CN112363500B - Automatic recharging and moving method and system - Google Patents
Automatic recharging and moving method and system Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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Abstract
The invention provides an automatic recharging and moving method and system, wherein the automatic recharging and moving method comprises the following steps: the robot searches the characteristic information through the laser radar and calculates the pose of the charging pile; and when the linear distance r between the robot and the charging pile is a fourth threshold value, calculating a smooth track of the robot reaching the charging pile according to the pose of the charging pile, and calculating and outputting the moving speed of the robot. According to the automatic recharging moving method and system provided by the invention, the robot can be ensured to be more stable in the moving process of approaching the charging pile by adjusting the moving speed in the moving process.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an automatic recharging and moving method and system.
Background
Service robots are gradually replacing part of the manual work. At present, robots are widely used in restaurants, hotels, hospitals, government institutions and other scenes to provide services such as distribution, guidance and the like. The robot applied to the above scene needs to overcome the limitation of the use place and perform trackless movement. The robot is provided with a power supply system, and when the electric quantity is consumed, the power supply system needs to be charged in time. The common mode is that the robot automatically searches a charging pile for charging. However, the existing automatic recharging method has the problems that the moving process of the robot on the pile is slow and the pile accuracy is low.
Disclosure of Invention
The present invention has been made in view of the above-mentioned conventional situations, and an object of the present invention is to provide an automatic recharging and moving method and system, which enable a robot to quickly and accurately align a charging pile.
In order to achieve the above object, the present invention provides the following technical solutions:
the invention provides an automatic recharging and moving method, which is applied to a robot for positioning a charging pile and moving the charging pile, wherein the charging pile is provided with characteristic information, the robot comprises a laser radar, and the method comprises the following steps:
the robot searches the characteristic information through the laser radar and calculates the pose of the charging pile;
and when the linear distance r between the robot and the charging pile is a fourth threshold value, calculating a smooth track of the robot reaching the charging pile according to the pose of the charging pile, and calculating and outputting the moving speed of the robot.
The method for calculating the moving speed specifically comprises the following steps:
according to
Calculating the moving speed, wherein v (kappa) is the moving speed, r is the linear distance between the robot and the charging pile, kappa is the curvature of the moving track of the robot, and v max For the maximum movement speed of the robot, both beta and lambda are constants, beta > 0, lambda > 1.
The calculating method of the kappa (r, theta, delta) specifically comprises the following steps:
Wherein the said
Wherein k is 1 And k 2 Are all constant, k 1 ＞0，k 2 More than 1, delta is the angle between the opposite direction of the robot and the connecting direction of the robot and the charging pile, theta is the angle between the opposite direction of the charging pile and the connecting direction of the robot and the charging pile, and the method specifically comprises the following steps:
the linear distance r is the distance between the robot and the midpoint of the charging pile, delta is the included angle between the opposite direction of the robot and the connecting line direction of the midpoint of the robot-charging pile, and theta is the included angle between the opposite direction of the charging pile and the connecting line direction of the midpoint of the robot-charging pile.
The method comprises the steps that the characteristic information is a reflective mark, the robot further comprises a positioning module, the positioning module outputs the pose of the robot, the laser radar scans and acquires laser point clouds, the robot searches the characteristic information through the laser radar and calculates the pose of the charging pile, and the method specifically comprises the following steps:
searching a plurality of segments of alternative laser point clouds with feedback light intensity higher than a first threshold value;
calculating position information of the charging pile under a laser coordinate system according to the position of the charging pile under the world coordinate system and the pose of the robot under the world coordinate system, setting a search range according to the position information, and searching the alternative laser point cloud in the search range;
calculating the point cloud length of the alternative laser point cloud, removing the alternative laser point cloud with the point cloud length larger than a second threshold value, and removing the alternative laser point cloud with the point cloud length smaller than a third threshold value;
and fitting the screened alternative laser point clouds into a straight line, calculating the position of the straight line under the robot coordinate system, and outputting the pose of the charging pile.
Fitting the screened alternative laser point clouds into a straight line, wherein the method specifically comprises the following steps of;
and fitting the screened alternative laser point clouds into a straight line through a RANSAC algorithm.
The robot stores the characteristic information of the charging pile, the robot further comprises a positioning module, the positioning module outputs the pose of the robot, the laser radar scans and acquires laser point clouds, the robot searches the characteristic information through the laser radar and calculates the pose of the charging pile, and the method specifically comprises the following steps:
calculating an ideal point cloud of the characteristic information and a distance map of the ideal point cloud;
calculating position information of the charging pile under a laser coordinate system according to the position of the charging pile under the world coordinate system and the pose of the robot under the world coordinate system, setting a search range according to the position information, and searching the laser point cloud in the search range;
searching the laser point clouds in the searching range by adopting a sliding window to output a plurality of candidate point clouds;
roughly aligning each segment of the candidate point cloud with the rational point cloud, carrying out violent search alignment by adopting the distance map, outputting an alignment error, and selecting the laser point cloud with the minimum alignment error as a charging pile point cloud;
and taking the charging pile point cloud as an initial value, aligning the charging pile point cloud with the ideal point cloud by using a singular value decomposition method, and calculating the pose of the charging pile.
The sliding window is of a first specific width, the interval of the sliding window is of a second specific width, and the sum of the first specific width and the second specific width is not larger than the characteristic length.
The step of setting a search range specifically includes:
and setting the search range by taking the maximum positioning error boundary as a center.
The invention also provides an automatic recharging system, which applies the automatic recharging moving method.
According to the automatic recharging moving method provided by the invention, the robot can be ensured to be more stable in the moving process of approaching the charging pile by adjusting the moving speed in the moving process.
Drawings
FIG. 1 is a schematic diagram of parameters of an automatic recharging movement method according to the present invention;
FIG. 2 illustrates a flow chart of an embodiment of an automatic refill movement method in accordance with the present invention;
FIG. 3 is a schematic diagram showing the constitution of a reflective marker of an automatic recharging and moving method according to the present invention;
FIG. 4 is a flow chart illustrating another embodiment of an automatic refill movement method in accordance with the present invention;
fig. 5 is a schematic diagram showing the configuration of a characteristic three-dimensional structure of the automatic recharging moving method according to the present invention;
fig. 6 is a schematic diagram showing the configuration of feature information of the automatic recharging moving method according to the present invention.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same members are denoted by the same reference numerals, and overlapping description thereof is omitted. In addition, the drawings are schematic, and the ratio of the sizes of the components to each other, the shapes of the components, and the like may be different from actual ones.
The embodiment of the invention relates to an automatic recharging and moving method, which is applied to positioning a charging pile and moving the charging pile to a robot. The charging pile has characteristic information. The robot includes a lidar. The method comprises the following steps:
the robot searches the characteristic information through the laser radar and calculates the pose of the charging pile;
and when the linear distance r between the robot and the charging pile is a fourth threshold value, calculating a smooth track of the robot reaching the charging pile according to the pose of the charging pile, and calculating and outputting the moving speed of the robot.
Under the condition, the robot can be ensured to be more stable in the process of moving close to the charging pile by adjusting the moving speed in the moving process.
In this embodiment, the pose is used to describe the position and pose of an object. The present embodiment is not limited to the pose representation method. In the present embodiment, the fourth threshold value is a predetermined specific value.
Fig. 1 shows a positional relationship of a robot 10 and a charging pile 20. In this embodiment, the method for calculating the movement speed specifically includes:
according to
Calculating the moving speed, wherein v (kappa) is the moving speed, and r is the linear distance between the robot and the charging pileKappa is the curvature of the robot movement track, v max For the maximum movement speed of the robot, both beta and lambda are constants, beta > 0, lambda > 1.
In this case, the output moving speed can control the robot to move toward the charging pile quickly, smoothly and smoothly.
In this embodiment, the method for calculating κ (r, θ, δ) specifically includes:
kappa (r, theta, delta) is calculated according to equation 1. Equation 1 is
Wherein k is 1 And k 2 Are all constant, k 1 ＞0，k 2 And (3) more than 1, wherein delta is an included angle between the opposite direction of the robot and the connecting direction of the robot and the charging pile, and theta is an included angle between the opposite direction of the charging pile and the connecting direction of the robot and the charging pile. Specifically, the robot-charging pile connecting line direction is the extending direction of the straight line where the robot and the charging pile are located together.
In this embodiment, the formula 1 specifically includes:
the linear distance r is the distance between the robot and the midpoint of the charging pile, delta is the included angle between the opposite direction of the robot and the connecting line direction of the midpoint of the robot-charging pile, and theta is the included angle between the opposite direction of the charging pile and the connecting line direction of the midpoint of the robot-charging pile. Specifically, the direction of the robot-charging pile midpoint connecting line is the extending direction of the straight line where the robot is located and the midpoint of the charging pile.
Therefore, the alignment of the robot and the charging pile can be more accurate.
In this embodiment, as shown in fig. 2, the characteristic information is a reflective marker. The robot further comprises a positioning module. And the positioning module outputs the pose of the robot. The laser radar scans and acquires a laser point cloud. The robot searches the characteristic information through the laser radar and calculates the pose of the charging pile, and the method specifically comprises the following steps:
301. searching a plurality of segments of alternative laser point clouds with feedback light intensity higher than a first threshold value;
302. calculating position information of the charging pile under a laser coordinate system according to the position of the charging pile under the world coordinate system and the pose of the robot, setting a search range according to the position information, and searching the alternative laser point clouds in the search range;
303. calculating the point cloud length of the alternative laser point cloud, removing the alternative laser point cloud with the point cloud length larger than a second threshold value, and removing the alternative laser point cloud with the point cloud length smaller than a third threshold value;
304. and fitting the screened alternative laser point clouds into a straight line, calculating the position of the straight line under the robot coordinate system, and outputting the pose of the charging pile.
Under the condition, the search range is determined in an auxiliary mode based on the fusion of the pose of the robot and the position of the charging pile under the world coordinate system, which are output by the positioning module, so that the search calculation efficiency of the alternative laser point cloud is improved, the positioning accuracy of the robot to the charging pile is improved, and the calculation amount can be greatly reduced by aligning based on the distance map of the ideal point cloud; the method has the advantages that the method is further based on the point cloud length of the alternative point cloud, the searching process is greatly simplified, the actual point cloud of the charging pile can be rapidly identified, compared with other charging pile positioning algorithms, the charging pile position can be rapidly and accurately identified, in the moving process of the robot, the position of the charging pile is continuously aligned accurately based on multi-sensor fusion, the moving speed is adjusted, and the robot can be ensured to be more stable in the moving process of the charging pile.
In this embodiment, the charging stake may have a characteristic length. The feature length is greater than the third threshold and the feature length is less than the second threshold. Therefore, the point cloud which obviously does not belong to the charging pile can be rapidly removed by removing the alternative laser point cloud with the point cloud length larger than the second threshold value and removing the alternative laser point cloud with the point cloud length smaller than the third threshold value.
In some examples, the feature length may be a width of the charging stake. In particular, the characteristic length may be the width of a section of the charging pile parallel to the ground.
In some examples, the collection of laser point clouds includes several segments of alternative laser point clouds.
In some examples, the first threshold may be determined based on a degree to which the intensity of the feedback is higher than the intensity of the ambient environment.
In this embodiment, the step of fitting the screened candidate laser point cloud to a straight line specifically includes;
and fitting the screened alternative laser point clouds into a straight line through a RANSAC algorithm.
Therefore, the straight line based on the alternative laser point cloud fitting has higher precision, and the positioning precision of the robot to the charging pile is improved.
As shown in fig. 3, in the present embodiment, the reflective marker 22 includes a plurality of light absorbing sheets 221 and a plurality of light reflecting sheets 222. The light absorbing sheets 221 and the light reflecting sheets 222 are arranged in a straight line. Under the condition, the butt joint direction corresponding to the charging pile is convenient to identify, so that the calculated amount can be reduced, and the positioning difficulty of the charging pile can be simplified.
In some examples, adjacent light absorbing sheets 221 and light reflecting sheets 222 are equal in length.
It will be appreciated that in some examples, the lengths of adjacent light absorbing sheets 221 and reflectors 222 may not be equal.
As shown in fig. 4, in some examples, the robot stores characteristic information of the charging stake. The robot further comprises a positioning module. And the positioning module outputs the pose of the robot. The laser radar scans and acquires a laser point cloud. The robot searches the characteristic information through the laser radar and calculates the pose of the charging pile, and the method specifically comprises the following steps:
101. calculating an ideal point cloud of the characteristic information and a distance map of the ideal point cloud;
102. calculating position information of the charging pile under a laser coordinate system according to the position of the charging pile under the world coordinate system and the pose of the robot, setting a search range according to the position information, and searching the laser point cloud in the search range;
103. searching the laser point clouds in the searching range by adopting a sliding window to output a plurality of candidate point clouds;
104. roughly aligning each segment of the candidate point cloud with the rational point cloud, carrying out violent search alignment by adopting the distance map, outputting an alignment error, and selecting the laser point cloud with the minimum alignment error as a charging pile point cloud;
105. and taking the charging pile point cloud as an initial value, aligning the charging pile point cloud with the ideal point cloud by using a singular value decomposition method, and calculating the pose of the charging pile.
Under the condition, the search range is determined in an auxiliary mode based on the fusion of the pose of the robot and the position of the charging pile under the world coordinate system, which are output by the positioning module, so that the search calculation efficiency of the charging pile point cloud is improved, the positioning accuracy of the robot to the charging pile is improved, and the calculation amount can be greatly reduced by aligning based on the distance map of the ideal point cloud; combining rough alignment and violent search alignment, selecting the laser point cloud with the smallest alignment error as a charging pile point cloud, and aligning with an ideal point cloud on the basis, thereby comprehensively improving the search accuracy and efficiency; therefore, the multi-sensor is fused into the algorithm of the robot for identifying the charging pile, so that the robot can quickly finish the accurate alignment of the charging pile as a whole; and the robot is in the removal in-process, continuously carries out accurate alignment to the position of filling the electric pile based on multisensor fuses to adjust the speed of movement, can ensure that the robot is more stable in the in-process that is close to filling the electric pile and removes.
In some examples, the ideal point cloud of the characteristic information and the distance map of the ideal point cloud are pre-stored in the robot after being calculated by the processor of the robot. Therefore, when the robot positions the charging pile, only the ideal point cloud of the characteristic information and the distance graph of the ideal point cloud are required to be called, repeated calculation is not required, and therefore calculation efficiency and calculation amount are improved.
In some examples, the position of the charging pile in the world coordinate system is preset. Further, the position of the charging pile under the world coordinate system is set after the robot completes the drawing.
In some examples, the location of the charging stake under the world coordinate system is derived by robotic mapping.
In some examples, the positioning module may include at least one of a vision sensor, an odometer, an IMU, an infrared sensor.
In some examples, the sliding window is a first particular width, the sliding window is spaced apart by a second particular width, and a sum of the first particular width and the second particular width is not greater than the feature length. Thus, the sliding window search segments the laser point cloud within the search range, and under the constraint that the sum of the first specific width and the second specific width is not greater than the characteristic length, the candidate point cloud is ensured to be contained by the ideal point cloud.
In this embodiment, the location information includes a maximum positioning error boundary, and the step of setting a search range specifically includes:
and setting the search range by taking the maximum positioning error boundary as a center.
In this case, the search range may completely cover the point cloud of the charging stake, avoiding outputting erroneous search results.
In some examples, the search range is preferably circular. The search range may be rectangular, polygonal, or other two-dimensional shapes.
In some examples, the characteristic information includes at least one of a retroreflective logo and a characteristic stereo structure. Under the condition, the automatic recharging and moving method has wide universality, is not limited by the characteristics of the charging piles, and can flexibly set the characteristic information according to the actual use situation.
In some examples, the feature information includes a relief structure. In other words, the concave-convex structure is a characteristic three-dimensional structure. The length of the concave-convex structure is the characteristic length. Therefore, the characteristic identification of the concave-convex structure can be applied to the laser radar with low configuration, so that the application cost of the laser radar is reduced.
In some examples, the relief structure is comprised of a plurality of equally long and spaced apart protrusions and recesses.
As shown in fig. 5, in some examples, the relief structure is made up of a number of non-equal length protrusions 232 and recesses 231. The convex portion 232 and the concave portion 231 are spaced apart from each other.
Further, the concave-convex structure is disposed toward the outside of the charging pile. Specifically, the exterior of the charging stake may be the portion that is charged in docking with the robot. The concave-convex structure can be arranged on the vertical face of the charging pile.
As shown in fig. 6, the characteristic information of the charging pile is a contour diagram of the concave-convex structure in fig. 5. Specifically, in step 102, the ideal point cloud may be calculated using the feature information in fig. 6, and the configuration of the concave-convex structure may be drawn by lines. This can significantly reduce the amount of computation.
In this embodiment, step 103 further includes:
and ordering the angles of the data of the laser radar under the laser coordinate system from small to large.
Therefore, the laser data are sequenced according to the time sequence of laser scanning, so that the reordering of candidate point clouds of each segment is avoided, the calculated amount is greatly reduced, and the calculation efficiency is improved.
In this embodiment, step 104 specifically includes:
and roughly aligning each segment of candidate point cloud with the rational point cloud by using a principal component analysis technology, carrying out violent search alignment by adopting the distance map by taking the rough alignment result as an initial value, outputting an alignment error, and selecting the laser point cloud with the minimum alignment error as a charging pile point cloud.
In this embodiment, the positioning module includes an odometer, and step 105 further includes:
and tracking the pose of the charging pile by using extended Kalman filtering according to the data of the odometer and the pose of the charging pile.
Therefore, based on the charging pile point cloud, the position and the posture of the charging pile which are mistakenly identified can be effectively found by fusing the odometer data, and the accuracy of identifying the charging pile is improved overall.
The embodiment of the invention also relates to an automatic recharging system, and the automatic recharging moving method is applied. Under the condition, the robot can be ensured to be more stable in the process of moving close to the charging pile by adjusting the moving speed in the moving process.
The above-described embodiments do not limit the scope of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the above embodiments should be included in the scope of the present invention.
Claims (8)
1. An automatic recharging and moving method, wherein the method is applied to a robot for positioning and moving a charging pile, the charging pile having characteristic information, the robot comprising a laser radar, the method comprising:
the robot searches the characteristic information through the laser radar and calculates the pose of the charging pile;
when the linear distance r between the robot and the charging pile is a fourth threshold value, calculating a smooth track of the robot reaching the charging pile according to the pose of the charging pile, and calculating and outputting the moving speed of the robot;
the method for calculating the moving speed comprises the following steps:
according to
Calculating the moving speed, wherein v (k) is the moving speed, r is the linear distance between the robot and the charging pile, k is the curvature of the moving track of the robot, and v max For the maximum moving speed of the robot, beta and lambda are constant, beta>0,λ>1；
2. The automatic recharging movement method of claim 1, wherein the
Wherein k is 1 And k 2 Are all constant, k 1 >0,k 2 >1, δ is the angle between the robot facing direction and the robot-charging pile connecting direction, θ is the angle between the charging pile facing direction and the robot-charging pile connecting direction, and includes:
the linear distance r is the distance between the robot and the midpoint of the charging pile, delta is the included angle between the opposite direction of the robot and the connecting line direction of the midpoint of the robot-charging pile, and theta is the included angle between the opposite direction of the charging pile and the connecting line direction of the midpoint of the robot-charging pile.
3. The automatic recharging and moving method of claim 1, wherein the characteristic information is a reflective mark, the robot further comprises a positioning module, the positioning module outputs a pose of the robot, the laser radar scans and acquires a laser point cloud, the robot searches the characteristic information through the laser radar and calculates the pose of the charging pile, and the method comprises the following steps:
searching a plurality of segments of alternative laser point clouds with feedback light intensity higher than a first threshold value;
calculating position information of the charging pile under a laser coordinate system according to the position of the charging pile under the world coordinate system and the pose of the robot under the world coordinate system, setting a search range according to the position information, and searching the alternative laser point cloud in the search range;
calculating the point cloud length of the alternative laser point cloud, removing the alternative laser point cloud with the point cloud length larger than a second threshold value, and removing the alternative laser point cloud with the point cloud length smaller than a third threshold value;
and fitting the screened alternative laser point clouds into a straight line, calculating the position of the straight line under the robot coordinate system, and outputting the pose of the charging pile.
4. The method of automatic recharging and moving according to claim 3, wherein said fitting the screened candidate laser point clouds into a straight line comprises;
and fitting the screened alternative laser point clouds into a straight line through a RANSAC algorithm.
5. The automatic recharging and moving method of claim 1, wherein the robot stores characteristic information of the charging pile, the robot further comprises a positioning module, the positioning module outputs a pose of the robot, the laser radar scans and acquires a laser point cloud, the robot searches the characteristic information through the laser radar, and calculates the pose of the charging pile, the method comprises the steps of:
calculating an ideal point cloud of the characteristic information and a distance map of the ideal point cloud;
calculating position information of the charging pile under a laser coordinate system according to the position of the charging pile under the world coordinate system and the pose of the robot under the world coordinate system, setting a search range according to the position information, and searching the laser point cloud in the search range;
searching the laser point clouds in the searching range by adopting a sliding window to output a plurality of candidate point clouds;
roughly aligning each segment of the candidate point cloud with the rational point cloud, carrying out violent search alignment by adopting the distance map, outputting an alignment error, and selecting the laser point cloud with the minimum alignment error as a charging pile point cloud;
and taking the charging pile point cloud as an initial value, aligning the charging pile point cloud with the ideal point cloud by using a singular value decomposition method, and calculating the pose of the charging pile.
6. The method of claim 5, wherein the sliding window has a first specific width, the sliding window has a second specific width, and the sum of the first specific width and the second specific width is not greater than the characteristic length of the charging pile.
7. The automatic recharging movement method of claim 5, wherein the position information includes a maximum positioning error boundary, and the setting the search range comprises:
and setting the search range by taking the maximum positioning error boundary as a center.
8. An automatic recharging system, characterized in that an automatic recharging movement method according to any of claims 1-7 is applied.
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| CN112230664B (en) * | 2020-10-29 | 2023-06-13 | 深圳市普渡科技有限公司 | Automatic recharging method and system |
| CN112363500B (en) * | 2020-10-29 | 2023-05-16 | 深圳市普渡科技有限公司 | Automatic recharging and moving method and system |
| CN112666564B (en) * | 2021-03-16 | 2021-07-06 | 瓴道(上海)机器人科技有限公司 | Charging pile positioning method, device and equipment and storage medium |
| CN112792820B (en) * | 2021-03-16 | 2021-09-14 | 千里眼(广州)人工智能科技有限公司 | Automatic robot recharging method and device and robot system |
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| CN114296467B (en) * | 2021-12-31 | 2023-06-06 | 福建汉特云智能科技有限公司 | Automatic pile finding and pile aligning method for robot charging pile |
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