CN114895686A - Method and system for charging pile by robot - Google Patents
Method and system for charging pile by robot Download PDFInfo
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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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- G05D1/0238—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
- G05D1/0231—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
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
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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
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
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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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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Abstract
The invention discloses a method and a system for charging a pile by a robot, wherein the method for charging the pile comprises the following steps: recording laser point cloud and a first position when the robot is used for charging a charging pile, wherein the laser point cloud is a target point cloud; calculating the coordinate and the orientation of a first preset distance position right behind the robot according to the real-time position of the robot to obtain a second position; performing nearest neighbor search by using the target point cloud and the input point cloud according to the point cloud at the second position of the robot as the input point cloud; and performing point cloud registration on the input point cloud and the target point cloud to obtain a registered third position, and continuously updating the input point cloud until the absolute value of the deviation between the registered third position and the first position is smaller than a second preset distance. The method for charging the pile by the robot can realize high-precision pile charging, has stronger tolerance on deployment of the charging pile environment, does not need additional hardware equipment, and effectively saves hardware cost.
Description
Technical Field
The application relates to the technical field of mobile robots, in particular to a method and a system for charging a pile by a robot.
Background
At present, an existing robot generally determines the relative position of a charging pile of the robot by using an infrared transmitting end and an infrared receiving end, and controls the robot to charge the pile by using the relative position. Alternatively, the existing robot recognizes the two-dimensional code on the charging pile by using a visual camera, and determines the position of the robot relative to the charging pile by using the recognized position of the two-dimensional code in the camera, and controls the robot to charge the pile by using the relative position.
The above-mentioned charging mode to the stake of robot among the prior art all has certain defect. The first scheme is suitable for an environment with relatively less electromagnetic interference of a charging pile position, and the problem that infrared signals are interfered exists. And need fill electric pile installation infrared emission end, install infrared receiving terminal on the robot, lead to the rising of hardware cost to outdoor robot, more one hardware equipment need install, just there is the unstable risk of hardware, leads to because of leading to the robot failure of charging to the stake precision difference. The scheme is applicable to indoor environment, also has unnecessary hardware equipment to install equally, and the two-dimensional code receives the easy wearing and tearing etc. of polluting, long-term use easily simultaneously, leads to the probability of robot charging failure to rise.
Disclosure of Invention
The invention aims to provide a new technical scheme of a pile charging method by a robot, which at least can solve the problems of high cost, poor pile charging precision, easiness in charging failure and the like in the prior art.
According to a first aspect of the present invention, there is provided a method of charging a pile by a robot, comprising the steps of:
recording laser point cloud and a first position when the robot is used for charging a charging pile, wherein the laser point cloud is a target point cloud;
calculating the coordinate and the orientation of a first preset distance position right behind the robot according to the real-time position of the robot to obtain a second position;
performing nearest neighbor search on the target point cloud and the input point cloud according to the point cloud at the second position of the robot as the input point cloud;
and performing point cloud registration on the input point cloud and the target point cloud to obtain a registered third position, and continuously updating the input point cloud until the absolute value of the deviation between the registered third position and the first position is smaller than a second preset distance.
Optionally, the step of performing nearest neighbor search with the target point cloud and the input point cloud includes:
traversing all points of the input point cloud, eliminating points which are larger than a preset multiple of the first preset distance in the input point cloud, and keeping the points which are smaller than or equal to the preset multiple of the first preset distance in the input point cloud.
Optionally, the step of continuously updating the input point cloud comprises:
and controlling the robot to move forward towards the charging pile according to the relative position deviation of the second position and the first position, and continuously updating the input point cloud in the moving process.
Optionally, the laser point cloud is a laser radar point cloud, and the laser point cloud comprises three-dimensional coordinates and laser reflection intensity.
Optionally, the first preset distance is 0.2m to 0.8m, the preset multiple is 1 to 2, and the second preset distance is 3cm to 8 cm.
According to a second aspect of the present invention, there is provided a robot pile charging system applied to the robot pile charging method described in the above embodiments, the pile charging system including:
the system comprises a recording module, a judging module and a control module, wherein the recording module is used for recording laser point cloud and a first position when a robot is used for charging a charging pile, and the laser point cloud is a target point cloud;
the calculating module is connected with the recording module and is used for calculating the coordinate and the orientation of a first preset distance position right behind the robot and obtaining a second position, wherein the point cloud of the second position is an input point cloud;
the searching module is connected with the calculating module and is used for performing nearest neighbor searching on the target point cloud and the input point cloud;
the registration module is connected with the search module and is used for performing point cloud registration on the input point cloud and the target point cloud;
an update module connected with the registration module, the update module to update the input point cloud.
Optionally, the search module includes: the eliminating unit and the retaining unit are respectively connected with the calculating module, the eliminating unit is used for eliminating points which are larger than the preset multiple of the first preset distance in the input point cloud, and the retaining unit is used for retaining the points which are smaller than or equal to the preset multiple of the first preset distance in the input point cloud.
According to a third aspect of the present invention, there is provided a robot comprising: moving the chassis; the machine body is arranged on the movable chassis, and the movable chassis drives the machine body to move; and the laser radar is arranged in the machine body.
Optionally, the robot further comprises: a processor and a memory having computer program instructions stored therein, wherein the computer program instructions, when executed by the processor, cause the processor to perform the steps of the robot-to-pile charging method in the above embodiments.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to carry out the steps of the robot-to-pile charging method of the above embodiments.
According to the pile charging method of the robot, the real-time position of the robot is obtained by using the self laser point cloud of the robot, extra hardware equipment is not needed, and the hardware cost is saved. In the pile charging method, point cloud registration is carried out on input point clouds and target point clouds, the input point clouds are continuously updated, positions with higher accuracy can be obtained through registration between the point clouds, and high-accuracy pile charging is realized. The pile charging method is higher in tolerance of the deployment charging pile environment, and can charge the pile with high precision in different scenes such as indoor and outdoor scenes, so that the risk of charging failure is avoided.
Further features of the present application and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which is to be read in connection with the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
FIG. 1 is a flow chart of a method of charging a pile by a robot according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a robot-to-pile charging system according to an embodiment of the invention;
fig. 3 is a schematic diagram of the operation of a robot according to an embodiment of the present invention.
Reference numerals:
a recording module 10;
a calculation module 20;
a search module 30; a rejection unit 31; a retention unit 32;
a registration module 40;
an update module 50;
a processor 201;
a memory 202; an operating system 2021; application programs 2022;
a network interface 203;
an input device 204;
a hard disk 205;
a display device 206.
Detailed Description
Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The method for charging the pile by the robot according to the embodiment of the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, a method for charging a pile by a robot according to an embodiment of the present invention includes the following steps:
s1, recording a laser point cloud and a first position when the robot is used for charging the charging pile, wherein the laser point cloud is a target point cloud;
s2, calculating coordinates and orientation at a first preset distance position right behind the robot according to the real-time position of the robot to obtain a second position;
s3, performing nearest neighbor search by using the target point cloud and the input point cloud according to the point cloud at the second position of the robot as the input point cloud;
and S4, performing point cloud registration on the input point cloud and the target point cloud to obtain a registered third position, and continuously updating the input point cloud until the absolute value of the deviation between the registered third position and the first position is smaller than a second preset distance.
In other words, referring to fig. 1, in the method for charging a pile by a robot according to the embodiment of the present invention, first, the robot may be placed on the charging pile, and the laser point cloud and the first position of the robot when the robot is placed on the charging pile are recorded, where the laser point cloud is the target point cloud. The real-time position of the robot is obtained by utilizing the laser point cloud with the laser radar of the robot, no additional hardware equipment is needed, and the hardware cost is saved. And then, calculating the coordinate and the orientation of a first preset distance position right behind the robot according to the real-time position of the robot to obtain a second position. When the robot needs to be charged, the robot is navigated to a second location. After the position is reached, the nearest neighbor search is carried out by the target point cloud and the input point cloud.
And finally, performing point cloud registration on the input point cloud and the target point cloud to obtain a registered third position, continuously updating the input point cloud until the absolute value of the deviation between the registered third position and the first position is smaller than a second preset distance, and completing high-precision pile charging of the robot. According to the invention, the position with higher accuracy can be obtained through registration between the point clouds, and the high-accuracy pile charging is realized. And to the tolerance nature strong of deploying the electric pile environment, do not require the environment that infrared interference is low, also do not have the loss or the pollution problem of two-dimensional code like the two-dimensional code to the stake, the success rate that long-term operation charges is very high.
Therefore, according to the pile charging method of the robot, the real-time position of the robot is obtained by using the self laser point cloud of the robot, extra hardware equipment is not needed, and the hardware cost is saved. In the pile charging method, point cloud registration is carried out on input point clouds and target point clouds, the input point clouds are continuously updated, positions with higher accuracy can be obtained through registration between the point clouds, and high-accuracy pile charging is realized. The pile charging method is higher in tolerance of the deployment charging pile environment, and can charge the pile with high precision in different scenes such as indoor and outdoor scenes, so that the risk of charging failure is avoided.
In some embodiments of the present invention, the step of performing nearest neighbor search with the target point cloud and the input point cloud comprises: traversing all points of the input point cloud, eliminating points which are larger than a preset multiple of the first preset distance in the input point cloud, and keeping points which are smaller than or equal to the preset multiple of the first preset distance in the input point cloud. The step of continuously updating the input point cloud comprises: and controlling the robot to move forward towards the charging pile according to the relative position deviation of the second position and the first position, and continuously updating the input point cloud in the moving process.
The laser point cloud is a laser radar point cloud (3D point cloud) which comprises a three-dimensional coordinate and laser reflection intensity. The 3D laser radar is one of necessary hardware for the outdoor robot to construct the image, position and avoid the obstacle, and extra hardware equipment is not needed, so that the cost is saved. The 3D laser radar point cloud is a collection of mass points of target surface characteristics, and the point cloud obtained according to a laser measurement principle comprises three-dimensional coordinates (XYZ) and laser reflection Intensity (Intensity). And point cloud registration is carried out to obtain a rotational translation transformation moment, and the matrix represents the position transformation relation of the two point clouds, namely the source point cloud can be transformed to the position of the target point cloud through RT (reverse transcription), so that the source point cloud and the target point cloud can be superposed.
According to an embodiment of the invention, the first predetermined distance is between 0.2m and 0.8m, the predetermined multiple is between 1 and 2, and the second predetermined distance is between 3cm and 8 cm.
That is, in the method for charging the pile by the robot of the present invention, referring to fig. 1, first, the robot is put into the charging pile, and 3D point cloud of the 3D lidar at the current time is recorded. The current real-time position (first position) is recorded. And then, calculating the coordinate and the orientation of a first preset distance from the right back of the robot according to the real-time position of the robot to obtain a second position. For example, the first preset distance is 0.5 m.
When the robot needs to be charged, it navigates to the second location first. After the position is reached, the laser point cloud is used as a target point cloud, the point cloud at the current moment (the point cloud at the second position) is used as an input point cloud, and nearest neighbor search is carried out. Traversing all points of the input point cloud, when the distance between the nearest neighbor point of a certain point in the target point cloud exceeds 1.5 times of a first preset distance, namely is more than 0.75m, the point can be regarded as a dynamic point, eliminating the dynamic point from the input point cloud, and keeping the point with the nearest neighbor distance less than or equal to 1.5 times of the first preset distance. And after the dynamic points are removed, performing point cloud registration by using the input point cloud and the target point cloud, obtaining a relative position by using the point cloud registration, obtaining a radar point cloud at the current moment to a third position of the radar point cloud recorded previously, updating the input point cloud, and controlling the robot to move forward towards the charging pile according to the relative position deviation of the robot, for example, the y-axis deviation is positive 10cm at the moment, so that the angular speed can be controlled, and the y-axis deviation can be reduced. And continuously updating the input point cloud along with the advance of the robot, then eliminating the dynamic point of the point cloud at the current moment, continuously performing point cloud registration, and updating the relative position in a rolling manner until the absolute value of the position deviation is less than 5cm or until the robot is charged, so that the high-precision pile charging of the robot is completed.
In summary, according to the method for charging the pile by the robot provided by the embodiment of the invention, the real-time position of the robot is obtained by using the point cloud of the laser carried by the robot, no additional hardware equipment is needed, and the hardware cost is saved. In the pile charging method, point cloud registration is carried out on input point clouds and target point clouds, the input point clouds are continuously updated, positions with higher accuracy can be obtained through registration between the point clouds, and high-accuracy pile charging is realized. The pile charging method is higher in tolerance of the deployment charging pile environment, and can charge the pile with high precision in different scenes such as indoor and outdoor scenes, so that the risk of charging failure is avoided.
According to a second aspect of the present application, there is provided a robot-to-pile charging system, which is applied to the robot-to-pile charging method in the above embodiments, the pile charging system includes a recording module 10, a calculating module 20, a searching module 30, a registering module 40, and an updating module 50.
Specifically, referring to fig. 2, the recording module 10 is configured to record a laser point cloud and a first position when the robot is applied to the charging pile, where the laser point cloud is a target point cloud. The calculating module 20 is connected to the recording module 10, and the calculating module 20 is configured to calculate coordinates and an orientation at a first preset distance from the front and back of the robot, and obtain a second position, where a point cloud at the second position is an input point cloud. The searching module 30 is connected to the calculating module 20, and the searching module 30 is configured to perform nearest neighbor searching on the target point cloud and the input point cloud. The registration module 40 is connected to the search module 30, and the registration module 40 is configured to perform point cloud registration on the input point cloud and the target point cloud. An update module 50 is connected to the registration module 40, and the update module 50 is used for updating the input point cloud.
The searching module 30 includes a removing unit 31 and a retaining unit 32, the removing unit 31 and the retaining unit 32 are respectively connected to the calculating module 20, the removing unit 31 is configured to remove points in the input point cloud that are greater than a preset multiple of the first preset distance, and the retaining unit 32 is configured to retain points in the input point cloud that are less than or equal to the preset multiple of the first preset distance.
According to the pile charging system of the robot, the real-time position of the robot is obtained by using the self laser point cloud of the robot, extra hardware equipment is not needed, and the hardware cost is saved. In the pile charging method, point cloud registration is carried out on input point clouds and target point clouds, the input point clouds are continuously updated, positions with higher accuracy can be obtained through registration between the point clouds, and high-accuracy pile charging is realized. The pile charging method is higher in tolerance of the deployment charging pile environment, and can charge the pile with high precision in different scenes such as indoor and outdoor scenes, so that the risk of charging failure is avoided.
According to a third aspect of the present invention, there is provided a robot comprising a moving chassis, a machine body and a lidar.
Specifically, the machine body is arranged on a movable chassis, and the movable chassis drives the machine body to move. The laser radar is arranged in the machine body. The laser radar is a 3D laser radar. The mobile chassis can obtain the real-time position of the current robot in the map, and can navigate to any coordinate point not occupied by the obstacle in the map.
The robot provided by the invention is provided with the laser radar to obtain the real-time position of the robot, no additional hardware equipment is needed, the hardware cost is saved, the pile charging precision is high, and the failure risk is avoided. And to the tolerance nature strong of deploying the electric pile environment, do not require the environment that infrared interference is low, also do not have the loss or the pollution problem of two-dimensional code like the two-dimensional code to the stake, the success rate that long-term operation charges is very high.
The robot of the present application further includes: a processor 201 and a memory 202, in which memory 202 computer program instructions are stored, which, when executed by the processor 201, cause the processor 201 to perform the steps of the robot pile charging method in the above embodiments.
Further, as shown in fig. 3, the robot further includes a network interface 203, an input device 204, a hard disk 205, and a display device 206.
The various interfaces and devices described above may be interconnected by a bus architecture. A bus architecture may include any number of interconnected buses and bridges. One or more central processing units 201 (CPUs), represented in particular by processor 201, and one or more memories 202, represented by memory 202, are connected together. The bus architecture may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like. It will be appreciated that a bus architecture is used to enable communications among the components. The bus architecture includes a power bus, a control bus, and a status signal bus, in addition to a data bus, all of which are well known in the art and therefore will not be described in detail herein.
The network interface 203 may be connected to a network (e.g., the internet, a local area network, etc.), and may obtain relevant data from the network and store the relevant data in the hard disk 205.
The input device 204 may receive various commands input by the operator and send the commands to the processor 201 for execution. The input device 204 may include a keyboard or pointing device (e.g., a mouse, trackball, touch pad, touch screen, or the like).
The display device 206 may display the result obtained by the processor 201 executing the instructions.
The memory 202 is used for storing programs and data necessary for the operation of the operating system 2021, and data such as intermediate results in the calculation process of the processor 201.
It will be appreciated that memory 202 in embodiments of the invention may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. The memory 202 of the apparatus and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory 202.
In some embodiments, memory 202 stores the following elements, executable modules or data structures, or a subset thereof, or an expanded set thereof: an operating system 2021 and application programs 2022.
The operating system 2021 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application programs 2022 include various application programs 2022 such as a Browser (Browser) and the like, and are used to implement various application services. A program implementing the method of an embodiment of the present invention may be included in the application 2022.
The processor 201 executes the steps of the pile charging method of the robot according to the above embodiment when calling and executing the application 2022 and data stored in the memory 202, specifically, the application 2022 may be a program or an instruction stored in the application 2022.
The method disclosed by the above embodiment of the present invention can be applied to the processor 201, or implemented by the processor 201. The processor 201 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 201. The processor 201 may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof, and may implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present invention. A general purpose processor may be a microprocessor or the processor 201 may be any conventional processor 201 or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 202, and the processor 201 reads the information in the memory 202 and completes the steps of the method in combination with the hardware.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions of the present application, or a combination thereof.
For a software implementation, the techniques herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions herein. The software codes may be stored in memory 202 and executed by processor 201. The memory 202 may be implemented in the processor 201 or external to the processor 201.
In particular, the processor 201 is also adapted to read the computer program and perform the steps of predicting and outputting answers to questions asked by the user for the pile charging method.
In the third aspect of the present invention, a computer-readable storage medium is further provided, where a computer program is stored, and when the computer program is executed by the processor 201, the processor 201 is caused to execute the steps of the pile charging method by a robot in the foregoing embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be physically included alone, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute some steps of the transceiving method of the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Although some specific embodiments of the present application have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present application. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present application. The scope of the application is defined by the appended claims.
Claims (10)
1. A method for charging a pile by a robot is characterized by comprising the following steps:
recording laser point cloud and a first position when the robot is used for charging a charging pile, wherein the laser point cloud is a target point cloud;
calculating the coordinate and the orientation of a first preset distance position right behind the robot according to the real-time position of the robot to obtain a second position;
performing nearest neighbor search on the target point cloud and the input point cloud according to the point cloud at the second position of the robot as the input point cloud;
and performing point cloud registration on the input point cloud and the target point cloud to obtain a registered third position, and continuously updating the input point cloud until the absolute value of the deviation between the registered third position and the first position is smaller than a second preset distance.
2. The method of claim 1, wherein the step of performing a nearest neighbor search with the target point cloud and the input point cloud comprises:
traversing all points of the input point cloud, eliminating points which are larger than a preset multiple of the first preset distance in the input point cloud, and keeping the points which are smaller than or equal to the preset multiple of the first preset distance in the input point cloud.
3. The method of claim 2, wherein the step of continuously updating the input point cloud comprises:
and controlling the robot to move forward towards the charging pile according to the relative position deviation of the second position and the first position, and continuously updating the input point cloud in the moving process.
4. The robot-to-pile charging method of claim 3, wherein the laser point cloud is a lidar point cloud comprising three-dimensional coordinates and a laser reflection intensity.
5. A method of charging a pile by a robot as claimed in claim 4, wherein the first predetermined distance is 0.2m to 0.8m, the predetermined multiple is 1 to 2 and the second predetermined distance is 3cm to 8 cm.
6. A robot pile charging system applied to the robot pile charging method according to any one of claims 1 to 5, the robot pile charging system comprising:
the system comprises a recording module, a judging module and a control module, wherein the recording module is used for recording laser point cloud and a first position when a robot is used for charging a charging pile, and the laser point cloud is a target point cloud;
the calculating module is connected with the recording module and is used for calculating the coordinate and the orientation of a first preset distance position right behind the robot and obtaining a second position, wherein the point cloud of the second position is an input point cloud;
the searching module is connected with the calculating module and is used for performing nearest neighbor searching on the target point cloud and the input point cloud;
the registration module is connected with the search module and is used for performing point cloud registration on the input point cloud and the target point cloud;
an update module connected with the registration module, the update module to update the input point cloud.
7. The robot-to-pile charging system of claim 6, wherein the search module comprises: the eliminating unit and the retaining unit are respectively connected with the calculating module, the eliminating unit is used for eliminating points which are larger than the preset multiple of the first preset distance in the input point cloud, and the retaining unit is used for retaining the points which are smaller than or equal to the preset multiple of the first preset distance in the input point cloud.
8. A robot, characterized in that the robot comprises:
moving the chassis;
the machine body is arranged on the movable chassis, and the movable chassis drives the machine body to move;
and the laser radar is arranged in the machine body.
9. The robot of claim 8, further comprising: a processor and a memory having computer program instructions stored therein, wherein the computer program instructions, when executed by the processor, cause the processor to perform the steps of the robot-to-pile charging method of any of claims 1-5.
10. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, causes the processor to perform the steps of the robot-to-pile charging method of any one of claims 1-5.
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| CN202210586001.3A CN114895686A (en) | 2022-05-27 | 2022-05-27 | Method and system for charging pile by robot |
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| CN202210586001.3A CN114895686A (en) | 2022-05-27 | 2022-05-27 | Method and system for charging pile by robot |
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