CN113900454A - Charging pile aligning method, device, equipment and storage medium - Google Patents
Charging pile aligning method, device, equipment and storage medium Download PDFInfo
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- CN113900454A CN113900454A CN202111058857.5A CN202111058857A CN113900454A CN 113900454 A CN113900454 A CN 113900454A CN 202111058857 A CN202111058857 A CN 202111058857A CN 113900454 A CN113900454 A CN 113900454A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a charging pile aligning method, a charging pile aligning device, charging pile aligning equipment and a storage medium, and belongs to the technical field of robots. According to the invention, the point cloud information is used for carrying out shape fitting on the area where the charging pile is located, the point cloud information can reduce the influence of the environment on the identification of the charging pile, and an accurate charging pile fitting inflection coordinate and a charging area of the charging pile can be obtained through the shape fitting.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method, a device, equipment and a storage medium for charging a pile.
Background
With the development of artificial intelligence, the robot industry has been developed vigorously in recent years. At present, mobile robots are widely applied globally, the robots emphasize intelligent work more and do not need manual intervention, and for autonomous charging of the mobile robots, the robots are generally required to navigate to positions near charging piles, be in butt joint with the charging piles and send out charging instructions to complete charging.
However, the charging pile aligning technology of the robot and the charging pile is generally realized by methods of aligning the pile with laser, aligning the pile with infrared, aligning the pile with visual, aligning the pile with landmark and the like, but the methods are easily affected by the environment, have great limitations and cause that the charging pile aligning cannot be completed.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a charging pile aligning method, a charging pile aligning device, charging equipment and a storage medium, and aims to solve the technical problems that in the prior art, the butt joint of a charging interface and a charging pile is easily interfered by the environment and the charging pile aligning cannot be completed.
In order to achieve the above object, the present invention provides a charging pile-pairing method, comprising the steps of:
when a charging instruction is received, current point cloud information is obtained;
extracting target area point cloud information in the current point cloud information, and performing shape fitting on the target area point cloud information to obtain fitting inflection point coordinates;
determining current pose information between the charging pile and the robot based on the fitting inflection point coordinates;
and adjusting the motion state of the robot according to the current pose information, and controlling the robot to charge the pile.
Optionally, the step of adjusting the motion state of the robot according to the current pose information and controlling the robot to charge the pile includes:
determining a pre-aiming point of a charging pair pile based on the current pose information;
adjusting the motion state of the robot according to the current pose information so that the robot reaches the pre-aiming point of the charging pile;
detecting the relative position of the robot and a charging pile when the robot reaches the pre-aiming point of the charging pile;
judging whether the robot is flush with the charging pile or not according to the relative position;
the robot with when filling electric pile for the parallel and level state, control the robot charges to the stake.
Optionally, when the robot with fill electric pile is the parallel and level state, control the robot carries out the step of charging to the stake, include:
when the robot and the charging pile are in a parallel state, starting an odometer and controlling the robot to move horizontally, wherein the odometer is used for storing the movement distance from the parallel state to the charging pile completion state of the robot;
acquiring the relative distance between the robot and the charging pile;
and when the mileage count value is equal to the relative distance numerical value, controlling the robot to stop moving and sending a charging instruction to perform charging.
Optionally, after the step of determining whether the robot is flush with the charging pile according to the relative position, the method further includes:
when the robot and the charging pile are not in a parallel and level state, controlling the robot to rotate so as to enable the robot and the charging pile to be parallel and level;
when the robot and the charging pile are in a parallel and level state, detecting the horizontal offset distance of the robot and the charging pile;
and starting the odometer when the horizontal offset distance is smaller than a preset threshold value.
Optionally, after the step of detecting the horizontal offset distance between the robot and the charging pile, the method further includes:
and when the horizontal offset distance is larger than or equal to a preset threshold value, controlling the robot to move reversely for a preset distance, and re-executing the step of acquiring the current point cloud information.
Optionally, the step of extracting target area point cloud information in the current point cloud information, and performing shape fitting on the target area point cloud information to obtain a fitting inflection point coordinate includes:
extracting target area point cloud information in the current point cloud information;
performing linear fitting on the point cloud information of the target area to obtain a first straight line and a first inflection point corresponding to the first straight line;
performing linear fitting on the point cloud information of the target area to obtain a second straight line and a second inflection point corresponding to the second straight line;
obtaining fitting inflection point coordinates based on the first inflection point and the second inflection point.
Optionally, the step of obtaining a fitted inflection point coordinate based on the first inflection point and the second inflection point comprises
Generating a third straight line according to the first inflection point and the second inflection point;
determining a first fitting inflection point coordinate based on an intersection point of the first straight line and the second straight line;
determining a second fitted inflection coordinate based on an intersection of the second straight line and the third straight line;
the determining current pose information between the charging pile and the robot based on the fitting inflection point coordinate includes:
and determining current pose information between the charging pile and the robot based on the first fitting inflection point coordinate and the second fitting inflection point coordinate.
Further, to achieve the above object, the present invention also provides a charging pile device including:
the information acquisition module is used for acquiring current point cloud information when a charging instruction is received;
the information fitting module is used for extracting target area point cloud information in the current point cloud information and performing shape fitting on the target area point cloud information to obtain fitting inflection point coordinates;
the pose determining module is used for determining current pose information between the charging pile and the robot based on the fitting inflection point coordinates;
and the pile aligning adjusting module is used for adjusting the movement route of the robot according to the current pose information so as to charge the robot for pile alignment.
Further, to achieve the above object, the present invention also provides a charging pile pair apparatus including: a memory, a processor, and a charge-to-stake program stored on the memory and executable on the processor, the charge-to-stake program configured to implement the steps of the charge-to-stake method as described above.
Furthermore, to achieve the above object, the present invention further proposes a storage medium having a charging stake-pair program stored thereon, which when executed by a processor implements the steps of the charging stake-pair method as described above.
According to the invention, when a charging instruction is received, current point cloud information is obtained, target area point cloud information in the current point cloud information is extracted, shape fitting is carried out on the target area point cloud information, fitting inflection point coordinates are obtained, current pose information between a charging pile and a robot is determined based on the fitting inflection point coordinates, the motion state of the robot is adjusted according to the current pose information, and the robot is controlled to charge and pile. Compared with the prior art, the method and the device have the advantages that the point cloud information is obtained to perform shape fitting on the area where the charging pile is located, the point cloud information can reduce the influence of the environment on the identification of the charging pile, the accurate charging pile fitting inflection point coordinate and the charging area of the charging pile can be obtained through shape fitting, the pose information between the charging pile and the robot is determined through the fitting inflection point coordinate of the charging pile, the robot can be accurately controlled to move according to the pose information to complete the charging pile alignment of the robot, the charging interface and the charging pile are prevented from being easily interfered by the environment, and the technical problem that the charging pile alignment cannot be completed is solved.
Drawings
Fig. 1 is a schematic structural diagram of a charging pile device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a charging pile-pairing method according to the present invention;
FIG. 3 is a schematic diagram of a charging pile according to an embodiment of the charging pile-pairing method of the present invention;
FIG. 4 is a schematic flow chart of a second embodiment of the charging and pile-pairing method of the present invention;
FIG. 5 is a schematic diagram illustrating shape fitting of an embodiment of a charging versus piling method of the present invention;
FIG. 6 is a schematic diagram of a robot moving path according to an embodiment of the method for charging a pile;
fig. 7 is a block diagram showing the structure of the first embodiment of the charging and pile-aligning device of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a charging pile-pair device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the charging stake pair apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
It will be appreciated by those skilled in the art that the configuration shown in figure 1 does not constitute a limitation of the charging arrangement and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a charge stub program.
In the charging pair pile device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the charging and piling device of the present invention may be provided in the charging and piling device, and the charging and piling device calls the charging and piling program stored in the memory 1005 through the processor 1001 and executes the charging and piling method provided by the embodiment of the present invention.
An embodiment of the present invention provides a charging pile aligning method, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the charging pile aligning method according to the present invention.
In this embodiment, the pile charging method includes the following steps:
step S10: and when a charging instruction is received, current point cloud information is obtained.
It should be noted that the execution main body of this embodiment is a charging pile alignment device, where the charging pile alignment device may be an electronic device such as a controller or a control chip of a robot, or may also be other devices that can achieve the same or similar functions.
It can be understood that the charging instruction may be an instruction issued by a user through input, voice, or the like, or may be a charging signal automatically generated by the robot when detecting that the electric quantity of the robot is insufficient.
It should be noted that the current point cloud information may be a point data set of the surface of the article acquired by a point cloud measuring device, where the point data set may be three-dimensional coordinate data, laser reflection intensity data, orientation information, and the like, and the point cloud measuring device may be a laser radar device, or other devices having the same or similar functions.
In the concrete implementation, the robot controller controls a laser radar module loaded by the robot to emit laser to the current environment after receiving a charging instruction, the laser has reflectivity, and the laser radar emits laser signals in an all-around manner, so that the laser radar module scans extremely finely, a large number of reflected laser points can be obtained, a laser point cloud is obtained based on the laser points, the reflected laser point cloud carries information such as azimuth information and distance information of a charging pile, a point cloud map is generated based on the obtained information, and the point cloud map is used for recording the reflected laser point information.
Step S20: and extracting target area point cloud information in the current point cloud information, and carrying out shape fitting on the target area point cloud information to obtain a fitting inflection point coordinate.
It should be noted that the point cloud information of the target area may be point cloud information of an area where the charging pile is located, when a laser radar module of the robot emits laser to irradiate a current environment area, because a special high-reflectivity material is adopted for a pile identification area of the charging pile, during laser irradiation, a laser point of the area which is hit has high radiation intensity, an area with high reflectivity may exist in a partial area in the environment is removed, and when a laser point with high reflection intensity in the current point cloud information is concentrated in a certain area in a point cloud map, the position of the charging pile in the area is determined.
It can be understood that shape fitting refers to determining the profile information of the charging pile according to the point cloud information of the target area in the current point cloud information, in this embodiment, referring to fig. 3, the identification area of the charging pile is designed to be a trapezoid with obtuse angles at two sides, so that the reflection surface is larger, and laser rays are not easily blocked to form a laser blind area.
It is worth mentioning that the fitting inflection point coordinate may be an inflection point coordinate of a trapezoidal identification area of the charging pile, a coordinate system is established based on a robot as a coordinate origin, shape fitting is performed on the trapezoidal identification area according to point cloud information to obtain trapezoidal inflection point laser point data, and the inflection point coordinate is determined to be recorded as the fitting inflection point coordinate in the robot-based coordinate system.
In a specific implementation, a situation of fitting error or fitting unsuccessful may occur, and therefore when the fitting error or fitting unsuccessful occurs, the laser may be re-emitted to obtain a laser point cloud, shape fitting is performed according to the laser point cloud, and an error is reported to a user.
Step S30: and determining current pose information between the charging pile and the robot based on the fitting inflection point coordinates.
It should be noted that the pose information refers to coordinate information of the fitting inflection point coordinate converted into a world coordinate system in a predefined world coordinate system, and since the fitting inflection point coordinate is obtained based on the coordinate system where the robot is located, and the robot is constantly changed in the motion process, the fitting inflection point coordinate is also constantly changed.
It can be understood that since the robot is in continuous motion, the fitting inflection point coordinate obtained by shape fitting according to the current point cloud information is the coordinate at the current moment, and therefore the obtained pose information is recorded as the current pose information.
It should be noted that if the current pose information between the robot and the charging pile is determined to be failed according to the fitting inflection point coordinates, the point cloud information is re-acquired, the robot is restarted at a preset frequency, and fault information is sent to a user.
Step S40: and adjusting the motion state of the robot according to the current pose information, and controlling the robot to charge the pile.
It should be noted that, according to the current pose information of the robot and the charging pile, that is, according to the relative position of the robot and the charging pile, the robot is controlled to perform operations such as translation, rotation and alignment, so that the robot can approach the charging pile and dock the charging interface of the charging pile to complete charging.
According to the method, when a charging instruction is received, current point cloud information is obtained, target area point cloud information in the current point cloud information is extracted, shape fitting is carried out on the target area point cloud information, a fitting inflection point coordinate is obtained, current pose information between a charging pile and a robot is determined based on the fitting inflection point coordinate, the motion state of the robot is adjusted according to the current pose information, and the robot is controlled to carry out charging pile alignment. According to the method and the device, the point cloud information is used for carrying out shape fitting on the area where the charging pile is located through the acquired point cloud information, the influence of the environment on the recognition of the charging pile can be reduced, accurate charging pile fitting inflection point coordinates and the charging area of the charging pile can be obtained through the shape fitting, the pose information between the charging pile and the robot is determined through the fitting inflection point coordinates of the charging pile, the charging pile of the robot can be completed according to the accurate movement of the robot, the interference of the environment on the butt joint of a charging interface and the charging pile is avoided, and the technical problem that the charging pile cannot be completed is solved.
Referring to fig. 4, fig. 4 is a schematic flow chart of a charging pile-pairing method according to a second embodiment of the present invention.
Based on the first embodiment, in this embodiment, the step S20 includes:
step S201: and extracting the point cloud information of the target area in the current point cloud information.
It should be noted that when the laser radar module of the robot emits laser to irradiate the current environment area, since the pile identification area of the charging pile is made of a special high-reflectivity material, during laser irradiation, a laser point of the area has a higher radiation intensity, an area with a higher reflectivity may exist in a partial area in the environment is removed, and when the laser point with a high reflection intensity in the current point cloud information is concentrated in a certain area in the point cloud map, the position of the charging pile in the area is determined.
Step S202: and performing straight line fitting on the point cloud information of the target area to obtain a first straight line and a first inflection point corresponding to the first straight line.
It can be understood that, referring to fig. 5, the shape fitting is performed on the first laser point of the target area according to the laser points in the graph, and a straight line can be obtained and recorded as a first straight line based on the backward traversal of the first laser point in sequence; and when the fitted laser point and the first laser point are not on the same straight line, determining the position of the laser point as a fitting inflection point, stopping traversing, and recording the fitting inflection point as a first inflection point.
Step S203: and performing straight line fitting on the point cloud information of the target area to obtain a second straight line and a second inflection point corresponding to the second straight line.
It can be understood that, referring to fig. 5, the shape fitting is performed on the last laser point of the target area according to the laser points in the graph, and a straight line can be obtained and marked as a second straight line based on the forward traversal of the last laser point in sequence; and when the fitted laser point and the tail laser point are not on the same straight line, determining the position of the laser point as a fitting inflection point, stopping traversing, and marking the fitting inflection point as a second inflection point.
Step S204: obtaining fitting inflection point coordinates based on the first inflection point and the second inflection point.
It should be noted that the first inflection point and the second inflection point at this time may not be the inflection point of the actual charging pile identification region, and therefore, a third straight line may be obtained by connecting the two inflection points based on the obtained first inflection point and the obtained second inflection point, where the three straight lines are the contour of the charging pile identification region, an intersection point of the third straight line and the first straight line is the first inflection point of the actual identification region, and an intersection point of the third straight line and the second straight line is the second inflection point of the actual identification region.
Further, in order to obtain an inflection point of the identification area of the actual charging pile, step S204 includes:
generating a third straight line according to the first inflection point and the second inflection point;
determining a first fitting inflection point coordinate based on an intersection point of the first straight line and the second straight line;
determining a second fitted inflection coordinate based on an intersection of the second straight line and the third straight line;
the determining current pose information between the charging pile and the robot based on the fitting inflection point coordinate includes:
and determining current pose information between the charging pile and the robot based on the first fitting inflection point coordinate and the second fitting inflection point coordinate.
Based on the first embodiment, in this embodiment, the step S40 includes:
step S401: and determining a pre-aiming point of the charging pair pile based on the current pose information.
It should be noted that the charging pile aiming point may be a point that is a preset distance away from the front of the charging pile, and the charging pile aiming point is a positioning point marked on a point cloud map, that is, a positioning point set according to the position of the charging pile, and when the positioning point is too close to the charging pile, current point cloud information cannot be acquired, and thus an error occurs in the pile, that is, the preset distance of the positioning point may be 20cm, and the like.
Step S402: and adjusting the motion state of the robot according to the current pose information so that the robot reaches the pre-aiming point of the charging pile.
It can be understood that the robot is controlled to move through operations of translation, rotation, alignment and the like according to the current pose information of the robot and the charging pile, the moving direction of the robot is adjusted by adjusting the angular speed of the robot during moving, so that the robot can reach the pile pre-aiming point for charging, and the robot is controlled not to move too fast or too slow by adjusting the linear speed of the robot moving, so that the robot approaches the pile pre-aiming point for charging.
Further, since the robot may be limited by an angle during the moving process, the laser reflection may be blocked by the limited angle, so that a mandatory constraint may be added during the moving process of the robot, where the mandatory constraint may be to control the view angle of the robot, so that the charging pile is always in the angular center area of the view angle of the robot, and the view angle of the robot may be set by a user, and may also be automatically generated, for example: the angle of the robot is 45 degrees, and the embodiment is not particularly limited.
In concrete implementation, if the charging pile deviates from a central area in the field of vision of the robot, the mobile robot stops moving forward, and the charging pile is ensured to return to the visual center of the robot through in-situ rotation. Along with the robot is close to the stake preview point of charging of filling electric pile, the robot stops moving.
Step S403: and when the robot reaches the pile pre-aiming point, detecting the relative position of the robot and the charging pile.
It should be noted that, after the robot reaches the charging and pile aiming point, the charging interface of the robot and the interface of the charging pile may not be directly connected, that is, the charging interface of the robot and the interface of the charging pile are not opposite, so that the relative position of the robot and the charging pile needs to be detected to perform subsequent robot adjustment operation.
Step S404: and judging whether the robot is parallel to the charging pile or not according to the relative position.
It can be understood that whether the robot is flush with the charging pile or not can be judged by acquiring the relative pose between the robot and the charging pile.
Step S405: the robot with when filling electric pile for the parallel and level state, control the robot charges to the stake.
It should be noted that the parallel state may be that the charging interface of the robot and the charging interface of the charging pile are opposite to each other, and operations such as rotating, adjusting the position and the like are not required; but in the actual process, can appear the robot with it is the parallel and level state to fill electric pile, need control the robot this moment and stop moving to rotate, because the robot is close enough with filling electric pile this moment, the visual angle of robot can't fix a position, but can gather trapezoidal charging pile inboard minor face through control visual angle orientation, thereby carry out angular adjustment, so that the robot with fill electric pile parallel and level.
In a specific implementation, referring to fig. 6, the mobile robot is already at the pre-aiming point of the charging pile, and the mobile robot rotates to align the robot with the charging pile and perform mobile docking.
It should be noted that, after the orientation of the robot is adjusted by the rotating robot, a relative pose between the robot and the charging pile needs to be obtained, where the relative pose may include a horizontal offset distance between the robot and the charging pile, and if the horizontal offset distance is too large, the charging pile cannot be charged.
Therefore, when the horizontal offset distance is greater than or equal to a preset threshold, the robot is controlled to move reversely by the preset distance, and the step of acquiring the current point cloud information is executed again, where the preset threshold may be set by a user, for example: and 1cm and the like, that is, when the horizontal offset distance is greater than or equal to 1cm, controlling the robot to move in the reverse direction by a preset distance, and re-executing the step of acquiring the current point cloud information, which is not limited in this embodiment.
It can be understood that in actual operation, the distance between the robot and the charging pile may be too short, the relative pose may not be measured, and docking may not be completed, so that charging fails, and at this time, the robot may be controlled to move in the reverse direction by a preset distance, and the step of obtaining current point cloud information may be executed again.
Further, when the robot and the electric pile are in a parallel and level state, step S405 includes:
when the robot and the charging pile are in a parallel state, starting an odometer and controlling the robot to move horizontally, wherein the odometer is used for storing the movement distance from the parallel state to the charging pile completion state of the robot;
acquiring the relative distance between the robot and the charging pile;
and when the mileage count value is equal to the relative distance numerical value, controlling the robot to stop moving and sending a charging instruction to perform charging.
It should be noted that, when the charging is performed according to the relative pose between the robot and the charging pile to move the pile, when the robot approaches the identification area of the charging pile, the point cloud information cannot be obtained, and the relative pose between the robot and the charging pile cannot be obtained, so that the actual distance between the robot and the charging pile can be deduced in advance, the distance value of the odometer is set according to the actual distance, when the odometer value is equal to the relative distance value, the robot is judged to have arrived at the charging area, and at this time, the robot is controlled to stop moving and send a charging instruction to trigger the electrode to charge for charging.
The embodiment obtains the current point cloud information when receiving the charging instruction, extracts the point cloud information of the target area in the current point cloud information, and performing shape fitting on the point cloud information of the target area to obtain a fitting inflection point coordinate, determining current pose information between the charging pile and the robot based on the fitting inflection point coordinate, determining a pre-aiming point of the charging pile based on the current pose information, adjusting the motion state of the robot according to the current pose information so that the robot reaches the pre-aiming point of the charging pile, when the robot reaches the pile pre-aiming point for charging, detecting the relative position of the robot and the charging pile, judging whether the robot and the charging pile are level or not according to the relative position, the robot with when filling electric pile for the parallel and level state, control the robot charges to the stake. According to the method and the device, the point cloud information is used for carrying out shape fitting on the area where the charging pile is located through the acquired point cloud information, the influence of the environment on the identification of the charging pile can be reduced, accurate charging pile fitting inflection point coordinates and the charging area of the charging pile can be obtained through the shape fitting, pose information between the charging pile and the robot is determined through the fitting inflection point coordinates of the charging pile, the pose information can be accurately arrived at the charging pre-aiming point of the charging pile, after the state of the robot is detected, when the robot is in a parallel and level state, the robot is controlled to move to complete the charging pile alignment of the robot, the situation that the charging interface and the charging pile are easily interfered by the environment is avoided, and the technical problem that the charging pile alignment cannot be completed is solved.
Furthermore, an embodiment of the present invention further provides a storage medium, where a charging stub program is stored, and the charging stub program, when executed by a processor, implements the steps of the charging stub method as described above.
Since the storage medium adopts all the technical solutions of all the embodiments, at least all the advantages brought by the technical solutions of the embodiments are available, and are not described in detail herein.
Referring to fig. 7, fig. 7 is a block diagram illustrating a first embodiment of a charging pile driving apparatus according to the present invention.
As shown in fig. 7, the charging pile device according to the embodiment of the present invention includes:
the information obtaining module 10 is configured to obtain current point cloud information when a charging instruction is received.
And the information fitting module 20 is configured to extract target area point cloud information in the current point cloud information, and perform shape fitting on the target area point cloud information to obtain a fitting inflection point coordinate.
And the pose determining module 30 is used for determining the current pose information between the charging pile and the robot based on the fitting inflection point coordinates.
And the pile aligning adjusting module 40 is used for adjusting the movement route of the robot according to the current pose information so as to charge the robot for pile aligning.
According to the method, when a charging instruction is received, current point cloud information is obtained, target area point cloud information in the current point cloud information is extracted, shape fitting is carried out on the target area point cloud information, a fitting inflection point coordinate is obtained, current pose information between a charging pile and a robot is determined based on the fitting inflection point coordinate, the motion state of the robot is adjusted according to the current pose information, and the robot is controlled to carry out charging pile alignment. According to the method and the device, the point cloud information is used for carrying out shape fitting on the area where the charging pile is located through the acquired point cloud information, the influence of the environment on the recognition of the charging pile can be reduced, accurate charging pile fitting inflection point coordinates and the charging area of the charging pile can be obtained through the shape fitting, the pose information between the charging pile and the robot is determined through the fitting inflection point coordinates of the charging pile, the charging pile of the robot can be completed according to the accurate movement of the robot, the interference of the environment on the butt joint of a charging interface and the charging pile is avoided, and the technical problem that the charging pile cannot be completed is solved.
In an embodiment, the adjusting pile-aiming module 40 is further configured to determine a charging pile-aiming point based on the current pose information; adjusting the motion state of the robot according to the current pose information so that the robot reaches the pre-aiming point of the charging pile; detecting the relative position of the robot and a charging pile when the robot reaches the pre-aiming point of the charging pile; judging whether the robot is flush with the charging pile or not according to the relative position; the robot with when filling electric pile for the parallel and level state, control the robot charges to the stake.
In an embodiment, the pile pair adjusting module 40 is further configured to start an odometer and control the robot to translate when the robot and the charging pile are in a flush state, where the odometer is configured to store a movement distance from the flush state to a pile pair charging completion state of the robot; acquiring the relative distance between the robot and the charging pile; and when the mileage count value is equal to the relative distance numerical value, controlling the robot to stop moving and sending a charging instruction to perform charging.
In an embodiment, the pile pair adjusting module 40 is further configured to control the robot to rotate when the robot is not in a state of being flush with the charging pile, so that the robot is flush with the charging pile; when the robot and the charging pile are in a parallel and level state, detecting the horizontal offset distance of the robot and the charging pile; and starting the odometer when the horizontal offset distance is smaller than a preset threshold value.
In an embodiment, the pile-aligning adjusting module 40 is further configured to control the robot to move reversely by a preset distance when the horizontal offset distance is greater than or equal to a preset threshold, and to re-execute the step of obtaining the current point cloud information.
In an embodiment, the information fitting module 20 is further configured to extract target area point cloud information in the current point cloud information; performing linear fitting on the point cloud information of the target area to obtain a first straight line and a first inflection point corresponding to the first straight line; performing linear fitting on the point cloud information of the target area to obtain a second straight line and a second inflection point corresponding to the second straight line; obtaining fitting inflection point coordinates based on the first inflection point and the second inflection point.
In an embodiment, the information fitting module 20 is further configured to generate a third straight line according to the first inflection point and the second inflection point; determining a first fitting inflection point coordinate based on an intersection point of the first straight line and the second straight line; determining a second fitted inflection coordinate based on an intersection of the second straight line and the third straight line; the determining current pose information between the charging pile and the robot based on the fitting inflection point coordinate includes: and determining current pose information between the charging pile and the robot based on the first fitting inflection point coordinate and the second fitting inflection point coordinate.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment may refer to the method for charging the stud provided in any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method of charging a pile, comprising:
when a charging instruction is received, current point cloud information is obtained;
extracting target area point cloud information in the current point cloud information, and performing shape fitting on the target area point cloud information to obtain fitting inflection point coordinates;
determining current pose information between the charging pile and the robot based on the fitting inflection point coordinates;
and adjusting the motion state of the robot according to the current pose information, and controlling the robot to charge the pile.
2. The method for charging pile pairs according to claim 1, wherein the step of controlling the robot to charge the pile pairs by adjusting the motion state of the robot according to the current pose information comprises the following steps:
determining a pre-aiming point of a charging pair pile based on the current pose information;
adjusting the motion state of the robot according to the current pose information so that the robot reaches the pre-aiming point of the charging pile;
detecting the relative position of the robot and a charging pile when the robot reaches the pre-aiming point of the charging pile;
judging whether the robot is flush with the charging pile or not according to the relative position;
the robot with when filling electric pile for the parallel and level state, control the robot charges to the stake.
3. The method for charging a pile according to claim 2, wherein the step of controlling the robot to charge the pile while the robot is flush with the charging pile comprises:
when the robot and the charging pile are in a parallel state, starting an odometer and controlling the robot to move horizontally, wherein the odometer is used for storing the movement distance from the parallel state to the charging pile completion state of the robot;
acquiring the relative distance between the robot and the charging pile;
and when the mileage count value is equal to the relative distance numerical value, controlling the robot to stop moving and sending a charging instruction to perform charging.
4. The method for charging a pile according to claim 2, wherein the step of determining whether the robot is level with the charging pile according to the relative position further comprises:
when the robot and the charging pile are not in a parallel and level state, controlling the robot to rotate so as to enable the robot and the charging pile to be parallel and level;
when the robot and the charging pile are in a parallel and level state, detecting the horizontal offset distance of the robot and the charging pile;
and starting the odometer when the horizontal offset distance is smaller than a preset threshold value.
5. The method of charging a pile of claim 4, wherein the step of detecting the horizontal offset distance of the robot from the charging post is followed by the step of:
and when the horizontal offset distance is larger than or equal to a preset threshold value, controlling the robot to move reversely for a preset distance, and re-executing the step of acquiring the current point cloud information.
6. The pile charging method according to any one of claims 1 to 5, wherein the step of extracting target area point cloud information from the current point cloud information and performing shape fitting on the target area point cloud information to obtain fitting inflection point coordinates comprises:
extracting target area point cloud information in the current point cloud information;
performing linear fitting on the point cloud information of the target area to obtain a first straight line and a first inflection point corresponding to the first straight line;
performing linear fitting on the point cloud information of the target area to obtain a second straight line and a second inflection point corresponding to the second straight line;
obtaining fitting inflection point coordinates based on the first inflection point and the second inflection point.
7. The method of charging a pile of claim 6, wherein said step of obtaining a fitted corner coordinate based on said first and second corners comprises
Generating a third straight line according to the first inflection point and the second inflection point;
determining a first fitting inflection point coordinate based on an intersection point of the first straight line and the second straight line;
determining a second fitted inflection coordinate based on an intersection of the second straight line and the third straight line;
the determining current pose information between the charging pile and the robot based on the fitting inflection point coordinate includes:
and determining current pose information between the charging pile and the robot based on the first fitting inflection point coordinate and the second fitting inflection point coordinate.
8. A charging pile-pairing device, comprising:
the information acquisition module is used for acquiring current point cloud information when a charging instruction is received;
the information fitting module is used for extracting target area point cloud information in the current point cloud information and performing shape fitting on the target area point cloud information to obtain fitting inflection point coordinates;
the pose determining module is used for determining current pose information between the charging pile and the robot based on the fitting inflection point coordinates;
and the pile aligning adjusting module is used for adjusting the movement route of the robot according to the current pose information so as to charge the robot for pile alignment.
9. A charging pile device, comprising: a memory, a processor, and a charge-to-stake program stored on the memory and executable on the processor, the charge-to-stake program configured to implement the charge-to-stake method of any of claims 1-7.
10. A storage medium having stored thereon a charge stake pair program that, when executed by a processor, implements a charge stake pair method as claimed in any one of claims 1 to 7.
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| CN202111058857.5A CN113900454A (en) | 2021-09-09 | 2021-09-09 | Charging pile aligning method, device, equipment and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114047771A (en) * | 2022-01-17 | 2022-02-15 | 广州里工实业有限公司 | Docking method and system for mobile robot, computer equipment and storage medium |
| CN114442624A (en) * | 2022-01-21 | 2022-05-06 | 美的集团(上海)有限公司 | Robot recharging control method, device and system |
-
2021
- 2021-09-09 CN CN202111058857.5A patent/CN113900454A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114047771A (en) * | 2022-01-17 | 2022-02-15 | 广州里工实业有限公司 | Docking method and system for mobile robot, computer equipment and storage medium |
| CN114442624A (en) * | 2022-01-21 | 2022-05-06 | 美的集团(上海)有限公司 | Robot recharging control method, device and system |
| CN114442624B (en) * | 2022-01-21 | 2022-12-23 | 美的集团(上海)有限公司 | Robot recharging control method, device and system |
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