CN107539160A - Charging pile and its recognition methods, intelligent mobile robot - Google Patents
Charging pile and its recognition methods, intelligent mobile robot Download PDFInfo
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- CN107539160A CN107539160A CN201710902564.8A CN201710902564A CN107539160A CN 107539160 A CN107539160 A CN 107539160A CN 201710902564 A CN201710902564 A CN 201710902564A CN 107539160 A CN107539160 A CN 107539160A
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- 238000007600 charging Methods 0.000 title claims abstract description 161
- 238000000034 method Methods 0.000 title claims abstract description 39
- 239000003550 marker Substances 0.000 claims abstract description 263
- 238000005259 measurement Methods 0.000 claims abstract description 90
- 230000015654 memory Effects 0.000 claims description 14
- 230000011514 reflex Effects 0.000 claims description 5
- 239000011248 coating agent Substances 0.000 claims description 3
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- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract 1
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- 239000002184 metal Substances 0.000 description 8
- 230000002159 abnormal effect Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
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- 235000012054 meals Nutrition 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
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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
Abstract
The invention discloses a kind of charging pile and its recognition methods, intelligent mobile robot；Charging pile includes pile body and mark provided with power supply, and the mark includes at least two with different retro-reflecting coefficients and arranged adjacent in the marker element in a plane of pile body, simple in construction, small volume, reduces manufacturing cost in the same direction.The recognition methods of charging pile is by being configured with the intelligent mobile robot of laser radar by obtaining the scan data of laser radar, and then the first marker element and second of marker element with different retro-reflecting coefficients on charging pile are determined according to intensity of light reflection and measurement distance, pose of the intelligent mobile robot relative to charging pile is finally determined according to intensity of light reflection, measurement distance and angle value, so that intelligent mobile robot determines interfaced charging behind the position of power supply, realize and accurately identify and position.
Description
Technical field
The present invention relates to intelligent mobile robot recharging technical field, more particularly to a kind of charging pile and its identification side
Method, intelligent mobile robot.
Background technology
With the development of science and technology and there are a variety of intelligent mobile machines in the improvement of people's living standards, in the market
People, for example, household cleaning machine people, robot of accompanying and attending to, meal delivery robot etc..Various types of sensors, path planning, map
The technological incorporation such as structure are in intelligent mobile robot so that intelligent mobile robot can evade barrier during autonomous
Hinder thing, some intelligent mobile robots can also realize recharging, and intelligence degree is higher, and it is strong to greatly reduce hand labor
Degree and time.
Realized in the technology of recharging, some are constantly to send signal by charging pile, on intelligent mobile robot
Receiver receive the signal, finally with charging pile complete dock, independently intelligent mobile robot is charged；Using
This mode realizes recharging, it is necessary to set other electronic components such as circuit board, signal projector, increase system for charging pile
Cause this.
Some are by the way that charging pile is designed as surface in concavo-convex alternate structure, utilizes swashing on intelligent mobile robot
The concavo-convex alternate structure of optical radar scanning, the step difference obtained using ranging are matched and identified charging pile, finally with charging
Docking is completed in stake, and independently intelligent mobile robot is charged；However, charging pile is designed as surface in concavo-convex alternate
Structure, cause the volume of charging pile bigger, and manufacturing cost is of a relatively high.
The content of the invention
The technical problems to be solved by the invention are, there is provided a kind of charging pile and its recognition methods, intelligent mobile machine
People, using the laser radar on intelligent mobile robot to the marker element with different retro-reflecting coefficients that is set on charging pile
It is identified, so that intelligent mobile robot determines the position of charging pile, achieve a butt joint charging.
In order to solve the above-mentioned technical problem, the present invention uses following technical scheme：
A kind of charging pile, the intelligent mobile robot suitable for being configured with laser radar, including：
Pile body, provided with power supply, the power supply is configured to intelligent mobile robot charging；
Mark, including at least two the marker element with different retro-reflecting coefficients, at least two marker element edges
Same direction arranged adjacent is in a plane of the pile body；The marker element is configured for the laser radar identification,
So that intelligent mobile robot determines to dock charging with the power supply behind the position of the power supply.
Optionally, the mark includes being at least one the first marker element and second of marker element, and first
Marker element and second of marker element are planted along the interlaced arrangement of the same direction.
Optionally, along the first described unidirectional each marker element and second of marker element at least by institute
State laser radar and gather two scanning elements.
Optionally, when the charging pile and intelligent mobile robot are positioned on same ground, the laser radar hair
The laser beam gone out can be incident upon in the mark.
Optionally, when the charging pile is positioned on ground, a plane and the ground inclination of the pile body are set.
Optionally, the coating being identified as in the plane for being sprayed on the pile body；Or described be identified as is pasted onto
Paster or pad pasting in one plane of the pile body.
A kind of charging pile provided in an embodiment of the present invention, including pile body and mark provided with power supply, the mark include
At least two have different retro-reflecting coefficients marker elements, at least two marker elements in the same direction arranged adjacent in pile body
A plane on, marker element is identified using the laser radar configured on intelligent mobile robot, realizes intelligent mobile
Robot docks charging with power supply after determining the position of power supply；The structure of charging pile is simple, small volume, reduces and is manufactured into
This.
A kind of recognition methods of charging pile, the intelligent mobile robot suitable for being configured with laser radar, the charging pile
Being provided with the first marker element with different retro-reflecting coefficients and second of marker element, methods described includes：
The scan data of laser radar is obtained, the scan data includes the intensity of light reflection and measurement distance of multiple scanning elements
And angle value corresponding with the measurement distance；
The first marker element and second of identification element on the charging pile are determined according to intensity of light reflection and measurement distance
Element；
Position of the intelligent mobile robot relative to the charging pile is determined according to intensity of light reflection, measurement distance and angle value
Appearance, so that intelligent mobile robot is moved to the charging pile and interfaced charging.
Optionally, the retro-reflecting coefficient of the first marker element is less than the reflex reflection system of second of marker element
Number, the first described marker element is even number, and second of marker element is odd number；The first described marker element and
Second of marker element interlaced arrangement in the same direction.
Optionally, it is described that the first marker element on the charging pile and are determined according to intensity of light reflection and measurement distance
The step of two kinds of marker elements, includes：
If the intensity of light reflection of continuous scanning element is less than the first preset strength, it is determined that the first mark on the charging pile
Element；
If the intensity of light reflection of continuous scanning element is more than the second preset strength, it is determined that second of mark on the charging pile
Element.
Optionally, methods described also includes：
Scanning element fitting on the first described marker element is in alignment, judge on second of marker element
Scanning element to the straight line distance whether in preset threshold range, if so, then assert the first described marker element and institute
It is in the same plane to state second of marker element.
Optionally, methods described also includes：
Scanning element fitting on second of marker element is in alignment, judge on the first described marker element
Scanning element to the straight line distance whether in preset threshold range, if so, then assert the first described marker element and institute
It is in the same plane to state second of marker element.
Optionally, methods described also includes：
Each the first marker element and second of marker element are calculated along the length in the same direction, and judges to be somebody's turn to do
Whether length is identical with physical length.
The recognition methods of a kind of charging pile provided in an embodiment of the present invention, by the intelligent mobile machine for being configured with laser radar
People performs, and by obtaining the scan data of laser radar, scan data includes the intensity of light reflection and measurement distance of multiple scanning elements
And angle value corresponding with the measurement distance, and then determine that there is difference on charging pile according to intensity of light reflection and measurement distance
The first marker element and second of marker element of retro-reflecting coefficient, finally according to intensity of light reflection, measurement distance and angle
Value determines pose of the intelligent mobile robot relative to charging pile, realizes and accurately identifies and position, so that intelligent mobile machine
People is moved to charging pile and interfaced charging.
A kind of intelligent mobile robot, is configured with laser radar thereon, for charging pile to be identified, the charging pile
It is provided with the first marker element and second of marker element with different retro-reflecting coefficients, the intelligent mobile robot bag
Include：
At least one processor；And
The memory being connected with least one processor communication；Wherein,
The memory storage has can be by the instruction repertorie of at least one computing device, and the instruction repertorie is by institute
At least one computing device is stated, so that at least one processor is able to carry out the method described in any of the above-described.
A kind of intelligent mobile robot identifies charging pile system, including charging pile and the intelligent mobile for being configured with laser radar
Robot；
The charging pile includes：
Pile body, provided with power supply, the power supply is configured to intelligent mobile robot charging；
Mark, including at least two the marker element with different retro-reflecting coefficients, at least two marker element edges
Same direction arranged adjacent is in a plane of the pile body；
The intelligent mobile robot is configured as obtaining the scan data of laser radar, and the scan data includes multiple
The intensity of light reflection and measurement distance of scanning element and angle value corresponding with the measurement distance；
The intelligent mobile robot is configured as being determined on the charging pile extremely according to intensity of light reflection and measurement distance
Few two kinds of marker elements；
The intelligent mobile robot is configured as determining intelligent mobile according to intensity of light reflection, measurement distance and angle value
Robot relative to the charging pile pose so that intelligent mobile robot is moved to the charging pile and interfaced filled
Electricity.
Optionally, two kinds of marker elements include the first marker element and second of marker element, it is described the first
The retro-reflecting coefficient of marker element is less than the retro-reflecting coefficient of second of marker element, and the first described marker element is even
Several, second of marker element is odd number；The first described marker element and second of marker element are along same
The interlaced arrangement in direction.
Optionally, if the intensity of light reflection that the intelligent mobile robot is configured as continuous scanning element is preset by force less than first
Degree, it is determined that the first marker element on the charging pile；If the intensity of light reflection of continuous scanning element is more than the second preset strength,
Then determine second of marker element on the charging pile.
Optionally, the intelligent mobile robot is additionally configured to：Calculate the first each marker element and second of mark
Element is known along the length in the same direction, and judges whether the length is identical with physical length.
A kind of intelligent mobile robot identification charging pile system provided in an embodiment of the present invention, intelligent mobile robot by with
Be set to the scan data for obtaining laser radar, the intensity of light reflection and measurement distance of scan data including multiple scanning elements and with this
Angle value corresponding to measurement distance, and then determine that there are different reflex reflection systems on charging pile according to intensity of light reflection and measurement distance
Two kinds of several marker elements, finally according to intensity of light reflection, measurement distance and angle value determine intelligent mobile robot relative to
The pose of charging pile, realize and accurately identify and position, so that intelligent mobile robot is moved to charging pile and interfaced filled
Electricity.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other variants are obtained according to these accompanying drawings.
Fig. 1 is equipped with the intelligent mobile robot of laser radar and the application scenarios schematic diagram of charging pile；
Fig. 2 is the structural representation of the charging pile of the embodiment of the present invention；
Fig. 3 is another visual angle figure of charging pile shown in Fig. 2；
Fig. 4 is the structural representation of laser radar shown in Fig. 1；
Fig. 5 is the operation principle schematic diagram of laser radar；
Fig. 6 is to establish the intelligent mobile robot of polar coordinate system to the operation principle schematic diagram of mark projection scanning element；
Fig. 7 is the step flow chart of the recognition methods of the charging pile of the embodiment of the present invention；
The scan data list for the laser radar that Fig. 8 is obtained when being the pose that intelligent mobile robot is in a certain determination；
Fig. 9 is the step flow chart of step S420 shown in Fig. 7；
Figure 10 is that three scanning elements projected according to laser radar determine to be located at collinear operation principle schematic diagram；
Figure 11 is the intelligent mobile robot for establishing plane right-angle coordinate relative to the operation principle of the pose of charging pile
Schematic diagram；
Figure 12 is that the hardware configuration of the intelligent mobile robot of the recognition methods of the execution charging pile of the embodiment of the present invention shows
It is intended to.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly retouched
State, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Based on the present invention
In embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
As shown in figure 1, the embodiments of the invention provide a kind of charging pile 100, the charging pile 100 is applied to be configured with laser
The intelligent mobile robot 200 of radar 210, i.e., by the laser radar 210 on intelligent mobile robot 200 to charging pile 100
It is identified and positions.Intelligent mobile robot 200 can be household cleaning machine people, robot of accompanying and attending to, meal delivery robot etc.,
In the present embodiment, illustrated with the artificial example of household cleaning machine.
Fig. 2 and Fig. 3 is referred in the lump, and charging pile 100 includes pile body 110 and mark 120, and pile body 110 includes base 111 and horizontal stroke
Plate 112, transverse slat 112 can be removably attached on base 111, and transverse slat 112 can also be integrally formed with base 111.Need
Illustrate, the structure of charging pile 100 can according to practical application need carry out several deformation, do not limit herein.
Base 111 is provided with power supply 113, and power supply 113 is configured to intelligent mobile robot 200 and charged, in this reality
Apply in example, base 111 is provided with two power supplies 113, and two power supplies 113 are two hard contacts, i.e., cathode metal contact and
Negative metal contact, metal contact piece is provided with being adapted on intelligent mobile robot 200, intelligent mobile robot 200 moves
When moving to power supply 113 and being docked with power supply 113, metal contact piece contacts with hard contact, realizes charging pile 100 to intelligent sliding
Mobile robot 200 charges；In other alternative embodiments, power supply 113 can include the emission lines that can produce induced field
Enclose, be provided with receiving coil with being adapted on intelligent mobile robot 200, transmitting coil is coupled with receiving coil, and realization is filled
Electric 100 pairs of wireless chargings of intelligent mobile robot 200 of stake.
Mark 120 is located at the surface of transverse slat 112, specifically, mark 120, which includes at least two, has different retro-reflecting coefficients
Marker element, arranged adjacent is in a plane 1121 of transverse slat 112 in the same direction at least two marker elements, marker element
Laser radar 210 is configured for identify so that intelligent mobile robot 200 determine power supply 113 position after with power supply
113 docking.On the one hand, retro-reflecting coefficient is relevant with the surface texture and material of object, microspheroidal, the surface texture tool of micro- taper
There is higher retro-reflecting coefficient；On the other hand, retro-reflecting coefficient is relevant with gray value, and the more high then retro-reflecting coefficient of gray value is more
It is low.In the present embodiment, mark 120 includes two kinds of marker elements with different retro-reflecting coefficients, i.e. the first marker element
121 and second of marker element 122, the retro-reflecting coefficient of the first marker element 121 is less than the inverse of second marker element 122
Reflectance factor；For example, the first marker element 121 is logos element, second of marker element 122 is white indicia member
Element, the retro-reflecting coefficient of logos element are less than the retro-reflecting coefficient of white indicia element.
The first marker element 121 and second of marker element 122 are at least one, the first He of marker element 121
The interlaced arrangement in the same direction of second of marker element 122.In the present embodiment, the first marker element 121 is two,
Second marker element 122 is three, and two the first marker elements 121 and three second of marker elements 122 are along same side
To in the interlaced plane 1121 for being arranged in transverse slat 112.In other alternative embodiments, the first marker element 121
It can be two, second of marker element 122 is one, and second of marker element 122 is arranged in two the first marks
Between element 121.
Laser radar 210 may also be referred to as laser scanning and ranging instrument, and as shown in Figure 4 and Figure 5, Fig. 4 is swashing for an embodiment
The structural representation of optical radar 210, Fig. 5 are the operation principle schematic diagrams of laser radar 210.Laser radar 210 includes mounting seat
211st, the motor 212 being fixed in mounting seat 211 and the rotating part 213 being rotatably disposed within mounting seat 211, motor 212
Rotating part 213 is driven to rotate by transmission parts such as elastic webbing 212a, cog belts.Point-like is fixed with rotating part 213
Generating laser 214 and camera 215.In actual applications, once the production definition of rotating part 213, point-like laser transmitter 214
Also fixed with the position of camera 215 so that point-like laser transmitter 214 sends laser beam 214a direction and camera
215 optical axis 215a is in fixed angle α.In embodiments of the present invention, using triangle telemetry measurement point of the prior art
Measurement distance d between shape generating laser 214 and testee 300, now does simple introduction to triangle telemetry：Point-like laser
The laser beam 214a that transmitter 214 is sent incides the surface of testee 300, and camera 215 receives and comes from testee 300
The scattering light 214b of the scanning element on surface, scattering light 214b image in camera after the lens 2151 of camera 215
On 215 photo-sensitive cell 2152, have on imaging luminous points of the scattering light 214b on photo-sensitive cell 2152 to photo-sensitive cell 2152
The distance for imitating the lateral edges of imaging region one is x, and x can be by searching and being calculated as the center as luminous point in photo-sensitive cell 2152
The pixel coordinate of position is tried to achieve, and will not be repeated here.Position relationship and equation below according to triangle telemetry calculate measurement
Distance d value：
Formula 1. q=f*s/x；
Formula 2. d=q/sin (β)；
Wherein, β is equal to 90 ° of-α；S is the distance between point-like laser transmitter 214 and the central point of lens 2151；F is to take the photograph
As first 215 focal length.
When rotating part 213 is rotated with adjustable frequency, laser radar 210 can carry out 360 ° omni-directional to surrounding environment and sweep
Retouch, the luminous intensity of imaging luminous points of the scattering light 214b on photo-sensitive cell 2152 can be detected using laser radar 210.Work as intelligence
When laser radar 210 in energy mobile robot 200 is used to identify charging pile 100, the scan data of laser radar 210 can wrap
Measurement distance d, intensity of light reflection and the angle value corresponding with measurement distance d for the scanning element being incident upon in mark 120 are included, should
Angle value is for the polar coordinate system as shown in Figure 6 on intelligent mobile robot 200 is established, and the pole in Fig. 6 is sat
Mark system is that the directly to the right direction of intelligent mobile robot 200 can be defined for limit is 0 ° of (360 °) pole with laser radar 210
Axle, angle are taken counterclockwise as just.The a certain moment, intelligent mobile robot 200 be in pose as shown in Figure 6 (position and
Posture), laser radar 210 using angle value asDirection send laser beam 214a, and be incident upon mark 120 on scanning element
123, angle value corresponding to measurement distance d is
Referring again to Fig. 1, when charging pile 100 and intelligent mobile robot 200 are positioned on same ground S30, laser
The laser beam 214a that radar 210 is sent can be incident upon in mark 120.It is readily appreciated that, if charging pile 100 is positioned over ground
When on S30, a plane 1121 and the ground S30 of transverse slat 112 are vertically arranged, and the laser beam 214a that laser radar 210 is sent is thrown
Penetrate in mark 120, may be due to the mirror reflection effect that mark 120 has, the scattering light that camera 215 receives
214b is excessive, so as to cause intensity of light reflection difference corresponding to the first marker element 121 and second of marker element 122 too small,
It is unfavorable for intelligent mobile robot 200 and distinguishes the first marker element 121 and second of marker element 122.Therefore, in this implementation
In example, when charging pile 100 is positioned on the S30 of ground, a plane 1121 and the ground S30 of transverse slat 112 can be obliquely installed, will
The most of laser beam 214a being incident upon in mark 120 is reflected away, and camera 215 receives only the scattering light of fraction
214b。
Mark 120 can be the coating being sprayed in a plane 1121 of transverse slat 112, or be pasted onto transverse slat 112
A plane 1121 on paster, can also be the pad pasting being pasted onto in a plane 1121 of transverse slat 112.Due to retro-reflecting coefficient
It is relevant with the surface texture and material of object, therefore, can be by designing different surfaces structure and/or selection different materials come shape
The first marker element 121 and second of marker element 122 into mark 120.
With reference to Fig. 1 to Fig. 6, in the lump refering to Fig. 7, the embodiments of the invention provide a kind of recognition methods 400 of charging pile
Process step schematic diagram, the recognition methods 400 of charging pile are applied to be configured with the intelligent mobile robot 200 of laser radar 210,
I.e. intelligent mobile robot 200 can perform the process step of the recognition methods 400 of charging pile.Charging pile 100, which is provided with, to be had
The first marker element 121 and second of marker element 122 of different retro-reflecting coefficients, the recognition methods 400 of charging pile include
Step S410, step S420 and step S430.Wherein,
Step S410 includes：Obtain the scan data of laser radar；Wherein, scan data includes the reflective of multiple scanning elements
Intensity and measurement distance and angle value corresponding with the measurement distance.
In the embodiment of the present invention, the scan data of laser radar 210 include the intensity of light reflection of multiple scanning elements, measurement away from
From and with the corresponding angle value of the measurement distance, that is to say, that each scanning element be at least associated with intensity of light reflection, measurement away from
From and with corresponding these three data of angle value of the measurement distance.
In order to increase laser radar 210 be incident upon mark 120 on scanning element density, laser radar 210 can with compared with
Small angle step is scanned, for example, 360 ° omni-directional scanning is carried out to surrounding environment with 1 ° of angle step, that is,
Say, laser radar 210, which rotates a circle, can project 360 scanning elements.Of course, it is possible to join according to selection different size is actually needed
Number, the laser radar 210 of performance, for example, the maximum scan angle of laser radar 210 can be 90 °, 180 °, 270 °, 360 °
Angle step Deng, laser radar 210 can be 0.5 °, 1 °, 2 ° etc., and the sample frequency of laser radar 210 can be
1000samples/s, 2000samples/s etc..
Step S420 includes：The first marker element and second on charging pile is determined according to intensity of light reflection and measurement distance
Kind marker element.
In order to improve the accuracy of identification and reduce the interference of surrounding environment, the reflex reflection of the first marker element 121
Coefficient is less than the retro-reflecting coefficient of second marker element 122, and the first marker element 121 is even number, second of identification element
Element 122 is odd number.For example, the first marker element 121 is two, second marker element 122 is one, two the first
Marker element 121 and the interlaced arrangement in the same direction of second of marker element 122；And for example, the first marker element
121 be two, and second of marker element 122 is three, two the first marker elements 121 and three second of marker elements
122 interlaced arrangements in the same direction.In the embodiment of the present invention, the first marker element 121 is two, using logos
Element；Second of marker element 122 is three, using white indicia element.
In other alternative embodiments, the retro-reflecting coefficient of the first marker element 121 is more than second of marker element 122
Retro-reflecting coefficient, for example, the first marker element 121 be two, using white indicia element；Second of marker element 122
For three, using logos element.
Fig. 8 is referred in the lump, when it is that intelligent mobile robot 200 is in the pose of a certain determination, the laser radar of acquisition
210 scan data list.In the scan data list shown in Fig. 8, i_w1, i_b1, i_w2, i_b2, i_w3 are represented respectively
Second of marker element 122 and the first institute of marker element 121 on the direction of laser beam 214a projections in fig. 2 from left to right
The scan data of multiple scanning elements is formed, each scanning element is associated with angle value, measurement distance and intensity of light reflection.From Fig. 8 institutes
As can be seen that intensity of light reflection corresponding to second of marker element 122 and the first marker element 121 in the scan data list shown
Difference is larger, thus, this data of intensity of light reflection can be used for distinguishing second of marker element 122 and the first marker element
121。
From figure 1 it appears that the top surface of intelligent mobile robot 200 is provided with the clamshell 220 of protrusion, clamshell 220 has
The pillar 221 of the top surface of intelligent mobile robot 200 is connected, in actual applications, pillar 221 can block swashing for some angle values
Light ray 214a, cause occur the abnormal data that measurement distance is zero in the scan data list shown in Fig. 8, for example, i_w2 is arranged
(179,0,8513), (198,0,7360) of i_w3 row, therefore, in order to prevent abnormal data pair that measurement distance is zero from determining
Interfered when second marker element 122 and the first marker element 121, can combine intensity of light reflection and measurement distance this two
Individual data determine the first marker element 121 and second of marker element 122 on charging pile 100.
As shown in figure 9, step S420 includes step S421 and step S422, wherein, step S421 includes：If continuous scanning
The intensity of light reflection of point is less than the first preset strength, it is determined that the first marker element on charging pile.
In actual applications, at least can be by laser along the first above-mentioned unidirectional each marker element 121
Radar 210 gathers two scanning elements, so as to the number at least two of the ability continuous scanning element of basic guarantee, certainly, laser thunder
How many individual scanning elements can be collected from the first each marker element 121 in the same direction up to 210, additionally depend on laser thunder
Up to the distance between 210 and charging pile 100, the first marker element 121 width in the same direction, laser radar 210 most
The factors such as low-angle increment, the maximum scan angle of laser radar 210, the sample frequency of laser radar 210.First preset strength
It can be set according to the scan data of reality, for example, the first preset strength is 1500 units, or 2000 units.
In order to exclude the interference for the abnormal data that above-mentioned measurement distance is zero, step S421 can also include：If continuously sweep
The intensity of light reflection of described point is less than the first preset strength and measurement distance is located in the first default value section, it is determined that on charging pile
The first marker element.First default value section can be to measure radius more than zero and less than the maximum of laser radar 210,
For example, it is less than 7 meters more than zero.
Step S422 includes：If the intensity of light reflection of continuous scanning element is more than the second preset strength, it is determined that on charging pile
Second of marker element.
In actual applications, at least can be by laser along above-mentioned unidirectional each second of marker element 122
Radar 210 gathers two scanning elements, so as to the number at least two of the ability continuous scanning element of basic guarantee, certainly, laser thunder
How many individual scanning elements can be collected from each second of marker element 122 in the same direction up to 210, additionally depend on laser thunder
Up to the distance between 210 and charging pile 100, second of marker element 122 width in the same direction, laser radar 210 most
The factors such as low-angle increment, the maximum scan angle of laser radar 210, the sample frequency of laser radar 210.Second preset strength
It can be set according to the scan data of reality, for example, the second preset strength is 2000 units, or 2500 units.
In an alternative embodiment, it substantially can determine on charging pile 100 that there is the first by above method step
Marker element 121 and second of marker element 122, based on this, it can further assert the first marker element 121 and second
Whether kind marker element 122 is in the same plane, for example, the scanning element on the first marker element 121 is fitted into one
Straight line, judge scanning element on second of marker element 122 to the distance of the straight line whether in preset threshold range, if so,
Then assert that the first marker element 121 and second of marker element 122 are generally aligned in the same plane on 1121.And for example, by second of mark
The scanning element fitting known on element 122 is in alignment, judge scanning element on the first marker element 121 to the straight line away from
From whether in preset threshold range, if so, then assert the first marker element 121 and second of marker element 122 positioned at same
In one plane 1121.
To illustrate as shown in Figure 10, scanning element P1, scanning element P2, scanning element P3, scanning element P4 and scanning element P5 are selected
This five scanning elements, by laser radar 210 when this five scanning elements are the poses that intelligent mobile robot 200 is in same determination
What projection was generated, wherein, scanning element P3 is incident upon on second of marker element 122 and generated, scanning element P1 and scanning element
P2 is to be incident upon on the first marker element 121 of second of side of marker element 122 to generate, scanning element P4 and scanning element P5
It is to be incident upon on the first marker element 121 of second of opposite side of marker element 122 to generate.Scanning element P1, scanning element P2,
Corresponding five measurement distances are followed successively by measurement distance respectively for scanning element P3, scanning element P4 and scanning element P5 this five scanning elements
D1, measurement distance d2, measurement distance d3, measurement distance d4 and measurement distance d5, measurement distance d1, measurement distance d2, measurement away from
Be also from the angle value corresponding to d3, measurement distance d4 and measurement distance d5 it is known, based on this, can by scanning element P1, sweep
Described point P2, scanning element P4 and scanning element P5 are fitted L1 in alignment, judge scanning element P3 to straight line L1 distance whether
In preset threshold range, if so, can then determine that scanning element P3 is located on straight line L1, so as to can be assumed that the first in practice
Marker element 121 and second of marker element 122 are generally aligned in the same plane on 1121.
, can be by calculating each the first marker element 121 and second of marker element 122 in an alternative embodiment
Length in the same direction, and judge whether the length is identical with physical length, so as to more accurately identify and confirm to charge
Mark 120 in stake 100.
, can also be by judging the first marker element and second of identification element of arranged adjacent in an alternative embodiment
Element in the same direction on physical length whether with being incident upon the first marker element and second of marker element of arranged adjacent
The number of scanning element in the same direction is consistent.
In actual applications, the first marker element 121 and second of arranged adjacent can be determined by intensity of light reflection
The number of the scanning element projected altogether on kind marker element 122.
Step S430 includes：According to intensity of light reflection, measurement distance and angle value determine intelligent mobile robot relative to
The pose of charging pile, so that intelligent mobile robot is moved to charging pile and interfaced charging.
In embodiments of the present invention, as shown in figure 11, plane right-angle coordinate X0Y can be established, the plane rectangular coordinates
It is that X0Y is that the left and right side direction of intelligent mobile robot 200 can be defined for origin is X-axis with laser radar 210, defines intelligence
The front and rear side direction of energy mobile robot 200 is Y-axis.Easy by the explanation of the above recognition methods to charging pile
Know pose of the intelligent mobile robot 200 relative to charging pile 100, it is close to charging pile 100 in intelligent mobile robot 200
During, repeatedly charging pile 100 is identified and confirmed, constantly updates the pose relative to charging pile 100, may finally
Realize that intelligent mobile robot 200 is moved to charging pile 100 and docks charging with charging pile 100, specifically, working as intelligent sliding motivation
The bottom of device people 200 is provided with metal contact piece 230, and metal contact piece 230 contacts with hard contact 113, realizes charging pile 100 to intelligence
Mobile robot 200 charges.
Fig. 1 to Figure 11 is referred in the lump, the embodiments of the invention provide a kind of intelligent mobile robot to identify charging pile system,
The system includes charging pile 100 and is configured with the intelligent mobile robot 200 of laser radar 210.Wherein, charging pile 100 includes
Pile body 110 and mark 120.
Pile body 110 is provided with power supply 113, and power supply 113 is configured to intelligent mobile robot 200 and charged；Mark 120
Including at least two have different retro-reflecting coefficients marker elements, at least two marker elements in the same direction arranged adjacent in
In one plane 1121 of pile body 110.It should be noted that above it will can draw in the lump about being discussed in detail for charging pile 100
For this, will not be repeated here.
Intelligent mobile robot 200 is configured as obtaining the scan data of laser radar 210；Wherein, scan data includes
The intensity of light reflection and measurement distance of multiple scanning elements and angle value corresponding with the measurement distance.
In the embodiment of the present invention, the scan data of laser radar 210 include the intensity of light reflection of multiple scanning elements, measurement away from
From and with the corresponding angle value of the measurement distance, that is to say, that each scanning element be at least associated with intensity of light reflection, measurement away from
From and with corresponding these three data of angle value of the measurement distance.
In order to increase laser radar 210 be incident upon mark 120 on scanning element density, laser radar 210 can with compared with
Small angle step is scanned, for example, 360 ° omni-directional scanning is carried out to surrounding environment with 1 ° of angle step, that is,
Say, laser radar 210, which rotates a circle, can project 360 scanning elements.Of course, it is possible to join according to selection different size is actually needed
Number, the laser radar 210 of performance, for example, the maximum scan angle of laser radar 210 can be 90 °, 180 °, 270 °, 360 °
Angle step Deng, laser radar 210 can be 0.5 °, 1 °, 2 ° etc., and the sample frequency of laser radar 210 can be
1000samples/s, 2000samples/s etc..
Intelligent mobile robot 200 is configured as being determined on charging pile 100 at least according to intensity of light reflection and measurement distance
Two kinds of marker elements.In the present embodiment, there are two kinds of marker elements, two kinds of marker elements include the first on charging pile 100
Marker element 121 and second of marker element 122.
In order to improve the accuracy of identification and reduce the interference of surrounding environment, the reflex reflection of the first marker element 121
Coefficient is less than the retro-reflecting coefficient of second marker element 122, and the first marker element 121 is even number, second of identification element
Element 122 is odd number.For example, the first marker element 121 is two, second marker element 122 is one, two the first
Marker element 121 and the interlaced arrangement in the same direction of second of marker element 122；And for example, the first marker element
121 be two, and second of marker element 122 is three, two the first marker elements 121 and three second of marker elements
122 interlaced arrangements in the same direction.In the embodiment of the present invention, the first marker element 121 is two, using logos
Element；Second of marker element 122 is three, using white indicia element.
In other alternative embodiments, the retro-reflecting coefficient of the first marker element 121 is more than second of marker element 122
Retro-reflecting coefficient, for example, the first marker element 121 be two, using white indicia element；Second of marker element 122
For three, using logos element.
Fig. 8 is referred in the lump, when it is that intelligent mobile robot 200 is in the pose of a certain determination, the laser radar of acquisition
210 scan data list.In the scan data list shown in Fig. 8, i_w1, i_b1, i_w2, i_b2, i_w3 are represented respectively
Second of marker element 122 and the first institute of marker element 121 on the direction of laser beam 214a projections in fig. 2 from left to right
The scan data of multiple scanning elements is formed, each scanning element is associated with angle value, measurement distance and intensity of light reflection.From Fig. 8 institutes
As can be seen that intensity of light reflection corresponding to second of marker element 122 and the first marker element 121 in the scan data list shown
Difference is larger, thus, this data of intensity of light reflection can be used for distinguishing second of marker element 122 and the first marker element
121。
From figure 1 it appears that the top surface of intelligent mobile robot 200 is provided with the clamshell 220 of protrusion, clamshell 220 has
The pillar 221 of the top surface of intelligent mobile robot 200 is connected, in actual applications, pillar 221 can block swashing for some angle values
Light ray 214a, cause occur the abnormal data that measurement distance is zero in the scan data list shown in Fig. 8, for example, i_w2 is arranged
(179,0,8513), (198,0,7360) of i_w3 row, therefore, in order to prevent abnormal data pair that measurement distance is zero from determining
Interfered when second marker element 122 and the first marker element 121, can combine intensity of light reflection and measurement distance this two
Individual data determine the first marker element 121 and second of marker element 122 on charging pile 100.
Intelligent mobile robot 200 is configured as determining two kinds on charging pile 100 according to intensity of light reflection and measurement distance
Marker element.In the present embodiment, two kinds of marker elements include the first marker element 121 and second of marker element 122.Tool
Body, if the intensity of light reflection that intelligent mobile robot 200 is configured as continuous scanning element is less than the first preset strength, it is determined that fill
The first marker element 121 in electric stake 100；If the intensity of light reflection of continuous scanning element is more than the second preset strength, it is determined that fills
Second of marker element 122 in electric stake 100.
In actual applications, along the first above-mentioned unidirectional each marker element 121 and second of marker element
Two scanning elements can be at least gathered on 122 by laser radar 210, so that the number of the ability continuous scanning element of basic guarantee is at least
For two, certainly, laser radar 210 in the same direction can be from the first each marker element 121 and second of marker element
How many individual scanning elements are collected on 122, additionally depend on the distance between laser radar 210 and charging pile 100, the first identification element
Width, minimum angles increment, the laser radar of laser radar 210 of element 121 and second of marker element 122 in the same direction
The factors such as 210 maximum scan angle, the sample frequency of laser radar 210.First preset strength can be according to the scanning of reality
Data are set, for example, the first preset strength is 1500 units, or 2000 units.
In order to exclude the interference for the abnormal data that above-mentioned measurement distance is zero, intelligent mobile robot 200 can also by with
It is set to：If the intensity of light reflection of continuous scanning element is less than the first preset strength and measurement distance is located in the first default value section,
Then determine the first marker element on charging pile.First default value section can be more than zero and be less than laser radar 210
Maximum measurement radius, for example, being less than 7 meters more than zero.Second preset strength can be set according to the scan data of reality, example
Such as, the second preset strength is 2000 units, or 2500 units.
In an alternative embodiment, it substantially can determine and fill by the functional configuration of above-mentioned intelligent mobile robot 200
There is the first marker element 121 and second of marker element 122 in electric stake 100, based on this, can further assert first
Whether kind marker element 121 and second of marker element 122 are in the same plane, for example, by the first marker element 121
Scanning element fitting it is in alignment, judge scanning element on second of marker element 122 to the distance of the straight line whether pre-
If in threshold range, if so, then assert that the first marker element 121 and second of marker element 122 are generally aligned in the same plane 1121
On.And for example, it is the scanning element fitting on second of marker element 122 is in alignment, judge on the first marker element 121
Scanning element to the straight line distance whether in preset threshold range, if so, then assert the first marker element 121 and second
Marker element 122 is generally aligned in the same plane on 1121.
To illustrate as shown in Figure 10, scanning element P1, scanning element P2, scanning element P3, scanning element P4 and scanning element P5 are selected
This five scanning elements, by laser radar 210 when this five scanning elements are the poses that intelligent mobile robot 200 is in same determination
What projection was generated, wherein, scanning element P3 is incident upon on second of marker element 122 and generated, scanning element P1 and scanning element
P2 is to be incident upon on the first marker element 121 of second of side of marker element 122 to generate, scanning element P4 and scanning element P5
It is to be incident upon on the first marker element 121 of second of opposite side of marker element 122 to generate.Scanning element P1, scanning element P2,
Corresponding five measurement distances are followed successively by measurement distance respectively for scanning element P3, scanning element P4 and scanning element P5 this five scanning elements
D1, measurement distance d2, measurement distance d3, measurement distance d4 and measurement distance d5, measurement distance d1, measurement distance d2, measurement away from
Be also from the angle value corresponding to d3, measurement distance d4 and measurement distance d5 it is known, based on this, can by scanning element P1, sweep
Described point P2, scanning element P4 and scanning element P5 are fitted L1 in alignment, judge scanning element P3 to straight line L1 distance whether
In preset threshold range, if so, can then determine that scanning element P3 is located on straight line L1, so as to can be assumed that the first in practice
Marker element 121 and second of marker element 122 are generally aligned in the same plane on 1121.
In an alternative embodiment, intelligent mobile robot 200 is additionally configured to calculate the first each marker element 121
With second of marker element 122 in the same direction on length, and judge whether the length identical with physical length, so as to more smart
Really identify and confirm the mark 120 on charging pile 100.
Intelligent mobile robot 200 is configured as determining intelligent mobile according to intensity of light reflection, measurement distance and angle value
Robot 200 relative to charging pile pose so that intelligent mobile robot 200 is moved to charging pile 100 and interfaced filled
Electricity.
In embodiments of the present invention, as shown in figure 11, plane right-angle coordinate X0Y can be established, the plane rectangular coordinates
It is that X0Y is that the left and right side direction of intelligent mobile robot 200 can be defined for origin is X-axis with laser radar 210, defines intelligence
The front and rear side direction of energy mobile robot 200 is Y-axis.Easy by the explanation of the above recognition methods to charging pile
Know pose of the intelligent mobile robot 200 relative to charging pile 100, it is close to charging pile 100 in intelligent mobile robot 200
During, repeatedly charging pile 100 is identified and confirmed, constantly updates the pose relative to charging pile 100, may finally
Realize that intelligent mobile robot 200 is moved to charging pile 100 and docks charging with charging pile 100, specifically, working as intelligent sliding motivation
The bottom of device people 200 is provided with metal contact piece 230, and metal contact piece 230 contacts with hard contact 113, realizes charging pile 100 to intelligence
Mobile robot 200 charges.
A kind of intelligent mobile robot identification charging pile system provided in an embodiment of the present invention, intelligent mobile robot 200
It is configured as obtaining the scan data of laser radar 210, scan data includes the intensity of light reflection and measurement distance of multiple scanning elements
And angle value corresponding with the measurement distance, and then determine that there is difference on charging pile according to intensity of light reflection and measurement distance
Two kinds of marker elements of retro-reflecting coefficient, finally determine intelligent mobile machine according to intensity of light reflection, measurement distance and angle value
People 200 realizes relative to the pose of charging pile 100 and accurately identifies and position, so that intelligent mobile robot 200 is moved to and filled
Electric stake 100 and interfaced charging.
Figure 12 is refer to, Figure 12 is the intelligent mobile machine of the recognition methods of execution charging pile provided in an embodiment of the present invention
The hardware architecture diagram of people 200, laser radar is configured with the intelligent mobile robot 200, for being carried out to charging pile 100
Identification, charging pile 100 are provided with the first marker element 121 and second of marker element 122 with different retro-reflecting coefficients,
Intelligent mobile robot 200 includes：
At least one processor 201 and memory 202, in Figure 12 by taking a processor 201 as an example.
Processor 201 can be connected with memory 202 by bus or other modes, to be connected as by bus in Figure 12
Example.
Memory 202 is used as a kind of non-volatile computer readable storage medium storing program for executing, available for storage non-volatile software journey
Sequence, non-volatile computer executable program, the programmed instruction as corresponding to the recognition methods of the charging pile in the embodiment of the present invention.
Processor 201 is by running the non-volatile software program being stored in memory 202, instruction, so as to perform intelligent sliding motivation
The various function application of device people 200 and data processing, that is, realize the recognition methods of above method embodiment charging pile.
Memory 202 can include storing program area and storage data field, wherein, storing program area can store operation system
Application program required for system, at least one function；Storage data field can store uses institute according to intelligent mobile robot 200
Data of establishment etc..In addition, memory 202 can include high-speed random access memory, non-volatile memories can also be included
Device, for example, at least a disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments
In, memory 202 is optional including that can pass through net relative to the remotely located memory of processor 201, these remote memories
Network is connected to intelligent mobile robot 200.The example of above-mentioned network include but is not limited to internet, intranet, LAN,
Mobile radio communication and combinations thereof.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " alternative embodiment " etc. mean to combine the specific features of the embodiment or example description, structure, material or
Feature is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term
It is not necessarily referring to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Embodiments described above, the restriction to the technical scheme protection domain is not formed.It is any in above-mentioned implementation
Modifications, equivalent substitutions and improvements made within the spirit and principle of mode etc., should be included in the protection model of the technical scheme
Within enclosing.
Claims (17)
1. a kind of charging pile, the intelligent mobile robot suitable for being configured with laser radar, it is characterised in that including：
Pile body, provided with power supply, the power supply is configured to intelligent mobile robot charging；
Mark, including at least two the marker element with different retro-reflecting coefficients, at least two marker elements are along same
Direction arranged adjacent is in a plane of the pile body；The marker element is configured for the laser radar identification, so that
Intelligent mobile robot determines to dock charging with the power supply behind the position of the power supply.
2. charging pile according to claim 1, it is characterised in that the mark includes being the first at least one mark
Element and second of marker element, the first marker element and second of marker element are known along the interlaced row of the same direction
Cloth.
3. charging pile according to claim 2, it is characterised in that along the first described unidirectional each identification element
Two scanning elements are at least gathered by the laser radar on element and second of marker element.
4. according to any described charging pile in claim 1-3, it is characterised in that in the charging pile and intelligent mobile machine
When people is positioned on same ground, the laser beam that the laser radar is sent can be incident upon in the mark.
5. charging pile according to claim 4, it is characterised in that when the charging pile is positioned on ground, the stake
One plane of body is set with ground inclination.
6. charging pile according to claim 1, it is characterised in that described to be identified as in the plane for being sprayed on the pile body
Coating；Or the paster or pad pasting being identified as in the plane for being pasted onto the pile body.
7. a kind of recognition methods of charging pile, the intelligent mobile robot suitable for being configured with laser radar, it is characterised in that institute
State charging pile and be provided with the first marker element and second of marker element with different retro-reflecting coefficients, methods described bag
Include：
Obtain the scan data of laser radar, the intensity of light reflection and measurement distance of the scan data including multiple scanning elements and
Angle value corresponding with the measurement distance；
The first marker element and second of marker element on the charging pile are determined according to intensity of light reflection and measurement distance；
Pose of the intelligent mobile robot relative to the charging pile is determined according to intensity of light reflection, measurement distance and angle value,
So that intelligent mobile robot is moved to the charging pile and interfaced charging.
8. according to the method for claim 7, it is characterised in that the retro-reflecting coefficient of the first marker element is less than institute
The retro-reflecting coefficient of second of marker element is stated, the first described marker element is even number, and second of marker element is
Odd number；The first described marker element and second of marker element interlaced arrangement in the same direction.
9. according to the method for claim 8, it is characterised in that described to be filled according to determining intensity of light reflection and measurement distance
The step of the first marker element and second of marker element in electric stake, includes：
If the intensity of light reflection of continuous scanning element is less than the first preset strength, it is determined that the first identification element on the charging pile
Element；
If the intensity of light reflection of continuous scanning element is more than the second preset strength, it is determined that second of identification element on the charging pile
Element.
10. according to the method for claim 9, it is characterised in that methods described also includes：
Scanning element fitting on the first described marker element is in alignment, judge sweeping on second of marker element
Described point to the straight line distance whether in preset threshold range, if so, then assert the first described marker element and described the
Two kinds of marker elements are in the same plane.
11. according to the method for claim 9, it is characterised in that methods described also includes：
Scanning element fitting on second of marker element is in alignment, judge sweeping on the first described marker element
Described point to the straight line distance whether in preset threshold range, if so, then assert the first described marker element and described the
Two kinds of marker elements are in the same plane.
12. according to the method any one of claim 9-11, it is characterised in that methods described also includes：
Each the first marker element and second of marker element are calculated along the length in the same direction, and judges the length
It is whether identical with physical length.
13. a kind of intelligent mobile robot, is configured with laser radar thereon, for charging pile to be identified, the charging pile
It is provided with the first marker element and second of marker element with different retro-reflecting coefficients, the intelligent mobile robot bag
Include：
At least one processor；And
The memory being connected with least one processor communication；Wherein,
The memory storage have can by the instruction repertorie of at least one computing device, the instruction repertorie by it is described extremely
A few computing device, so that at least one processor is able to carry out as any one of claim 7 to 12
Method.
14. a kind of intelligent mobile robot identifies charging pile system, it is characterised in that including charging pile and is configured with laser radar
Intelligent mobile robot；
The charging pile includes：
Pile body, provided with power supply, the power supply is configured to intelligent mobile robot charging；
Mark, including at least two the marker element with different retro-reflecting coefficients, at least two marker elements are along same
Direction arranged adjacent is in a plane of the pile body；
The intelligent mobile robot is configured as obtaining the scan data of laser radar, and the scan data includes multiple scannings
The intensity of light reflection and measurement distance and angle value corresponding with the measurement distance of point；
The intelligent mobile robot is configured as determining two kinds of marks on the charging pile according to intensity of light reflection and measurement distance
Know element；
The intelligent mobile robot is configured as determining intelligent mobile machine according to intensity of light reflection, measurement distance and angle value
People relative to the charging pile pose so that intelligent mobile robot is moved to the charging pile and interfaced charging.
15. system according to claim 14, it is characterised in that two kinds of marker elements include the first marker element
With second of marker element, the retro-reflecting coefficient of the first marker element is less than the reflex reflection of second of marker element
Coefficient, the first described marker element are even number, and second of marker element is odd number；The first described marker element
With second of marker element interlaced arrangement in the same direction.
16. system according to claim 15, it is characterised in that if the intelligent mobile robot is configured as continuously sweeping
The intensity of light reflection of described point is less than the first preset strength, it is determined that the first marker element on the charging pile；If continuous scanning
The intensity of light reflection of point is more than the second preset strength, it is determined that second of marker element on the charging pile.
17. according to the system any one of claim 14-16, it is characterised in that the intelligent mobile robot by with
It is set to and calculates the first each marker element and second of marker element along the length in the same direction, and judges the length
It is whether identical with physical length.
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| CN201710902564.8A CN107539160A (en) | 2017-09-29 | 2017-09-29 | Charging pile and its recognition methods, intelligent mobile robot |
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