CN110133681B - Recharge guiding system based on laser radar and recharge guiding method thereof - Google Patents
Recharge guiding system based on laser radar and recharge guiding method thereof Download PDFInfo
- Publication number
- CN110133681B CN110133681B CN201910374042.4A CN201910374042A CN110133681B CN 110133681 B CN110133681 B CN 110133681B CN 201910374042 A CN201910374042 A CN 201910374042A CN 110133681 B CN110133681 B CN 110133681B
- Authority
- CN
- China
- Prior art keywords
- guiding
- recharging
- laser signal
- laser
- seat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the invention discloses a backfill guiding system based on a laser radar and a guiding method thereof. The guiding system comprises a recharging seat and recharging equipment. Recharge the seat and include: the recharging seat main body is surrounded by an outer shell; the guiding device is arranged on the recharging seat main body and used for emitting guiding laser signals outwards; and the charging contact is arranged on the surface of the outer shell and used for charging the recharging equipment. The recharging device comprises: an apparatus main body equipped with a traveling mechanism; the charging interface is arranged on the surface of the equipment main body and is used for being electrically connected with the charging contact; and a lidar for transmitting and receiving laser signals to determine a distance between the backfill device and an external object. The automatic recharging method has the advantages that the recharging device is guided by the aid of the actively-emitted laser signals to achieve the automatic recharging function, and distance limitation of a traditional guiding method is effectively broken through.
Description
Technical Field
The invention relates to the technical field of automation equipment, in particular to a backfill guiding system based on a laser radar and a backfill guiding method thereof.
Background
With the continuous development and progress of electronic information technology, more and more automatic intelligent devices are beginning to be widely applied in daily life and social production, such as AGVs used in logistics enterprises, sweeping robots used in families, and the like.
Conventionally, these automated intelligent devices are electrically driven. After the device is continuously operated or works for a period of time, the normal operation of the device can be maintained only by charging the battery in time. The process that the automatic intelligent device automatically moves to the corresponding charging device to charge by utilizing the data information acquired by the sensor assembled by the automatic intelligent device can be called automatic recharging.
Existing "automatic recharge" is typically implemented using two strategies. One of them is to realize automatic recharging based on the characteristics of the laser radar and the recharging seat. The other method is to guide the automatic intelligent device to realize automatic recharging by using an infrared guiding mode.
However, at a long distance greater than 2 meters, the detection effect of the laser radar on the characteristics of the reflective sticker, the shape and the like on the refill seat is poor, and automatic guidance cannot be performed frequently in a long-distance state. The infrared guiding scheme has a problem of significant distance attenuation of infrared light, and long-distance guiding is difficult to realize.
Limited by the recognition distance of the recharging seat, when automatic recharging is executed at a longer distance, the initial position of the recharging seat needs to be marked in advance, the equipment is navigated to the position close to the recharging seat, and then guiding is realized.
In the process of implementing the invention, the inventor finds that the following problems exist in the related art: the effective guide distance of the existing automatic back-filling implementation scheme has a very large limitation. When the guide is performed for the first time or under the condition that the recharging seat is displaced, the direction of the recharging seat needs to be initialized, the flexibility of the technical scheme is poor, and the algorithm difficulty is high. Moreover, the robustness of the operation of the automatic recharging system is not high, the automatic recharging system is difficult to adapt to a complex environment, when deviation occurs in positioning and navigation, automatic recharging failure is often caused, and the device cannot be moved to a correct charging position.
Disclosure of Invention
In view of the above technical problems, embodiments of the present invention provide a backfill guiding system based on a laser radar and a backfill guiding method thereof, so as to solve the problems of limited detection distance and poor guiding capability of the existing automatic backfill scheme.
The first aspect of the embodiment of the invention provides a backfill guiding system based on a laser radar. Wherein the recharge directing system comprises: a recharging seat and recharging equipment;
the recharge socket comprises: the recharging seat main body is surrounded by an outer shell; the guiding device is arranged on the recharging seat main body and used for emitting guiding laser signals outwards; and the charging contact is arranged on the surface of the outer shell and used for charging the recharging equipment. The recharging device comprises: the equipment comprises an equipment main body, a driving mechanism and a control device, wherein the equipment main body is provided with the driving mechanism; the charging interface is arranged on the surface of the equipment main body and is used for being electrically connected with the charging contact; and a lidar configured to transmit and receive laser signals to determine a distance between the backfill apparatus and an external object.
Optionally, the guiding means comprises a driving circuit and at least one guiding light; the driving circuit is accommodated in the outer shell, and the guide lamp is arranged on the surface of the outer shell; the driving circuit is connected with the guiding lamp and used for driving the guiding lamp to emit guiding laser signals.
Optionally, the driving circuit triggers the guiding lamp to emit the guiding laser signal outwards when the recharging device executes an automatic recharging program.
Optionally, the wavelength of the guiding laser signal is matched with the laser radar, and the guiding laser signal is infrared scattering light.
Optionally, the guiding device comprises at least two guiding lamps, and the guiding lamps are arranged on the surface of the outer shell in a vertical direction and/or a horizontal direction.
Optionally, the laser radar is a laser radar based on triangular ranging; the laser radar collects laser signals at a preset rotating speed and a preset scanning frequency.
Optionally, the guiding device periodically emits the guiding laser signal outwards at a preset emission frequency; the transmission frequency is less than half of the scanning frequency of the lidar.
A second aspect of the embodiments of the present invention provides a backfill guiding method based on a laser radar. The recharging guiding method comprises the following steps: acquiring multi-frame laser signal detection data at a preset scanning frequency; judging whether a guide laser signal exists in the multi-frame laser signal detection data; the guiding laser signal is a laser signal emitted by the recharging seat; if yes, calculating the direction of the recharging seat according to the guiding laser signal; and moving the recharging seat and updating the position coordinate of the recharging seat until the recharging seat is contacted with the charging contact of the recharging seat.
Optionally, the determining whether the leading laser signal exists in the multi-frame laser signal detection data specifically includes: performing distance calculation on the laser signals with the signal-to-noise ratio higher than a preset threshold value in the multi-frame laser signal detection data to obtain corresponding point cloud data; calculating the distance change degree and the angle change degree of the point cloud data in continuous multi-frame laser signal detection data; and when the distance change degree is obvious and the angle change degree is weak, determining that the guide laser signal exists.
Optionally, the calculating the orientation of the recharging seat according to the guiding laser signal specifically includes: calculating the angle change range of the point cloud data in the connected multi-frame laser signal detection data; taking the middle value of the angle variation range as the direction of the recharging seat; and calculating the distance between the laser signal detection data and the recharging seat according to the laser signal detection data in the detection range determined by taking the direction of the recharging seat as a reference.
In the technical scheme provided by the embodiment of the invention, the automatic recharging function is realized by guiding the recharging equipment by using the actively emitted laser signal, the distance limit of the traditional guiding method is effectively broken through, the equipment guiding can be realized at a long distance, the specific position of the recharging equipment is indicated, and a series of defects in the prior art are overcome.
In addition, the system has no special requirements on the appearance, the material and the like of the recharging equipment, can be conveniently applied to any type of recharging equipment at low cost, is low in design and processing difficulty, and has good popularization and application prospects.
Drawings
FIG. 1 is a schematic diagram of one embodiment of a backfill guidance system according to embodiments of the present invention;
FIG. 2 is a schematic view of another embodiment of a refill seat according to the present invention;
FIG. 3 is a block circuit diagram of one embodiment of a control circuit of an embodiment of the present invention;
FIG. 4 is a schematic diagram of an embodiment of a backfill guiding method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an embodiment of a data frame of a laser guide signal according to an embodiment of the invention;
fig. 6 is a schematic diagram of an embodiment of a backfill mount based on lidar point cloud according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "vertical," "horizontal," "left," "right," "up," "down," "inner," "outer," "bottom," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Fig. 1 is a schematic diagram of a recharge guiding system according to an embodiment of the present invention. As shown in fig. 1, the recharging guide system is composed of a recharging apparatus 200 and a recharging seat 100 used with the recharging apparatus for charging the recharging apparatus.
The recharging device may be any suitable type of smart device that can perform an automatic recharging function, such as a robot, an AGV cart, or a sweeping robot. In fig. 1, the recharging apparatus is exemplified by a sweeping robot.
Wherein, refill seat 100 includes: a recharging seat body 110, a guiding device 120 and a charging contact 130.
The refill seat body 110 may specifically have any shape and volume. The shell is formed by enclosure of shells made of one or more materials such as plastics and metals. A control circuit board may be accommodated and fixed in the recharging base body 110 to implement functions such as charging.
The guiding device 120 is disposed on the refill seat body 110 for emitting a guiding laser signal outwards. The guiding laser signal is used for guiding the recharging device and assisting the recharging device to determine the current orientation of the recharging seat.
In particular, the guiding means may be composed of a driving circuit and at least one guiding lamp. The driving circuit is accommodated in the outer shell and used for receiving a power supply and driving the guide lamp to be lightened according to the control signal so as to emit a laser signal outwards.
The guiding lamp is arranged on the surface of the outer shell and emits a guiding laser signal. The guiding lamp may in particular be selected for use with any suitable type of laser emitting device, such as a semiconductor laser diode or the like.
Of course, one or more different structures or functional modules may be added to the guiding device according to the needs of the actual situation, for example, a window for placing a guiding lamp is provided.
The charging contacts 130 are a set of metal contacts disposed on the outer surface of the recharging base body, and may have any suitable type of connection structure, so that when the recharging apparatus is moved into the charging position of the recharging base, the recharging apparatus can be electrically connected to the charging contacts 130 for charging.
With continued reference to fig. 1, the recharging device 200 may then include: a device body 210 and a lidar 220.
Similarly to the refill seat body, the device body 210 can also be designed into any suitable shape structure with a corresponding volume according to the actual requirement. In order to realize the function of free movement, a traveling mechanism 230 (e.g., wheels as shown in fig. 1) is further provided on the apparatus main body.
The inside of the main body 210 also accommodates and fixes a control circuit board for realizing intelligent control of the main body 210 and executing one or more logic determination steps to complete various different work tasks.
And a charging interface which is designed to be matched with the charging contact 130 of the recharging seat is also arranged on the surface of the equipment main body. From this, through the contact and the interface that charges of supporting design, can realize recharging the charging of equipment when recharging equipment removes to recharging the seat.
As shown in fig. 1, for a flat device body, the laser radar 220 may be disposed on an upper surface of the device body and rotate at a predetermined rotation speed, so as to scan and collect laser signals from various directions.
When the laser radar collects, scans and collects the guide laser signal continuously sent by the guide device (the wavelength of the guide laser signal is matched with the laser radar), the recharging equipment can determine the position of the recharging seat according to the guide laser signal, and the recharging seat is automatically moved to the recharging seat for charging. Due to the better anti-attenuation capability of the laser signal, the laser signal can be scanned and acquired by the laser radar at a longer distance, so that the function of long-distance recharging guide is realized.
As can be seen from the principle of use of the refill guide system shown in fig. 1, when a plurality of guide lights are provided, the guide lights may also be provided on the surface of the refill socket body in a suitable arrangement.
For example, since the scanning plane of the lidar is fixed, the guidance laser signal will be difficult to detect when the guidance lamp is not in the same plane as its scanning plane. Therefore, in some embodiments, as shown in fig. 2, a plurality of guide lamps may be arranged in a vertical direction (fig. 2 takes three guide lamps as an example) to ensure that at least one guide lamp is located in the scanning plane of the laser radar, and the detection probability is increased to avoid positioning errors.
Of course, any adjustment, change or replacement of the structure of the guiding device for achieving the technical effect of expanding the range of the laser guiding signal emitted by the guiding lamp according to the actual needs of the person skilled in the art is within the protection scope of the present invention.
For example, the guide lamp may be arranged in plurality in a horizontal direction. Therefore, the laser radar can detect the guide laser signals of the guide lamps at the same time, and the guide effect of the guide lamps in the laser radar collecting data is improved by strengthening the characteristics of the guide lamps.
Preferably, the guiding laser signal emitted by the guiding lamp may also be scattered light. I.e. the guidance light emits infrared laser light at a plurality of angles to further increase the probability that the lidar detects the guidance laser signal.
In some embodiments, the guidance lights may also represent specific coded information by a specific signal combination. The backfill device in combination with the encoded information can provide more additional functionality to further improve guidance accuracy.
In particular, the pilot light may be encoded with the emission frequency of the pilot laser signal, which is periodically emitted outwards. The lidar may detect the change in the laser-guided signal to determine corresponding encoded information.
Preferably, to ensure that the coded information is accessible to the lidar, the transmitting frequency of the guidance light should be less than half the scanning frequency of the lidar.
For example, a digital signal of 0x55 may be given to control the pilot lamp to switch on and off at a frequency of 2 Hz. When the laser radar detects that the frequency of the guiding laser signal is 2Hz, the corresponding coded information can be determined to be 0x 55.
Fig. 3 is a block diagram of a control circuit according to an embodiment of the present invention. The control circuit can be applied to the recharging seat and the recharging device and is used for executing one or more logic operation steps to realize the function of automatic recharging in a matching way. As shown in fig. 3, the control circuit may include: a processor 131 and a memory 132.
The processor 131 and the memory 132 may be connected by a bus or other means, and fig. 3 illustrates an example of connection by a bus.
The memory 132, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, and the processor 131 executes various functional applications and data processing by executing the non-volatile software programs, instructions, and modules stored in the memory 132.
The memory 132 may include a program storage area and a data storage area. The storage program area can store an operating system and an application program required by at least one function; the storage data area may store data and the like acquired by the water quality detection module 110. Further, the memory 132 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
Of course, the control circuit may also be integrated with a plurality of different input/output ports 133 (such as GPIO interfaces, UART serial interfaces, etc.) for connecting with corresponding functional modules, establishing a communication connection, thereby implementing data acquisition or control on the functional modules, and implementing other functions of the recharging stand or recharging device (e.g., controlling movement of the sweeping robot).
Fig. 4 is a flowchart of a method of a backfill guiding method according to an embodiment of the present invention. The steps of the recharging guiding method shown in fig. 4 can be executed by the control circuit shown in fig. 3, and the recharging guiding system shown in fig. 1 is cooperated to realize automatic recharging of the sweeping robot and other equipment.
As shown in fig. 4, the recharge guiding method includes:
410. and acquiring multi-frame laser signal detection data at a preset scanning frequency.
The laser signal detection data is acquired by a laser radar arranged on the recharging equipment. In the actual operation process, the laser radar works at a preset scanning frequency, and one frame of laser signal detection data can be obtained by each scanning. Thereby, a plurality of frames of continuous laser signal detection data are obtained over a period of time.
When the recharging device needs to carry out automatic recharging, the guiding device of the recharging seat is activated to emit a guiding laser signal outwards.
420. And judging whether the multi-frame laser signal detection data contains a guide laser signal or not. If yes, go to step 430, otherwise, go back to step 410 to continue the detection.
As shown in fig. 5, the pilot laser signal a forms a gaussian wave on the detection signal of the lidar with a higher signal-to-noise ratio than the laser signal B of the radar itself. The control circuitry of the backfill device may identify these high signal to noise ratio signals and combine one or more metrics to determine whether the pilot laser signal has been detected.
The principle of detecting and determining the guiding laser signal emitted by the guiding lamp is described in detail below with reference to the data frame shown in fig. 5 and the point cloud coordinate diagram shown in fig. 6.
Firstly, performing distance calculation on the laser signals with the signal-to-noise ratio higher than a preset threshold value in the multi-frame laser signal detection data to obtain corresponding point cloud data.
The guiding laser signal is directly emitted out by the guiding lamp, and compared with the laser signal actively emitted by the laser radar, the guiding laser signal is not subjected to the process of diffuse reflection. The signal-to-noise ratio can be significantly higher than other laser signals. The preset threshold may be a fixed value or a relative value, and only the laser signal with the signal-to-noise ratio significantly higher than that of other laser signals in the data needs to be detected.
Then, the distance change degree and the angle change degree of the point cloud data in the continuous multi-frame laser signal detection data are calculated.
As shown in fig. 5, the lidar has a certain viewing angle range, and can detect a laser signal within a certain angle range. Therefore, even if the laser radar is continuously rotated, the pilot laser signal appears in several consecutive frames of the detection data, thereby forming the data frame shown in fig. 4.
Meanwhile, the position of the guiding laser signal in the detection data also has a certain linear relation with the rotation direction of the laser radar. The pixels are arranged according to a certain rule at the pixel positions of the laser radar detection data frame.
Specifically, whether the laser signal is directed from left to right or right to left is related to the direction of rotation of the lidar, and the position interval between adjacent data frames is related to the scanning speed of the lidar.
As shown in the point cloud diagram of fig. 6, on one hand, the laser radar measures the distance (i.e., the position change of the laser signal between the adjacent data frames) according to the time interval between the laser emitted from the laser source and the received reflected laser. Therefore, when the distance calculation is performed on the guidance laser signal, the distance result obtained by the calculation actually depends on the scanning frequency of the laser radar and the moving speed of the guidance laser signal.
Considering that the moving speed of the guiding laser signal is very fast (light speed), the distance solution results over a period of time have significant differences (rapid change from large to small or small to large).
On the other hand, since the time corresponding to the multi-frame detection data is very short, the angular range of the radar rotation is small, and therefore the angular direction of the orientation in which the guidance lamp is located falls within a very small angular range (which is confirmed to be within 3 ° according to a lot of experiments).
And finally, determining that the guide laser signal exists by a control circuit when the distance change degree is obvious and the angle change degree is weak.
"significant" and "weak" are a set of relative concepts. It may specifically be represented using any suitable type of data statistics to indicate that distances vary over a large range, while angles fall within a small range of values.
As shown in fig. 6, after the guiding laser signal is converted into the corresponding settlement result (i.e., point cloud data), the distance variation and angle variation are very obvious between several adjacent data frames. One skilled in the art can determine whether the effect is significant or weak by any suitable determination method according to the needs of the actual situation. For example, it may be determined by setting a preset threshold (when the range of the distance change is larger than a preset threshold, it is determined that the distance change degree is significant).
430. And calculating the orientation of the recharging seat according to the guiding laser signal.
After the guiding laser signal is determined, the guiding laser signal is used as a guiding mark, and the direction of the recharging seat relative to the recharging device can be calculated and determined through a proper method, so that the recharging device is guided.
In one scanning period, the guiding laser signal detected by the laser radar can present the distribution characteristics of extremely small angle change range and extremely large distance change range, and is represented as a straight line-like shape on the point cloud chart shown in fig. 5.
In some embodiments, the angular variation range of the point cloud data corresponding to the guiding laser signal on the point cloud map may be first calculated. Then, the middle value of the angle change range is used as the direction of the recharging seat, and the distance between the recharging seat and the laser signal detection data is calculated according to the laser signal detection data in the detection range determined by taking the direction of the recharging seat as a reference.
Preferably, the distance between the refill seat and the refill seat can be calculated by using the data information in the detection range within +/-5 degrees of the direction of the refill seat.
440. And moving towards the recharging seat. After the control circuit is positioned to the position of the recharging seat, the recharging device can be controlled to be actively close to the recharging seat.
450. And in the moving process, updating the position coordinates of the recharging seat until the position coordinates are contacted with the charging contact of the recharging seat.
And continuously updating in the process of moving to the recharging seat, adjusting the positioning of the recharging seat, planning an adjusting route in real time until the adjusting route is finally contacted with the recharging seat, and charging.
In summary, the automatic recharge guiding system and the method thereof provided by the embodiments of the present invention use the scattered infrared light with the wavelength matched with the laser radar as the guiding laser signal.
On one hand, the light source energy is obviously higher than the reflected laser signal of the active light source of the laser radar after diffuse reflection, so that the laser radar can still accurately identify or screen out the guide laser signal from the data frame in the environment with a long distance (>8m), and the position of the recharging seat is detected and determined according to the guide laser signal.
On the other hand, the scattering infrared light enables the laser radar to detect at a plurality of angles, and the problems that the existing automatic recharging scheme is short in guiding distance, recharging points need to be marked again after the position of the recharging seat is changed and the like can be effectively solved.
In addition, the device such as the guide lamp that increases the transmission infrared light does not have special requirements to the appearance and the material of recharging equipment, can effectively simplify the design degree of difficulty and the processing technology of recharging seat to reduce the cost, have good popularization and application prospect.
It should be understood that the technical solutions and concepts of the present invention may be equally replaced or changed by those skilled in the art, and all such changes or substitutions should fall within the protection scope of the appended claims.
Claims (7)
1. A backfill guiding system based on a laser radar is characterized by comprising a backfill seat and backfill equipment;
the recharge socket comprises:
the recharging seat main body is surrounded by an outer shell;
the guiding device is arranged on the recharging seat main body and used for emitting guiding laser signals outwards; and
the charging contact is arranged on the surface of the outer shell and used for charging the recharging equipment;
the recharging device comprises:
the equipment comprises an equipment main body, a driving mechanism and a control device, wherein the equipment main body is provided with the driving mechanism;
the charging interface is arranged on the surface of the equipment main body and is used for being electrically connected with the charging contact; and
a lidar to transmit and receive laser signals to determine a distance between the recharge device and an external object;
the specific guiding method comprises the following steps:
acquiring multi-frame laser signal detection data at a preset scanning frequency;
judging whether a guide laser signal exists in the multi-frame laser signal detection data; the guiding laser signal is a laser signal emitted by the recharging seat;
if yes, calculating the direction of the recharging seat according to the guiding laser signal;
moving the recharging seat and updating the position coordinate of the recharging seat until the recharging seat is contacted with a charging contact of the recharging seat;
the determining whether the leading laser signal exists in the multi-frame laser signal detection data specifically includes:
performing distance calculation on the laser signals with the signal-to-noise ratio higher than a preset threshold value in the multi-frame laser signal detection data to obtain corresponding point cloud data;
calculating the distance change degree and the angle change degree of the point cloud data in continuous multi-frame laser signal detection data;
when the distance change degree is obvious and the angle change degree is weak, determining that the guide laser signal exists;
calculating the angle change range of the point cloud data in the connected multi-frame laser signal detection data;
taking the middle value of the angle variation range as the direction of the recharging seat;
and calculating the distance between the laser signal detection data and the recharging seat according to the laser signal detection data in the detection range determined by taking the direction of the recharging seat as a reference.
2. The backfill guidance system according to claim 1, wherein the guidance arrangement comprises a drive circuit and at least one guidance light;
the driving circuit is accommodated in the outer shell, and the guide lamp is arranged on the surface of the outer shell; the driving circuit is connected with the guiding lamp and used for driving the guiding lamp to emit guiding laser signals.
3. The recharge guide system of claim 2, wherein said drive circuit triggers said guide light to emit said guide laser signal outwardly when said recharge device executes an automatic recharge procedure.
4. The backfill guidance system of claim 2, wherein the guiding laser signal is of a wavelength matched to the lidar and the guiding laser signal is infrared scattered light.
5. The backfill guiding system according to claim 2, wherein the guiding means comprises at least two guiding lights arranged in a vertical and/or horizontal arrangement on the surface of the outer housing.
6. The backfill guidance system of claim 1, wherein the lidar is a triangulation-based lidar; the laser radar collects laser signals at a preset rotating speed and a preset scanning frequency.
7. The backfill guiding system according to claim 6, wherein the guiding device periodically emits the guiding laser signal outwards at a preset emission frequency; the transmission frequency is less than half of the scanning frequency of the lidar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910374042.4A CN110133681B (en) | 2019-05-07 | 2019-05-07 | Recharge guiding system based on laser radar and recharge guiding method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910374042.4A CN110133681B (en) | 2019-05-07 | 2019-05-07 | Recharge guiding system based on laser radar and recharge guiding method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110133681A CN110133681A (en) | 2019-08-16 |
| CN110133681B true CN110133681B (en) | 2022-03-22 |
Family
ID=67576405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910374042.4A Active CN110133681B (en) | 2019-05-07 | 2019-05-07 | Recharge guiding system based on laser radar and recharge guiding method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110133681B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110495817B (en) * | 2019-08-30 | 2021-12-10 | 深圳市银星智能科技股份有限公司 | Recharging and docking method and system for cleaning equipment with laser radar |
| CN113641172A (en) * | 2020-04-27 | 2021-11-12 | 科沃斯机器人股份有限公司 | Autonomous mobile device, refilling method, and storage medium |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7321215B1 (en) * | 2006-08-09 | 2008-01-22 | Powerchip Semiconductor Corp. | Wireless 3D auto-offset system for robot arms |
| CN108089024B (en) * | 2016-11-22 | 2020-07-14 | 武汉万集信息技术有限公司 | Vehicle speed detection system and method |
| CN208375332U (en) * | 2018-05-08 | 2019-01-15 | 深圳市欢创科技有限公司 | Cradle and mobile robot recharge system automatically |
| CN109586360B (en) * | 2018-11-09 | 2020-09-22 | 深圳市银星智能科技股份有限公司 | Robot automatic charging method and device, charging pile and robot |
| CN109460032A (en) * | 2018-11-29 | 2019-03-12 | 亿嘉和科技股份有限公司 | A kind of localization method and autonomous charging of robots method based on laser-correlation |
| CN109508014B (en) * | 2018-12-24 | 2022-03-29 | 珠海一微半导体股份有限公司 | Laser guide recharging method and chip of mobile robot |
-
2019
- 2019-05-07 CN CN201910374042.4A patent/CN110133681B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110133681A (en) | 2019-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102001422B1 (en) | Electrical vacuum cleaner | |
| EP3505037B1 (en) | Cleaning robot and control method therefor | |
| US12019147B2 (en) | Apparatus and methods for multi-sensor SLAM systems | |
| CN107825425A (en) | Robot control method, device, robot and cradle | |
| US20170360266A1 (en) | Vacuum cleaner | |
| CN110133681B (en) | Recharge guiding system based on laser radar and recharge guiding method thereof | |
| US11428801B2 (en) | Moving device and object detection method thereof | |
| CN110136704B (en) | Robot voice control method and device, robot and medium | |
| CN111090284B (en) | Method for returning self-walking equipment to base station and self-walking equipment | |
| KR20200121756A (en) | Initialization Diagnosis Method and System of a Mobile Robot | |
| US20200033879A1 (en) | Systems and methods for orienting a robot in a space | |
| CN112214011B (en) | System and method for positioning charging seat of self-moving robot | |
| WO2023103326A1 (en) | Control method, robot, robot charging base, and computer-readable storage medium | |
| US20220024333A1 (en) | Automatic recharging method, device, storage medium and system | |
| CN115014338A (en) | Mobile robot positioning system and method based on two-dimensional code vision and laser SLAM | |
| CN108536146B (en) | Intelligent control method for positioning charging base of mobile robot based on path and RSSI (received Signal Strength indicator) | |
| CN112826377A (en) | Recharging alignment method and device of sweeper and sweeper | |
| CN108829100B (en) | Indoor mobile robot traversal path planning method based on wireless network and geomagnetic signals | |
| CN108762261B (en) | Mobile robot traversal path planning method based on double wireless networks | |
| EP4406776A2 (en) | Charging station, charging station system, method for returning to station and lawnmowing robot | |
| CN220465262U (en) | Fill electric pile and fill electric pile system | |
| CN207924145U (en) | Build figure and navigator fix range unit | |
| KR101080366B1 (en) | Localization Method of Mobile Robots using Ultrasonic Sensors and Device Thereby | |
| CN110018684A (en) | A kind of solid-state radar sweeping robot | |
| CN111114367A (en) | Automatic charging method and system for electric automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230413 Address after: Room 1601, Block A, Building 7, Shenzhen International Innovation Valley, Dashi 1st Road, Xili Community, Xili Street, Nanshan District, Shenzhen, Guangdong Province, 518000 Patentee after: SHENZHEN YUEDENG TECHNOLOGY Co.,Ltd. Patentee after: SHENZHEN EAI TECHNOLOGY Co.,Ltd. Address before: Room 405, building e, Bantian International Center, No.5 Huancheng South Road, Bantian street, Longgang District, Shenzhen, Guangdong 518000 Patentee before: SHENZHEN YUEDENG TECHNOLOGY Co.,Ltd. |