CN113189981A - Charger robot transit point identification method and device and charger robot - Google Patents
Charger robot transit point identification method and device and charger robot Download PDFInfo
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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
- G05D1/0231—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
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
- G05D1/0212—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
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Abstract
The invention is suitable for the technical field of charging robots, and provides a method for identifying a transfer point of a charging robot, which comprises the following steps: when the charging robot can identify the charging pile, acquiring a current position point of the charging robot and a pose of the charging pile; judging whether the pose of the charging pile conforms to preset docking parameters or not; and when the pose of the charging pile is judged to accord with the preset docking parameters, determining the current position point as a transit point. The embodiment of the invention also provides a device for identifying the transfer point of the charger robot, the charger robot and a computer readable storage medium. The charger robot transit point identification method provided by the invention can be used for arbitrarily setting the transit point according to the user requirements, and can effectively avoid the problem that the transit point cannot reach due to automatic conversion particularly in the environment with relatively narrow environment and obstacles or entering gesture limitation.
Description
Technical Field
The invention belongs to the technical field of charging robots, and particularly relates to a method and a device for identifying a transfer point of a charging robot, the charging robot and a computer-readable storage medium.
Background
The technology advances, the robot technology also develops rapidly, and more robots are equipped with an automatic charging function, namely, the robots are called charging robots.
In the automatic recharging process of the robot, in order to enable the robot to rapidly return to the position near the charging pile and accurately dock the charging pile for charging, the charging robot in the prior art generally records the position and the posture of the charging robot when accurately docks with the charging pile, calculates the position of a transfer point through the position and the posture of the charging robot, and controls the charging robot to move to the recorded position of the transfer point within a certain range in front of the position of the charging pile when the robot needs to be charged, so that the robot is docked for charging again. However, the position of the transfer point recorded in this way cannot be changed, so that no obstacle can be caused in a certain range in front of the charging pile. However, a large charging robot needs a large area, and in a relatively narrow environment, charging failure is easily caused due to obstruction.
Disclosure of Invention
The embodiment of the invention provides a method for identifying a relay point of a charger robot, and aims to solve the problems that a large-scale charger robot in the prior art needs a large field and charging failure is easily caused by obstacle blocking in a relatively narrow environment.
The embodiment of the invention is realized in such a way that a method for identifying a relay point of a charger robot comprises the following steps:
when the charging robot can identify the charging pile, acquiring a current position point of the charging robot and a pose of the charging pile;
judging whether the pose of the charging pile conforms to preset docking parameters or not;
and when the pose of the charging pile is judged to accord with the preset docking parameters, determining the current position point as a transit point.
The embodiment of the invention also provides a device for identifying the transfer point of the charger robot, which comprises:
the parameter acquisition unit is used for acquiring a current position point of the charging robot and a pose of the charging pile when the charging robot can identify the charging pile;
the judging unit is used for judging whether the pose of the charging pile conforms to preset docking parameters or not;
and the transit point determining unit is used for determining that the current position point is the transit point when the pose of the charging pile is judged to accord with the preset docking parameters.
The embodiment of the present invention further provides a charger robot, where the charger robot includes:
a charging robot body;
the laser radar is arranged on the charging robot body and used for identifying the charging pile; and
and the controller is arranged in the charging robot body and comprises the charging robot transfer point identification method.
The embodiment of the invention also provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method for identifying the transfer point of the charger robot is realized.
According to the method for identifying the transit point of the charger robot, provided by the embodiment of the invention, whether the obtained pose of the charging pile accords with the preset docking parameters is judged, and when the pose of the charging pile accords with the preset docking parameters, the obtained current position point of the charger robot is determined to be the transit point. The charger robot transit point identification method provided by the invention can be used for arbitrarily setting the transit point according to the user requirements, and particularly can effectively avoid the problem that the transit point cannot reach due to automatic conversion in the environment with relatively narrow environment and obstacles or entering gesture limitation. And when the position point selected by the user can not be used as the transfer point, the charging robot can intelligently remind the user that the position point can not be set as the transfer point due to the reason that the position point is too close to, too far away from and/or too large in angle to the charging pile.
Drawings
Fig. 1 is a flowchart illustrating an implementation of a method for identifying a relay point of a charger robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a pose of a charging pile relative to a charging robot according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating an implementation of the step of determining whether the pose of the charging pile conforms to the preset docking parameters according to the second embodiment of the present invention;
fig. 4 is a schematic diagram of a preset docking angle range and a preset docking distance range that can be recognized by the charging robot according to the embodiment of the present invention;
fig. 5 is a flowchart illustrating an implementation of a method for identifying a relay point of a charger robot according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a device for identifying a relay point of a charger robot according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a determining unit according to a fifth embodiment of the present invention;
fig. 8 is a schematic structural diagram of a device for identifying a relay point of a charger robot according to a sixth embodiment of the present invention;
fig. 9 is a schematic structural diagram of a device for identifying a relay point of a charger robot according to a seventh embodiment of the present invention;
fig. 10 is a schematic structural diagram of a charger robot according to an eighth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
According to the method for identifying the transit point of the charger robot, provided by the embodiment of the invention, whether the obtained pose of the charging pile accords with the preset docking parameters is judged, and when the pose of the charging pile accords with the preset docking parameters, the obtained current position point of the charger robot is determined to be the transit point. The charger robot transit point identification method provided by the invention can be used for arbitrarily setting the transit point according to the user requirements, and particularly can effectively avoid the problem that the transit point cannot reach due to automatic conversion in the environment with relatively narrow environment and obstacles or entering gesture limitation.
Example one
Fig. 1 shows an implementation flowchart of a method for identifying a relay point of a charger robot according to an embodiment of the present invention, where the method includes the following steps:
in step S101, when the charging robot can recognize the charging pile, the current position point of the charging robot and the pose of the charging pile are acquired.
In the embodiment of the invention, the charger robot comprises an intelligent robot with an automatic charging function, such as a floor sweeping robot, a floor washing robot, a mowing robot and the like.
In one embodiment of the invention, the charging pile is matched with a charging pile robot for use.
As an embodiment of the present invention, the current location point of the charging robot may be any point in the area in front of the charging pile, where the location of the charging pile can be identified.
In the embodiment of the invention, referring to fig. 2, the poses of the charging pile are the angle θ and the distance L of the charging pile relative to the center line in the front of the robot at the current position point.
In step S102, determining whether the pose of the charging pile conforms to a preset docking parameter; when the judgment result is yes, executing step S103; when the judgment result is no, step S104 is executed.
In the embodiment of the present invention, referring to fig. 4, the preset docking parameters include a preset docking angle range and a preset docking distance range.
It can be understood that the preset docking angle range is an angle range which can be recognized by the charger robot relative to a front center line (assuming that the center line angle is 0 degrees), and the value range is-60 degrees to 60 degrees, namely thetamin-θmax. The preset butt joint distance range is Lmin～LmaxWherein L ismaxThe distance is the farthest distance which can be detected by a charger robot; l isminL proportional to the turning radius of the charging robot, i.e. the smaller the turning radius of the charging robot (representing the stronger the turning ability)minThe smaller the value.
In step S103, the current position point is determined as the transit point.
In the embodiment of the invention, it can be understood that the number of the transit points is not limited by the number, and the transit points can be set as long as the points meeting the condition that the pose of the charging pile conforms to the preset docking parameters.
In step S104, a reminder is output to the user.
In the embodiment of the invention, the step of outputting the reminding information to the user includes but is not limited to reminding the user that the current position point is too close to or too far away from the distance L from the charging pile; or the user is reminded that the obtained angle theta of the charging pile at the current position point is too large, so that the user can adjust the transfer point in time.
In one embodiment of the present invention, the reminder information includes, but is not limited to, text information, audio information, and the like.
For example, if the angle theta of the current position point A of the charging robot for acquiring the pose of the charging pile is 27 degrees, the distance L is 2 meters, the preset docking angle range is-40 degrees to-40 degrees, and the preset docking distance range is 1.2 meters to 4 meters, it can be determined that the current position point A can be set as a transit point.
For example, if the angle theta of the current position point B of the charging robot for acquiring the pose of the charging pile is-35 degrees, the distance L is 3.2 meters, the preset docking angle range is-60 degrees, and the preset docking distance range is 0.8-3.5 meters, it can be determined that the current position point B can be set as a transit point.
For example, the angle theta of the charging robot at the current position point C to acquire the pose of the charging pile is-35 degrees, the distance L is 3.2 meters, the preset docking angle range is-30 degrees to-30 degrees, and the preset docking distance range is 1.5 to 3.0 meters, so that a user can be reminded through voice that the angle theta of the charging pile acquired by the current position point C is larger, and the distance L between the current position point C and the charging pile is larger.
According to the method for identifying the transit point of the charger robot, provided by the embodiment of the invention, whether the obtained pose of the charging pile accords with the preset docking parameters is judged, and when the pose of the charging pile accords with the preset docking parameters, the obtained current position point of the charger robot is determined to be the transit point. The charger robot transit point identification method provided by the invention can be used for arbitrarily setting the transit point according to the user requirements, and particularly can effectively avoid the problem that the transit point cannot reach due to automatic conversion in the environment with relatively narrow environment and obstacles or entering gesture limitation. Meanwhile, when the pose of the charging pile at the current position point is judged not to accord with the preset docking parameters, corresponding prompts of too far distance or too close distance and too large angle are given so as to remind a user to reselect an adaptive position to set a transit point.
Example two
Referring to fig. 3, when the preset docking parameters include a preset docking angle range and a preset docking distance range, and the pose of the charging pile includes a distance and an angle of the charging pile relative to the charging robot, the step S102 specifically includes:
in step S201, determining whether an angle of the charging pile relative to the charging robot is within a preset docking angle range; when the judgment result is yes, executing step S202; when the judgment result is no, step S104 is executed.
As an example of the present invention, the step S201 is to determine whether an angle θ of the charging pile relative to a central line in front of the charger robot at the current position point satisfies θmin<θ<θmax。
In step S202, it is determined whether the distance between the charging pile and the charging robot is within a preset docking distance range; when the judgment result is yes, executing step S103; when the judgment result is no, step S104 is executed.
As an example of the present invention, the step S202 is to determine whether the distance L between the charging pile and the center line in front of the robot at the current position point satisfies Lmin<L<Lmax。
As a practical application of the invention, the current position point D of the charger robot can be determined to be a transit point if the angle theta (namely the angle of the pose of the charging pile) of the charging pile relative to the center line in the front of the charger robot at the current position point is 15 degrees, the distance L is 3.2 meters, the preset docking angle range is-60 degrees, and the preset docking distance range is 1-3.5 meters.
As another practical application of the invention, the current position point E of the charger robot obtains that the angle θ of the charging pile (i.e. the angle of the pose of the charging pile) relative to the center line in the front of the charger robot at the current position point is 28 °, the distance L is 0.8 m, the preset docking angle range is-45 ° to 45 °, the preset docking distance range is 1.2 to 3 m, and then the user can be reminded through voice that the current position point E is closer to the distance L of the charging pile.
According to the method for identifying the transfer point of the charger robot, provided by the embodiment of the invention, whether the angle of the charging pile relative to the charger robot is within the preset butt joint angle range is judged firstly, and whether the distance of the charging pile relative to the charger robot is within the preset butt joint distance range is judged if the angle of the charging pile relative to the charger robot is within the preset butt joint angle range, so that whether the pose of the charging pile is within the preset butt joint angle range and the preset butt joint distance range can be effectively determined in sequence, if the pose of the charging pile is within the preset butt joint angle range and the preset butt joint distance range, the current position point can be set as the transfer point, and if any one of the conditions is not met, corresponding reminding information is output to a user to remind the user to perform corresponding adjustment.
EXAMPLE III
Referring to fig. 5, after the step S103, the method further includes:
in step S301, the pose of the charging robot at the transit point is saved.
In the embodiment of the invention, the pose of the charger robot at the transit point comprises the coordinate and the posture of the charger robot at the transit point, and the pose of the charger robot at the moment is relative to the pose of the charger robot in the global map.
According to the method for identifying the transfer point of the charger robot, provided by the embodiment of the invention, by storing the pose of the transfer point of the charger robot at the current position, the charging pile can be continuously butted with the stored pose when the charger robot reaches the transfer point again, so that the convenience of using the subsequent transfer point is ensured.
Example four
Fig. 6 is a schematic structural diagram of a device 400 for identifying a relay point of a charger robot according to a fourth embodiment of the present invention, and for convenience of description, only the relevant parts according to the fourth embodiment of the present invention are shown. The apparatus 400 comprises:
and the parameter acquiring unit 410 is used for acquiring the current position point of the charging robot and the pose of the charging pile when the charging robot can identify the charging pile.
In the embodiment of the invention, the charger robot comprises an intelligent robot with an automatic charging function, such as a floor sweeping robot, a floor washing robot, a mowing robot and the like.
In one embodiment of the invention, the charging pile is matched with a charging pile robot for use.
As an embodiment of the present invention, the current location point of the charging robot may be any point in the area in front of the charging pile, where the location of the charging pile can be identified.
In the embodiment of the invention, referring to fig. 2, the poses of the charging pile are the angle θ and the distance L of the charging pile relative to the center line in the front of the robot at the current position point.
And the judging unit 420 is configured to judge whether the pose of the charging pile conforms to a preset docking parameter.
In the embodiment of the present invention, referring to fig. 4, the preset docking parameters include a preset docking angle range and a preset docking distance range.
It can be understood that the preset docking angle range is an angle range which can be recognized by the charger robot relative to a front center line (assuming that the center line angle is 0 degrees), and the value range is-60 degrees to 60 degrees, namely thetamin-θmax. The preset butt joint distance range is Lmin～LmaxWherein L ismaxThe distance is the farthest distance which can be detected by a charger robot; l isminL proportional to the turning radius of the charging robot, i.e. the smaller the turning radius of the charging robot (representing the stronger the turning ability)minThe smaller the value.
And a transit point determining unit 430, configured to determine that the current position point is a transit point when it is determined that the pose of the charging pile conforms to the preset docking parameter.
In the embodiment of the invention, it can be understood that the number of the transit points is not limited by the number, and the transit points can be set as long as the points meeting the condition that the pose of the charging pile conforms to the preset docking parameters.
For example, if the angle theta of the current position point A of the charging robot for acquiring the pose of the charging pile is 27 degrees, the distance L is 2 meters, the preset docking angle range is-40 degrees to-40 degrees, and the preset docking distance range is 1.2 meters to 4 meters, it can be determined that the current position point A can be set as a transit point.
For example, if the angle theta of the current position point B of the charging robot for acquiring the pose of the charging pile is-35 degrees, the distance L is 3.2 meters, the preset docking angle range is-60 degrees, and the preset docking distance range is 0.8-3.5 meters, it can be determined that the current position point B can be set as a transit point.
According to the device for identifying the transit point of the charger robot, provided by the embodiment of the invention, whether the obtained pose of the charging pile accords with the preset docking parameters is judged firstly, and when the pose of the charging pile accords with the preset docking parameters, the obtained current position point of the charger robot is determined to be the transit point. The device for identifying the transfer point of the charger robot can set the transfer point at will according to the requirements of users, and can effectively avoid the problem that the transfer point cannot reach due to automatic conversion particularly in the environment with relatively narrow environment and obstacles or limited entering postures.
EXAMPLE five
Referring to fig. 7, the pose of the charging pile includes a distance and an angle of the charging pile relative to the charging robot, and the determining unit includes:
and an angle judgment module 421, configured to judge whether the angle of the charging pile relative to the charging robot is within a preset docking angle range.
As an example of the present invention, the angle determining module 421 is a module for determining whether an angle θ of the charging pile relative to a central line in front of the charger robot at the current position point satisfies θmin<θ<θmax。
And the distance judgment module 422 is used for judging whether the distance of the charging pile relative to the charging robot is within a preset docking distance range.
As an example of the present invention, the distance determining module 422 is used for determining the charging pile relative to each otherWhether the distance L of the center line in the front of the robot at the current position point meets L or notmin<L<Lmax。
As a practical application of the invention, the current position point D of the charger robot can be determined to be a transit point if the angle theta (namely the angle of the pose of the charging pile) of the charging pile relative to the center line in the front of the charger robot at the current position point is 15 degrees, the distance L is 3.2 meters, the preset docking angle range is-60 degrees, and the preset docking distance range is 1-3.5 meters.
As another practical application of the invention, the current position point E of the charger robot obtains that the angle θ of the charging pile (i.e. the angle of the pose of the charging pile) relative to the center line in the front of the charger robot at the current position point is 28 °, the distance L is 0.8 m, the preset docking angle range is-45 ° to 45 °, the preset docking distance range is 1.2 to 3 m, and then the user can be reminded through voice that the current position point E is closer to the distance L of the charging pile.
According to the device for identifying the transit point of the charger robot, provided by the embodiment of the invention, whether the angle of the charging pile relative to the charger robot is within the preset docking angle range or not is judged firstly, and whether the distance of the charging pile relative to the charger robot is within the preset docking distance range or not is judged when the angle of the charging pile relative to the charger robot is within the preset docking angle range or not is judged, so that whether the pose of the charging pile is within the preset docking angle range or within the preset docking distance range or not can be effectively determined in sequence, and when the pose of the charging pile is within the preset docking angle range or within the preset docking distance range, it is indicated that the current position point can be set as the transit point, the setting of the transit point is more flexible and variable, and the intelligent degree of the charger robot is improved.
EXAMPLE six
Fig. 8 is a schematic structural diagram illustrating a device 500 for identifying a relay point of a charger robot according to a sixth embodiment of the present invention, where for convenience of description, only relevant parts in the sixth embodiment of the present invention are shown, and the device 500 is different from the device 400 in that the device 500 further includes:
and the reminding unit 510 is used for outputting reminding information to the user when the pose of the charging pile is judged not to accord with the preset docking parameters.
In the embodiment of the invention, the step of outputting the reminding information to the user includes but is not limited to reminding the user that the current position point is too close to or too far away from the distance L from the charging pile; or the user is reminded that the obtained angle theta of the charging pile at the current position point is too large, so that the user can adjust the transfer point in time.
In one embodiment of the present invention, the reminder information includes, but is not limited to, text information, audio information, and the like.
For example, the angle theta of the charging robot at the current position point C to acquire the pose of the charging pile is-35 degrees, the distance L is 3.2 meters, the preset docking angle range is-30 degrees to-30 degrees, and the preset docking distance range is 1.5 to 3.0 meters, so that a user can be reminded through voice that the angle theta of the charging pile acquired by the current position point C is larger, and the distance L between the current position point C and the charging pile is larger.
According to the device for identifying the transit point of the charger robot, provided by the embodiment of the invention, when the pose of the charging pile at the current position point is judged not to accord with the preset docking parameters, corresponding prompts of too far distance or too close distance and too large angle are given so as to remind a user to reselect an adaptive position to set the transit point, and the intelligent degree of the charger robot is improved.
EXAMPLE seven
Fig. 9 is a schematic structural diagram illustrating a device 600 for identifying a relay point of a charger robot according to a seventh embodiment of the present invention, where for convenience of description, only relevant portions in the embodiment of the present invention are shown, and the difference between the device 600 and the device 400 is that the device 600 further includes:
and a transit point saving unit 610, configured to save a pose of the charging robot at the transit point.
In the embodiment of the invention, the pose of the charger robot at the transit point comprises the coordinate and the posture of the charger robot at the transit point, and the pose of the charger robot at the moment is relative to the pose of the charger robot in the global map.
According to the device for identifying the transfer point of the charger robot, provided by the embodiment of the invention, by storing the pose of the transfer point of the charger robot at the current position, the charging pile can be continuously butted with the stored pose when the charger robot reaches the transfer point again, so that the convenience of using the subsequent transfer point is ensured.
Example eight
Fig. 10 shows a schematic structural diagram of a charger robot according to an eighth embodiment of the present invention, and for convenience of description, only a part related to the embodiment of the present invention is shown. This charger robot includes:
a charging robot body 1;
the laser radar 2 is arranged on the charger robot body 1 and used for identifying the charging pile; and
and the controller (not labeled) is arranged in the charger robot body 1 and comprises the charger robot transit point identification method.
The embodiment of the invention provides that the charging robot further comprises a memory. Illustratively, the computer program may be divided into one or more modules, which are stored in the memory and executed by the controller to accomplish the present invention. One or more modules can be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used for describing the execution process of the computer program in the charger robot.
Those skilled in the art will appreciate that the above description of the charging robot is merely exemplary and not limiting, and that more or fewer components than those described above may be included, or certain components may be combined, or different components may be included, such as input output devices, network access devices, buses, etc.
The controller may be a Central Processing Unit (CPU), other general purpose controller, a Micro Control Unit (MCU), a Digital Signal controller (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc. The general controller may be a microcontroller or the controller may be any conventional controller, etc., the controller is the control center of the charging robot, and various interfaces and lines are used to connect various parts of the whole charging robot.
The memory may be used to store the computer program and/or module, and the controller may implement various functions of the charging robot by operating or executing the computer program and/or module stored in the memory and calling data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The above-described charging robot integrated module/unit, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer-readable storage medium. Based on such understanding, all or part of the functions of the units in the system according to the above embodiments may be implemented by a computer program, which may be stored in a computer-readable storage medium and used by a controller to implement the functions of the above embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A method for identifying a relay point of a charger robot is characterized by comprising the following steps:
when the charging robot can identify the charging pile, acquiring a current position point of the charging robot and a pose of the charging pile;
judging whether the pose of the charging pile conforms to preset docking parameters or not;
and when the pose of the charging pile is judged to accord with the preset docking parameters, determining the current position point as a transit point.
2. The method for identifying a transfer point of a charger robot according to claim 1, wherein the preset docking parameters include a preset docking angle range and a preset docking distance range, the pose of the charging pile includes a distance and an angle of the charging pile relative to the charger robot, and the step of determining whether the pose of the charging pile meets the preset docking parameters specifically comprises:
judging whether the angle of the charging pile relative to the charging robot is within the preset butt joint angle range or not;
and when the judgment result is yes, judging whether the distance of the charging pile relative to the charging robot is within the preset butt joint distance range.
3. The method for identifying the transfer point of the charger robot according to claim 1, wherein after the step of judging whether the pose of the charging pile meets the preset docking parameters, the method further comprises the following steps:
and when the judgment result is no, outputting reminding information to the user.
4. The method for identifying the transit point of the charger robot according to claim 1, wherein after determining that the current position point is the transit point when the pose of the charging pile is determined to meet the preset docking parameters, the method further comprises:
and storing the pose of the charging robot at the transit point.
5. The utility model provides a quick-witted robot transit point recognition device charges which characterized in that, the device includes:
the parameter acquisition unit is used for acquiring a current position point of the charging robot and a pose of the charging pile when the charging robot can identify the charging pile;
the judging unit is used for judging whether the pose of the charging pile conforms to preset docking parameters or not;
and the transit point determining unit is used for determining that the current position point is the transit point when the pose of the charging pile is judged to accord with the preset docking parameters.
6. The device for identifying a transfer point of a charger robot according to claim 5, wherein the preset docking parameters include a preset docking angle range and a preset docking distance range, the pose of the charging pile includes a distance and an angle of the charging pile relative to the charger robot, and the determining unit includes:
the angle judging module is used for judging whether the angle of the charging pile relative to the charging robot is within the preset butt joint angle range or not;
and the distance judgment module is used for judging whether the distance of the charging pile relative to the charging robot is within the preset butt joint distance range.
7. The charger robot transit point identification device of claim 5, wherein the charger robot transit point identification device further comprises:
and the reminding unit is used for outputting reminding information to a user when the pose of the charging pile is judged not to be in accordance with the preset docking parameters.
8. The charger robot transit point identification device of claim 5, wherein the charger robot transit point identification device further comprises:
and the transit point storage unit is used for storing the pose of the charging robot at the transit point.
9. The utility model provides a machine people charges which characterized in that, charge the machine people and include:
a charging robot body;
the laser radar is arranged on the charging robot body and used for identifying the charging pile; and
the controller is arranged in the charging robot body and comprises the method for identifying the transfer point of the charging robot according to any one of claims 1 to 4.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the charger robot transit point identification method according to any one of claims 1 to 4.
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| CN202110377486.0A CN113189981A (en) | 2021-04-08 | 2021-04-08 | Charger robot transit point identification method and device and charger robot |
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| CN202110377486.0A CN113189981A (en) | 2021-04-08 | 2021-04-08 | Charger robot transit point identification method and device and charger robot |
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