Research On Mechanical Ontology And Autonomous Charging Technology Of Domestic Robot

With the rapid development of technology and exacerbated by the aging degree of society in recent years, family service robots currently on the market has great potential and demand in the future, so the home service robot development is the current hot topic. In order to achieve long-term autonomy, robots need to return to the charging device automatically when the battery power is low. The technology of autonomous robot includes function of the obstacle avoidance, path planning and object recognition, this paper conducted a study of the location and identification of charging device.This paper outlines the development of the domestic robot at home and abroad and background of the independent charging technology, then describes the overall design of domestic robots, including the structural design of mechanical body, the selection of motors, drives and battery and the design of infrared motion control system. Then proposed an autonomous charging strategy and designed a charging device with good docking tolerance and a charging device marker which is based on color and shape characteristics. In this paper, a monocular camera as robot vision sensor, the camera model and camera calibration were related presentations. Then proposed a set of good noise immunity, anti-interference ability of the charging device marker image extraction algorithm, so that the robot can accurately identify and extract the charging device markers at different angles, different orientations and charging device similar interferences exist in surrounding circumstances.