CN113189982A - Robot recharging charging pile method and device, robot and charging pile - Google Patents
Robot recharging charging pile method and device, robot and charging pile Download PDFInfo
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- 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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- 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
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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
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Abstract
The invention is suitable for the technical field of robots, and provides a robot recharging charging pile method, which comprises the following steps: detecting the surrounding environment of the charging pile through a laser radar arranged on a robot to obtain characteristic data of a plurality of discrete points on two planes of a V-shaped structural part of the charging pile; determining accurate feature data of the feature straight lines on the two planes according to the feature data; and determining the pose of the charging pile according to the accurate characteristic data so that the robot can carry out recharging according to the pose of the charging pile. The embodiment of the invention also provides a device and a system for recharging the charging pile by the robot, a computer readable storage medium and the charging pile. According to the method for recharging the charging pile by the robot, provided by the embodiment of the invention, the robot can be used for docking the charging pile at high precision and charging, so that the intelligent degree of the robot is improved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a method, a device and a system for recharging a charging pile by a robot, the robot, a computer-readable storage medium and the charging pile.
Background
With the development of science and technology, intelligent robots are applied to more and more fields, such as floor sweeping robots, floor washing robots and the like. When the intelligent robot works, the robot can normally work only by the driving of electricity, the traditional electric driving mode generally adopts a mode of inserting electricity in real time or replacing batteries at regular intervals, but the two modes have certain disadvantages, and therefore the intelligent robot capable of automatically recharging can be produced at the same time.
In the prior art, when a rechargeable intelligent robot needs to be charged, an infrared device is generally used for guiding the robot to automatically recharge. However, the infrared device is susceptible to the surrounding environment, and the robot cannot accurately find the charging pile, so that the charging failure is easily caused.
Disclosure of Invention
The embodiment of the invention provides a method for recharging a charging pile by a robot, and aims to solve the problems that when a rechargeable intelligent robot in the prior art utilizes an infrared device to guide the robot to automatically recharge, the robot cannot accurately find the charging pile due to the fact that the infrared device is easily influenced by the surrounding environment, and charging failure is easily caused.
The embodiment of the invention is realized in such a way that a robot recharging charging pile method comprises the following steps:
detecting the surrounding environment of the charging pile through a laser radar arranged on a robot to obtain characteristic data of a plurality of discrete points on two planes of a V-shaped structural part of the charging pile;
determining accurate feature data of the feature straight lines on the two planes according to the feature data;
and determining the pose of the charging pile according to the accurate characteristic data so that the robot can carry out recharging according to the pose of the charging pile.
The embodiment of the invention also provides a device for recharging the charging pile by the robot, which comprises:
the characteristic data detection unit is used for detecting the surrounding environment of the charging pile through a laser radar arranged on the robot to obtain the characteristic data of a plurality of discrete points on two planes of the V-shaped structural part of the charging pile;
the accurate characteristic data determining unit is used for determining accurate characteristic data of the characteristic straight lines on the two planes according to the characteristic data;
and the recharging unit is used for determining the pose of the charging pile according to the accurate characteristic data so that the robot recharges according to the pose of the charging pile.
An embodiment of the present invention further provides a robot, where the robot includes:
a robot body;
the laser radar is arranged on the robot body and used for detecting the surrounding environment of the charging pile in the area in front of the robot; and
the processor is arranged in the robot body and comprises the device for recharging the charging pile by the robot.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the function of the robot recharging charging pile method is implemented.
The embodiment of the invention also provides a charging pile which comprises a pile body, wherein the pile body is loaded with a power supply, the pile body is provided with a power supply electrode, the pile body is provided with a V-shaped structural part, and the surface of the V-shaped structural part is provided with a mark which can be identified by a laser radar.
The embodiment of the invention also provides a system for recharging the charging pile by the robot, which comprises the robot and the charging pile.
According to the method for recharging the charging pile by the robot, provided by the embodiment of the invention, the laser radar arranged on the robot is used for detecting the surrounding environment of the charging pile to obtain the characteristic data of a plurality of discrete points on two planes of a V-shaped structural part of the charging pile; determining accurate characteristic data of the characteristic straight lines on the two planes according to the characteristic data; and finally, determining the pose of the charging pile according to the accurate characteristic data so that the robot can carry out recharging according to the pose of the charging pile. The robot recharging method for the charging pile can accurately identify the position and the angle of the charging pile, improves the accuracy of docking the charging pile in the robot recharging process, and enables the robot to have higher intelligent degree.
Drawings
Fig. 1 is a flowchart illustrating an implementation of a method for recharging a charging pile by a robot according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating an implementation of a step of determining accurate feature data of a feature straight line on two planes according to feature data according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of a robot and a straight line on a charging pile in a hough space straight line detection process in the method for recharging a charging pile by a robot according to the embodiment of the invention;
fig. 4 is a flowchart illustrating an implementation of a step of determining a pose of a charging pile according to accurate feature data according to a third embodiment of the present invention;
fig. 5 is a flowchart illustrating an implementation of a step of determining an attitude angle of the charging pile according to slopes of two characteristic lines according to a third embodiment of the present invention;
fig. 6 is a flowchart illustrating an implementation of a method for recharging a charging pile by a robot according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a device for recharging a charging pile by a robot according to a fifth embodiment of the present invention;
fig. 8 is a schematic structural diagram of an accurate characteristic data determination unit of a device for recharging a charging pile by a robot according to a sixth embodiment of the present invention;
fig. 9 is a schematic structural diagram of a recharging unit of the device for recharging a charging pile by a robot according to a seventh embodiment of the present invention;
fig. 10 is a schematic structural diagram of an apparatus for recharging a charging pile by a robot according to an eighth embodiment of the present invention;
fig. 11 is a schematic structural diagram of a robot according to a ninth embodiment of the present invention;
fig. 12 is a schematic structural diagram of a charging pile provided in a tenth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
According to the method for recharging the charging pile by the robot, provided by the embodiment of the invention, the laser radar arranged on the robot is used for detecting the surrounding environment of the charging pile to obtain the characteristic data of a plurality of discrete points on two planes of a V-shaped structural part of the charging pile; determining accurate characteristic data of the characteristic straight lines on the two planes according to the characteristic data; and finally, determining the pose of the charging pile according to the accurate characteristic data so that the robot can carry out recharging according to the pose of the charging pile. The method for identifying the recharging pile by the robot provided by the embodiment of the invention can accurately identify the position and the angle of the recharging pile, improve the accuracy of docking the recharging pile in the recharging process of the robot and enable the intelligent degree of the robot to be higher.
Example one
Fig. 1 shows an implementation flowchart of a method for recharging a charging pile by a robot according to an embodiment of the present invention, where the method includes the following steps:
in step S101, the surroundings of the charging pile (see also fig. 12) are detected by the laser radar 20 (see also fig. 11) provided on the robot, and feature data of a plurality of discrete points on two planes of the V-shaped structure 3 (see also fig. 12) of the charging pile are obtained.
In the embodiment of the invention, the robot comprises a sweeping robot, a floor washing robot and the like.
In an embodiment of the invention, the characteristic data of the discrete points comprises distances and angles.
As an embodiment of the present invention, the distance and angle are polar coordinates of each discrete point, and each discrete point may be converted from a polar coordinate system with the center of the laser radar 20 as a pole to a rectangular coordinate system of the vehicle body with the center of the laser radar 20 as an origin by the distance and angle. The rectangular vehicle coordinate system can be understood as a coordinate axis which takes the center of the laser radar 20 as an origin, the forward direction of the vehicle body of the robot is the X-axis forward direction, and the direction perpendicular to the X-axis to the left is the Y-axis forward direction.
For example, the polar coordinates of a certain discrete point a are [ α ] [ R ], α is the polar angle of point a, R is the polar diameter of point a, the polar coordinates of the discrete point a can be correspondingly converted into corresponding rectangular coordinates according to the distance R and the angle α, and the planar rectangular (i.e., rectangular vehicle body coordinate system) coordinates of the corresponding point a are (R × cos α, R × sin α).
In step S102, accurate feature data of the feature straight lines on the two planes is determined according to the feature data.
In the embodiment of the invention, after the hough line detection is performed on discrete points in the rectangular plane coordinate system and then the least square algorithm line fitting is performed, accurate feature data of feature lines on two planes are obtained (see embodiment two specifically).
As an embodiment of the present invention, the characteristic straight line may be represented by the formula y ═ k 'x + b' in the planar rectangular coordinate system, and the precise straight line characteristic data includes k 'and b'.
In step S103, the pose of the charging pile is determined according to the accurate feature data, so that the robot performs recharging according to the pose of the charging pile. (see example III for details)
In the embodiment of the invention, the pose of the charging pile comprises the following steps: fill plane coordinate, the gesture angle of electric pile. The plane coordinate of the charging pile is based on a plane determined by a vehicle body rectangular coordinate system with the center of the laser radar 20 as an origin; the attitude angle is an angle of a median line of two plane characteristic straight lines of the V-shaped structural part 3, and the angle of the median line is an included angle between the median line of the angle formed by the two characteristic straight lines and the advancing direction (i.e., an X axis in fig. 3) of the robot body.
As an embodiment of the present invention, the attitude angle of the charging pile ranges from 90 ° to 160 °.
According to the method for recharging the charging pile by the robot, provided by the embodiment of the invention, the laser radar 20 arranged on the robot is used for detecting the surrounding environment of the charging pile to obtain the characteristic data of a plurality of discrete points on two planes of the V-shaped structural part 3 of the charging pile; determining accurate characteristic data of the characteristic straight lines on the two planes according to the characteristic data; and finally, determining the pose of the charging pile according to the accurate characteristic data so that the robot can carry out recharging according to the pose of the charging pile. The method for identifying the recharging pile by the robot provided by the embodiment of the invention can accurately identify the position and the angle of the recharging pile, improve the accuracy of docking the recharging pile in the recharging process of the robot and enable the intelligent degree of the robot to be higher.
Example two
Referring to fig. 2, on the basis of the first embodiment, when the feature data includes a distance and an angle, the step S102 specifically includes:
in step S201, hough line detection is performed on the discrete points according to the distance and the angle, so as to obtain feature data of feature lines on two planes.
In one example of the present invention, the angle α ranges from: -2.007; the distance R has the value range as follows: 0.05m to 10 m.
In the embodiment of the invention, discrete points are converted into the position of a rectangular coordinate system of the vehicle body according to the distance and the angle, and then Hough line detection is carried out to obtain the characteristic data of corresponding characteristic lines on two planes.
For example, the polar coordinates of one of the discrete points a is [ α ] [ R ], and the polar coordinates of the discrete point a is now converted into a planar rectangular vehicle body coordinate system, and the coordinates of the point a in the planar rectangular vehicle body coordinate system are calculated as (x, y) by the formulas x ═ R × cos (α) and y ═ R × sin (α).
If the discrete point is represented by r ═ x × cos θ + y × sin θ in the hough space, the hough value of the discrete point in the hough space is (θ, r). During Hough line detection, the value range of theta is 0-360 degrees, in order to simplify the calculation amount, the step length value is 2, namely the angle value is 024 … 360, and then 0246 … 360 calculation is carried out on each discrete point to obtain a two-dimensional array hough [ theta ] [ r ] (the Hough initial value of the discrete point is 0). If the two values of theta and r are equal, the collinear basis can be used, and every time a collinear point is added, the value of the corresponding hough theta r can be added with 1, and finally, the value of the hough theta r is the number of the collinear points. For example, if hough [ θ ] [ r ] (hough value) is 300, it means that the number of discrete points on a certain straight line in the plane is 300.
Referring to fig. 3, the V-shaped lines of the two thick lines are characteristic straight lines (one characteristic straight line on each of the two planes of the V-shaped structural portion 3), the two thin lines are detected relatively close interference straight lines, and the X, Y axes are two coordinate axes of a rectangular vehicle coordinate system with the center of the laser radar 20 as the origin. Due to the detection precision of the laser radar 20 and the simplification processing of the calculation formula, after the hough straight line detection is performed on each plane of the V-shaped structure part 3, N relatively close straight lines can be detected, and in order to accurately obtain the straight line characteristics on each plane of the charging pile, the straight line with the maximum hough [ theta ] [ r ] of the straight lines on each plane (namely, the straight line with two thick lines) is taken as the characteristic straight line of each plane.
In the embodiment of the invention, a straight line with the maximum hough [ theta ] [ r ] on each plane is taken as a characteristic straight line of each plane, and the characteristic straight line can be described as y ═ k × x + b in a rectangular coordinate system of the vehicle body, wherein k is a slope, and b is intercept which is characteristic data.
In step S202, a least square linear fitting is performed on the discrete points located on the same characteristic straight line according to the characteristic data of the characteristic straight line and the characteristic data of the discrete points, so as to obtain accurate characteristic data of two characteristic straight lines.
As an example of the invention, after two characteristic straight line Hough values (theta, r) are determined, Hough space conversion calculation is carried out again on discrete points, and if the calculation result is equal to r after theta is substituted, the discrete points can be shown on the characteristic straight lines.
In one embodiment of the invention, the deviation value of the distance from part of discrete points near the characteristic straight line to the characteristic straight line can be minimized by performing least square algorithm straight line fitting on the discrete points on the same characteristic straight line, so that the error in the straight line acquisition process is effectively reduced, and further, more accurate characteristic data of the characteristic straight line is obtained.
In the embodiment of the present invention, the characteristic straight line in the rectangular planar coordinate system is represented by the formula y ═ k 'x + b', and the accurate straight line characteristic data includes k 'and b'.
For example, k and b of the characteristic straight lines on the plane on the charging pile V-shaped structure part 3 side obtained by the hough straight line detection in the step 102 are 0.404 and 0.935, respectively, and k 'and b' of the accurate characteristic data of the characteristic straight lines obtained by the least square algorithm straight line fitting are 0.438 and 0.885, respectively.
According to the method for recharging the charging pile by the robot, provided by the embodiment of the invention, Hough line detection is carried out on a plurality of discrete points on two planes of the V-shaped structure part 3 of the charging pile to obtain the characteristic data of corresponding straight lines on the two planes, least square algorithm straight line fitting is carried out on the discrete points on the same straight line to obtain the accurate characteristic data of the two straight lines, and finally the pose of the charging pile is calculated according to the accurate characteristic data. According to the robot recharging pile method, the position and the angle of the charging pile can be accurately identified in a mode of combining Hough line detection and least square method line fitting, the accuracy of docking the charging pile in the robot recharging process is improved, and the intelligent degree of the robot is higher.
EXAMPLE III
Referring to fig. 4, when the pose of the charging pile includes the plane coordinate and the attitude angle of the charging pile, the step S103 specifically includes:
in step S301, a plane coordinate of the charging pile is determined according to an intersection point of the two characteristic straight lines.
For example, if the two characteristic straight lines y ═ 0.013x +0.092 and y ═ 0.01x +0.080, respectively, then the plane coordinates of the intersection a of the two straight lines in a horizontal plane perpendicular to the vertical central axis of the charging post are (0.523, 0.085).
In step S302, an attitude angle of the charging pile is determined according to slopes of the two characteristic lines.
Referring to fig. 5, the step S302 specifically includes:
in step S401, the inclination angles of the two characteristic straight lines are calculated from the slopes of the two characteristic straight lines.
In step S402, the attitude angle of the charging pile is calculated from the inclination angle.
In the embodiment of the invention, the inclination angles of the two characteristic straight lines in the rectangular coordinate system of the vehicle body are calculated by k' in the accurate straight line characteristic data through an arctangent function, and the attitude angle of the charging pile is obtained by taking the average value of the two inclination angles. The arctangent function is a ═ arctan k ', k' is the slope of the straight line, and a is the inclination angle of the straight line.
As a practical application of the invention, when two characteristic straight lines y in two planes of the V-shaped structural part 3 obtained by straight line fitting by the least square algorithm are 0.478x +0.631 and y is-0.476 x-0.692, the plane coordinates of the intersection point b of the two characteristic straight lines are determined to be (1.387, -0.033), and the inclination angles of the two characteristic straight lines are calculated to be 25.551 and-25.440 respectively from the slopes 0.478 and-0.476 of the two characteristic straight lines, so that the attitude angle of the charging pile is 0.055.
As a practical application of the invention, when two characteristic straight lines y of two planes of the V-shaped structural part 3 obtained by straight line fitting by the least square algorithm are 0.313+0.726 and y is-0.409 x +0.572, the plane coordinate of the intersection point c of the two characteristic straight lines is determined to be (1.798, -0.163), and the inclination angles of the two characteristic straight lines are calculated to be 17.382, -22.227 respectively from the slopes 0.313, -0.409 of the two characteristic straight lines, so that the attitude angle of the charging pile is-2.423.
As a practical application of the invention, when two characteristic straight lines y in two planes of the V-shaped structural part 3 obtained by straight line fitting by the least square algorithm are 2.605x +1.876 and y is-2.475 x +2.385, the plane coordinate of the intersection point d of the two characteristic straight lines is (0.100, 2.137), and the inclination angles of the two characteristic straight lines are 69.251 and 112.378 respectively calculated by the slopes 2.605 and-2.475 of the two characteristic straight lines, so that the attitude angle of the charging pile is 90.814.
According to the method for recharging the charging pile by the robot, provided by the embodiment of the invention, the plane coordinate of the charging pile is determined through the intersection point coordinate of the two characteristic straight lines obtained after the least square algorithm straight line is fitted, the attitude angle of the charging pile is calculated through the accurate slope of the two characteristic straight lines, the accurate recharging determination of the pose of the charging pile is realized, the accuracy of the robot for identifying the charging pile is higher, and the intelligent degree of the robot is further provided.
Example four
Fig. 6 shows a flowchart of an implementation of a method for recharging a charging pile by a robot according to a fourth embodiment of the present invention, which is different from the method shown in fig. 1 in that the discrete point characteristic data further includes a reflection intensity, and the method further includes, after step S101, the following steps:
step S501, judging whether the reflection intensity is greater than a preset reflection intensity threshold value; when yes, step S102 is executed, and when no, step S502 is executed.
In the embodiment of the present invention, the value range of the reflective strength threshold is 180-.
For example, if the preset reflection intensity threshold is 195, discrete points with reflection intensity smaller than 195 can be filtered out, interference points can be effectively filtered out, the calculation complexity in the whole recharging charging pile process is reduced, the calculation efficiency is improved, and the time for identifying the pose of the charging pile is prolonged.
EXAMPLE five
Fig. 7 is a schematic structural diagram of a device 600 for recharging a charging pile by a robot according to a fifth embodiment of the present invention, and for convenience of description, only the parts related to the fifth embodiment of the present invention are shown. The apparatus 600, comprising:
and a characteristic data detection unit 610 for detecting the surrounding environment of the charging pile (see fig. 12 at the same time) by the laser radar 20 (see fig. 11 at the same time) provided on the robot, and obtaining characteristic data of a plurality of discrete points on two planes of the V-shaped structure part 3 (see fig. 12 at the same time) of the charging pile.
In the embodiment of the invention, the robot comprises a sweeping robot, a floor washing robot and the like.
In an embodiment of the invention, the characteristic data of the discrete points comprises distances and angles.
As an embodiment of the present invention, the distance and angle are polar coordinates of each discrete point, and each discrete point may be converted from a polar coordinate system with the center of the laser radar 20 as a pole to a rectangular coordinate system of the vehicle body with the center of the laser radar 20 as an origin by the distance and angle. The rectangular vehicle coordinate system can be understood as a coordinate axis which takes the center of the laser radar 20 as an origin, the forward direction of the vehicle body of the robot is the X-axis forward direction, and the direction perpendicular to the X-axis to the left is the Y-axis forward direction.
For example, the polar coordinates of a certain discrete point a are [ α ] [ R ], α is the polar angle of point a, R is the polar diameter of point a, the polar coordinates of the discrete point a can be correspondingly converted into corresponding rectangular coordinates according to the distance R and the angle α, and the planar rectangular (i.e., rectangular vehicle body coordinate system) coordinates of the corresponding point a are (R × cos α, R × sin α).
And the precise feature data determining unit 620 is configured to determine precise feature data of the feature straight lines on the two planes according to the feature data.
In the embodiment of the invention, after the hough line detection is performed on discrete points in the rectangular plane coordinate system and then the least square algorithm line fitting is performed, accurate feature data of feature lines on two planes are obtained (see embodiment six specifically).
As an embodiment of the present invention, the characteristic straight line may be represented by the formula y ═ k 'x + b' in the planar rectangular coordinate system, and the precise straight line characteristic data includes k 'and b'.
And the recharging unit 630 is used for determining the pose of the charging pile according to the accurate characteristic data so that the robot recharges according to the pose of the charging pile. (see, in particular, example seven)
In the embodiment of the invention, the pose of the charging pile comprises the following steps: fill plane coordinate, the gesture angle of electric pile. The plane coordinate of the charging pile is based on a plane determined by a vehicle body rectangular coordinate system with the center of the laser radar 20 as an origin; the attitude angle is an angle of a median line of two plane characteristic straight lines of the V-shaped structural part 3, and the angle of the median line is an included angle between the median line of the angle formed by the two characteristic straight lines and the advancing direction (i.e., an X axis in fig. 3) of the robot body.
As an embodiment of the present invention, the attitude angle of the charging pile ranges from 90 ° to 160 °.
According to the device for recharging the charging pile by the robot, provided by the embodiment of the invention, the laser radar 20 arranged on the robot is used for detecting the surrounding environment of the charging pile to obtain the characteristic data of a plurality of discrete points on two planes of the V-shaped structural part 3 of the charging pile; determining accurate characteristic data of the characteristic straight lines on the two planes according to the characteristic data; and finally, determining the pose of the charging pile according to the accurate characteristic data so that the robot can carry out recharging according to the pose of the charging pile. The device for identifying the recharging pile by the robot provided by the embodiment of the invention can accurately identify the position and the angle of the recharging pile, improve the accuracy of docking the recharging pile in the recharging process of the robot and enable the intelligent degree of the robot to be higher.
EXAMPLE six
Referring to fig. 8, on the basis of the fifth embodiment, when the feature data includes a distance and an angle, the accurate feature data determining unit 620 specifically includes:
the feature data obtaining module 621 is configured to perform hough line detection on the discrete points according to the distance and the angle to obtain feature data of feature lines on two planes.
In one example of the present invention, the angle α ranges from: -2.007; the distance R has the value range as follows: 0.05m to 10 m.
In the embodiment of the invention, discrete points are converted into the position of a rectangular coordinate system of the vehicle body according to the distance and the angle, and then Hough line detection is carried out to obtain the characteristic data of corresponding characteristic lines on two planes.
For example, the polar coordinates of one of the discrete points a is [ α ] [ R ], and the polar coordinates of the discrete point a is now converted into a planar rectangular vehicle body coordinate system, and the coordinates of the point a in the planar rectangular vehicle body coordinate system are calculated as (x, y) by the formulas x ═ R × cos (α) and y ═ R × sin (α).
If the discrete point is represented by r ═ x × cos θ + y × sin θ in the hough space, the hough value of the discrete point in the hough space is (θ, r). During Hough line detection, the value range of theta is 0-360 degrees, in order to simplify the calculation amount, the step length value is 2, namely the angle value is 024 … 360, and then 0246 … 360 calculation is carried out on each discrete point to obtain a two-dimensional array hough [ theta ] [ r ] (the Hough initial value of the discrete point is 0). If the two values of theta and r are equal, the collinear basis can be used, and every time a collinear point is added, the value of the corresponding hough theta r can be added with 1, and finally, the value of the hough theta r is the number of the collinear points. For example, if hough [ θ ] [ r ] (hough value) is 300, it means that the number of discrete points on a certain straight line in the plane is 300.
Referring to fig. 3, the V-shaped lines of the two thick lines are characteristic straight lines (one characteristic straight line on each of the two planes of the V-shaped structural portion 3), the two thin lines are detected relatively close interference straight lines, and the X, Y axes are two coordinate axes of a rectangular vehicle coordinate system with the center of the laser radar 20 as the origin. Due to the detection precision of the laser radar 20 and the simplification processing of the calculation formula, after the hough straight line detection is performed on each plane of the V-shaped structure part 3, N relatively close straight lines can be detected, and in order to accurately obtain the straight line characteristics on each plane of the charging pile, the straight line with the maximum hough [ theta ] [ r ] of the straight lines on each plane (namely, the straight line with two thick lines) is taken as the characteristic straight line of each plane.
In the embodiment of the invention, a straight line with the maximum hough [ theta ] [ r ] on each plane is taken as a characteristic straight line of each plane, and the characteristic straight line can be described as y ═ k × x + b in a rectangular coordinate system of the vehicle body, wherein k is a slope, and b is intercept which is characteristic data.
And the accurate feature data obtaining unit 622 is configured to perform least square linear fitting on the discrete points located on the same feature straight line according to the feature data of the feature straight line and the feature data of the discrete points, so as to obtain accurate feature data of two feature straight lines.
As an example of the invention, after two characteristic straight line Hough values (theta, r) are determined, Hough space conversion calculation is carried out again on discrete points, and if the calculation result is equal to r after theta is substituted, the discrete points can be shown on the characteristic straight lines.
In one embodiment of the invention, the deviation value of the distance from part of discrete points near the characteristic straight line to the characteristic straight line can be minimized by performing least square algorithm straight line fitting on the discrete points on the same characteristic straight line, so that the error in the straight line acquisition process is effectively reduced, and further, more accurate characteristic data of the characteristic straight line is obtained.
In the embodiment of the present invention, the characteristic straight line in the rectangular planar coordinate system is represented by the formula y ═ k 'x + b', and the accurate straight line characteristic data includes k 'and b'.
For example, k and b of the characteristic straight lines on the plane on the charging pile V-shaped structure part 3 side obtained by the hough straight line detection in the step 102 are 0.404 and 0.935, respectively, and k 'and b' of the accurate characteristic data of the characteristic straight lines obtained by the least square algorithm straight line fitting are 0.438 and 0.885, respectively.
According to the device for recharging the charging pile by the robot, provided by the embodiment of the invention, Hough line detection is carried out on a plurality of discrete points on two planes of the V-shaped structure part 3 of the charging pile to obtain the characteristic data of corresponding straight lines on the two planes, least square algorithm straight line fitting is carried out on the discrete points on the same straight line to obtain the accurate characteristic data of the two straight lines, and finally the pose of the charging pile is calculated according to the accurate characteristic data. According to the device for recharging the charging pile by the robot, provided by the embodiment of the invention, the position and the angle of the charging pile can be accurately identified by combining Hough line detection and least square method line fitting, the accuracy of docking the charging pile in the recharging process of the robot is improved, and the intelligent degree of the robot is higher.
EXAMPLE seven
Referring to fig. 9, when the pose of the charging pile includes the plane coordinate and the posture angle of the charging pile, the recharging unit 630 specifically includes:
and the charging pile plane coordinate determination module 631 is configured to determine a plane coordinate of the charging pile according to an intersection point of the two characteristic straight lines.
For example, if the two characteristic straight lines y ═ 0.013x +0.092 and y ═ 0.01x +0.080, respectively, then the plane coordinates of the intersection a of the two straight lines in a horizontal plane perpendicular to the vertical central axis of the charging post are (0.523, 0.085).
And an attitude angle determination module 632 for determining the attitude angle of the charging pile according to the slope of the two characteristic lines.
Above-mentioned module 632 is confirmed to the gesture angle of filling electric pile specifically includes:
and the inclination angle calculation submodule is used for calculating the inclination angles of the two characteristic straight lines according to the slopes of the two characteristic straight lines.
And the attitude angle calculation submodule is used for calculating the attitude angle of the charging pile according to the inclination angle.
In the embodiment of the invention, the inclination angles of the two characteristic straight lines in the rectangular coordinate system of the vehicle body are calculated by k' in the accurate straight line characteristic data through an arctangent function, and the attitude angle of the charging pile is obtained by taking the average value of the two inclination angles. The arctangent function is a ═ arctan k ', k' is the slope of the straight line, and a is the inclination angle of the straight line.
As a practical application of the invention, when two characteristic straight lines y in two planes of the V-shaped structural part 3 obtained by straight line fitting by the least square algorithm are 0.478x +0.631 and y is-0.476 x-0.692, the plane coordinates of the intersection point b of the two characteristic straight lines are determined to be (1.387, -0.033), and the inclination angles of the two characteristic straight lines are calculated to be 25.551 and-25.440 respectively from the slopes 0.478 and-0.476 of the two characteristic straight lines, so that the attitude angle of the charging pile is 0.055.
As a practical application of the invention, when two characteristic straight lines y of two planes of the V-shaped structural part 3 obtained by straight line fitting by the least square algorithm are 0.313+0.726 and y is-0.409 x +0.572, the plane coordinate of the intersection point c of the two characteristic straight lines is determined to be (1.798, -0.163), and the inclination angles of the two characteristic straight lines are calculated to be 17.382, -22.227 respectively from the slopes 0.313, -0.409 of the two characteristic straight lines, so that the attitude angle of the charging pile is-2.423.
As a practical application of the invention, when two characteristic straight lines y in two planes of the V-shaped structural part 3 obtained by straight line fitting by the least square algorithm are 2.605x +1.876 and y is-2.475 x +2.385, the plane coordinate of the intersection point d of the two characteristic straight lines is (0.100, 2.137), and the inclination angles of the two characteristic straight lines are 69.251 and 112.378 respectively calculated by the slopes 2.605 and-2.475 of the two characteristic straight lines, so that the attitude angle of the charging pile is 90.814.
According to the device for recharging the charging pile by the robot, provided by the embodiment of the invention, the plane coordinate of the charging pile is determined through the intersection point coordinate of the two characteristic straight lines obtained after the least square algorithm straight line is fitted, the attitude angle of the charging pile is calculated through the accurate slope of the two characteristic straight lines, the accurate recharging determination of the pose of the charging pile is realized, the accuracy of the robot for identifying the charging pile is higher, and the intelligent degree of the robot is further provided.
Example eight
Fig. 10 is a schematic structural diagram illustrating an apparatus 700 for recharging a charging pile by a robot according to an eighth embodiment of the present invention, which is different from the apparatus 600 illustrated in fig. 7 in that the apparatus 700 further includes:
the threshold determination unit 710 is configured to determine whether the reflective strength is greater than a preset reflective strength threshold.
In the embodiment of the present invention, the value range of the reflective strength threshold is 180-.
For example, if the preset reflection intensity threshold is 195, discrete points with reflection intensity smaller than 195 can be filtered out, interference points can be effectively filtered out, the calculation complexity in the whole recharging charging pile process is reduced, the calculation efficiency is improved, and the time for identifying the pose of the charging pile is prolonged.
Example nine
Fig. 11 shows a robot according to a ninth embodiment of the present invention, where the robot includes:
a robot body 10;
the laser radar 20 is arranged on the robot body 10 and used for detecting the surrounding environment of the charging pile in the area in front of the robot; and
and a processor (not labeled) disposed in the robot body 10, wherein the processor includes the robot recharging apparatus 600 or 700 of the charging pile according to the above-described embodiment.
The robot-integrated module/unit described above, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer-readable storage medium. Based on such understanding, all or part of the functions of the units in the above-described embodiment apparatuses can be realized by a computer program, which can be stored in a computer-readable storage medium and can be executed by a processor to realize the functions of the above-described method embodiments. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
Example ten
Fig. 12 is a schematic structural diagram illustrating a charging pile according to a tenth embodiment of the present invention, and for convenience of description, only a part related to the implementation of the present invention is shown, where the charging pile includes:
the pile body 1 is provided with a power supply (not shown), the power supply electrode 2 is arranged on the pile body, the charging pile can charge the robot in the embodiment, the V-shaped structural part 3 is arranged on the pile body 1, and the surface of the V-shaped structural part 3 is provided with a mark 4 which can be identified by a laser radar.
As a preferred embodiment of the present invention, the sign 4 is a metal reflective strip or a metal reflective plate.
Preferably, the included angle of the V-shaped structural part 3 is 90-150 degrees.
In the embodiment of the present invention, the V-shaped structure portion 3 is provided at the bottom of the charging pile, and the power feeding electrode 2 is provided above the V-shaped structure portion 3.
In an embodiment of the invention, the marking 4 is provided with a straight line feature which can be recognized by the laser radar 20.
EXAMPLE eleven
The invention also provides a robot recharging and charging pile system which comprises the robot and the charging pile in the embodiment.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (14)
1. A robot recharging method for a charging pile is characterized by comprising the following steps:
detecting the surrounding environment of the charging pile through a laser radar arranged on a robot to obtain characteristic data of a plurality of discrete points on two planes of a V-shaped structural part of the charging pile;
determining accurate feature data of the feature straight lines on the two planes according to the feature data;
and determining the pose of the charging pile according to the accurate characteristic data so that the robot can carry out recharging according to the pose of the charging pile.
2. The method for recharging a charging pile by a robot as claimed in claim 1, wherein the characteristic data comprise a distance and an angle, and the step of determining the accurate characteristic data of the characteristic straight lines on the two planes according to the characteristic data specifically comprises the steps of:
carrying out Hough line detection on the discrete points according to the distance and the angle to obtain feature data of feature lines on the two planes;
and performing least square algorithm linear fitting on the discrete points on the same characteristic straight line according to the characteristic data of the characteristic straight line and the characteristic data of the discrete points to obtain accurate characteristic data of the two characteristic straight lines.
3. The method for recharging the charging pile by the robot as claimed in claim 2, wherein the pose comprises a plane coordinate and a pose angle of the charging pile, and the step of determining the pose of the charging pile according to the accurate feature data specifically comprises:
determining the plane coordinate of the charging pile according to the intersection point of the two characteristic straight lines;
and determining the attitude angle of the charging pile according to the slopes of the two characteristic lines.
4. The method for recharging a charging pile by a robot as claimed in claim 3, wherein the step of determining the attitude angle of the charging pile according to the slopes of the two characteristic lines comprises the following steps:
calculating the inclination angles of the two characteristic straight lines according to the slopes of the two characteristic straight lines;
and calculating the attitude angle of the charging pile according to the inclination angle.
5. The method for recharging a charging post by a robot as claimed in claim 2, wherein the characteristic data of the discrete points further comprises a reflection intensity, and further comprises, after the step of detecting the surrounding environment of the charging post by a laser radar arranged on the robot to obtain the characteristic data of a plurality of discrete points on two planes of the V-shaped structure of the charging post:
judging whether the reflection intensity is greater than a preset reflection intensity threshold value or not;
and carrying out Hough line detection on the discrete points with the reflection intensity larger than the preset reflection intensity threshold value.
6. A device for recharging a charging pile by a robot, the device comprising:
the characteristic data detection unit is used for detecting the surrounding environment of the charging pile through a laser radar arranged on the robot to obtain the characteristic data of a plurality of discrete points on two planes of the V-shaped structural part of the charging pile;
the accurate characteristic data determining unit is used for determining accurate characteristic data of the characteristic straight lines on the two planes according to the characteristic data;
and the recharging unit is used for determining the pose of the charging pile according to the accurate characteristic data so that the robot recharges according to the pose of the charging pile.
7. The device of claim 6, wherein the precise characteristic data determining unit specifically comprises:
the characteristic data determining module is used for carrying out Hough line detection on the discrete points according to the distance and the angle to obtain characteristic data of characteristic lines on the two planes;
and the precise characteristic data determining module is used for performing least square algorithm linear fitting on the discrete points on the same characteristic straight line according to the characteristic data of the characteristic straight line and the characteristic data of the discrete points to obtain precise characteristic data of two characteristic straight lines.
8. A robot, characterized in that the robot comprises:
a robot body;
the laser radar is arranged on the robot body and used for detecting the surrounding environment of the charging pile in the area in front of the robot; and
a processor disposed within the robot body, the processor comprising the device of the robot recharge charging post of any of claims 6-7.
9. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the functions of the method of the robot recharging pile according to any of claims 1-5.
10. The utility model provides a fill electric pile, includes the pile body, the pile body carries on there is the power, just be equipped with the power supply electrode on the pile body, its characterized in that, be equipped with V type structure portion on the pile body, just the surface of V type structure portion is equipped with the sign that can be discerned by laser radar.
11. The charging pile of claim, wherein said V-shaped formations are angled at 90-150 °.
12. The charging pole of claim 10, wherein the V-shaped formation is disposed at the bottom of the charging pole and the feeding electrode is disposed above the V-shaped formation.
13. The charging pole according to claim 10, wherein the mark is a metal reflective strip or a metal reflective plate.
14. A system of robotic recharge charging poles, characterized in that it comprises a robot according to claim 8 and a charging pole according to claim 10.
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