receives the infrared signal in the middle signal area, and controlling the robot to move in the direction close to the charging dock until the charging signal of the charging dock is received. This ensures that the robot approaches the charging dock from the middle signal area, improving the docking reliability between the robot and the charging dock.

[0031] The charging dock is used to emit multiple groups of different infrared signals to obtain multiple different infrared signal areas. The multiple different infrared signal areas include a left signal area and a right signal area, and a middle signal area located between the left signal area and the right signal area. Among them, when the infrared signal received by the robot indicates that the robot is located in the middle signal area, the middle signal area can be considered as the area extended from the charging port of the charging dock. The robot is located in the central area directly in front of the charging dock. At this time, it can directly move in the direction close to the charging dock until the charging signal of the charging dock is received. Among them, the direction close to the charging dock can be the direction in which the distance between the robot and the charging dock is getting closer. During the process of controlling the robot to move in the direction close to the charging dock, the receiving module is also continuously turned on to receive the infrared signal emitted by the charging dock, and it is continuously judged whether the infrared signal received by the robot belongs to the middle signal area. If so, the robot is continuously controlled to move in the direction close to the charging dock until the charging signal of the charging dock is received.

[0032] When the infrared signal received by the robot indicates that the robot is located in the left signal area or the right signal area, the positional relationship between the robot and the charging port of the charging base cannot be determined. Therefore, it is necessary to guide the robot to the middle signal area so that the robot can accurately dock with the charging base in the middle signal area.

[0033] In some other embodiments, during the process of guiding the robot based on the infrared signal, image detection can also be used to determine the target position of the charging base; then, based on the target position of the charging base, the robot is guided to move to the charging base for charging processing.

[0034] Among them, in order to improve the accuracy of the robot in detecting the infrared signal, multiple receiving modules can be set on the robot. The multiple receiving modules include a left receiving module located on the left side of the robot and a right receiving module located on the right side of the robot. For details, please refer to Figure 2 , Figure 2 FIG.

[0035] It should be noted that the left and right directions in this application are judged with respect to facing the charging base. As an example, please refer to Figure 3 , Figure 3It is a schematic diagram of the infrared signal area covered by the charging stand shown in this application. There are four infrared emitting tubes on the charging stand, dividing the front of the charging stand into five infrared signal areas. Among them, signal area 1 and signal area 2 can be used as the left signal areas, signal area 3 is used as the middle signal area, which is obtained by the intersection of signal area 2 and signal area 4, and signal area 4 and signal area 5 are used as the right signal areas. When any receiving module of the robot receives the infrared signal of signal area 1 or signal area 2, the robot is controlled to turn right at a fixed angular velocity until the left receiving module receives the infrared signal of signal area 1 or signal area 2, and then the robot is controlled to move to the right at a preset linear velocity and target angular velocity until the left receiving module receives the infrared signal of signal area 3; the robot is controlled to turn left in place until both front receiving modules receive the infrared signal of signal area 3 at the same time, or turn left 90 degrees in place; then the robot is controlled to move along the direction close to the charging stand until the charging signal of the charging stand is received. During the process of controlling the robot to move along the direction close to the charging stand, it is necessary to ensure that both front receiving modules can receive the infrared signal of signal area 3 at the same time.

[0036] When any receiving module of the robot receives the infrared signal of signal area 4 or signal area 5, the robot is controlled to turn left at a fixed angular velocity until the right receiving module receives the infrared signal of signal area 4 or signal area 5, and then the robot is controlled to move to the left at a preset linear velocity and target angular velocity until the right receiving module receives the infrared signal of signal area 3; the robot is controlled to turn right in place until both front receiving modules receive the infrared signal of signal area 3 at the same time, or turn left 90 degrees in place; then the robot is controlled to move along the direction close to the charging stand until the charging signal of the charging stand is received.

[0037] Among them, the target angular velocity can be obtained from the distance between the robot and the charging stand and the preset linear velocity. Exemplarily, according to the distance d measured by the ranging sensor between the robot and the charging stand, the calculation of the target angular velocity satisfies the following formula:

[0038] Among them, represents the target angular velocity, represents the preset linear velocity, represents the distance between the robot and the charging stand.

[0039] When the control robot moves in the middle signal area in the direction close to the charging dock, if the charging dock cannot be detected by the radar point cloud data when the distance between the robot and the charging dock is less than the preset distance threshold, it is considered that the lidar may be affected by factors such as light or occlusion and can no longer effectively identify the charging dock. At this time, during the long-distance guidance process in the middle signal area, it is considered that the robot is in the pose facing the charging dock, turns around in place and slowly retreats to the dock until the charging signal of the charging dock is detected, that is, the docking is successful; if the charging signal of the charging dock is not detected after exceeding the time threshold, it is considered that there is no charging dock at the current position, and the robot goes to the next exploration area to search for the charging dock again. Among them, the preset distance threshold can be set to 4 cm, 3 cm, etc., and the time threshold can be set to 30 seconds, 1 minute, etc.

[0040] In some embodiments, the process of step S130 further includes: screening and processing the radar point cloud data according to the preset feedback intensity of the charging dock to obtain target point data; determining the target position of the charging dock based on the target point data; constructing the motion trajectory of the robot according to the target position of the charging dock, and controlling the robot to move along the motion trajectory until it reaches the target position of the charging dock for charging processing.

[0041] Each point in the radar point cloud data includes a point intensity, and the point intensities obtained by objects of different materials are different. Therefore, the radar point cloud data can be screened according to the preset feedback intensity of the charging dock, and the points that do not meet the preset feedback intensity are removed. Exemplarily, in response to the point intensity being equal to the preset feedback intensity, the corresponding point data is used as the target point data; in response to the point intensity being less than or greater than the preset feedback intensity, the corresponding point data is removed from the radar point cloud data. Thus, the point data in the radar point cloud data that meets the preset feedback intensity of the charging dock is retained, and the point data that does not meet the preset feedback intensity of the charging dock is removed. It should be noted that the corresponding point data can also be used as the target point data when the point intensity is within the floating range of the preset feedback intensity, and the floating range can be set to 5%.

[0042] The preset feedback intensity is the reflected light intensity presented when the lidar scans the charging dock at a certain distance. Specifically, the feedback intensity of the lidar point cloud changes with the distance. The farther the distance, the lower the feedback intensity, and vice versa. In some embodiments, the robot automatic charging device can establish a mapping relationship table between the preset feedback intensity and the distance. After obtaining the distance of each point, the corresponding preset feedback intensity of each point can be obtained from the mapping relationship table. In other embodiments, the robot automatic charging device can also obtain the feedback intensity threshold of the charging dock, then calculate the proportionality coefficient between the distance and the feedback intensity, and determine the preset feedback intensity at different distances based on the proportionality coefficient and the feedback intensity threshold. The proportionality coefficient and the feedback intensity threshold can be obtained through pre-calibration. Different materials of the charging dock and different models of lidar will affect the values of the proportionality coefficient and the feedback intensity threshold. Specifically, the average feedback intensity of the charging dock is measured and calculated at equal intervals within a certain area from the charging dock. A standard distance is selected and the average feedback intensity at this standard distance is used as the feedback intensity threshold. Then, the relative change relationship between the distance and the average feedback intensity is calculated through non-linear fitting. According to this relative change relationship, the proportionality coefficient required to supplement the average feedback intensity measured at different distances under the feedback intensity threshold is calculated. After the robot automatic charging device obtains the distance of each point, it then determines whether the point intensity of the corresponding point meets the corresponding preset feedback intensity for point data screening. Further, the robot automatic charging device can also screen out the continuous point clouds that meet the conditions in the lidar point cloud data according to the proportionality coefficient and the feedback intensity threshold. , specifically, the distance threshold of each point on the same plane is obtained according to the angular resolution of the lidar and the distance of each point, and whether two adjacent points belong to continuous point clouds is determined by comparing the size relationship between the distance between two adjacent points and the corresponding distance threshold. If it is less than the distance threshold, it is continuous point clouds, otherwise it is not. As Figure 4 shown, the dotted line represents the ray emitted by the lidar, and the thick solid line and the rectangular frame represent obstacles.

[0043] In order to more accurately screen out the point data of the charging dock from the lidar point cloud data, a highly reflective area or an absorbent area can be set on the charging dock in advance to distinguish the charging dock from other obstacles and better filter out the influence of other obstacles.

[0044] After screening and processing the lidar point cloud data according to the preset feedback intensity of the charging dock, it can be considered that the remaining target point data is the point data of the charging dock. Therefore, the target position of the charging dock can be determined based on the target point data; then, the movement trajectory of the robot is constructed according to the target position of the charging dock, so that the robot can move along the movement trajectory to the target position of the charging dock for charging processing.

[0045] In some other embodiments, the process of step S130 further includes: screening and processing the radar point cloud data according to a preset feedback intensity of the charging dock to obtain target point data; fitting the target point data according to a preset shape of the charging dock to obtain point data of the charging dock; determining a target position of the charging dock based on the point data of the charging dock; constructing a motion trajectory of the robot according to the target position of the charging dock, and controlling the robot to move along the motion trajectory until it reaches the target position of the charging dock for charging processing.

[0046] When the working environment of the robot is a non-solidified scenario, such as a home scenario, it is impossible to completely distinguish the charging dock from other obstacles through the preset feedback intensity. The radar point cloud data can be filtered at the first layer using the preset feedback intensity to obtain target point data; then, based on the preset shape of the charging dock, the target point data is fitted to obtain the final point data of the charging dock. The preset shape of the charging dock includes a straight line, an arc, etc. Methods such as RANSAC (Random Sample And Consensus) or the least squares method can be used to fit and match the target point data that may be the charging dock. When it meets the preset shape of the charging dock, it is considered that the point data belongs to the point data of the charging dock; then, the relative pose between the charging dock and the robot and the orientation angle of the charging dock are calculated through geometric relationships.

[0047] In some other embodiments, before the step of screening and processing the radar point cloud data according to a preset feedback intensity of the charging dock to obtain target point data, the radar point cloud data can also be screened and processed according to a preset recognition width of the charging dock, and the screened radar point cloud data is clustered to obtain the clustered radar point cloud data.

[0048] Among them, the screening and processing method is to determine the angle range to be retained in the radar point cloud data according to the preset recognition width of the charging dock, and then remove the point data outside the angle range and retain the point data within the angle range. The calculation process of the angle range includes: assuming that the charging dock is in front of the robot, obtaining the distance of the obstacle in front of the robot from the radar point cloud data, and the preset recognition width of the charging dock is obtained by pre-measurement; calculating the angle range based on the distance of the obstacle in front and the preset recognition width, and the formula is as follows:

[0049] Among them, represents the angle, and the inside the robot's front is the angle range, represents the preset recognition width, represents the distance of the obstacle in front. It should be noted that in actual applications, adjustments need to be made according to the actual situation to reduce errors.

[0050] Further, the radar point cloud data can be clustered by the interval angle threshold between two consecutive points. When the interval angle between two consecutive points is less than the interval angle threshold, it is considered to belong to the same point cloud cluster, and thus the filtered radar point cloud data is divided into several consecutive point cloud clusters. .

[0051] Further, after determining the target position of the charging station through the radar point cloud data, the robot automatic charging device needs to control the robot to move from the current position to the target position of the charging station for charging processing. Specifically, the robot automatic charging device obtains the current position of the robot; determines the connection line between the charging station and the robot according to the target position of the charging station and the current position of the robot; obtains the included angle between the connection line and the central axis of the charging station; in response to the included angle being less than the preset angle, constructs the movement trajectory of the robot according to the target position of the charging station, and controls the robot to move along the movement trajectory until it reaches the target position of the charging station for charging processing. Thus, the robot can only get on the charging station when the included angle condition is met, improving the reliability of getting on the charging station.

[0052] The robot automatic charging device connects the target position of the charging station and the current position of the robot to obtain the connection line between the charging station and the robot; calculates the included angle between the connection line and the central axis of the charging station; if the included angle is greater than or equal to the preset angle, generates a scheduling position on the central axis of the charging station according to the target position of the charging station and the central axis of the charging station, and controls the robot to move to the scheduling position; after moving to the scheduling position, re-obtains the included angle between the connection line and the central axis, and determines whether the included angle is less than the preset angle.

[0053] After the included angle is less than the preset angle, construct the movement trajectory of the robot according to the target position of the charging station, and control the robot to turn around in place and move backward along the movement trajectory until it receives the charging signal from the charging station. Specifically, determine the transition position of the robot on the central axis of the charging station; determine the first movement trajectory of the robot from the current position to the transition position according to the current position of the robot and the transition position of the robot; determine the second movement trajectory of the robot from the transition position to the target position according to the transition position of the robot and the target position of the robot; combine the first movement trajectory and the second movement trajectory to determine the movement trajectory of the robot; control the robot to move along the movement trajectory according to the preset linear velocity until it receives the charging signal from the charging station. Thus, it only needs to dynamically adjust the linear velocity and angular velocity in real time according to the degree of deviation of the robot from the perpendicular bisector of the charging station and the distance from the robot, which simplifies the control of getting on the charging station and greatly improves the success rate of getting on the charging station.

[0054] The robot automatic charging device can determine a preset linear velocity according to the distance between the robot and the charging dock to ensure the smoothness and fluency of the robot getting on the dock. Specifically, it can be determined by experience and will not be elaborated here. At the same time, the maximum angular velocity during the process of getting on the dock can also be set. First, control the robot to move towards the target where the included angle tends to 0, that is, first move to the central axis of the charging dock; when the included angle is less than the first angle threshold or the distance between the robot and the charging dock is less than the first distance threshold, set the target angle as the orientation angle of the charging dock, and calculate the angular velocity coefficient factor according to the angular difference between the target angle and the orientation angle of the robot , and control the robot to get on the dock with the linear velocity and the angular velocity. The angular velocity is the product of the angular velocity coefficient factor and the maximum angular velocity. When the robot automatic charging device detects the charging signal of the charging dock, it is considered that the docking is successful and the current automatic recharging process ends. If the charging signal of the charging dock is not detected after exceeding the time threshold, it is considered that there is no charging dock at the current position, and the robot will go to the next exploration area to search for the charging dock again.

[0055] It should be noted that, please refer to Figure 5 , the orientation angles of both the charging dock and the robot are in the world coordinate system (including the mutually perpendicular X-axis and Y-axis). The orientation angle of the charging dock is the direction in which the perpendicular bisector of the line connecting the two charging electrodes is emitted from the charging dock to the outside of the charging dock Figure 5 . The directions indicated by the arrows in

[0056] As an example, please refer to Figure 6 , the process of the robot moving to the charging dock for charging is as follows: starting from the topmost position to enter the docking state, first control the robot to move towards the target where the included angle tends to 0, and when the included angle is adjusted to be less than the angle threshold, the robot reaches the central axis of the charging dock, that is Figure 6 the middle robot in

[0057] . However, at this time, the orientation angles of the robot and the charging dock may not be the same, and it is necessary to adjust the orientation angle of the robot to make it the same as the orientation angle of the charging dock. Specifically, the angular velocity coefficient factor can be calculated according to the angular difference between the orientation angle of the charging dock and the orientation angle of the robot, so that the robot can complete the docking smoothly.

[0058] To elaborate on the robot automatic charging method in the embodiments of the present application in detail, the following further explanation is made with the flowchart shown in Figure 7 as follows: When the robot triggers the automatic charging task, it goes to the charging dock search area, turns on four receiving modules and starts rotating in place to determine whether there is an infrared signal emitted by the charging dock around. Exemplarily, it can be determined whether there is a charging dock by whether the two receiving modules on the front side simultaneously receive the infrared signal emitted by the charging dock. The combined judgment of the two receiving modules can reduce the interference of infrared reflection and can initially consider that the charging dock is directly in front of the robot.

[0059] If there is no infrared signal, it moves to the next search point. If there is an infrared signal, it turns on the lidar for forward detection of the charging dock, generates lidar point cloud data based on the lidar scanning of the current environment; and performs charging dock detection processing on the lidar point cloud data to determine whether the charging dock is detected in the lidar point cloud data. Specifically, the angular range of the lidar point cloud data to be retained is determined according to the distance of the obstacle directly in front and the preset recognition width of the charging station, and the lidar point cloud data is first screened through the angular range to obtain the lidar point cloud data after the first screening; then the interval angle threshold between two consecutive points is set according to the lidar parameters, and the lidar point cloud data after the first screening is clustered into several consecutive point cloud clusters according to the interval angle threshold; then the point data in the several consecutive point cloud clusters is secondarily screened according to the preset feedback intensity of the charging dock to obtain the target point data that meets the preset feedback intensity of the charging dock; the target point data is fitted according to the preset shape of the charging dock, and when the target point data meets the preset shape and the preset recognition width of the charging dock, it is considered that the point data belongs to the point data of the charging dock, that is, the charging dock is detected; finally, the pose of the charging dock and the robot is calculated through geometric relationships.

[0060] If the charging dock is detected based on the radar, the target position of the charging dock is determined based on the lidar point cloud data, and it navigates to the front of the target position of the charging dock, turns around, and turns on the radar for backward detection of the charging dock; if the radar backward detection and calculation obtain the target position of the charging dock, the linear velocity and angular velocity are adjusted in real time according to the relative position until it contacts the charging dock for charging, and if the charging dock is not detected by the radar backward detection, it moves to the next search point. Specifically, after the robot automatic charging device obtains the target position of the charging dock, it calculates the position about 50 cm along the infrared signal emission direction on the central axis of the charging dock according to the target position and the orientation angle of the charging dock, and moves the robot to the central axis of the charging dock through point-to-point scheduling, then controls the movement on the central axis of the charging dock, adjusts the orientation angle of the robot to be consistent with the orientation angle of the robot while moving, and finally retreats to the charging dock to complete automatic charging; if the charging signal is not detected after the retreat timeouts, it moves to the next search point.

[0061] If the charging dock cannot be detected by the radar, the robot is guided by infrared to the target infrared area of the charging dock and moves in the direction close to the charging dock; during the movement in the direction close to the charging dock, the lidar is continuously turned on for radar detection. When the distance between the robot and the charging dock is less than 4 cm and the charging dock still cannot be detected by the radar, the robot turns around in place and moves straight back until it contacts the charging dock for charging. If the charging signal of the charging dock is not received after exceeding the time threshold, the robot moves to the next search point.

[0062] In the above solution, by integrating the advantages of infrared sensors and radar sensors, the stability and accuracy of the robot in identifying and docking during automatic charging are improved.

[0063] Please refer to Figure 8 , Figure 8 FIG. is a schematic structural diagram of an exemplary embodiment of the robot automatic charging device shown in the present application. The robot automatic charging device 800 includes an acquisition module 810, a detection module 820, a control module 830, and a guidance module 840. The acquisition module 810 is configured to acquire radar point cloud data in response to the robot receiving an infrared signal emitted by the charging dock; the detection module 820 is configured to perform charging dock detection processing on the radar point cloud data to obtain a radar detection result; the control module 830 is configured to determine the target position of the charging dock based on the radar point cloud data and control the robot to move to the target position of the charging dock for charging processing in response to the radar detection result indicating that the charging dock is detected; the guidance module 840 is configured to guide the robot to move to the charging dock for charging processing based on the infrared signal in response to the radar detection result indicating that the charging dock is not detected.

[0064] In the above solution, the robot automatic charging device acquires radar point cloud data after the robot receives an infrared signal emitted by the charging dock; performs charging dock detection processing on the radar point cloud data to obtain a radar detection result; if the radar detection result indicates that the charging dock is detected, determines the target position of the charging dock based on the radar point cloud data and controls the robot to move to the target position of the charging dock for charging processing; thereby, the general direction of the charging dock can be initially determined through the infrared signal, which can provide good observation conditions for the radar point cloud data, and then the accurate positioning of the charging dock is performed based on the radar point cloud data. If the radar detection result indicates that the charging dock is not detected, the robot is guided to move to the charging dock for charging processing based on the infrared signal; thereby, the automatic charging of the robot can be completed again relying on the infrared signal when the lidar fails, improving the stability of automatic charging.

[0065] Among them, the functions of each module can be referred to the embodiments of the robot automatic charging method, which will not be elaborated here.

[0066] To implement the robot automatic charging method of the above embodiment, the present application proposes another electronic device. Specifically, please refer toFigure 9 , Figure 9 is a schematic structural diagram of an embodiment of an electronic device provided by the present application.

[0067] The electronic device 900 includes a memory 910 and a processor 920, wherein the memory 910 and the processor 920 are coupled.

[0068] The memory 910 is used to store program data, and the processor 920 is used to execute the program data to implement the robot automatic charging method of the above embodiment.

[0069] In this embodiment, the processor 920 can also be referred to as a CPU (Central Processing Unit). The processor 920 may be an integrated circuit chip with signal processing capabilities. The processor 920 may also be a general-purpose processor, a digital signal processor (Digital Signal Processing, DSP), an application-specific integrated circuit (Application-Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor 920 may also be any conventional processor, etc.

[0070] The present application also provides a computer-readable storage medium, such as Figure 10 shown, the computer-readable storage medium 1000 is used to store program data 1001, and when the program data 1001 is executed by the processor, it is used to implement the robot automatic charging method in the method embodiment of the present application.

[0071] In the method involved in the embodiment of automatic charging of the robot in this application, when it is implemented and exists in the form of a software functional unit and is sold or used as an independent product, it can be stored in a device, such as a computer-readable storage medium. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0072] The above are only the embodiments of this application, and do not limit the patent scope of this application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of this application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of this application.

Claims

1. A method for automatic charging of a robot, characterized in that, The robot automatic charging method includes: Upon receiving an infrared signal emitted by the charging dock, the robot acquires radar point cloud data; Performs charging dock detection processing on the radar point cloud data to obtain a radar detection result; Upon the radar detection result indicating that the charging dock is detected, determines the target position of the charging dock based on the radar point cloud data, and controls the robot to move to the target position of the charging dock for charging processing; Upon the radar detection result indicating that the charging dock is not detected, guides the robot to move to the charging dock for charging processing based on the infrared signal.

2. The robot automatic charging method according to claim 1, characterized in that The charging dock is used to emit multiple groups of different infrared signals to obtain multiple different infrared signal regions, and the multiple different infrared signal regions include a left signal region, a right signal region, and an intermediate signal region located between the left signal region and the right signal region. The step of guiding the robot to move to the charging dock for charging processing based on the infrared signal includes: Upon the infrared signal received by the robot indicating that the robot is located in the intermediate signal region, controls the robot to move in the direction close to the charging dock until the charging signal of the charging dock is received; Upon the infrared signal received by the robot indicating that the robot is located in the left signal region or the right signal region, controls the robot to perform position adjustment processing until the robot receives the infrared signal of the intermediate signal region, and controls the robot to move in the direction close to the charging dock until the charging signal of the charging dock is received.

3. The robot automatic charging method according to claim 2, wherein The robot includes multiple receiving modules, and the multiple receiving modules include a left receiving module located on the left side of the robot and a right receiving module located on the right side of the robot. The step of, upon the infrared signal received by the robot indicating that the robot is located in the left signal region or the right signal region, controlling the robot to perform position adjustment processing until the robot receives the infrared signal of the intermediate signal region includes: Upon the infrared signal received by any receiving module of the robot indicating that the robot is located in the left signal region, controls the robot to turn right until the left receiving module receives the infrared signal of the left signal region, and controls the robot to move to the right at a preset linear speed until the left receiving module receives the infrared signal of the intermediate signal region; Upon the infrared signal received by any receiving module of the robot indicating that the robot is located in the right signal region, controls the robot to turn left until the right receiving module receives the infrared signal of the right signal region, and controls the robot to move to the left at a preset linear speed until the right receiving module receives the infrared signal of the intermediate signal region.

4. The robot automatic charging method according to claim 1, wherein The step of determining the target position of the charging dock based on the radar point cloud data and controlling the robot to move to the target position of the charging dock for charging processing includes: Filter and process the radar point cloud data according to the preset feedback intensity of the charging dock to obtain target point data; Determine the target position of the charging dock based on the target point data; Construct the movement trajectory of the robot according to the target position of the charging dock, and control the robot to move along the movement trajectory until it reaches the target position of the charging dock for charging processing.

5. The robot automatic charging method according to claim 1, characterized in that The step of determining the target position of the charging dock based on the radar point cloud data and controlling the robot to move to the target position of the charging dock for charging processing includes: Filter and process the radar point cloud data according to the preset feedback intensity of the charging dock to obtain target point data; Perform fitting processing on the target point data according to the preset shape of the charging dock to obtain the point data of the charging dock; Determine the target position of the charging dock based on the point data of the charging dock; Construct the movement trajectory of the robot according to the target position of the charging dock, and control the robot to move along the movement trajectory until it reaches the target position of the charging dock for charging processing.

6. The robot automatic charging method according to any one of claims 4 to 5, characterized in that The radar point cloud data includes the point intensity of each point. The step of filtering and processing the radar point cloud data according to the preset feedback intensity of the charging dock to obtain target point data includes: In response to the point intensity being equal to the preset feedback intensity, use the corresponding point data as the target point data; In response to the point intensity being less than or greater than the preset feedback intensity, remove the corresponding point data from the radar point cloud data.

7. The robot automatic charging method according to claim 1, characterized in that The target position includes the central axis of the charging dock. The step of determining the target position of the charging dock based on the radar point cloud data and controlling the robot to move to the target position of the charging dock for charging processing includes: Obtain the current position of the robot; Determine the connection line between the charging dock and the robot according to the target position of the charging dock and the current position of the robot; Obtain the included angle between the connection line and the central axis of the charging dock; In response to the included angle being less than the preset angle, construct the movement trajectory of the robot according to the target position of the charging dock, and control the robot to move along the movement trajectory until it reaches the target position of the charging dock for charging processing.

8. The robot automatic charging method according to claim 7, wherein, The step of constructing the movement trajectory of the robot according to the target position of the charging dock, and controlling the robot to move along the movement trajectory until it reaches the target position of the charging dock for charging processing includes: Determine the transition position of the robot on the central axis of the charging dock; Determine the first movement trajectory of the robot from the current position to the transition position according to the current position of the robot and the transition position of the robot; Determine the second movement trajectory of the robot from the transition position to the target position according to the transition position of the robot and the target position of the robot; Combine the first movement trajectory and the second movement trajectory to determine the movement trajectory of the robot; Controlling the robot to move along the motion trajectory according to a preset linear velocity until a charging signal of the charging base is received.

9. An electronic device, characterized in that, Comprising: A memory and a processor, wherein the memory stores program instructions, and the processor retrieves the program instructions from the memory to execute the method according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, Comprising: Storing program data, which is used to implement the method according to any one of claims 1-8 when executed by a processor.

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