CN113189980B - Charging pile reverse light intensity filtering method and device and charging robot - Google Patents
Charging pile reverse light intensity filtering method and device and charging robot Download PDFInfo
- Publication number
- CN113189980B CN113189980B CN202110370052.8A CN202110370052A CN113189980B CN 113189980 B CN113189980 B CN 113189980B CN 202110370052 A CN202110370052 A CN 202110370052A CN 113189980 B CN113189980 B CN 113189980B
- Authority
- CN
- China
- Prior art keywords
- charging pile
- charging
- reflection intensity
- distance
- value
- 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
- 238000000034 method Methods 0.000 title claims abstract description 93
- 238000001914 filtration Methods 0.000 title claims abstract description 76
- 230000008569 process Effects 0.000 claims abstract description 46
- 238000002310 reflectometry Methods 0.000 claims description 43
- 230000005540 biological transmission Effects 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 13
- 238000003032 molecular docking Methods 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 9
- 210000001503 joint Anatomy 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 8
- 239000000463 material Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 241001417527 Pempheridae Species 0.000 description 2
- 230000032683 aging Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000004643 material aging Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 229920003169 water-soluble polymer Polymers 0.000 description 1
Classifications
-
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- 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
-
- 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
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Power Engineering (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention is applicable to the technical field of charging robots, and provides a method for filtering the reflection intensity of a charging pile, which comprises the following steps: in the process that the charging robot is in butt joint with the charging pile for charging, the reflection intensity and the distance of data points which can be scanned on all objects in the surrounding environment of the charging robot are obtained in real time; acquiring a target reflection intensity value of the data point at the distance; and filtering the data points when the reflection intensity is judged to be smaller than the target reflection intensity value. The embodiment of the invention also provides a charging pile reflected light intensity filtering device, a charging robot and a computer readable storage medium. The filtering method for the reflection intensity of the charging pile can effectively filter interference points of non-charging pile parts, has a better filtering effect, and improves the recognition accuracy of the charging pile.
Description
Technical Field
The invention belongs to the technical field of charging robots, and particularly relates to a method and a device for filtering reflection intensity of a charging pile, a charging robot and a computer readable storage medium.
Background
With the development of robotics, most of the robots that are currently operated automatically start to carry an automatic charging function, i.e., a charging robot. When the existing charging robot charges, a charging pile matched with the charging robot needs to be in butt joint, and in order to identify the charging pile, the optical positioning of the charging pile needs to be carried out by utilizing a reflecting plate arranged on the charging pile in the charging process. In general, when the light reflecting plate is used for optically positioning the charging pile, the detected light reflecting intensity information of the charging pile needs to be filtered so as to filter and remove objects with low reflectivity in the surrounding environment, thus effectively reducing interference information and reducing calculation amount.
The mode that fills reverse light intensity of electric pile is filtered to robot that charges among the prior art generally adopts: and setting a fixed reflection intensity value for filtering, namely, if the detected reflection intensity of the obstacle in the environment is greater than a certain fixed reflection intensity value, retaining the information, otherwise, deleting. However, after the reflector is used for a long time, the corresponding reduction of the reflection intensity of the charging pile can be caused by environmental change, material aging and other factors, so that part or all of useful reflection points on the charging pile are filtered, and finally the problem that the charging robot cannot accurately identify and butt-joint the charging pile is caused.
Disclosure of Invention
The embodiment of the invention provides a method for filtering the reflection light intensity of a charging pile, which aims to solve the problems that a charging robot cannot accurately identify and butt-joint the charging pile because part or all useful reflection points on the charging pile are filtered in the prior art.
The embodiment of the invention is realized in such a way that the method for filtering the reflection intensity of the charging pile comprises the following steps:
in the process that the charging robot is in butt joint with the charging pile for charging, the reflection intensity and the distance of the scannable data points on all objects in the surrounding environment of the charging robot are obtained in real time;
acquiring a target reflection intensity value of the data point at the distance;
judging whether the reflection intensity is smaller than the target reflection intensity value or not;
and when the judgment result is yes, filtering the data points.
The embodiment of the invention also provides a reverse light intensity filtering device of the charging pile, which comprises:
the reflection intensity and distance acquisition unit is used for acquiring the reflection intensity and distance of the scannable data points on all objects in the surrounding environment of the charging robot in real time in the process of the charging pile being charged by the charging robot;
A target reflection intensity value acquisition unit, configured to acquire a target reflection intensity value of the data point over the distance;
the judging unit is used for judging whether the reflection intensity is smaller than the target reflection intensity value;
and the filtering unit is used for filtering the data points when the judging result is yes.
The embodiment of the invention also provides a charging robot, which comprises:
a charging robot body;
the laser emission device and the optical sensor are arranged on the charging robot body;
the laser emission device is used for emitting laser beams to the surrounding environment of the charging robot;
the light sensor is used for detecting the distance and the reflection intensity of light spots reflected by obstacles in the environment; and
and the controller is arranged in the charging robot body and comprises the filtering method for the reflection intensity of the charging pile.
The embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the method for filtering the reflection intensity of the charging pile when being executed by a processor.
According to the method for filtering the reflection intensity of the charging pile, the reflection intensity and the distance of the data points which can be scanned on all objects in the surrounding environment of the charging robot are obtained in real time in the process of abutting the charging pile by the charging robot; acquiring a target reflection intensity value of the data point at the distance; and finally, when the reflection intensity is judged to be smaller than the target reflection intensity value, filtering the data point. The filtering method for the reflection intensity of the charging pile can effectively filter the interference points of the non-charging pile part, and retain the effective data points of the charging pile, so that the filtering effect is better, and the accuracy of the recognition of the charging pile is improved.
Drawings
Fig. 1 is a flowchart of an implementation of a method for filtering reflection intensity of a charging pile according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for filtering reflection intensity of a charging pile according to a second embodiment of the present invention;
fig. 3 is a flowchart of an implementation of a filtering method for reflection intensity of a charging pile according to a third embodiment of the present invention;
fig. 4 is a flowchart of a step of obtaining a reflectivity value of a charging pile and a laser parameter of a laser radar on a charging robot in real time according to a fourth embodiment of the present invention;
fig. 5 is a flowchart of an implementation of a filtering method for reflection intensity of a charging pile according to a fifth embodiment of the present invention;
fig. 6 is a schematic structural diagram of a reverse light intensity filtering device for a charging pile according to a sixth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a reverse light intensity filtering device for a charging pile according to a seventh embodiment of the present invention;
fig. 8 is a schematic structural diagram of a reverse light intensity filtering device for a charging pile according to an eighth embodiment of the present invention;
fig. 9 is a schematic structural diagram of a parameter obtaining unit according to a ninth embodiment of the present invention;
fig. 10 is a schematic structural diagram of a charging robot according to an eleventh embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
According to the method for filtering the reflection intensity of the charging pile, the reflection intensity and the distance of the data points which can be scanned on all objects in the surrounding environment of the charging robot are obtained in real time in the process of abutting the charging pile by the charging robot; acquiring a target reflection intensity value of the data point at the distance; and finally, when the reflection intensity is judged to be smaller than the target reflection intensity value, filtering the data point. The filtering method for the reflection intensity of the charging pile can effectively filter the interference points of the non-charging pile part, and retain the effective data points of the charging pile, so that the filtering effect is better, and the accuracy of the recognition of the charging pile is improved.
Example 1
Fig. 1 shows a flowchart of an implementation of a method for filtering reflection intensity of a charging pile according to a first embodiment of the present invention, where the method includes the following steps:
in step S101, during the charging process of the charging robot docking the charging pile, the reflection intensity and the distance of the data points scannable on all objects in the surrounding environment of the charging robot are obtained in real time.
In the embodiment of the invention, the charging robot comprises various movable intelligent robots such as a sweeper, a floor washer, a mower and the like.
In one embodiment of the invention, the intensity and distance of the reflection of light from data points scannable on all objects in the environment surrounding the charging robot may be scanned by a lidar provided on the charging robot.
As an embodiment of the present invention, the charging pile includes a light reflecting plate including a plate coated with a light reflecting material, a metal plate, and the like.
In the embodiment of the present invention, the number of data points that can be scanned on the object is multiple, that is, the number of data points that can be scanned on one object is multiple.
In one example of the invention, the distance is the distance from a scannable data point on the object to a lidar on the charging robot. It will be appreciated that the further an object is from the laser emission point of the charging robot, the weaker the corresponding object's light reflection intensity, i.e. the distance from the data point scannable on the object is inversely proportional to the light reflection intensity.
In step S102, a target reflectance intensity value for the data point over a distance is obtained.
In the embodiment of the invention, the range of the target reflection intensity value is 0-1000.
As an embodiment of the present invention, the target reflection intensity value of the data point on the distance may be obtained by the reflection value of the charging pile obtained during the previous process of the charging robot leaving the charging pile, the laser parameter of the laser radar on the charging robot, and the distance (see in particular, embodiment two).
As another embodiment of the present invention, the target reflection intensity value of the data point in the distance may also be obtained by the correspondence between the distance of the charging pile and the reflection intensity recorded during the previous process of leaving the charging pile by the charging robot, and the distance (see, in particular, embodiment three).
In step S103, it is determined whether the reflection intensity is smaller than the target reflection intensity value; when the judgment result is yes, executing step S104; when the determination result is no, step S105 is performed to hold the data points.
In step S104, when the determination is yes, the data point is filtered.
As a practical application of the invention, in the process of charging the charging pile B in a butt joint manner, the charging robot A detects that the reflection intensity of the point B (data point) on the charging pile B is 280, the distance between the point B and the laser radar of the charging robot A is 5 meters, and correspondingly, the target reflection intensity value of the point B at the distance of 5 meters can be determined to be 260, namely, the reflection intensity of the point B at the distance of 5 meters from the laser radar of the charging robot A is larger than the target reflection intensity value, and the point B can be reserved.
As a practical application of the invention, in the process of charging the charging pile D in a butt joint manner, the charging robot C detects that the reflection intensity of a D point (data point) on the charging pile D is 503, the distance between the D point and the laser radar of the charging robot C is 2 meters, and accordingly, the target reflection intensity value of the D point at the distance of 2 meters can be determined to be 550, that is, the reflection intensity of the D point at the distance of 2 meters from the laser radar of the charging robot C is smaller than the target reflection intensity value, and then the D point can be filtered out.
It can be understood that in the charging process of the charging pile by the charging robot, the reflection intensity of the detected data points is compared with the obtained target reflection intensity value, and the data points with the reflection intensity smaller than the target reflection intensity value are filtered, so that the data points on the charging pile can be effectively reserved, the interference points of other obstacles are filtered, the calculated amount in the process of identifying the charging pile by the charging robot is reduced, and the efficiency and the butting accuracy of the charging pile by the charging robot are improved.
According to the method for filtering the reflection intensity of the charging pile, the reflection intensity and the distance of the data points which can be scanned on all objects in the surrounding environment of the charging robot are obtained in real time in the process of abutting the charging pile by the charging robot; acquiring a target reflection intensity value of the data point at the distance; and finally, when the reflection intensity is judged to be smaller than the target reflection intensity value, filtering the data point. The filtering method for the reflection intensity of the charging pile can effectively filter the interference points of the non-charging pile part, and retain the effective data points of the charging pile, so that the filtering effect is better, and the accuracy of the recognition of the charging pile is improved.
Example two
Fig. 2 shows a flowchart of a method for filtering reflection intensity of a charging pile according to a second embodiment of the present invention, which is different from the method shown in fig. 1 in that the method further includes the following steps before the step S101:
in step S201, during the process that the charging robot leaves the charging pile, a reflectance value of the charging pile and a laser parameter of a laser radar on the charging robot are obtained.
In one embodiment of the present invention, the reflectance value of the charging pile may be acquired by the light sensor 3 (see fig. 10).
In the embodiment of the invention, the laser parameters of the laser radar on the charging robot comprise the peak light intensity offset, the basic light intensity offset and the light transmission attenuation coefficient of the laser radar.
In the embodiment of the invention, the value range of the reflectivity value of the charging pile is 0-1. It will be appreciated that the reflectance value of the same stationary object is generally maintained regardless of environmental changes, material changes, aging of the radar device, etc., and that a greater reflectance value indicates a greater object reflectance intensity.
It is understood that the charging robot is linearly far away in the process of leaving the charging pile, and no angle change can be considered.
The step S102 specifically includes:
in step S202, a target reflection intensity value of the data point over the distance is determined according to the distance, the reflectivity value of the charging pile, and the laser parameters of the laser radar.
In the embodiment of the present invention, the target reflection intensity value Q is determined by the following formula:
Q＝(B peak to peak -B) x K x (1-P x L) +B, wherein
P is less than or equal to 1, Q represents the target reflection intensity value of the data point at the distance, B Peak to peak The peak light intensity offset (i.e., the maximum light intensity offset) of the laser radar is represented, B represents the base light intensity offset of the laser radar, K represents the reflectance value of the charging stake, P represents the light transmission attenuation coefficient, and L represents the distance value of each data point from the laser radar.
In one embodiment of the invention, the peak light intensity offset B of the lidar Peak to peak The range of the value of (2) is 0-1000, and the value is determined according to different laser radar performances.
In the embodiment of the invention, the basic light intensity offset B of the laser radar is less than or equal to B Peak to peak X30%, e.g. B Peak to peak If 1000, then the preferred value for B is 200.
In one embodiment of the invention, the optical transmission attenuation coefficient P is ≡0.
For example, the peak light intensity offset B of the lidar Peak to peak 1000, the basic light intensity offset B is 200, the reflectivity value K of the charging pile is 0.5, the light transmission attenuation coefficient P is 0.7, the distance value L from the data point e to the laser radar is 1 meter, and the target reflection intensity of the corresponding data point eThe value q= (1000-200) ×0.5× (1-0.7×1) +200=320.
For example, the peak light intensity offset B of the lidar Peak to peak 800, the base light intensity offset B is 200, the reflectivity value K of the charging pile is 0.8, the light transmission attenuation coefficient P is 0.2, the distance L from the data point f to the laser radar is 2 meters, and the target reflection intensity value q= (800-200) ×0.8× (1-0.2×2) +200=488 of the corresponding data point f.
According to the charging pile reflection intensity filtering method provided by the embodiment of the invention, the target reflection intensity values of each data point on different distances from the laser radar are determined according to the obtained reflectivity value of the charging pile, the distances of all objects in the surrounding environment of the robot and the laser parameters of the laser radar, and when the reflection intensity of the data point is judged to be smaller than the target reflection intensity value, the data point is filtered. The filtering method for the reflection intensity of the charging pile can effectively filter the interference points of the non-charging pile part, and retain the effective data points of the charging pile, so that the filtering effect is better, and the accuracy of the recognition of the charging pile is improved.
Example III
Fig. 3 shows a flowchart for implementing a filtering method for reflection intensity of a charging pile according to a third embodiment of the present invention, which is different from the method shown in fig. 1 in that the method further includes the following steps before the step S101:
in step S301, in the process that the charging robot leaves the charging pile, a corresponding relationship between the distance of the charging pile and the light reflection intensity of the charging pile is determined according to the recorded distance of the charging pile and the light reflection intensity of the charging pile corresponding to the distance of the charging pile.
It can be understood that by recording the corresponding reflection intensities of each point on the charging pile at different distances from the charging robot in the process that the charging robot leaves the charging process, the corresponding relationship between the distance of the charging pile and the reflection intensity can be obtained. For example, when the charging robot leaves the charging pile, the corresponding reflection intensity of each point on the reflecting plate of the charging pile (namely the reflection intensity of the charging pile) in the distance section of the charging robot from the center axis of the charging pile by 1-5 meters (namely the distance of the charging pile) is recorded, and the corresponding relation between the distance of the charging pile in the distance section of 1-5 meters and the reflection intensity can be obtained.
At this time, the step S102 specifically includes:
in step S302, a target reflection intensity value of the data point on the distance is determined according to the correspondence between the distance, the distance of the charging pile and the reflection intensity.
In the embodiment of the invention, since all objects in the surrounding environment of the charging robot include the charging pile, the distance is understood to be equal to the distance of the charging pile (the distance of the charging pile is the distance between the data point on the charging pile and the laser radar on the charging robot).
In one embodiment of the present invention, the correspondence between the distance of the charging post and the light reflection intensity is a one-to-one correspondence between the distance of the charging post detected during the previous leaving of the charging robot from the charging post and the light reflection intensity.
As a practical application of the invention, in the process of abutting the charging piles by the charging robot, the M points on the charging piles 3 meters away from the laser radar on the charging robot are obtained, and then the target reflection intensity value of the M points can be determined through the corresponding relation between the distance of the charging piles 3 meters pre-stored in the last time and the reflection intensity. If the distance between the charging piles is 3 meters, the corresponding target reflection intensity value is 320, and if the distance between the M point and the laser radar on the charging robot is 3 meters, the target reflection intensity value is 320.
According to the method for filtering the reflective intensity of the charging pile, in the process that the charging robot leaves the charging pile, the corresponding relation between the distance of the charging pile and the reflective intensity is determined according to the recorded distance of the charging pile and the reflective intensity of the charging pile corresponding to the distance of the charging pile, and then in the process that the charging robot is abutted to the charging pile, the target reflective intensity value of the data point at the distance is determined according to the detected distance and the corresponding relation between the distance of the charging pile and the reflective intensity, so that the target reflective intensity of each data point is obtained more simply and rapidly, and the filtering efficiency of the reflective intensity of the whole charging pile is improved.
Example IV
Referring to fig. 4, the step S201 specifically includes:
in step S401, the reflected light intensity value and the distance value of the charging pile are obtained in real time.
In step S402, a reflectance value of the charging stake and a laser parameter of a laser radar on the charging robot are determined according to the reflected light intensity value and the distance value of the charging stake.
In the embodiment of the invention, the formula Q is adopted 1 ＝(B Peak to peak -B)×K×(1-P×L 1 ) +B can determine the reflectivity value of the charging stake, where P L 1 ≤1，Q 1 Representing the intensity of reflected light of the charging pile, B Peak to peak The method comprises the steps of representing peak light intensity offset of a laser radar, B representing basic light intensity offset of the laser radar, K representing reflectivity value of the charging pile, P representing light transmission attenuation coefficient and L 1 And (3) representing the distance value of the charging pile (namely the distance from the laser radar on the charging robot to the charging pile).
For example, the reflection intensity value Q of three groups of charging piles 1 The method comprises the following steps of: 545. 496, 422.5, corresponding distance value L of charging pile 1 1m, 1.2m, 1.5m, according to the above formula Q 1 ＝(B Peak to peak -B)×K×(1-P×L 1 ) +B can calculate the peak light intensity offset B of the laser radar Peak to peak The basic light intensity offset B of the laser radar is 300, the light transmission attenuation coefficient P is 0.5, and the reflectivity value K of the charging pile is 0.7.
For example, the reflection intensity value Q of three groups of charging piles 1 480, 424 and 340 respectively, and the distance value L of the corresponding charging pile 1 1m, 1.2m, 1.5m, according to the above formula Q 1 ＝(B Peak to peak -B)×K×(1-P×L 1 ) +B can calculate the peak light intensity offset B of the laser radar Peak to peak 900, the basic light intensity offset B of the laser radar is 200, and the light transmission attenuation coefficient P is 0.5, so that the reflectivity value K of the corresponding charging pile is calculated to be 0.8.
According to the charging pile reflection intensity filtering method provided by the embodiment of the invention, the reflectivity value of the charging pile and the laser parameters of the laser radar on the charging robot can be determined according to the obtained reflection intensity value and distance value of the charging pile, the reflectivity value of the charging pile and the laser parameters of the laser radar can be determined relatively accurately, and the filtering effect of the charging pile reflection intensity is improved.
Example five
Referring also to fig. 5, after the step S105, the method further includes:
in step S501, the reflectivity value of the charging stake and the laser parameters of the laser radar on the charging robot are updated when the robot leaves the charging stake again.
It can be understood that when the robot leaves the charging pile again, the reflectivity value of the last recorded charging pile and the laser parameter of the laser radar on the charging robot are used for replacing the reflectivity value of the last charging pile (namely, the reflectivity value of the charging pile is updated), and the laser parameter of the last laser radar is replaced by the laser parameter of the last laser radar (namely, the laser parameter of the laser radar on the charging robot is updated), so that the setting of the dynamic reflection intensity threshold can be effectively realized, and the accuracy of reflection intensity filtering is improved.
Example six
Fig. 6 is a schematic structural diagram of a reflective strength filtering device 600 for a charging pile according to a sixth embodiment of the present invention, and for convenience of explanation, only the portions related to the embodiment of the present invention are shown. The apparatus 600 includes:
the reflection intensity and distance obtaining unit 610 is configured to obtain, in real time, the reflection intensity and distance of data points scannable on all objects in the surrounding environment of the charging robot during the charging process of the charging robot docking and charging pile.
In the embodiment of the invention, the charging robot comprises various movable intelligent robots such as a sweeper, a floor washer, a mower and the like.
In one embodiment of the invention, the intensity and distance of the reflection of light from data points scannable on all objects in the environment surrounding the charging robot may be scanned by a lidar provided on the charging robot.
As an embodiment of the present invention, the charging pile includes a light reflecting plate including a plate coated with a light reflecting material, a metal plate, and the like.
In the embodiment of the present invention, the number of data points that can be scanned on the object is multiple, that is, the number of data points that can be scanned on one object is multiple.
In one example of the invention, the distance is the distance from a scannable data point on the object to a lidar on the charging robot. It will be appreciated that the further an object is from the laser emission point of the charging robot, the weaker the corresponding object's light reflection intensity, i.e. the distance from the data point scannable on the object is inversely proportional to the light reflection intensity.
The target reflection intensity value obtaining unit 620 is configured to obtain a target reflection intensity value of the data point over a distance.
In the embodiment of the invention, the range of the target reflection intensity value is 0-1000.
As an embodiment of the present invention, the target reflection intensity value of the data point on the distance may be obtained by the reflection value of the charging pile obtained during the previous process of the charging robot leaving the charging pile, the laser parameter of the laser radar on the charging robot, and the distance (see in particular, embodiment seven).
As another embodiment of the present invention, the target reflection intensity value of the data point in the distance may also be obtained by the correspondence between the distance of the charging pile and the reflection intensity recorded during the previous process of leaving the charging pile by the charging robot, and the distance (see, in particular, embodiment eight).
The judging unit 630 is configured to judge whether there is a data point in the reflection intensity, where the reflection intensity value is smaller than the target reflection intensity value.
And a filtering unit 640, configured to filter the data point when the determination result is yes.
As a practical application of the invention, in the process of charging the charging pile B in a butt joint manner, the charging robot A detects that the reflection intensity of the point B (data point) on the charging pile B is 280, the distance between the point B and the laser radar of the charging robot A is 5 meters, and correspondingly, the target reflection intensity value of the point B at the distance of 5 meters can be determined to be 260, namely, the reflection intensity of the point B at the distance of 5 meters from the laser radar of the charging robot A is larger than the target reflection intensity value, and the point B can be reserved.
As a practical application of the invention, in the process of charging the charging pile D in a butt joint manner, the charging robot C detects that the reflection intensity of a D point (data point) on the charging pile D is 503, the distance between the D point and the laser radar of the charging robot C is 2 meters, and accordingly, the target reflection intensity value of the D point at the distance of 2 meters can be determined to be 550, that is, the reflection intensity of the D point at the distance of 2 meters from the laser radar of the charging robot C is smaller than the target reflection intensity value, and then the D point can be filtered out.
It can be understood that in the charging process of the charging pile by the charging robot, the reflection intensity of the detected data points is compared with the obtained target reflection intensity value, and the data points with the reflection intensity smaller than the target reflection intensity value are filtered, so that the data points on the charging pile can be effectively reserved, the interference points of other obstacles are filtered, the calculated amount in the process of identifying the charging pile by the charging robot is reduced, and the efficiency and the butting accuracy of the charging pile by the charging robot are improved.
According to the charging pile reflection light intensity filtering device provided by the embodiment of the invention, the reflection light intensity and the distance of the data points which can be scanned on all objects in the surrounding environment of the charging robot are obtained in real time in the charging process of the charging robot for butting the charging pile; acquiring a target reflection intensity value of the data point at the distance; and finally, when the reflection intensity is judged to be smaller than the target reflection intensity value, filtering the data point. The filtering method for the reflection intensity of the charging pile can effectively filter the interference points of the non-charging pile part, and retain the effective data points of the charging pile, so that the filtering effect is better, and the accuracy of the recognition of the charging pile is improved.
Example seven
Fig. 7 is a schematic structural diagram of a reflective strength filtering device 700 for a charging pile according to a seventh embodiment of the present invention, and for convenience of explanation, only the portions related to the embodiment of the present invention are shown. The apparatus 700 differs from the apparatus 600 described above in that the apparatus 700 further comprises:
and the parameter obtaining unit 710 is configured to obtain a reflectance value of the charging pile and a laser parameter of the laser radar on the charging robot when the charging robot leaves the charging pile.
In one embodiment of the present invention, the reflectance value of the charging pile may be acquired by the light sensor 3 (see fig. 10).
In the embodiment of the invention, the laser parameters of the laser radar on the charging robot comprise the peak light intensity offset, the basic light intensity offset and the light transmission attenuation coefficient of the laser radar.
In the embodiment of the invention, the value range of the reflectivity value of the charging pile is 0-1. It will be appreciated that the reflectance value of the same stationary object is generally maintained regardless of environmental changes, material changes, aging of the radar device, etc., and that a greater reflectance value indicates a greater object reflectance intensity.
It is understood that the charging robot is linearly far away in the process of leaving the charging pile, and no angle change can be considered.
The target reflection intensity value obtaining unit 620 specifically includes:
a first target reflection intensity value determination module 621, configured to determine a target reflection intensity value of the data point over the distance according to the distance, the reflectivity value of the charging pile, and the laser parameter of the laser radar.
In the embodiment of the present invention, the target reflection intensity value Q is determined by the following formula:
Q＝(B peak to peak -B) x K x (1-P x L) +B, wherein
P is less than or equal to 1, Q represents the target reflection intensity value of the data point at the distance, B Peak to peak The peak light intensity offset (i.e., the maximum light intensity offset) of the laser radar is represented, B represents the base light intensity offset of the laser radar, K represents the reflectance value of the charging stake, P represents the light transmission attenuation coefficient, and L represents the distance value of each data point from the laser radar.
In one embodiment of the invention, the peak light intensity offset B of the lidar Peak to peak The range of the value of (2) is 0-1000, specifically determined based on different lidar performance.
In the embodiment of the invention, the basic light intensity offset B of the laser radar is less than or equal to B Peak to peak X30%, e.g. B Peak to peak If 1000, then the preferred value for B is 200.
In one embodiment of the invention, the optical transmission attenuation coefficient P is ≡0.
For example, the peak light intensity offset B of the lidar Peak to peak For 1000, the base light intensity offset B is 200, the reflectivity value K of the charging pile is 0.5, the light transmission attenuation coefficient P is 0.7, and the distance L from the data point e to the laser radar is the target reflection intensity value q= (1000-200) ×0.5× (1-0.7×1) +200=320 of the corresponding data point e.
For example, the peak light intensity offset B of the lidar Peak to peak 800, the basic light intensity offset B is 200, the reflectivity value K of the charging pile is 0.8, the light transmission attenuation coefficient P is 0.2, and the distance L from the data point f to the laser radar is the target reflection intensity value q= (800-200) ×0.8× (1-0.2×2) +200=488 of the corresponding data point f.
According to the charging pile reflection intensity filtering device provided by the embodiment of the invention, the target reflection intensity values of each data point in the distance on different distances from the laser radar are determined according to the obtained reflectivity value of the charging pile, the distances of all objects in the surrounding environment of the robot and the laser parameters of the laser radar, and when the reflection intensity of the data point is judged to be smaller than the target reflection intensity value, the data point is filtered. The reflective strength filtering device for the charging pile can effectively filter interference points of non-charging pile parts, and retain effective data points of the charging pile, so that the filtering effect is better, and the recognition accuracy of the charging pile is improved.
Example eight
Fig. 8 is a schematic structural diagram of a reflective strength filtering device 800 for a charging pile according to an eighth embodiment of the present invention, and for convenience of explanation, only the portions related to the embodiment of the present invention are shown. The apparatus 800 differs from the apparatus 600 described above in that the apparatus 800 further comprises:
the correspondence determining unit 810 is configured to determine, in a process that the charging robot leaves the charging pile, a correspondence between a distance of the charging pile and a light reflection intensity of the charging pile according to the recorded distance of the charging pile and the light reflection intensity of the charging pile corresponding to the distance of the charging pile.
It can be understood that by recording the corresponding reflection intensities of each point on the charging pile at different distances from the charging robot in the process that the charging robot leaves the charging process, the corresponding relationship between the distance of the charging pile and the reflection intensity can be obtained. For example, when the charging robot leaves the charging pile, the corresponding reflection intensity of each point on the reflecting plate of the charging pile (namely the reflection intensity of the charging pile) in the distance section of the charging robot from the center axis of the charging pile by 1-5 meters (namely the distance of the charging pile) is recorded, and the corresponding relation between the distance of the charging pile in the distance section of 1-5 meters and the reflection intensity can be obtained.
The target reflection intensity value obtaining unit 620 specifically includes:
the second target reflection intensity value determining module 622 is configured to determine a target reflection intensity value of each point in the distance according to the corresponding relationship between the distance, the distance of the charging pile and the reflection intensity.
In the embodiment of the invention, since all objects in the surrounding environment of the charging robot include the charging pile, the distance is understood to be equal to the distance of the charging pile (the distance of the charging pile is the distance between the data point on the charging pile and the laser radar on the charging robot).
In one embodiment of the present invention, the correspondence between the distance of the charging post and the light reflection intensity is a one-to-one correspondence between the distance of the charging post detected during the previous leaving of the charging robot from the charging post and the light reflection intensity.
As a practical application of the invention, in the process of abutting the charging piles by the charging robot, the M points on the charging piles 3 meters away from the laser radar on the charging robot are obtained, and then the target reflection intensity value of the M points can be determined through the corresponding relation between the distance of the charging piles 3 meters pre-stored in the last time and the reflection intensity. If the distance between the charging piles is 3 meters, the corresponding target reflection intensity value is 320, and if the distance between the M point and the laser radar on the charging robot is 3 meters, the target reflection intensity value is 320.
According to the charging pile reflection intensity filtering device provided by the embodiment of the invention, the corresponding relation between the distance of the charging pile and the reflection intensity is determined according to the recorded distance of the charging pile and the reflection intensity of the charging pile corresponding to the distance of the charging pile in the process that the charging robot leaves the charging pile, and then the target reflection intensity value of a data point at the distance is determined according to the detected distance and the corresponding relation between the distance of the charging pile and the reflection intensity in the process that the charging robot is butted with the charging pile, so that the target reflection intensity of each data point is obtained more simply and rapidly, and the filtering efficiency of the reflection intensity of the whole charging pile is improved.
Example nine
Referring also to fig. 9, the reflectivity value obtaining unit 710 specifically includes:
the reflection intensity value and distance value acquisition module 711 is configured to acquire a reflection intensity value and a distance value of the charging pile in real time;
and the parameter determining module 712 is used for determining the reflectivity value of the charging pile and the laser parameter of the laser radar on the charging robot according to the reflected light intensity value and the distance value of the charging pile.
In the embodiment of the invention, the formula Q is adopted 1 ＝(B Peak to peak -B)×K×(1-P×L 1 ) +B can determine the reflectivity value of the charging stake, where P L 1 ≤1，Q 1 Representing the intensity of reflected light of the charging pile, B Peak to peak The method comprises the steps of representing peak light intensity offset of a laser radar, B representing basic light intensity offset of the laser radar, K representing reflectivity value of the charging pile, P representing light transmission attenuation coefficient and L 1 And (3) representing the distance value of the charging pile (namely the distance from the laser radar on the charging robot to the charging pile).
For example, the reflection intensity value Q of three groups of charging piles 1 The method comprises the following steps of: 545. 496, 422.5, corresponding distance value L of charging pile 1 1m, 1.2m, 1.5m, according to the above formula Q 1 ＝(B Peak to peak -B)×K×(1-P×L 1 ) +B can calculate the peak light intensity offset B of the laser radar Peak to peak The number of the water-soluble polymer particles is 1000,the basic light intensity offset B of the laser radar is 300, and the light transmission attenuation coefficient P is 0.5, so that the reflectivity value K of the corresponding charging pile is calculated to be 0.7.
For example, the reflection intensity value Q of three groups of charging piles 1 480, 424 and 340 respectively, and the distance value L of the corresponding charging pile 1 1m, 1.2m, 1.5m, according to the above formula Q 1 ＝(B Peak to peak -B)×K×(1-P×L 1 ) +B can calculate the peak light intensity offset B of the laser radar Peak to peak 900, the basic light intensity offset B of the laser radar is 200, and the light transmission attenuation coefficient P is 0.5, so that the reflectivity value K of the corresponding charging pile is calculated to be 0.8.
According to the charging pile reflection intensity filtering device provided by the embodiment of the invention, the reflectivity value of the charging pile and the laser parameters of the laser radar on the charging robot can be determined according to the obtained reflection intensity value and distance value of the charging pile, the reflectivity value of the charging pile and the laser parameters of the laser radar can be determined relatively accurately, and the filtering effect of the charging pile reflection intensity is improved.
Examples ten
The reverse light intensity filtering device 700 of the charging pile further comprises:
and the updating unit is used for updating the reflectivity value of the charging pile and the laser parameters of the laser radar on the charging robot when the robot leaves the charging pile again.
It can be understood that when the robot leaves the charging pile again, the reflectivity value of the charging pile recorded last time is replaced by the reflectivity value of the charging pile last time (namely, the reflectivity value of the charging pile is updated), the laser parameters of the laser radar last time are replaced by the laser parameters of the laser radar last time (namely, the laser parameters of the laser radar on the charging robot are updated), the setting of the dynamic reflection intensity threshold can be effectively realized, and the accuracy of reflection intensity filtering is improved.
Example eleven
Fig. 10 shows a schematic structural diagram of a charging robot according to an eleventh embodiment of the present invention, and for convenience of explanation, only parts related to the embodiment of the present invention are shown. The charging robot includes:
a charging robot body 1;
a laser emitting device 2 and a photosensor 3 provided on the charging robot body 1;
a laser emitting device 2 for emitting a laser beam to the surrounding environment of the charging robot;
a photosensor 3 for detecting the distance and the reflection intensity of the light spot reflected by the obstacle in the environment; and
a controller (not labeled) disposed in the charging robot body 1, the controller including the above-described filtering method for the reflection intensity of the charging pile.
The embodiment of the invention provides the charging robot which further comprises a memory. By way of example, a computer program may be split into one or more modules, which are stored in memory and executed by a controller to perform the present invention. One or more of the modules may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program in the charging robot.
It will be appreciated by those skilled in the art that the foregoing description of the charging robot is merely an example and is not meant to be limiting, and may include more or fewer components than those described above, or may combine certain components, or different components, such as may include input-output devices, network access devices, buses, etc.
The controller may be a central processing unit (Central Processing Unit, CPU), other general purpose controllers, micro control units (Microcontroller Unit, MCU), digital signal controllers (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general controller may be a microcontroller or the controller may be any conventional controller or the like, which is a control center of the above-described charging robot, and connects various parts of the entire charging robot using various interfaces and lines.
The memory may be used to store the computer program and/or the module, and the controller may implement various functions of the charging robot by running or executing the computer program and/or the module stored in the memory and calling the data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
The above-described integrated modules/units of the charging robot may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as a separate product. Based on this understanding, the present invention may implement all or part of the unit functions in the system of the above-described embodiments, or may be implemented by instructing the relevant hardware by a computer program, which may be stored in a computer-readable storage medium, and the computer program may implement the functions of the method embodiments described above when being executed by the controller. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. The method for filtering the reflection intensity of the charging pile is characterized by comprising the following steps of:
in the process of docking the charging robot to the charging pile, acquiring the reflection intensity and the distance of the data points which can be scanned on all objects in the surrounding environment of the charging robot in real time;
acquiring a target reflection intensity value of the data point at the distance;
judging whether the reflection intensity is smaller than the target reflection intensity value or not;
when the judgment result is yes, filtering the data points;
before the step of obtaining the reflection intensity and the distance of the data points which can be scanned on all objects in the surrounding environment of the charging robot in real time in the process of docking the charging robot to the charging pile, the method further comprises the following steps:
acquiring a reflectivity value of a charging pile and laser parameters of a laser radar on the charging robot in the process that the charging robot leaves the charging pile;
the step of obtaining the target reflection intensity value of the data point at the distance specifically includes:
Determining a target reflection intensity value of the data point on the distance according to the distance, the reflectivity value of the charging pile and the laser parameter of the laser radar;
the laser parameters of the laser radar on the charging robot comprise the peak light intensity offset, the basic light intensity offset and the light transmission attenuation coefficient of the laser radar, and the target reflection intensity value of the data point on the distance is determined by the following formula:
Q＝(B peak to peak -B)×K× (1-PXL) +B wherein
P x L is less than or equal to 1, Q represents the target reflection intensity value of the data point at the distance, B Peak to peak And (3) representing the peak light intensity offset of the laser radar, B representing the basic light intensity offset of the laser radar, K representing the reflectivity value of the charging pile, P representing the light transmission attenuation coefficient, and L representing the distance value of each data point to the laser radar.
2. The method for filtering the reflection intensity of the charging pile according to claim 1, further comprising, before the step of acquiring, in real time, the reflection intensity and the distance of the data points scannable on all objects in the surrounding environment of the charging robot during the process of docking the charging robot to the charging pile, the steps of:
In the process that the charging robot leaves the charging pile, determining the corresponding relation between the distance of the charging pile and the light reflection intensity according to the recorded distance of the charging pile and the light reflection intensity of the charging pile corresponding to the distance of the charging pile;
the step of obtaining the target reflection intensity value of the data point at the distance specifically includes:
and determining a target reflection intensity value of the data point on the distance according to the corresponding relation between the distance and the reflection intensity of the charging pile.
3. The method for filtering the reflection intensity of the charging pile according to claim 1, wherein the step of acquiring the reflectance value of the charging pile and the laser parameters of the laser radar on the charging robot during the process that the charging robot leaves the charging pile specifically comprises:
acquiring a reflected light intensity value and a distance value of the charging pile in real time;
and determining the reflectivity value of the charging pile and the laser parameters of the laser radar on the charging robot according to the reflected light intensity value and the distance value of the charging pile.
4. The method of filtering the reflection intensity of a charging pile according to claim 1, further comprising, after the step of determining whether the reflection intensity is smaller than the target reflection intensity:
And when the judging result is negative, retaining the data point.
5. The method of claim 4, further comprising, after the retaining the data point when the determination is negative:
and when the robot leaves the charging pile again, updating the reflectivity value of the charging pile and the laser parameters of the laser radar on the charging robot.
6. A reverse light intensity filtering device of a charging pile, the device comprising:
the reflection intensity and distance acquisition unit is used for acquiring the reflection intensity and the distance of the data points which can be scanned on all objects in the surrounding environment of the charging robot in real time in the process of the charging robot docking the charging pile for charging;
a target reflection intensity value acquisition unit, configured to acquire a target reflection intensity value of the data point over the distance;
the judging unit is used for judging whether the reflection intensity is smaller than the target reflection intensity value;
the filtering unit is used for filtering the data points when the judging result is yes;
the apparatus further comprises:
the parameter acquisition unit is used for acquiring the reflectivity value of the charging pile and the laser parameter of the laser radar on the charging robot in the process that the charging robot leaves the charging pile;
The target reflection intensity value obtaining unit specifically includes:
the first target reflection intensity value determining module is used for determining a target reflection intensity value of the data point on the distance according to the distance, the reflectivity value of the charging pile and the laser parameter of the laser radar;
the laser parameters of the laser radar on the charging robot comprise the peak light intensity offset, the basic light intensity offset and the light transmission attenuation coefficient of the laser radar, and the target reflection intensity value of the data point on the distance is determined by the following formula:
Q＝(B peak to peak -B) x K x (1-P x L) +B, wherein
P x L is less than or equal to 1, Q represents the reflection intensity value of the data point at the distance, B Peak to peak And (3) representing the peak light intensity offset of the laser radar, B representing the basic light intensity offset of the laser radar, K representing the reflectivity value of the charging pile, P representing the light transmission attenuation coefficient of the charging pile, and L representing the distance value of each data point to the laser radar.
7. The reverse light intensity filtering device for a charging pile according to claim 6, further comprising:
the corresponding relation determining unit is used for determining the corresponding relation between the distance of the charging pile and the light reflection intensity according to the recorded distance of the charging pile and the light reflection intensity of the charging pile corresponding to the distance of the charging pile in the process that the charging robot leaves the charging pile;
The target reflection intensity value obtaining unit specifically includes:
and the second target reflection intensity value determining module is used for determining the target reflection intensity value of the data point at the distance according to the corresponding relation between the distance of the charging pile and the reflection intensity.
8. The reverse light intensity filtering device of the charging pile according to claim 6, wherein the parameter obtaining unit comprises:
the reflection intensity value and distance value acquisition module is used for acquiring the reflection intensity value and the distance value of the charging pile in real time;
and the parameter determining module is used for determining the reflectivity value of the charging pile and the laser parameter of the laser radar on the charging robot according to the reflected light intensity value and the distance value of the charging pile.
9. A charging robot, characterized in that the charging robot comprises:
a charging robot body;
the laser emission device and the optical sensor are arranged on the charging robot body;
the laser emission device is used for emitting laser beams to the surrounding environment of the charging robot;
the light sensor is used for detecting the distance and the reflection intensity of light spots reflected by obstacles in the environment; and
a controller arranged in the charging robot body, wherein the controller comprises the filtering method for the reflection intensity of the charging pile according to any one of claims 1 to 5.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the method according to any of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110370052.8A CN113189980B (en) | 2021-04-07 | 2021-04-07 | Charging pile reverse light intensity filtering method and device and charging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110370052.8A CN113189980B (en) | 2021-04-07 | 2021-04-07 | Charging pile reverse light intensity filtering method and device and charging robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113189980A CN113189980A (en) | 2021-07-30 |
| CN113189980B true CN113189980B (en) | 2024-04-16 |
Family
ID=76974772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110370052.8A Active CN113189980B (en) | 2021-04-07 | 2021-04-07 | Charging pile reverse light intensity filtering method and device and charging robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113189980B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117193282A (en) * | 2022-06-07 | 2023-12-08 | 速感科技（北京）有限公司 | Recharging method and device of autonomous mobile equipment |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012251862A (en) * | 2011-06-02 | 2012-12-20 | Mitsubishi Electric Corp | Laser radar apparatus |
| CN103840509A (en) * | 2012-11-27 | 2014-06-04 | 西安正昌电子有限责任公司 | Solar energy and electric supply complementary electric vehicle charging station |
| CN107092264A (en) * | 2017-06-21 | 2017-08-25 | 北京理工大学 | Towards the service robot autonomous navigation and automatic recharging method of bank's hall environment |
| CN107539160A (en) * | 2017-09-29 | 2018-01-05 | 深圳悉罗机器人有限公司 | Charging pile and its recognition methods, intelligent mobile robot |
| CN107577236A (en) * | 2017-09-27 | 2018-01-12 | 上海有个机器人有限公司 | Robot automatic homing charging method, robot, system and storage medium |
| CN107765688A (en) * | 2017-09-27 | 2018-03-06 | 深圳市神州云海智能科技有限公司 | The control method and device of a kind of autonomous mobile robot and its automatic butt |
| CN207257426U (en) * | 2017-09-29 | 2018-04-20 | 深圳悉罗机器人有限公司 | Charging pile and intelligent mobile robot identification charging pile system |
| CN108173308A (en) * | 2018-01-15 | 2018-06-15 | 潍坊歌尔电子有限公司 | A kind of robot charging method and its device |
| CN108215922A (en) * | 2018-02-06 | 2018-06-29 | 上海艾逻思智能设备有限公司 | AGV charging systems |
| CN110082620A (en) * | 2019-05-05 | 2019-08-02 | 北京云迹科技有限公司 | A kind of charging pile working state detecting method and device |
| CN110370266A (en) * | 2018-04-13 | 2019-10-25 | 深圳市神州云海智能科技有限公司 | A kind of localization method and robot of robot charging pile |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10598791B2 (en) * | 2018-07-31 | 2020-03-24 | Uatc, Llc | Object detection based on Lidar intensity |
| 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 |
-
2021
- 2021-04-07 CN CN202110370052.8A patent/CN113189980B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012251862A (en) * | 2011-06-02 | 2012-12-20 | Mitsubishi Electric Corp | Laser radar apparatus |
| CN103840509A (en) * | 2012-11-27 | 2014-06-04 | 西安正昌电子有限责任公司 | Solar energy and electric supply complementary electric vehicle charging station |
| CN107092264A (en) * | 2017-06-21 | 2017-08-25 | 北京理工大学 | Towards the service robot autonomous navigation and automatic recharging method of bank's hall environment |
| CN107577236A (en) * | 2017-09-27 | 2018-01-12 | 上海有个机器人有限公司 | Robot automatic homing charging method, robot, system and storage medium |
| CN107765688A (en) * | 2017-09-27 | 2018-03-06 | 深圳市神州云海智能科技有限公司 | The control method and device of a kind of autonomous mobile robot and its automatic butt |
| CN107539160A (en) * | 2017-09-29 | 2018-01-05 | 深圳悉罗机器人有限公司 | Charging pile and its recognition methods, intelligent mobile robot |
| CN207257426U (en) * | 2017-09-29 | 2018-04-20 | 深圳悉罗机器人有限公司 | Charging pile and intelligent mobile robot identification charging pile system |
| CN108173308A (en) * | 2018-01-15 | 2018-06-15 | 潍坊歌尔电子有限公司 | A kind of robot charging method and its device |
| CN108215922A (en) * | 2018-02-06 | 2018-06-29 | 上海艾逻思智能设备有限公司 | AGV charging systems |
| CN110370266A (en) * | 2018-04-13 | 2019-10-25 | 深圳市神州云海智能科技有限公司 | A kind of localization method and robot of robot charging pile |
| CN110082620A (en) * | 2019-05-05 | 2019-08-02 | 北京云迹科技有限公司 | A kind of charging pile working state detecting method and device |
Non-Patent Citations (2)
| Title |
|---|
| 基于图像形态学运算和Hough变换的油箱盖检测;张新良;马明全;赵运基;;制造业自动化(第07期);全文 * |
| 多功能太阳能迷你充电桩;陈虹;雷倩倩;郭子;先进;杨柳;郭涛涛;;通信电源技术(第05期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113189980A (en) | 2021-07-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113189980B (en) | Charging pile reverse light intensity filtering method and device and charging robot | |
| US10838424B2 (en) | Charging station identifying method and robot | |
| CN110850872A (en) | Robot inspection method and device, computer readable storage medium and robot | |
| CN112513679A (en) | Target identification method and device | |
| CN109814575B (en) | Lane changing route planning method and device for automatic driving vehicle and terminal | |
| CN110749901A (en) | Autonomous mobile robot, map splicing method and device thereof, and readable storage medium | |
| CN111436864B (en) | Control method, device and storage medium | |
| CN114387585A (en) | Obstacle detection method, detection device, and travel device | |
| CN114966651A (en) | Drivable region detection method, computer device, storage medium, and vehicle | |
| CN112886670A (en) | Charging control method and device for robot, robot and storage medium | |
| CN116442830A (en) | Automatic charging method, device, equipment and chargeable equipment | |
| CN112826377A (en) | Recharging alignment method and device of sweeper and sweeper | |
| CN115267812B (en) | Positioning method, device, medium and robot based on highlight region | |
| CN113110419B (en) | Method and device for secondary butt joint charging pile of robot, robot and storage medium | |
| CN111546333A (en) | Robot and automatic control method and device thereof | |
| CN115902843A (en) | Multi-laser-radar calibration method and device and electronic equipment | |
| CN115480235A (en) | Road-end laser radar calibration method and device and electronic equipment | |
| CN113741447B (en) | Robot charging pile alignment method and device, terminal equipment and storage medium | |
| CN112518759B (en) | Robot and scanning pile feeding method and device thereof | |
| CN113435287A (en) | Lawn obstacle recognition method and device, mowing robot and readable storage medium | |
| CN110728288B (en) | Corner feature extraction method based on three-dimensional laser point cloud and application thereof | |
| CN114964207B (en) | Robot 3D point cloud map dynamic updating method and device and robot | |
| CN116620079A (en) | Automatic charging method, device, system, chargeable equipment and storage medium | |
| CN113485337B (en) | Obstacle avoidance path searching method and device and mobile robot | |
| CN113282076B (en) | Robot remote recharging device and method based on radar ray segmentation map |
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 |