CN112363500A - Automatic recharging moving method and system - Google Patents
Automatic recharging moving method and system Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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Abstract
The invention provides an automatic recharging moving method and system, wherein the automatic recharging moving method comprises the following steps: the robot searches the characteristic information through the laser radar and calculates the pose of the charging pile; and when the linear distance r between the robot and the charging pile is a fourth threshold value, calculating a smooth track of the robot reaching the charging pile and calculating and outputting the moving speed of the robot according to the pose of the charging pile. According to the automatic recharging moving method and system provided by the invention, the robot can be ensured to be more stable in the moving process of approaching the charging pile by adjusting the moving speed in the moving process.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an automatic recharging moving method and system.
Background
Service robots are gradually replacing part of the manual work. At present, robots are widely used in restaurants, hotels, hospitals, government agencies, and other scenes to provide services such as delivery and guidance. The robot applied to the scene needs to overcome the limitation of a use field and move without a track. The robot has a power supply system, and when the electric quantity is consumed, the power supply system needs to be charged in time. The common mode is that the robot automatically searches for a charging pile to charge. However, the existing automatic refilling method has the problems that the moving process of the robot to the pile is slow, and the pile aligning precision is low.
Disclosure of Invention
The present invention has been made in view of the above-mentioned conventional circumstances, and an object of the present invention is to provide an automatic recharging moving method and system, which enable a robot to quickly and accurately align a charging pile.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
the invention provides an automatic recharging moving method, which is applied to a robot for positioning a charging pile and moving the charging pile to the charging pile, wherein the charging pile has characteristic information, the robot comprises a laser radar, and the method comprises the following steps:
the robot searches the characteristic information through the laser radar and calculates the pose of the charging pile;
and when the linear distance r between the robot and the charging pile is a fourth threshold value, calculating a smooth track of the robot reaching the charging pile and calculating and outputting the moving speed of the robot according to the pose of the charging pile.
The method for calculating the moving speed specifically comprises the following steps:
according to
Calculating the moving speed, wherein v (k) is the moving speed, r is the linear distance between the robot and the charging pile, k is the curvature of the moving track of the robot, and v (k) ismaxIs the maximum moving speed of the robot, beta and lambda are constant, beta>0,λ>1。
The method for calculating kappa (r, theta, delta) specifically comprises the following steps:
Wherein, the
Wherein k is1And k2Are all constants, k1>0,k2>The method comprises the following steps that 1, delta is an included angle between the right direction of the robot and the connecting line direction of the robot-charging pile, and theta is an included angle between the right direction of the charging pile and the connecting line direction of the robot-charging pile, and the method specifically comprises the following steps:
the linear distance r is the distance between the robot and the midpoint of the charging pile, delta is the included angle between the right direction of the robot and the connecting line direction of the robot and the midpoint of the charging pile, and theta is the included angle between the right direction of the charging pile and the connecting line direction of the robot and the midpoint of the charging pile.
The robot comprises a laser radar, a charging pile, a laser radar, a positioning module, a characteristic information acquisition module, a positioning module and a positioning module, wherein the characteristic information is a reflective mark, the robot further comprises the positioning module, the positioning module outputs the pose of the robot, the laser radar scans and acquires laser point clouds, the robot searches the characteristic information through the laser radar and calculates the pose of the charging pile, and the robot specifically comprises the following steps:
searching a plurality of sections of alternative laser point clouds of which the feedback light intensity is higher than a first threshold value;
calculating position information of the charging pile in a laser coordinate system according to the position of the charging pile in a world coordinate system and the pose of the robot in the world coordinate system, setting a search range according to the position information, and searching the alternative laser point cloud in the search range;
calculating the point cloud length of the alternative laser point cloud, removing the alternative laser point cloud with the point cloud length larger than a second threshold value, and removing the alternative laser point cloud with the point cloud length smaller than a third threshold value;
and fitting the screened alternative laser point clouds into a straight line, calculating the position of the straight line under the robot coordinate system, and outputting the pose of the charging pile.
Fitting the screened alternative laser point clouds into a straight line, wherein the fitting specifically comprises the following steps;
and fitting the screened alternative laser point clouds into a straight line through a RANSAC algorithm.
The robot stores the characteristic information of the charging pile, the robot further comprises a positioning module, the positioning module outputs the pose of the robot, the laser radar scans and acquires laser point clouds, the robot searches the characteristic information through the laser radar and calculates the pose of the charging pile, and the robot specifically comprises the following steps:
calculating an ideal point cloud of the characteristic information and a distance map of the ideal point cloud;
calculating the position information of the charging pile in a laser coordinate system according to the position of the charging pile in the world coordinate system and the pose of the robot in the world coordinate system, setting a search range according to the position information, and searching the laser point cloud in the search range;
searching the laser point clouds in the search range by adopting a sliding window so as to output a plurality of candidate point clouds;
roughly aligning each section of candidate point cloud with the rational point cloud, carrying out violent search alignment by adopting the distance map, outputting an alignment error, and selecting the laser point cloud with the minimum alignment error as a charging pile point cloud;
and with the charging pile point cloud as an initial value, aligning the charging pile point cloud and the ideal point cloud by using a singular value decomposition method, and calculating the pose of the charging pile.
The sliding window is a first specific width, the interval of the sliding window is a second specific width, and the sum of the first specific width and the second specific width is not more than the characteristic length.
Wherein the location information includes a maximum positioning error boundary, and the step of setting the search range specifically includes:
and setting the search range by taking the maximum positioning error boundary as a center.
The invention also provides an automatic recharging system, which applies the automatic recharging moving method.
According to the automatic recharging moving method provided by the invention, the robot can be ensured to be more stable in the moving process of approaching the charging pile by adjusting the moving speed in the moving process.
Drawings
FIG. 1 shows a parameter diagram of an automatic refill movement method according to the present invention;
FIG. 2 illustrates a flow diagram of an embodiment of an automatic refill movement method in accordance with the present invention;
FIG. 3 is a schematic diagram showing the structure of the reflective sign of the automatic refill moving method according to the present invention;
FIG. 4 illustrates a flow diagram of another embodiment of an automatic refill movement method in accordance with the present invention;
FIG. 5 is a schematic diagram showing the structure of a characteristic three-dimensional structure of the automatic refill moving method according to the present invention;
fig. 6 is a schematic diagram showing the configuration of the feature information of the automatic refill moving method according to the present invention.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same components are denoted by the same reference numerals, and redundant description thereof is omitted. The drawings are schematic and the ratio of the dimensions of the components and the shapes of the components may be different from the actual ones.
The embodiment of the invention relates to an automatic recharging moving method, which is applied to a robot for positioning a charging pile and moving the charging pile. The charging pile has characteristic information. The robot includes a lidar. The method comprises the following steps:
the robot searches the characteristic information through the laser radar and calculates the pose of the charging pile;
and when the linear distance r between the robot and the charging pile is a fourth threshold value, calculating a smooth track of the robot reaching the charging pile and calculating and outputting the moving speed of the robot according to the pose of the charging pile.
Under this condition, the robot is at the removal in-process, through adjusting the translation rate, can ensure that the robot is being close to the in-process that fills electric pile and remove more stable.
In the present embodiment, the pose is used to describe the position and posture of an object. The present embodiment is not limited to the posture indicating method. In the present embodiment, the fourth threshold value is a predetermined specific value.
Fig. 1 shows a positional relationship between a robot 10 and a charging pile 20. In this embodiment, the method for calculating the moving speed specifically includes:
according to
Calculating the moving speed, wherein v (k) is the moving speed, r is the linear distance between the robot and the charging pile, k is the curvature of the moving track of the robot, and v (k) ismaxIs the maximum moving speed of the robot, beta and lambda are constant, beta>0,λ>1。
In this case, the output moving speed can control the robot to move to the charging pile quickly, smoothly and smoothly.
In this embodiment, the method for calculating κ (r, θ, δ) specifically includes:
k (r, θ, δ) is calculated according to equation 1. Formula 1 is
Wherein k is1And k2Are all constants, k1>0,k2>And 1, delta is an included angle between the right direction of the robot and the connecting line direction of the robot-charging pile, and theta is an included angle between the right direction of the charging pile and the connecting line direction of the robot-charging pile. Specifically, the robotThe charging pile connecting direction is the extension direction of the line where the robot and the charging pile are located together.
In this embodiment, the formula 1 specifically includes:
the linear distance r is the distance between the robot and the midpoint of the charging pile, delta is the included angle between the right direction of the robot and the connecting line direction of the robot and the midpoint of the charging pile, and theta is the included angle between the right direction of the charging pile and the connecting line direction of the robot and the midpoint of the charging pile. Specifically, the robot-charging pile midpoint connecting line direction is the extending direction of the midpoint of the charging pile and the straight line where the robot is located.
From this, can make the robot more accurate with filling the counterpoint of electric pile.
As shown in fig. 2, in the present embodiment, the characteristic information is a reflective mark. The robot further includes a positioning module. The positioning module outputs a pose of the robot. And scanning and acquiring laser point cloud by the laser radar. The robot searches the characteristic information through the laser radar and calculates the pose of the charging pile, and the method specifically comprises the following steps:
301. searching a plurality of sections of alternative laser point clouds of which the feedback light intensity is higher than a first threshold value;
302. calculating position information of the charging pile in a laser coordinate system according to the position of the charging pile in a world coordinate system and the pose of the robot, setting a search range according to the position information, and searching the alternative laser point cloud in the search range;
303. calculating the point cloud length of the alternative laser point cloud, removing the alternative laser point cloud with the point cloud length larger than a second threshold value, and removing the alternative laser point cloud with the point cloud length smaller than a third threshold value;
304. and fitting the screened alternative laser point clouds into a straight line, calculating the position of the straight line under the robot coordinate system, and outputting the pose of the charging pile.
Under the condition, the position and pose of the robot and the position of the charging pile under the world coordinate system, which are output by the positioning module, are fused to assist in determining the search range, so that the search calculation efficiency of alternative laser point clouds is improved, the positioning accuracy of the robot on the charging pile is improved, and the distance map based on ideal point clouds is aligned, so that the calculation amount can be greatly reduced; further, the point cloud length based on the alternative point cloud is screened, the searching process is greatly simplified, the actual point cloud of the charging pile can be rapidly identified, the position of the charging pile can be rapidly and accurately identified compared with other charging pile positioning algorithms, the robot carries out accurate alignment on the position of the charging pile continuously based on multi-sensor fusion in the moving process, the moving speed is adjusted, and the robot can be guaranteed to be more stable in the process of moving close to the charging pile.
In this embodiment, the charging pile may have a characteristic length. The characteristic length is greater than a third threshold and the characteristic length is less than a second threshold. Therefore, the alternative laser point clouds with the point cloud length larger than the second threshold value and the alternative laser point clouds with the point cloud length smaller than the third threshold value are removed, and the point clouds obviously not corresponding to the charging pile can be removed rapidly.
In some examples, the characteristic length may be a width of the charging post. In particular, the characteristic length may be a width of a cross section of the charging post parallel to the ground.
In some examples, the collection of laser point clouds includes several segments of alternative laser point clouds.
In some examples, the first threshold may be determined according to a degree to which the light intensity of the feedback is higher than the light intensity of the surrounding environment.
In this embodiment, the step of fitting the screened candidate laser point clouds into a straight line specifically includes;
and fitting the screened alternative laser point clouds into a straight line through a RANSAC algorithm.
Therefore, the straight line based on the alternative laser point cloud fitting has higher precision, and the positioning precision of the robot on the charging pile is improved.
As shown in fig. 3, in the present embodiment, the reflective sign 22 includes a plurality of light absorbing sheets 221 and a plurality of reflective sheets 222. The plurality of light absorbing sheets 221 and the plurality of light reflecting sheets 222 are arranged in a straight line. Under this condition, be convenient for discernment fills the butt joint direction that electric pile corresponds, both can reduce the calculated amount, can simplify again to filling the location degree of difficulty of electric pile.
In some examples, the adjacent light absorbers 221 and light reflectors 222 are equal in length.
It is understood that in some examples, the lengths of the adjacent light absorbers 221 and the light reflectors 222 may not be equal.
As shown in fig. 4, in some examples, the robot stores characteristic information of the charging post. The robot further includes a positioning module. The positioning module outputs a pose of the robot. And scanning and acquiring laser point cloud by the laser radar. The robot searches the characteristic information through the laser radar and calculates the pose of the charging pile, and the method specifically comprises the following steps:
101. calculating an ideal point cloud of the characteristic information and a distance map of the ideal point cloud;
102. calculating the position information of the charging pile in a laser coordinate system according to the position of the charging pile in a world coordinate system and the pose of the robot, setting a search range according to the position information, and searching the laser point cloud in the search range;
103. searching the laser point clouds in the search range by adopting a sliding window so as to output a plurality of candidate point clouds;
104. roughly aligning each section of candidate point cloud with the rational point cloud, carrying out violent search alignment by adopting the distance map, outputting an alignment error, and selecting the laser point cloud with the minimum alignment error as a charging pile point cloud;
105. and with the charging pile point cloud as an initial value, aligning the charging pile point cloud and the ideal point cloud by using a singular value decomposition method, and calculating the pose of the charging pile.
Under the condition, the position and pose of the robot and the position of the charging pile under the world coordinate system, which are output by the positioning module, are fused to assist in determining the search range, so that the search calculation efficiency of the charging pile point cloud is improved, the positioning accuracy of the robot on the charging pile is improved, and the distance map based on the ideal point cloud is aligned, so that the calculation amount can be greatly reduced; combining rough alignment and violent search alignment, selecting the laser point cloud with the minimum alignment error as a charging pile point cloud, and aligning the charging pile point cloud with an ideal point cloud on the basis, so that the search accuracy and efficiency are comprehensively improved; therefore, the multiple sensors are integrated into the algorithm of the robot for identifying the charging pile, so that the robot can quickly and accurately align the charging pile on the whole; and the robot is at the removal in-process, based on the multi-sensor fusion continuously to filling the position of electric pile and carry out accurate alignment to adjust translation rate, can ensure that the robot is being close to the in-process that fills electric pile and remove more stable.
In some examples, the ideal point cloud of the feature information and the distance map of the ideal point cloud are calculated by a processor of the robot and then stored in the robot. Therefore, when the robot locates the charging pile, only the ideal point cloud of the characteristic information and the distance map of the ideal point cloud need to be called, repeated calculation is not needed, and therefore calculation efficiency and calculation amount are improved.
In some examples, the location of the charging post in the world coordinate system is predetermined. Further, the position of the charging pile in the world coordinate system is set after the robot completes construction of the map.
In some examples, the location of the charging post in the world coordinate system is mapped by a robot.
In some examples, the positioning module may include at least one of a vision sensor, an odometer, an IMU, an infrared sensor.
In some examples, the sliding windows are a first particular width, the sliding windows are spaced apart by a second particular width, and a sum of the first particular width and the second particular width is no greater than the characteristic length. Therefore, the laser point clouds in the search range are segmented by sliding window search, and under the condition that the sum of the first specific width and the second specific width is not larger than the characteristic length constraint, the candidate point clouds are ensured to be contained by ideal point clouds.
In this embodiment, the step of setting the search range includes:
and setting the search range by taking the maximum positioning error boundary as a center.
Under the condition, the search range can completely cover the point cloud of the charging pile, and the output of wrong search results is avoided.
In some examples, it is preferable that the search range is circular. The search range may be in other two-dimensional shapes such as a rectangle and a polygon.
In some examples, the characteristic information includes at least one of a reflective logo and a characteristic solid structure. Under the condition, the automatic recharging moving method has wide universality, is not limited by the characteristics of the charging pile, and can flexibly set the characteristic information according to the actual use scene.
In some examples, the characteristic information includes a concave-convex structure. In other words, the relief structure is a characteristic three-dimensional structure. The length of the concave-convex structure is the characteristic length. Thus, the feature recognition of the concave-convex structure can be applied to a low-profile laser radar, thereby reducing the application cost of the laser radar.
In some examples, the concave-convex structure is composed of a plurality of convex parts and concave parts which are equal in length and are arranged at intervals.
As shown in fig. 5, in some examples, the concavo-convex structure is composed of a plurality of convex portions 232 and concave portions 231 having unequal lengths. The convex portion 232 and the concave portion 231 are spaced apart.
Further, concave-convex structure towards the outside setting of filling electric pile. Specifically, the exterior of the charging pile may be a part that is docked with the robot for charging. Concave-convex structure can set up in the facade of filling electric pile.
As shown in fig. 6, the characteristic information of the charging pile is a contour line diagram of the concave-convex structure in fig. 5. Specifically, in step 102, an ideal point cloud may be calculated using the feature information in fig. 6, and the structure of the concave-convex structure may be drawn by lines. This can significantly reduce the amount of computation.
In this embodiment, step 103 further includes:
and sequencing the angles of the data of the laser radar under the laser coordinate system from small to large.
Therefore, the laser data are sequenced according to the time sequence of laser scanning, the situation that each candidate point cloud is sequenced again is avoided, the calculated amount is greatly reduced, and the calculation efficiency is improved.
In this embodiment, step 104 specifically includes:
and roughly aligning each section of the candidate point cloud and the rational point cloud by using a principal component analysis technology, taking the roughly aligned result as an initial value, carrying out violent search alignment by using the distance map, outputting an alignment error, and selecting the laser point cloud with the minimum alignment error as a charging pile point cloud.
In this embodiment, the positioning module includes an odometer, and after step 105, the method further includes:
and tracking the pose of the charging pile by using extended Kalman filtering according to the data of the odometer and the pose of the charging pile.
Therefore, on the basis of point cloud of the charging pile, mileometers are fused, the pose of the charging pile identified by mistake can be effectively found, and therefore the accuracy of identifying the charging pile is generally improved.
The embodiment of the invention also relates to an automatic recharging system which applies the automatic recharging moving method. Under this condition, the robot is at the removal in-process, through adjusting the translation rate, can ensure that the robot is being close to the in-process that fills electric pile and remove more stable.
The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.
Claims (10)
1. An automatic recharging moving method is applied to a robot for positioning and moving a charging pile, wherein the charging pile has characteristic information, the robot comprises a laser radar, and the method comprises the following steps:
the robot searches the characteristic information through the laser radar and calculates the pose of the charging pile;
and when the linear distance r between the robot and the charging pile is a fourth threshold value, calculating a smooth track of the robot reaching the charging pile and calculating and outputting the moving speed of the robot according to the pose of the charging pile.
2. The automatic refill moving method according to claim 1, wherein the moving speed calculation method specifically comprises:
according to
Calculating the moving speed, wherein v (k) is the moving speed, r is the linear distance between the robot and the charging pile, k is the curvature of the moving track of the robot, and v (k) ismaxIs the maximum moving speed of the robot, beta and lambda are constant, beta>0,λ>1。
3. The automatic refill moving method of claim 2, wherein the k (r, θ, δ) is calculated by:
4. The automatic refill moving method according to claim 3, wherein the step of moving the refill unit is performed by a computer
Wherein k is1And k2Are all constants, k1>0,k2>The method comprises the following steps that 1, delta is an included angle between the right direction of the robot and the connecting line direction of the robot-charging pile, and theta is an included angle between the right direction of the charging pile and the connecting line direction of the robot-charging pile, and the method specifically comprises the following steps:
the linear distance r is the distance between the robot and the midpoint of the charging pile, delta is the included angle between the right direction of the robot and the connecting line direction of the robot and the midpoint of the charging pile, and theta is the included angle between the right direction of the charging pile and the connecting line direction of the robot and the midpoint of the charging pile.
5. The automatic recharging moving method of claim 1, wherein the characteristic information is a reflective mark, the robot further comprises a positioning module, the positioning module outputs a pose of the robot, the lidar scans and acquires a laser point cloud, and the robot searches for the characteristic information through the lidar and calculates the pose of the charging pile, specifically comprising:
searching a plurality of sections of alternative laser point clouds of which the feedback light intensity is higher than a first threshold value;
calculating position information of the charging pile in a laser coordinate system according to the position of the charging pile in a world coordinate system and the pose of the robot in the world coordinate system, setting a search range according to the position information, and searching the alternative laser point cloud in the search range;
calculating the point cloud length of the alternative laser point cloud, removing the alternative laser point cloud with the point cloud length larger than a second threshold value, and removing the alternative laser point cloud with the point cloud length smaller than a third threshold value;
and fitting the screened alternative laser point clouds into a straight line, calculating the position of the straight line under the robot coordinate system, and outputting the pose of the charging pile.
6. The automatic backfill moving method according to claim 5, wherein the fitting of the screened candidate laser point clouds into a straight line comprises;
and fitting the screened alternative laser point clouds into a straight line through a RANSAC algorithm.
7. The automatic recharging moving method of claim 1, wherein the robot stores characteristic information of the charging pile, the robot further comprises a positioning module, the positioning module outputs a pose of the robot, the lidar scans and acquires a laser point cloud, and the robot searches the characteristic information through the lidar and calculates the pose of the charging pile, and the method specifically comprises the steps of:
calculating an ideal point cloud of the characteristic information and a distance map of the ideal point cloud;
calculating the position information of the charging pile in a laser coordinate system according to the position of the charging pile in the world coordinate system and the pose of the robot in the world coordinate system, setting a search range according to the position information, and searching the laser point cloud in the search range;
searching the laser point clouds in the search range by adopting a sliding window so as to output a plurality of candidate point clouds;
roughly aligning each section of candidate point cloud with the rational point cloud, carrying out violent search alignment by adopting the distance map, outputting an alignment error, and selecting the laser point cloud with the minimum alignment error as a charging pile point cloud;
and with the charging pile point cloud as an initial value, aligning the charging pile point cloud and the ideal point cloud by using a singular value decomposition method, and calculating the pose of the charging pile.
8. The automatic refill moving method according to claim 7, wherein the sliding window has a first specific width, the sliding window is spaced apart by a second specific width, and the sum of the first specific width and the second specific width is not greater than the characteristic length.
9. The automatic refill moving method according to claim 7, wherein the position information includes a maximum positioning error boundary, and the step of setting the search range specifically includes:
and setting the search range by taking the maximum positioning error boundary as a center.
10. An automatic recharge system, characterized in that the automatic recharge moving method according to any one of claims 1 to 9 is applied.
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