CN113741447A - Robot charging pile aligning method and device, terminal equipment and storage medium - Google Patents
Robot charging pile aligning method and device, terminal equipment and storage medium Download PDFInfo
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- CN113741447A CN113741447A CN202110998161.4A CN202110998161A CN113741447A CN 113741447 A CN113741447 A CN 113741447A CN 202110998161 A CN202110998161 A CN 202110998161A CN 113741447 A CN113741447 A CN 113741447A
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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Abstract
The application is applicable to the technical field of robot positioning, and provides a method, a device, terminal equipment and a storage medium for charging a pile for a robot, wherein the method comprises the following steps: if the communication equipment on the robot does not identify the charging pile, receiving a wireless signal which is transmitted by the charging pile and is used for charging the charging pile through the communication equipment; determining the current area of the robot according to the wireless signals; the robot is controlled to move from an area to a target area, and the target area is an area where the communication equipment can identify the charging pile; in the target area, carry out the stake to robot and charging pile based on communications facilities. By adopting the method, the terminal equipment can realize accurate pile alignment between the robot and the charging pile.
Description
Technical Field
The application belongs to the technical field of robot positioning, and particularly relates to a method and a device for charging a pile by a robot, terminal equipment and a storage medium.
Background
At present, the robot is carrying out the in-process of automatic recharging with filling electric pile, is usually: the robot scans the surrounding environment through the radar equipment arranged by the robot to obtain the point cloud data of the surrounding environment. And then, performing model fitting based on the point cloud data and the point cloud data of the pre-stored charging pile so as to realize accurate pile alignment between the point cloud data and the charging pile.
However, the robot and the prerequisite of filling electric pile and carrying out the accuracy to the stake do: the radar equipment needs to identify the charging pile based on point cloud data. However, the robot is usually far away from the charging pile, and the shape of the point cloud data of the charging pile acquired by the radar device may be distorted, so that the point cloud data cannot be fitted with the point cloud data of the charging pile stored in advance. Therefore, in the prior art, the robot and the pile alignment process between the charging piles are realized through the radar equipment, and certain limitation exists.
Disclosure of Invention
The embodiment of the application provides a method and a device for aligning piles by charging a robot, a terminal device and a storage medium, and can solve the problem that in the prior art, a certain limitation exists in the pile aligning process between the robot and a charging pile through radar equipment.
In a first aspect, an embodiment of the present application provides a method for charging a pile by a robot, where the method includes:
if the communication equipment on the robot does not identify the charging pile, receiving a wireless signal which is transmitted by the charging pile and is used for charging the charging pile through the communication equipment;
determining the current area of the robot according to the wireless signals;
the robot is controlled to move from an area to a target area, and the target area is an area where the communication equipment can identify the charging pile;
in the target area, carry out the stake to robot and charging pile based on communications facilities.
In one embodiment, before the communication device on the robot receives the wireless signal for charging the pile transmitted by the charging pile through the communication device if the communication device on the robot does not identify the charging pile, the method further includes:
scanning first environment point cloud data around the robot through communication equipment;
if the communication equipment identifies the charging pile based on the first environment point cloud data, the robot and the charging pile are directly paired based on the communication equipment.
In one embodiment, controlling the robot to move from the area to the target area comprises:
controlling the robot to rotate a first angle along a first direction so that the communication equipment cannot receive wireless signals; rotating the communication equipment by a second angle along a second direction so that the communication equipment cannot receive the wireless signal again; the first direction is opposite to the second direction;
determining the walking direction of the robot according to the first angle and the second angle;
and controlling the robot to move to the target area along the walking direction.
In one embodiment, determining the walking direction of the robot according to the first angle and the second angle comprises:
calculating an alignment angle according to the first angle and the second angle;
rotating the robot by an alignment angle along a first direction so that the robot faces a transmitter for transmitting a wireless signal on the charging pile;
and taking the current orientation of the communication equipment as the walking direction of the robot.
In an embodiment, after determining the walking direction of the robot according to the first angle and the second angle, the method further includes:
determining a first rotation direction of the robot based on the region and a preset region distribution map;
on the basis of the walking direction, rotating the robot by a first target preset angle along a first rotating direction to obtain a rotated walking direction; the walking direction after the rotation is vertical to the orientation of the communication equipment before the rotation.
In one embodiment, after controlling the robot to move from the area to the target area, the method further includes:
acquiring the moving distance of the robot in the moving process of the robot;
when the robot moves a preset distance, scanning second environment point cloud data around the robot through communication equipment;
and if the charging pile is identified based on the second environment point cloud data, determining that the robot moves to the target area.
In one embodiment, when the robot moves a predetermined distance, scanning the second environmental point cloud data around the robot through the communication device, including:
determining a second rotation direction of the robot based on the region and a preset region distribution map;
rotating the robot by a second target preset angle in a second rotating direction;
and scanning second environment point cloud data around the robot through communication equipment in the rotating process.
In a second aspect, the present application provides a device for charging a pile for a robot, the device including:
the receiving module is used for receiving a wireless signal which is transmitted by the charging pile and used for charging the charging pile through the communication equipment if the communication equipment on the robot does not identify the charging pile;
the first determining module is used for determining the current area of the robot according to the wireless signals;
the control module is used for controlling the robot to move from an area to a target area, and the target area is an area where the communication equipment can identify the charging pile;
and the first pile pairing module is used for pairing the pile for the robot and the charging pile based on the communication equipment in the target area.
In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method according to any one of the first aspect is implemented.
In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method according to any one of the above first aspects.
In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the method of any one of the above first aspects.
Compared with the prior art, the embodiment of the application has the advantages that: after the communication equipment cannot directly identify the position of the charging pile, the terminal equipment can receive a wireless signal which is transmitted by the charging pile and used for charging the charging pile based on the communication equipment so as to determine the current area where the robot is located. And then, the robot is preliminarily controlled to move to the target area based on the current area. And then, in the process that the robot walks towards the target area, if the communication equipment can identify the charging pile, the accurate pile alignment of the robot and the charging pile is further realized through the communication equipment. With this, can solve terminal equipment and only realize the robot through radar equipment and fill the stake in-process between the electric pile, have the problem of limitation.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a flowchart illustrating an implementation of a method for charging a pile by a robot according to an embodiment of the present disclosure;
fig. 2 is a schematic view of an application scenario of a robot pile charging method according to an embodiment of the present application;
FIG. 3 is a flowchart illustrating an implementation of a method for charging a pile by a robot according to another embodiment of the present disclosure;
fig. 4 is a schematic diagram illustrating an implementation manner of S103 of a method for charging a pile by a robot according to an embodiment of the present application;
fig. 5 is a schematic diagram illustrating an implementation manner of S1032 of a method for charging a pile by a robot according to an embodiment of the present disclosure;
FIG. 6 is a flowchart illustrating an implementation of a method for charging a pile by a robot according to another embodiment of the present disclosure;
FIG. 7 is a flowchart illustrating an implementation of a method for charging a pile by a robot according to yet another embodiment of the present disclosure;
fig. 8 is a schematic diagram illustrating an implementation manner of S132 of a method for charging a pile by a robot according to an embodiment of the present application;
FIG. 9 is a schematic structural diagram of a robot pile charging device provided in an embodiment of the present application;
fig. 10 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
The method for charging and pile aligning the robot can be applied to various robots such as a patrol robot, a dance robot and a sweeping robot, can also be applied to controllers of the robots, and can be applied to terminal equipment such as computer equipment and a tablet computer comprising the controllers. The embodiments of the present application do not set any limit to the specific type of equipment that can use robotic charging for the pile method.
Referring to fig. 1, fig. 1 shows a flowchart of an implementation of a method for charging a pile by a robot according to an embodiment of the present application, where the method includes the following steps:
s101, if the communication equipment on the robot does not identify the charging pile, the terminal equipment receives a wireless signal which is transmitted by the charging pile and used for charging the charging pile through the communication equipment.
In an embodiment, the communication device may be composed of a radar device and a signal receiving device, and the signal receiving device may be configured to receive a wireless signal transmitted by the charging pile and scan an environment around the robot to determine the position of the charging pile.
Specifically, the radar device may be a two-dimensional laser radar device or a three-dimensional laser radar device, and is configured to emit laser signals to the periphery in the rotation process of the robot. The laser signal is reflected after being irradiated to surrounding objects and then collected by radar equipment. And then, the radar equipment can perform real-time processing on the basis of the collected reflected laser signals and the collected emitted laser signals to obtain the point cloud data of the surrounding environment. And finally, fitting the environmental point cloud data and the existing charging pile model in the radar equipment to determine the position information of the charging pile relative to the robot.
In one embodiment, the wireless signals include, but are not limited to, infrared signals, sonar signals, and the like. For example, a plurality of emitters may be installed on the charging pile to emit infrared signals to the outside. The communication device on the robot can receive the infrared signal through the signal receiving device.
In this embodiment, an example is explained in which the communication device includes both the infrared signal receiving device and the radar device. Referring to fig. 2, the charging post is pre-installed with a plurality of transmitters including a first transmitter located in a central charging area of the charging post and a second transmitter located in a non-central charging area of the charging post. Specifically, a plurality of transmitters that transmit wireless signals to coverage areas corresponding to a3, a4, a5, a6, and a7 are used as the first transmitters, and a plurality of transmitters that transmit wireless signals to coverage areas corresponding to a1, a2, a8, and a9 are used as the second transmitters.
It should be noted that when the robot is in a coverage area corresponding to any one of a3, a4, a5, a6 and a7, the robot may be considered to be currently located at a certain angle and range of the central charging area of the charging pile. Can regard as the robot can directly determine the position information who fills electric pile for the robot through radar equipment at present to accomplish and fill electric pile to stake.
Therefore, when the robot is in the coverage area corresponding to any one of a1, a2, a8 and a9, the robot can be considered to be currently located in the charging pile non-central charging area. Can regard as the robot can't directly discern through radar equipment at present and fill electric pile. At this moment, the robot can receive the wireless signal transmitted by the corresponding second transmitter on the charging pile through the infrared signal receiving equipment.
And S102, the terminal equipment determines the current area of the robot according to the wireless signals.
In one embodiment, S101 above has described that the first transmitter and the second transmitter respectively transmit different wireless signals to corresponding coverage areas. Based on this, the terminal device may store in advance the association relationship between the wireless signal transmitted by each transmitter and the corresponding coverage area so as to determine the area where the robot is currently located. That is, each transmitter should transmit a wireless signal to a corresponding coverage area, where the wireless signal should carry unique identification information. Meanwhile, the inside of the robot should also be pre-stored with the coverage area corresponding to each kind of identification information. Therefore, after receiving the wireless signal, the robot can determine the current area based on the identification information in the wireless signal.
It should be added that the received wireless signal may be one or more than one type for the area where the robot is located. Specifically, referring to regions a3, a4, a5, a6, a7 and the like in fig. 2, the region a3 can receive a plurality of wireless signals at the same time. In this case, the user may set, in advance, a coverage area in which the robot is located in each case when the signal receiving device receives a plurality of types of wireless signals in the terminal device.
In an embodiment, for any transmitter (the first transmitter and the second transmitter), it may transmit only a wireless signal containing one kind of identification information to the corresponding coverage area, and may also transmit a wireless signal containing multiple kinds of identification information, which is not limited herein.
S103, the terminal equipment controls the robot to move from the area to a target area, and the target area is an area where the communication equipment can identify the charging pile.
In one embodiment, it is described in the above S102 that the robot may determine the located area based on the received wireless signal, and based on this, the robot may plan the walking direction for charging as follows: from the location area to the target area. That is to say, the trend is located the certain angle and the scope of filling electric pile center charging area. Specifically, based on the example in fig. 2, coverage areas corresponding to a3, a4, a5, a6 and a7 are all considered as target areas, and the robot can recognize the charging pile through radar equipment in any coverage area. Based on this, the direction of the robot at this time can be considered as: from the a2 coverage area, the direction goes to any coverage area corresponding to a3, a4, a5, a6 and a 7.
It is understood that any coverage area corresponding to the above a1, a2, 9a3, a4, a5, a6, a7, a8 and a9 should be stored in advance inside the terminal device. That is, the terminal device stores in advance the area distribution map covered by the wireless signals correspondingly transmitted by each transmitter of the charging pile. Based on this, the terminal device may determine an approximate walking direction based on the current region and the region distribution map.
It should be noted that the coverage areas corresponding to a3, a4, a5, a6, and a7 are only one example of the target area, and do not limit the target area. It will be appreciated that in the coverage area of a2, the radar device may also be able to identify the charging post when the robot moves close to the edge of the coverage area of a 3. Based on this, the terminal device may also determine the area where the robot is currently located as the target area. Therefore, in the present embodiment, the target area is not limited.
And S104, in the target area, the terminal equipment carries out pile alignment on the robot and the charging pile based on the communication equipment.
In an embodiment, in S103, the target area is an area where the communication device can identify the charging pile, and based on this, after the communication device identifies the charging pile, the pile alignment can be directly performed based on the radar device in the communication device.
It can be understood that, in step S103, the robot is controlled by the terminal device to move from the current area to the target area, and in the moving process, the robot needs to scan the surrounding environment based on the communication device to identify the charging pile.
In this embodiment, after the communication device fails to directly identify the location of the charging pile, the terminal device may receive a wireless signal for charging the charging pile transmitted by the charging pile based on the communication device, so as to determine the current area where the robot is located. And then, the robot is preliminarily controlled to move to the target area based on the current area. And then, in the process that the robot walks towards the target area, if the communication equipment can identify the charging pile, the accurate pile alignment of the robot and the charging pile is further realized through the communication equipment. With this, can solve terminal equipment and only realize the robot through radar equipment and fill the stake in-process between the electric pile, have the problem of limitation.
Referring to fig. 3, in an embodiment, before the communication device on the robot receives the wireless signal for charging the charging pile transmitted by the charging pile through the communication device if the communication device on the robot does not identify the charging pile S101, the following steps S11-S12 are further included, which are detailed as follows:
and S11, the terminal equipment scans the first environment point cloud data around the robot through the communication equipment.
In an embodiment, in the above S101, the communication device radar device is already described, that is, the robot may scan through the radar device to obtain the surrounding environment point cloud data, that is, the current first environment point cloud data, which will not be described again.
And S12, if the communication equipment identifies the charging pile based on the first environment point cloud data, the terminal equipment directly carries out pile alignment on the robot and the charging pile based on the communication equipment.
In an embodiment, after obtaining the first environment point cloud data, the radar device may fit the first environment point cloud data based on a charging pile model previously constructed by the point cloud data to determine location information of the charging pile. Specifically, after the first environment point cloud data is scanned, if part of the environment point cloud data in the first environment point cloud data is completely fitted with the charging pile model, it is indicated that the position information of the part of the environment point cloud data is the charging pile position information. Have discerned promptly for radar equipment and fill electric pile
It should be noted that, in an embodiment, for the area a2 where the current robot is located in fig. 2, if the current robot is located at an edge of the area a2 close to the area a3 (i.e., not located in the coverage area corresponding to the first transmitter), the radar device may also be able to identify the location information of the charging pile. Therefore, in the process of executing the pile, the position information of the charging pile can be preferentially identified based on the radar equipment. And then, when the position information of the charging pile is not determined based on the first environment point cloud data, executing the steps of S101-S104.
In another embodiment, the terminal device may also control the operating status of a plurality of transmitters (a first transmitter and a second transmitter) in the charging post. That is, if the radar device does not determine the charging pile based on the first environment point cloud data, the terminal device may send a work control instruction to control the plurality of transmitters to respectively send the infrared signals to the corresponding coverage areas. Based on this, can avoid filling the condition that the transmitter on the electric pile sends wireless signal to corresponding coverage area constantly, and then reduce the operating time and the work energy consumption of a plurality of transmitters.
Referring to fig. 4, in an embodiment, in S103, the step of controlling the robot to move from the region to the target region specifically includes the following sub-steps S1031 to S1033, which are detailed as follows:
s1031, the terminal equipment controls the robot to rotate by a first angle along a first direction, so that the communication equipment cannot receive the wireless signals; rotating the communication equipment by a second angle along a second direction so that the communication equipment cannot receive the wireless signal again; the first direction is opposite to the second direction.
In an embodiment, the first direction may be a clockwise direction or a counterclockwise direction, which is not limited herein. It should be noted that the second direction is opposite to the first direction.
In an embodiment, taking the robot in fig. 2 as an example, when the current robot is in the area a2, the signal receiving device in the communication device of the robot may be considered to be facing straight ahead at this time, and the positions corresponding to the two triangles on the left and right sides of the robot may be represented as the angular ranges within which the signal receiving device installed on the current robot can receive the wireless signals. Based on this, the robot may first rotate in the first direction (counterclockwise direction) until the signal receiving device cannot receive the wireless signal transmitted by the transmitter (the transmitter corresponding to the coverage area of a 2). At this time, the robot may record the current angle at which the robot is rotated as the first angle θ 1 through an installed angular odometer or an angular sensor. Thereafter, the rotation is performed in the opposite direction (clockwise direction) until the signal receiving apparatus cannot receive the wireless signal transmitted by the transmitter (the transmitter corresponding to the coverage area of a 2) again. At this time, the robot may rotate the current angle to be the second angle θ 2.
The second angle may be an angle between a direction in which the robot cannot receive the wireless signal for the first time and a direction in which the robot cannot receive the wireless signal for the second time; the robot may set, as the second angle, an angle between a direction before the robot rotates in the first direction (that is, a direction in which the signal receiving device is directly in front of the robot in fig. 2 at this time) and a direction in which the robot cannot receive the wireless signal again, which is not limited to this.
S1032, the terminal equipment determines the walking direction of the robot according to the first angle and the second angle.
And S1033, the terminal equipment controls the robot to move to the target area along the walking direction.
In an embodiment, after obtaining the first angle and the second angle, the terminal device may calculate an average value of the first angle and the second angle to obtain the alignment angle. Then, the terminal device can control the robot to rotate along the first direction by the alignment angle, so that the signal receiving device in the rotated robot faces to the second transmitter for transmitting the wireless signal. That is, in fig. 2, the signal receiving device in the robot should be rotated from straight ahead into alignment with the transmitter that transmits wireless signals to the a2 coverage area.
It will be appreciated that the alignment angle is calculated differently because the second angle is determined differently as described above. That is, if θ 2 is the angle between the direction in which the robot cannot receive the wireless signal for the first time and the direction in which the robot cannot receive the wireless signal for the second time, the alignment angle is calculated in such a manner thatθ＝θ22; if θ 2 is an angle between the signal receiving device in the robot being located right in front of fig. 2 at this time and being located in a direction in which the wireless signal cannot be received again, the alignment angle is calculated in such a manner that θ is (θ ═ is1+θ2) And/2, this is not limiting.
It should be noted that, since the robot is then rotated by the second angle in the second direction, the signal receiving apparatus cannot receive the wireless signal again. Therefore, in order to align the signal receiving device in the robot with the second transmitter corresponding to the coverage area of a2, the robot should be rotated by an alignment angle in a direction opposite to the second direction (i.e., the first direction). Based on this, after the orientation of the signal receiving device is aligned with the signal of the second transmitter, the current orientation of the signal receiving device can be taken as the walking direction of the robot.
It can be understood that if the robot is in the coverage area corresponding to any one of a3, a4, a5, a6 and a7, and the radar device cannot identify the charging pile position information, the robot and the charging pile are far away from each other. Therefore, the current orientation of the signal receiving equipment is taken as the walking direction of the robot, the spacing distance between the robot and the charging pile can be reduced, and the radar equipment can accurately identify the position information of the charging pile.
It should be added that, referring to fig. 2, the charging post includes 6 infrared transmitters which respectively transmit wireless signals to a plurality of areas, such as a1, a2, a3, a4, a5, a6, a7, a8, and a 9. However, the two transmitters illustrated in fig. 2 that transmit wireless signals to the a1 coverage area through the a9 coverage area are not typically in the a1 and a9 coverage areas. Therefore, the a1 and a9 coverage areas are generally not considered. At this time, if the robot is in the a2 area or the a8 area, the walking direction of the robot obtained through the processing in S1031 to S1033 is the robot walking charging center charging area (target area). It is understood that in the present embodiment, the robot can move to a certain angle and range of the charging pile (to the area between a3 and a 7) during the process that the robot moves to the central area of the charging pile. That is, radar equipment can identify charging pile. Based on this, in the process that the robot moved, through discerning and confirming the mode that uses signal reception equipment and radar equipment combine to fill electric pile, and then improve the robot and fill between the electric pile to the stake precision.
However, it should be noted that the coverage areas of the wireless signals transmitted by the first transmitter and the second transmitter may be very far, that is, when the robot determines that the current area is the central charging area based on the received wireless signals, the straight-line distance between the robot and the charging pile is so far that the radar device cannot directly determine the position information of the charging pile. Based on the above, when the robot determines that the current area is the central charging area based on the received wireless signals, but the position of the charging pile cannot be determined directly through the radar device, the current orientation of the signal receiving device can be used as the walking direction of the robot, so that the robot gradually approaches the charging pile. And then, make radar equipment can discern filling electric pile.
Referring to fig. 5, in an embodiment, in S1032 determining the walking direction of the robot according to the first angle and the second angle, the following sub-steps S10321 to S10323 are specifically included, which are detailed as follows:
s10321, the terminal device calculates an alignment angle according to the first angle and the second angle.
S10322, the terminal equipment rotates the robot along the first direction by the alignment angle, so that the robot faces to a transmitter which transmits the wireless signals on the charging pile.
And S10323, the terminal equipment takes the current orientation of the communication equipment as the walking direction of the robot.
In an embodiment, the walking direction of the robot is already explained in S1032 and S1032, which will not be explained again.
It needs to be supplemented that, if the robot is located in an area capable of receiving coverage areas of two or more wireless signals at the same time, and the radar device cannot identify the position information of the charging pile, when the walking direction of the robot is determined, the terminal device should control the robot to rotate by a first angle along a first direction, so that the signal receiving device cannot receive any wireless signal; and rotating the signal receiving equipment by a second angle along a second direction so as to enable the signal receiving equipment to be incapable of receiving any wireless signal again. Thereafter, an alignment angle is calculated based on the first angle and the second angle. At this time, it should be understood that, after the robot rotates the alignment angle along the first direction, the signal receiving device may not need a transmitter specifically transmitting the wireless signal toward a certain coverage area.
Referring to fig. 6, in an embodiment, after determining the walking direction of the robot according to the first angle and the second angle at S1032, the following steps S121-S122 are further included, which are detailed as follows:
s121, the terminal equipment determines a first rotation direction of the robot based on the region and a preset region distribution diagram.
S122, on the basis of the walking direction, the terminal equipment rotates the robot by a first target preset angle along a first rotating direction to obtain the rotated walking direction; the walking direction after the rotation is vertical to the orientation of the communication equipment before the rotation.
In an embodiment, the first rotation direction may be determined based on a current region where the robot is located and a preset region distribution map. The target preset angle may be 90 °.
Illustratively, referring to fig. 2, after the signal receiving device on the robot (directly in front of the robot) is aligned with the transmitter that transmits the wireless signal to the a2 coverage area, the robot may rotate 90 ° clockwise based on the currently determined area (the area is a2 area, taking fig. 2 as an example). And then the terminal equipment can control the robot to walk along the rotating walking direction.
It should be noted that, when the robot is aligned with a transmitter for transmitting a wireless signal to the coverage area of a2 and is rotated 90 ° clockwise, the walking direction after the rotation is the lower right. At this time, the traveling direction after the rotation is perpendicular to the orientation of the signal receiving apparatus (communication apparatus) before the rotation. It will be appreciated that when the robot is in the area a8, its signal receiving device is first aimed at the transmitter that transmits wireless signals to the area a8 coverage. At this time, the first rotation direction of the robot should be a counterclockwise direction, and its target preset angle should be a counterclockwise rotation of 90 °. I.e. the first rotation direction of the target by the predetermined angle, is determined based on the area in which the target is located and the predetermined area distribution map.
It should be added that if the current orientation of the signal receiving device is determined as the walking direction of the robot (i.e. the direction after the robot is aligned with the transmitter for transmitting the wireless signal to the coverage area a 2) only according to S1032, the robot cannot perform pile pairing when the robot is in both areas a1 and a 9. Based on this, in the present embodiment, the robot is rotated by the target preset angle on the basis of the walking direction determined in S1032, so that the rotated walking direction is obtained. At this time, the robot can gradually move to a corresponding coverage area between a3 to a7 by performing the above steps regardless of whether the slave robot is in any area between a1 to a 9. In addition, during the walking process of the robot, the robot walks along the direction vertical to the direction of the signal receiving equipment before rotation. Therefore, can make the robot before confirming the position of filling electric pile through radar equipment, can only adopt simple horizontal walking or the mode of vertical walking, make the robot move towards gradually and fill electric pile center charging area to reduce the complexity of traveling of robot to a stake in-process.
Referring to fig. 7, in an embodiment, after controlling the robot to move from the area to the target area in S103, the following steps S131 to S133 are further included, which are detailed as follows:
s131, in the moving process of the robot, the terminal equipment acquires the moving distance of the robot.
In an embodiment, the moving distance may be obtained by a distance odometer or a displacement sensor installed inside the robot, and uploaded to the terminal device, which is not limited herein.
And S132, when the robot moves a preset distance, the terminal equipment scans second environment point cloud data around the robot through the communication equipment.
In an embodiment, the second environment point cloud data is scanned every time the robot moves a preset distance. The direction of travel of the robot is perpendicular to the direction of the signal receiving device before rotation. Therefore, when the radar equipment is used for scanning the second environment point cloud data around the robot, the robot can only scan the point cloud data of the environment corresponding to the anticlockwise rotation of 180 degrees or the clockwise rotation of 180 degrees.
For example, taking fig. 2 as an example, when the terminal device controls the robot to walk in the walking direction after rotation (the direction of the robot should be the lower right corner direction at this time) in the coverage area of a2, the terminal device may control the robot to rotate 180 ° counterclockwise every preset movement distance, and determine the environmental point cloud data scanned by the radar device as the second environmental point cloud data during the rotation.
It can be understood that, in the process of rotating the robot by 180 ° counterclockwise, the second environmental point cloud data scanned by the radar device necessarily includes the point cloud data corresponding to the charging pile. Therefore, the number of the environmental point cloud data generated when the robot scans for one week (360 degrees) can be reduced, and the difficulty of fitting the robot based on the environmental point cloud data and the charging pile model is reduced. It is understood that when the robot is in the area a8, the robot should rotate clockwise 180 ° every preset moving distance, which is not described in detail. That is, the terminal device may determine a second rotation direction of the robot based on the current location area of the robot and the preset area distribution map, and may only rotate a second target by a preset angle (180 °) when the robot is controlled to rotate along the second rotation direction, so as to obtain second environment point cloud data including the charging pile.
In an embodiment, the preset distance may be set by a user in advance according to an actual situation, and is not limited thereto. In order to avoid the robot at the in-process of walking, if the distance of predetermineeing that sets up is too big, lead to the robot direct movement to with fill electric pile distance position far away, make radar equipment can't discern and fill electric pile. Based on this, in the present embodiment, the preset distance may be set to 0.1 m. Therefore, the robot can not directly move to a position far away from the charging pile in the moving process, the time that the radar equipment is in a working state constantly in the moving process of the robot can be reduced, and the power consumption of the radar equipment is reduced.
And S133, if the charging pile is identified based on the second environment point cloud data, the terminal equipment determines that the robot moves to the target area.
In an embodiment, after the radar device determines the position information of the charging pile, the process of performing pile alignment by using the radar device may refer to the description in S101, which is not explained again.
In another embodiment, if the radar device does not determine the position information of the charging pile according to the second environment point cloud data, the robot may continue to walk along the rotated walking direction. It should be noted that, for a robot that has moved a preset distance, the current area may change.
Based on this, after moving the preset distance, the robot can also receive the wireless signal transmitted by the transmitter through the signal receiving equipment again. If the currently received wireless signal is the same as the wireless signal received last time by the signal receiving device, the terminal device may control the robot to continue walking along the walking direction, and continue to execute the steps of S132-S133. And if the currently received wireless signal is different from the wireless signal received last time by the signal receiving equipment, re-determining the area of the robot according to the currently received wireless signal. Thereafter, the steps up to S103-S104 are executed again.
Referring to fig. 8, in an embodiment, in step S132, when the robot moves a preset distance, the scanning of the second environment point cloud data around the robot through the communication device specifically includes the following substeps S1321-S1323, which are detailed as follows:
and S1321, the terminal equipment determines a second rotation direction of the robot based on the region and a preset region distribution map.
And S1322, the terminal equipment rotates the robot by a second target preset angle along a second rotating direction.
And S1323, in the rotating process, the terminal equipment scans second environment point cloud data around the robot through the communication equipment.
In an embodiment, the determining of the second rotation direction of the robot and the second target preset angle based on the region and the preset region distribution map are already explained in the above S132, and will not be further explained.
In another embodiment, in the process of aligning the robot with the charging pile by using the radar device and the signal receiving device, if it is preliminarily determined that the robot is aligned with the charging pile based on the radar device, the terminal device may send a control instruction to the charging pile to control a first transmitter located in a central charging area of the charging pile to transmit a corresponding wireless signal; and then, if the wireless signal received by the signal receiving equipment is the same as the wireless signal transmitted by the first transmitter, the robot and the charging pile can be determined to be successfully aligned with the pile.
Specifically, because the environment where the charging pile is located may include equipment similar to the charging pile, at this moment, the radar equipment may mistakenly determine that the robot and the charging pile are successful in aligning the pile. Based on this, after terminal equipment tentatively judges that the robot and the stake of charging are successful to the stake based on radar equipment, terminal equipment still can control and fill the first transmitter transmission wireless signal in the stake. If the wireless signal currently received by the signal receiving equipment is the same as the wireless signal transmitted by the first transmitter, the fact that the robot moves to the central charging area of the charging pile is indicated. Otherwise, the terminal equipment controls the robot to execute the pile aligning process in the S101-S104 again based on the radar equipment and the signal receiving equipment.
Referring to fig. 9, fig. 9 is a block diagram of a robot charging pile-aligning device according to an embodiment of the present disclosure. The robot charging pile pairing device in this embodiment includes modules for performing the steps in the embodiments corresponding to fig. 1, 3 to 8. Please refer to fig. 1, fig. 3 to fig. 8 and the related descriptions in the embodiments corresponding to fig. 1, fig. 3 to fig. 8. For convenience of explanation, only the portions related to the present embodiment are shown. Referring to fig. 9, the robot charging and pile aligning apparatus 900 includes: a receiving module 910, a first determining module 920, a control module 930, and a first pair of stub modules 940, wherein:
the receiving module 910 is configured to receive, through the communication device, a wireless signal transmitted by the charging pile and used for charging the charging pile if the communication device on the robot does not recognize the charging pile.
And a first determining module 920, configured to determine, according to the wireless signal, an area where the robot is currently located.
And the control module 930 is configured to control the robot to move from an area to a target area, where the target area is an area where the communication device can identify the charging pile.
And the first pile pairing module 940 is used for pairing the robot and the charging pile based on the communication equipment in the target area.
In an embodiment, the robotic charging pile pairing apparatus 900 further comprises:
the first scanning module is used for scanning first environment point cloud data around the robot through the communication equipment.
And the second pile aligning module is used for directly aligning the pile to the robot and the charging pile based on the communication equipment if the communication equipment identifies the charging pile based on the first environment point cloud data.
In one embodiment, the control module 930 is configured to:
controlling the robot to rotate a first angle along a first direction so that the communication equipment cannot receive wireless signals; rotating the communication equipment by a second angle along a second direction so that the communication equipment cannot receive the wireless signal again; the first direction is opposite to the second direction; determining the walking direction of the robot according to the first angle and the second angle; and controlling the robot to move to the target area along the walking direction.
In one embodiment, the control module 930 is further configured to:
calculating an alignment angle according to the first angle and the second angle; rotating the robot by an alignment angle along a first direction so that the robot faces a transmitter for transmitting a wireless signal on the charging pile; and taking the current orientation of the communication equipment as the walking direction of the robot.
In one embodiment, the control module 930 is further configured to:
determining a first rotation direction of the robot based on the region and a preset region distribution map; on the basis of the walking direction, rotating the robot by a first target preset angle along a first rotating direction to obtain a rotated walking direction; the walking direction after the rotation is vertical to the orientation of the communication equipment before the rotation.
In an embodiment, the robotic charging pile pairing apparatus 900 further comprises:
and the acquisition module is used for acquiring the moving distance of the robot in the moving process of the robot.
And the second scanning module is used for scanning second environment point cloud data around the robot through the communication equipment when the robot moves a preset distance.
And the second determining module is used for determining that the robot moves to the target area if the charging pile is identified based on the second environment point cloud data.
In one embodiment, the second scanning module is further configured to:
determining a second rotation direction of the robot based on the region and a preset region distribution map; rotating the robot by a second target preset angle in a second rotating direction; and scanning second environment point cloud data around the robot through communication equipment in the rotating process.
It should be understood that, in the structural block diagram of the robot pile charging device shown in fig. 9, each module is used to execute each step in the embodiment corresponding to fig. 1 and fig. 3 to fig. 8, and each step in the embodiment corresponding to fig. 1 and fig. 3 to fig. 8 is explained in detail in the above embodiment, and specific reference is made to the relevant description in the embodiment corresponding to fig. 1 and fig. 3 to fig. 8 and fig. 1 and fig. 3 to fig. 8, which is not repeated herein.
Fig. 10 is a block diagram of a terminal device according to another embodiment of the present application. As shown in fig. 10, the terminal device 1000 of this embodiment includes: a processor 1010, a memory 1020, and a computer program 1030, such as a program for a robotic charging-to-pile method, stored in the memory 1020 and executable on the processor 1010. The processor 1010, when executing the computer program 1030, implements the steps in the various embodiments of the robot charging pile pairing method described above, e.g., S101 to S104 shown in fig. 1. Alternatively, when the processor 1010 executes the computer program 1030, the functions of the modules in the embodiment corresponding to fig. 9, for example, the functions of the modules 910 to 940 shown in fig. 9, are implemented, specifically referring to the related description in the embodiment corresponding to fig. 9.
Illustratively, the computer program 1030 may be partitioned into one or more modules, which are stored in the memory 1020 and executed by the processor 1010 to accomplish the present application. One or more of the modules may be a series of computer program instruction segments capable of performing certain functions, which are used to describe the execution of the computer program 1030 in the terminal device 1000. For example, the computer program 1030 may be divided into a receiving module, a first determining module, a control module, and a first pair of stub modules, each module having the specific functionality described above.
The processor 1010 may be a central processing unit, or may be other general-purpose processor, a digital signal processor, an application specific integrated circuit, an off-the-shelf programmable gate array or other programmable logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or any conventional processor or the like.
The storage 1020 may be an internal storage unit of the terminal device 1000, such as a hard disk or a memory of the terminal device 1000. The memory 1020 may also be an external storage device of the terminal device 1000, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. provided on the terminal device 1000. Further, the memory 1020 may also include both internal and external memory units of the terminal device 1000.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A robotic charging pile-pairing method, the method comprising:
if the communication equipment on the robot does not identify the charging pile, receiving a wireless signal which is transmitted by the charging pile and is used for charging the charging pile through the communication equipment;
determining the current area of the robot according to the wireless signals;
controlling the robot to move from the area to a target area, wherein the target area is an area which can be identified by the communication equipment to the charging pile;
and in the target area, carrying out pile alignment on the robot and the charging pile based on the communication equipment.
2. The method for charging and pile aligning by a robot as claimed in claim 1, further comprising, before receiving a wireless signal for charging and pile aligning transmitted from the charging pile through the communication device if the communication device on the robot does not recognize the charging pile, the method further comprising:
scanning first environment point cloud data around the robot based on the communication equipment;
and if the communication equipment identifies the charging pile based on the first environment point cloud data, directly carrying out pile alignment on the robot and the charging pile based on the communication equipment.
3. The method for charging a pile by a robot of claim 1, wherein said controlling said robot to move from said area to a target area comprises:
controlling the robot to rotate by a first angle along a first direction so that the communication equipment cannot receive the wireless signals; rotating the communication equipment by a second angle along a second direction so that the communication equipment cannot receive the wireless signal again; the first direction is opposite the second direction;
determining the walking direction of the robot according to the first angle and the second angle;
and controlling the robot to move to the target area along the walking direction.
4. The method of claim 3, wherein determining the walking direction of the robot according to the first angle and the second angle comprises:
calculating an alignment angle from the first angle and the second angle;
rotating the robot in the first direction by the alignment angle to cause the robot to transmit the wireless signal toward a transmitter on the charging post;
and taking the current orientation of the communication equipment as the walking direction of the robot.
5. The method for charging a pile by a robot according to claim 3 or 4, wherein after determining the walking direction of the robot according to the first angle and the second angle, the method further comprises:
determining a first rotation direction of the robot based on the region and a preset region distribution map;
on the basis of the walking direction, rotating the robot by a first target preset angle along the first rotating direction to obtain a rotated walking direction; the walking direction after rotation is perpendicular to the orientation of the communication equipment before rotation.
6. The method for charging a pile by a robot as claimed in any one of claims 1 to 4, wherein after said controlling said robot to move from said area to a target area, further comprising:
acquiring the moving distance of the robot in the moving process of the robot;
when the robot moves a preset distance, scanning second environment point cloud data around the robot through the communication equipment;
and if the charging pile is identified based on the second environment point cloud data, determining that the robot moves to the target area.
7. The method for charging and pile-aligning by a robot according to claim 6, wherein scanning the second environmental point cloud data around the robot by the communication device for each predetermined distance of movement of the robot comprises:
determining a second rotation direction of the robot based on the region and a preset region distribution map;
rotating the robot by a second target preset angle in the second rotation direction;
and scanning second environment point cloud data around the robot through the communication equipment in the rotating process.
8. A robotic charging and pile aligning apparatus, comprising:
the receiving module is used for receiving a wireless signal which is transmitted by the charging pile and is used for charging the charging pile through the communication equipment if the communication equipment on the robot does not identify the charging pile;
the first determining module is used for determining the current area of the robot according to the wireless signals;
the control module is used for controlling the robot to move from the area to a target area, and the target area is an area where the communication equipment can identify the charging pile;
and the first pile pairing module is used for pairing piles for the robot and the charging pile based on the communication equipment in the target area.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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