基于学习的方法使移动机器人能够使用标准墙面插座为电池充电

IF 2.3 4区 计算机科学 Q3 ROBOTICS Intelligent Service Robotics Pub Date : 2024-07-22 DOI:10.1007/s11370-024-00551-4
Yufeng Sun, Ou Ma
{"title":"基于学习的方法使移动机器人能够使用标准墙面插座为电池充电","authors":"Yufeng Sun, Ou Ma","doi":"10.1007/s11370-024-00551-4","DOIUrl":null,"url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>Autonomous battery charging is crucial for mobile service robots in human-center indoor environments, enabling them to extend operational hours and coverage without human assistance. This paper presents an innovative approach for mobile service robots to charge their batteries using standard wall outlets, introducing no additional maintenance cost and requiring no modification to environments. A portable self-charging device, equipped with cameras, a force sensor, and a 2-degree-of-freedom end-effector carrying a standard 3-pin 120V power plug, is attached to an existing mobile robot. The robot identifies a wall outlet and navigates to it using an onboard depth camera. It inserts the plug into the wall outlet while the vision is obstructed. The plug-insertion operation is guided by a control policy that was trained by a simulation model using a deep reinforcement learning technique. This approach achieved a success rate of nearly <span>\\(90\\%\\)</span> in experiments of inserting a power plug into a wall outlet. It eliminates the need of an installed docking station for autonomous charging or human plugging-in for manual charging.</p><h3 data-test=\"abstract-sub-heading\">Graphical Abstract</h3>","PeriodicalId":48813,"journal":{"name":"Intelligent Service Robotics","volume":"65 1","pages":""},"PeriodicalIF":2.3000,"publicationDate":"2024-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Learning-based approach to enable mobile robots to charge batteries using standard wall outlets\",\"authors\":\"Yufeng Sun, Ou Ma\",\"doi\":\"10.1007/s11370-024-00551-4\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<h3 data-test=\\\"abstract-sub-heading\\\">Abstract</h3><p>Autonomous battery charging is crucial for mobile service robots in human-center indoor environments, enabling them to extend operational hours and coverage without human assistance. This paper presents an innovative approach for mobile service robots to charge their batteries using standard wall outlets, introducing no additional maintenance cost and requiring no modification to environments. A portable self-charging device, equipped with cameras, a force sensor, and a 2-degree-of-freedom end-effector carrying a standard 3-pin 120V power plug, is attached to an existing mobile robot. The robot identifies a wall outlet and navigates to it using an onboard depth camera. It inserts the plug into the wall outlet while the vision is obstructed. The plug-insertion operation is guided by a control policy that was trained by a simulation model using a deep reinforcement learning technique. This approach achieved a success rate of nearly <span>\\\\(90\\\\%\\\\)</span> in experiments of inserting a power plug into a wall outlet. It eliminates the need of an installed docking station for autonomous charging or human plugging-in for manual charging.</p><h3 data-test=\\\"abstract-sub-heading\\\">Graphical Abstract</h3>\",\"PeriodicalId\":48813,\"journal\":{\"name\":\"Intelligent Service Robotics\",\"volume\":\"65 1\",\"pages\":\"\"},\"PeriodicalIF\":2.3000,\"publicationDate\":\"2024-07-22\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Intelligent Service Robotics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://doi.org/10.1007/s11370-024-00551-4\",\"RegionNum\":4,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Intelligent Service Robotics","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1007/s11370-024-00551-4","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0

摘要

摘要 在以人为中心的室内环境中,自主电池充电对移动服务机器人至关重要,它能使机器人在没有人类帮助的情况下延长工作时间和覆盖范围。本文提出了一种创新方法,让移动服务机器人使用标准墙壁插座为电池充电,无需额外的维护成本,也不需要对环境进行改造。在现有的移动机器人上安装了一个便携式自充电装置,该装置配备了摄像头、力传感器和带有标准 3 针 120V 电源插头的 2 自由度末端执行器。机器人能识别墙上的插座,并利用板载深度摄像头导航到插座处。在视线受阻的情况下,它将插头插入墙上的插座。插头插入操作由控制策略指导,该控制策略由仿真模型利用深度强化学习技术训练而成。在将电源插头插入墙壁插座的实验中,这种方法的成功率接近(90%)。它消除了自主充电时需要安装扩展坞或手动充电时需要人工插入的需要。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

摘要图片

查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Learning-based approach to enable mobile robots to charge batteries using standard wall outlets

Abstract

Autonomous battery charging is crucial for mobile service robots in human-center indoor environments, enabling them to extend operational hours and coverage without human assistance. This paper presents an innovative approach for mobile service robots to charge their batteries using standard wall outlets, introducing no additional maintenance cost and requiring no modification to environments. A portable self-charging device, equipped with cameras, a force sensor, and a 2-degree-of-freedom end-effector carrying a standard 3-pin 120V power plug, is attached to an existing mobile robot. The robot identifies a wall outlet and navigates to it using an onboard depth camera. It inserts the plug into the wall outlet while the vision is obstructed. The plug-insertion operation is guided by a control policy that was trained by a simulation model using a deep reinforcement learning technique. This approach achieved a success rate of nearly \(90\%\) in experiments of inserting a power plug into a wall outlet. It eliminates the need of an installed docking station for autonomous charging or human plugging-in for manual charging.

Graphical Abstract

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
CiteScore
5.70
自引率
4.00%
发文量
46
期刊介绍: The journal directs special attention to the emerging significance of integrating robotics with information technology and cognitive science (such as ubiquitous and adaptive computing,information integration in a distributed environment, and cognitive modelling for human-robot interaction), which spurs innovation toward a new multi-dimensional robotic service to humans. The journal intends to capture and archive this emerging yet significant advancement in the field of intelligent service robotics. The journal will publish original papers of innovative ideas and concepts, new discoveries and improvements, as well as novel applications and business models which are related to the field of intelligent service robotics described above and are proven to be of high quality. The areas that the Journal will cover include, but are not limited to: Intelligent robots serving humans in daily life or in a hazardous environment, such as home or personal service robots, entertainment robots, education robots, medical robots, healthcare and rehabilitation robots, and rescue robots (Service Robotics); Intelligent robotic functions in the form of embedded systems for applications to, for example, intelligent space, intelligent vehicles and transportation systems, intelligent manufacturing systems, and intelligent medical facilities (Embedded Robotics); The integration of robotics with network technologies, generating such services and solutions as distributed robots, distance robotic education-aides, and virtual laboratories or museums (Networked Robotics).
期刊最新文献
Design, simulation, and experimental evaluation of a light weight, and wearable cable driven ForeWrist exoskeleton robot for assistance and rehabilitation Vision-based human–machine interface for a robotic exoskeleton glove designed for patients with brachial plexus injuries HAC-based adaptive combined pick-up path optimization strategy for intelligent warehouse A survey on integration of large language models with intelligent robots A “head-like” component of a terrestrial robot promotes anxiety-like and defensive behaviors
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1