CN115657666A - Laser radar-based robot pile aligning method and device - Google Patents
Laser radar-based robot pile aligning method and device Download PDFInfo
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- CN115657666A CN115657666A CN202211240323.9A CN202211240323A CN115657666A CN 115657666 A CN115657666 A CN 115657666A CN 202211240323 A CN202211240323 A CN 202211240323A CN 115657666 A CN115657666 A CN 115657666A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
Abstract
The invention discloses a robot pile aligning method and device based on a laser radar, which comprises the following steps: when the robot enters a preset pile alignment range of a charging pile, scanning surrounding environment information through a laser radar to obtain a plurality of radar data point sets, and generating a plurality of intercepted images according to the plurality of radar data point sets; each radar data point set corresponds to one image; comparing each intercepted image with the template image respectively to obtain the position information of the central point of the charging pile; calculating offset data of the robot relative to the charging pile according to the first radar data point set with the highest matching degree with the template, and adjusting the position and posture of the robot to be right opposite to the charging pile; and obtaining the distance between the robot and the charging pile through a laser radar, and controlling the robot to move forward by the same distance according to the distance between the robot and the charging pile so as to realize successful butt joint of the robot and the charging pile.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a laser radar-based robot pile aligning method and device.
Background
With the rise of the intelligent manufacturing industry in recent years, intelligent robots are widely applied to fields such as industrial automation, logistics storage, intelligent home and the like. The power of intelligent robot usually comes from inside battery, then needs then in time to fill electric pile and charge when the battery energy exhausts. A common charging mode at the present stage is a mode of automatically positioning and docking a charging pile by a robot.
The existing autonomous docking mode mainly guides the docking of the robot and the charging pile through an infrared sensor or a GPS (global positioning system), and then judges whether the docking is successful or not through a touch sensor. However, the light emitting angle of the common infrared light emitting diode is not controllable, a plurality of LEDs and complex protocols are generally needed to realize the butt joint of the robot and the charging pile, the calculation is complex, and the adjusting process is long. Moreover, the infrared device is easily affected by the surrounding environment, so that the robot cannot be successfully docked, and the problem of charging failure occurs. And in the mode of charging pile to pile in GPS positioning, the positioning accuracy is relatively relied on, and when there is great error in the positioning, the condition that the charging pile can not be found exists. Meanwhile, the charging voltage output is controlled by using the state of the touch sensor, so that electric shock and other conditions are easily caused by mistaken touch.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a robot pile aligning method and device based on a laser radar, which greatly improve the pile aligning efficiency and accuracy of a robot.
The embodiment of the invention provides a robot pile aligning method based on a laser radar, which comprises the following steps:
when the robot enters a preset pile alignment range of a charging pile, scanning surrounding environment information through a laser radar to obtain a plurality of radar data point sets, and generating a plurality of intercepted images according to the plurality of radar data point sets; each radar data point set corresponds to one image;
comparing each intercepted image with the template image respectively to obtain the position information of the central point of the charging pile;
calculating to obtain offset data of the robot relative to the charging pile according to the first radar data point set with the highest matching degree with the template, and adjusting the position and the posture of the robot to be opposite to the charging pile;
and obtaining the distance between the robot and the charging pile through a laser radar, and controlling the robot to advance for the same distance according to the distance between the robot and the charging pile so as to enable the robot to realize successful butt joint with the charging pile.
Compared with the method for guiding the robot to align the pile through the infrared device in the prior art, the method and the device for aligning the pile utilize the laser radar to scan the environment information to obtain the plurality of radar data point sets, generate the plurality of corresponding intercepted images through the plurality of radar data point sets, perform data processing such as comparison and conversion on the intercepted images, obtain the pose information of the robot relative to the charging pile, and finally control the robot to align the pile successfully. The method is simple in process, the robot can be more stably controlled to carry out pile alignment, and pile alignment efficiency is greatly improved.
Further, the robot enters into the predetermine of filling electric pile and specifically includes to a stake scope: and when the robot is in a low-power state and needs to be charged, moving to a preset pile pairing point.
Further, scanning surrounding environment information through the laser radar to obtain a plurality of radar data point sets, and generating a plurality of captured images according to the plurality of radar data point sets specifically includes:
the method comprises the steps that a plurality of laser beams are emitted through a laser radar to obtain a plurality of point laser points, each laser point is used as a segmentation center of a plurality of radar data, the laser points traverse to two ends respectively, data with preset length are intercepted to be used as a radar data point set, so that a plurality of radar data point sets are obtained, and a plurality of intercepted images corresponding to one another are generated through the plurality of radar data point sets; the preset length is half of the width of a charging pile characteristic area.
The laser radar scanning method used in the embodiment of the invention takes each laser point as a division center of the plurality of radar data, traverses towards two ends respectively, intercepts the data with preset length, and forms a radar data point set by the laser point and the adjacent point of the laser point within the preset length range, thereby obtaining the plurality of radar data point sets, and generates a plurality of intercepted images corresponding to each other by the plurality of radar data point sets, so that the environmental information between the robot and the charging pile can be comprehensively obtained, and a good foundation is laid for subsequently determining the charging pile center point and the position information of the robot relative to the charging pile.
Further, compare each interception image and template image respectively, obtain fill electric pile's central point positional information, specifically include: and respectively subtracting each intercepted image from a preset template image, taking an absolute value of the difference value of the two intercepted images, and judging the geometric center point of the intercepted image with the minimum absolute value as the center point of the charging pile so as to obtain the position information of the center point of the charging pile.
The intercepted picture data and the template picture data are subtracted, the central point of the charging pile is determined by the data, the relative position of the charging pile and the robot can be clearly obtained, the final docking target point of the robot is determined, and the docking accuracy is improved.
Further, according to the first radar data point set with the highest matching degree with the template, the offset data of the robot relative to the charging pile is obtained through calculation, so that the position and posture of the robot are adjusted to be right opposite to the charging pile, and the method specifically comprises the following steps:
extracting a first image from the first set of radar data points;
converting the point set corresponding to the first image from a polar coordinate system to a rectangular coordinate system, connecting the end points of the left end and the right end of the corresponding point set, calculating an included angle between the end point connecting line and a horizontal axis in the rectangular coordinate system, wherein the included angle is offset data required by the position and posture adjustment of the robot, and the robot with the position and posture adjusted according to the offset data can be judged to be over against the charging pile.
Coordinate system conversion is carried out on the data of the laser radar, the robot is closer to the practical situation, the offset angle of the robot relative to the charging pile can be calculated more efficiently, and the robot is further controlled to adjust the pose.
Further, obtain the distance of robot and electric pile through laser radar, according to the distance of robot and electric pile fills, control the robot and advance the same distance so that the robot realize with fill the successful butt joint of electric pile, specifically include:
and obtaining the distance between the robot and the charging pile by using a laser radar and a preset laser ranging method, inputting the distance between the robot and the charging pile into an internal system, and controlling the robot to advance by the same distance by using the internal system so as to enable the robot and the charging pile to be successfully butted.
On the basis of the above method item embodiments, the present invention correspondingly provides apparatus item embodiments;
the embodiment of the invention provides a laser radar-based robot pile aligning device, which comprises: the device comprises an image capturing module, an image comparison module, a calibration module and a motion control module;
the image intercepting module is used for scanning the surrounding environment information through a laser radar after the robot enters a preset pile aligning range of the charging pile, acquiring a plurality of radar data point sets, and generating a plurality of intercepted images according to the plurality of radar data point sets; each radar data point set corresponds to one image;
the image comparison module is used for respectively comparing each intercepted image with a template image to obtain the central point position information of the charging pile;
the calibration module calculates offset data of the robot relative to the charging pile according to a first radar data point set with the highest matching degree with the template, so that the position and the posture of the robot are adjusted to be opposite to the charging pile;
the motion control module is used for controlling the robot to advance for the same distance according to the distance between the robot and the charging pile obtained through the laser radar so that the robot can be successfully docked with the charging pile.
Further, the image capture module is used for scanning the surrounding environment information through the laser radar, acquiring a plurality of radar data point sets, and generating a plurality of captured images according to the plurality of radar data point sets, and specifically includes:
the method comprises the steps that a plurality of laser beams are emitted through a laser radar to obtain a plurality of point laser points, each laser point is used as a segmentation center of a plurality of radar data, the laser points traverse to two ends respectively, data with preset length are intercepted, the laser points and the adjacent points of the laser points within the preset length range form a radar data point set, and therefore a plurality of radar data point sets are obtained, and a plurality of intercepted images which correspond one to one are generated through the plurality of radar data point sets; the preset length is half of the width of a characteristic area of the charging pile.
Further, the image comparison module is used for comparing each intercepted image with the template image respectively to obtain the central point position information of the charging pile, and the image comparison module specifically comprises: and respectively subtracting each intercepted image from a preset template image, taking an absolute value of the difference value of the two intercepted images, and judging the geometric center point of the intercepted image with the minimum absolute value as the center point of the charging pile so as to obtain the position information of the center point of the charging pile.
On the basis of the embodiment of the method item, the invention correspondingly provides an embodiment of the equipment item;
an embodiment of the present invention provides a robot, which includes a laser radar-based robot pile alignment system, where the laser radar-based robot pile alignment system performs the laser radar-based robot pile alignment method provided in the embodiment of the present invention.
Drawings
Fig. 1 is a schematic flowchart of a pile alignment method of a laser radar-based robot according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a laser radar-based robot pile alignment device according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of an autonomous charging mode operation flow of a charging pile according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a work flow of a manual charging mode of a charging pile according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, the intelligent robot widely adopts an autonomous recharging mode to realize electric quantity supplement, namely when the robot is in an idle state or the current electric quantity is lower than a specific threshold value, the robot automatically returns to charge the electric pile for endurance so as to reduce manual intervention and improve the working efficiency. At present, an infrared sensor or a GPS is mainly adopted in the market to guide the robot to be in butt joint with a charging pile, and then whether the butt joint is successful is judged through a touch sensor.
Laser radar is an advanced detection mode combining laser technology and modern photoelectric detection technology. The system consists of a transmitting system, a receiving system, information processing and the like. The working principle of the laser radar is very similar to that of the radar, the laser is used as a signal source, pulse laser emitted by a laser device is applied to trees, roads, bridges and buildings on the ground to cause scattering, a part of light waves can be reflected to a receiver of the laser radar, the distance from the laser radar to a target point is obtained according to calculation of a laser ranging principle, the pulse laser continuously scans a target object to obtain data of all the target points on the target object, and after the data is used for imaging processing, an accurate three-dimensional image can be obtained.
Referring to fig. 1, it is a schematic flow chart of a method for pile alignment by a laser radar-based robot according to an embodiment of the present invention, including the following steps:
s101: when the robot enters a preset pile alignment range of a charging pile, scanning surrounding environment information through a laser radar to obtain a plurality of radar data point sets, and generating a plurality of intercepted images according to the plurality of radar data point sets; each radar data point set corresponds to one image;
s102: comparing each intercepted image with the template image respectively to obtain the position information of the central point of the charging pile;
s103: calculating to obtain offset data of the robot relative to the charging pile according to the first radar data point set with the highest matching degree with the template, and adjusting the position and the posture of the robot to be opposite to the charging pile;
s104: and obtaining the distance between the robot and the charging pile through a laser radar, and controlling the robot to advance for the same distance according to the distance between the robot and the charging pile so as to enable the robot to realize successful butt joint with the charging pile.
Compared with the method for guiding the robot to align the pile through the infrared device in the prior art, the method and the device provided by the embodiment of the invention utilize the laser radar to scan the environment information to obtain the plurality of radar data point sets, generate the plurality of corresponding intercepted images through the plurality of radar data point sets, perform data processing such as comparison and conversion on the intercepted images, obtain the pose information of the robot relative to the charging pile, and finally control the robot to align the pile successfully. The method is simple in process, the robot can be controlled more stably to align the pile, and pile aligning efficiency is greatly improved.
For step S101, specifically, when the robot is in a low power state or an idle no-task state, the robot returns to the charging pile autonomously to perform power replenishment. The robot will close the relay on the robot charging circuit in advance and navigate to the stake point of meeting of the distance of filling electric pile 30cm department, and laser radar begins to scan the surrounding environment. Each radar data point can be intercepted to a point set, a picture for matching is generated by the point sets, and the number of the intercepted pictures depends on the number of the laser data.
In a preferred embodiment, scanning the surrounding environment information by using a laser radar to obtain a plurality of radar data point sets, and generating a plurality of captured images according to the plurality of radar data point sets, includes: the method comprises the steps of transmitting a plurality of laser beams through a laser radar to obtain a plurality of point laser points, using each laser point as a segmentation center of a plurality of radar data, respectively traversing towards two ends, intercepting data half as long as the width (30 cm) of a charging pile characteristic area, and forming a radar data point set by the laser point and a point close to the laser point within a preset length range, so as to obtain a plurality of radar data point sets, generating a plurality of intercepted images in one-to-one correspondence by the plurality of radar data point sets, wherein the widths of the intercepted images are all 30cm.
According to the laser radar scanning method used in the embodiment of the invention, each laser point is used as a segmentation center of the plurality of radar data, the laser points traverse to two ends respectively, and data with preset length is intercepted to be used as a radar data point set, so that the plurality of radar data point sets are obtained, and a plurality of intercepted images corresponding to one another are generated by the plurality of radar data point sets, so that the environmental information between the robot and the charging pile can be comprehensively obtained, and a good foundation is laid for the subsequent determination of the charging pile center point and the position information of the robot relative to the charging pile.
In step S102, specifically, the difference between each of the captured images and the preset template image is determined, and an absolute value is taken from the difference between the captured images and the preset template image, when the absolute value is smaller than a certain parameter value, the matching degree between the captured images and the preset template image is higher, the picture with the highest matching degree can be basically determined to be consistent with the template, and the central data of the point set is the center of the charging pile.
The difference is made between the intercepted picture data and the template picture data, the central point of the charging pile is determined by the data, the relative position of the charging pile and the robot can be clearly obtained, the final docking target point of the robot is determined, and the docking accuracy is improved.
In step S103, specifically, an image is generated from the first radar data point set, and the point set corresponding to the image is converted from a polar coordinate system to a rectangular coordinate system. After a coordinate system is converted, connecting end points at the left end and the right end of the point set, calculating an included angle (0-180 degrees) between the end point connecting line and a horizontal axis in a rectangular coordinate system in the rectangular coordinate system, wherein the included angle is offset data required by the position and posture adjustment of the robot, and adjusting the position and posture according to the offset data.
Coordinate system conversion is carried out on the data of the laser radar, the data are closer to the actual situation, the offset angle of the robot relative to the charging pile can be calculated more efficiently, and the robot is controlled to adjust the pose.
In a preferred embodiment, after the adjustment, the robot needs to scan with a laser radar to determine whether the charging pile can be detected right in front of the robot, so as to avoid that the adjusted pose faces away from the charging pile. The robot with the posture adjusted by the method can be judged to be just facing the charging pile.
In step S104, specifically, the distance between the robot and the charging pile is obtained by using a laser radar and a preset laser ranging method, and the distance between the robot and the charging pile is input into an internal system, and the internal system controls the robot to move forward by the same distance so that the robot and the charging pile are successfully docked.
On the basis of the above method item embodiments, the present invention correspondingly provides apparatus item embodiments;
referring to fig. 2, a schematic structural diagram of a laser radar-based robot pile alignment apparatus according to an embodiment of the present invention is shown, including: the system comprises an image interception module 201, an image comparison module 202, a calibration module 203 and a motion control module 204;
the image intercepting module 201 is used for scanning the surrounding environment information through a laser radar after the robot enters a preset pile aligning range of the charging pile, acquiring a plurality of radar data point sets, and generating a plurality of intercepted images according to the plurality of radar data point sets; each radar data point set corresponds to one image;
the image comparison module 202 is configured to compare each of the captured images with a template image, respectively, to obtain central point position information of the charging pile;
the calibration module 203 generates a first image according to the first radar data point set with the highest matching degree with the template, performs coordinate conversion on the first image, obtains offset data of the robot relative to the charging pile by calculating an included angle between an endpoint connecting line of the first image and a horizontal axis, and adjusts the position and posture of the robot to be right opposite to the charging pile;
the motion control module 204 is configured to control the robot to move forward by the same distance according to the distance between the robot and the charging pile obtained through the laser radar, so that the robot is successfully docked with the charging pile.
Further, the image capture module 201 is configured to scan the surrounding environment information through a laser radar, obtain a plurality of radar data point sets, and generate a plurality of captured images according to the plurality of radar data point sets, specifically including:
the method comprises the steps that a plurality of laser beams are emitted through a laser radar to obtain a plurality of point laser points, each laser point is used as a segmentation center of a plurality of radar data, the laser points traverse to two ends respectively, data with preset length are intercepted, the laser points and the adjacent points of the laser points within the preset length range form a radar data point set, so that a plurality of radar data point sets are obtained, and a plurality of intercepted images in one-to-one correspondence are generated by the plurality of radar data point sets; the preset length is half of the width of a characteristic area of the charging pile.
Further, the image comparison module 202 is configured to compare each captured image with the template image, respectively, to obtain the central point location information of the charging pile, and specifically includes: and respectively subtracting each intercepted image from a preset template image, taking an absolute value from the difference value of the two intercepted images, and judging the geometric central point of the intercepted image with the minimum absolute value as the central point of the charging pile so as to obtain the central point position information of the charging pile.
Further, the calibration module 203 generates an image from the first radar data point set with the highest matching degree with the template, and converts the point set corresponding to the image from a polar coordinate system to a rectangular coordinate system. After a coordinate system is converted, connecting end points at the left end and the right end of the point set, calculating an included angle (0-180 degrees) between the end point connecting line and a horizontal axis in a rectangular coordinate system in the rectangular coordinate system, wherein the included angle is offset data required by the position and posture adjustment of the robot, and adjusting the position and posture according to the offset data.
In a preferred embodiment, after the adjustment, the robot needs to scan with a laser radar to determine whether the charging pile can be detected right in front of the robot, so as to avoid that the adjusted pose faces away from the charging pile. The robot with the posture adjusted by the method can be judged to be just facing the charging pile.
On the basis of the embodiment of the method item, the invention correspondingly provides an embodiment of the equipment item;
an embodiment of the present invention provides a robot, including: the laser radar system comprises a controller and a laser radar connected with the controller; the controller is used for executing the laser radar-based robot pile aligning method.
In addition, the embodiment of the invention also provides a charging pile, wherein the charging pile and the robot are provided with current monitoring circuits, and the current monitoring circuits are mainly used for judging whether the robot is fully charged or leaves the charging pile and judging whether relays of charging loops of the charging pile and the charging robot are disconnected. When the charging current of filling electric pile is less than specific threshold value, can judge that the robot has left and fill electric pile, fill electric pile this moment and will break off the corresponding relay, stop to fill electric pile brush piece and carry out voltage output, avoid safety problems such as electric shock.
The charging pile utilizes the voltage detection circuit to judge whether the robot successfully aligns to the pile, and utilizes the current detection circuit to judge whether the robot is in a full-electricity state or an off-pile state. So do so because the robot is full of electricity but when not leaving charging pile, in order to protect the battery, it will no longer charge for the battery to fill electric pile, only to the robot power supply, the electric quantity of robot this moment promptly derives from filling electric pile, and its electric current size is less than charging current far away, but the voltage is unchangeable. Therefore, the pile alignment condition is judged by adopting a voltage jump mode, the condition that the battery of the robot is not overcharged and continuously keeps a full-charge state after the full-charge state can be ensured, and the robot can be normally powered. In addition, in the normal operation process of the charging pile, the voltage detection module and the current detection module can monitor the current and voltage conditions of the circuit all the time, when the overcurrent and overvoltage conditions occur, the alarm is indicated in time, the corresponding relay is disconnected, and the safety of the charging pile is improved.
As a preferred embodiment, a user can autonomously select an automatic charging mode and a manual charging mode in the robot charging process;
referring to fig. 3, in the automatic charging mode, when the robot is in a low-power state or an idle no-task state, the robot returns to the charging pile autonomously to perform power replenishment. At the moment, the robot closes a relay on a robot charging loop in advance and navigates to a preset pile aligning range, and the method for aligning the pile by the robot based on the laser radar provided by the embodiment of the invention is utilized to autonomously align the pile and charge the pile. When the voltage of the brush block of the charging pile jumps, a relay in the charging pile is closed, and the robot starts to be charged. At the moment, the voltage detection module and the current detection module inside the charging pile can always monitor the current and voltage conditions in the circuit, when overvoltage or overcurrent occurs in the circuit, the relay of the charging pile is automatically disconnected, the robot is stopped to be charged, and an alarm signal is sent out.
Referring to fig. 4, for the manual charging mode, under the condition that the robot cannot return to the charging pile autonomously when being in an ultra-low electric quantity state or a shutdown state, accurate butt joint of the robot and the charging pile can be achieved manually by pushing the robot, a charging button on the charging pile is pressed for a long time to control a relay on the charging pile to be closed, when the robot monitors that the voltage of a charging brush block at the robot end is an appointed voltage, the relay of a charging loop of the robot is closed, a charging function is achieved, and the robot is not required to be in a startup state. If the charging button of the charging pile is pressed, the robot is not successfully butted with the charging pile within the specified time, the relay is disconnected by the charging pile, and the output of the charging voltage is stopped.
The embodiment of the invention provides a laser radar-based robot pile aligning method, a corresponding device and equipment, aiming at the problems that in the prior art, the robot and a charging pile are complex in butt joint and the charging safety is not guaranteed, so that the efficiency and accuracy of robot pile alignment are improved, and the safety is also greatly improved.
It should be noted that the above-described embodiments of the apparatus are merely illustrative, where the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A robot pile aligning method based on a laser radar is characterized by comprising the following steps:
when the robot enters a preset pile alignment range of a charging pile, scanning surrounding environment information through a laser radar to obtain a plurality of radar data point sets, and generating a plurality of intercepted images according to the plurality of radar data point sets; each radar data point set corresponds to one image;
comparing each intercepted image with the template image respectively to obtain the position information of the central point of the charging pile;
calculating to obtain offset data of the robot relative to the charging pile according to the first radar data point set with the highest matching degree with the template, and adjusting the position and the posture of the robot to be opposite to the charging pile;
and obtaining the distance between the robot and the charging pile through a laser radar, and controlling the robot to advance for the same distance according to the distance between the robot and the charging pile so as to enable the robot to realize successful butt joint with the charging pile.
2. The method for robot pile alignment based on the laser radar as claimed in claim 1, wherein the robot enters a preset pile alignment range of the charging pile, and specifically comprises: and when the robot is in a low-power state and needs to be charged, moving to a preset pile pairing point.
3. The method for pile alignment by a robot based on lidar as claimed in claim 1, wherein the scanning the surrounding environment information by the lidar to obtain a plurality of radar data point sets, and generating a plurality of captured images according to the plurality of radar data point sets specifically comprises:
the method comprises the steps that a plurality of laser beams are emitted through a laser radar to obtain a plurality of point laser points, each laser point is used as a segmentation center of radar data, the laser points traverse to two ends respectively, data with preset length are intercepted, the laser points and the adjacent points of the laser points within the preset length range form a radar data point set, so that a plurality of radar data point sets are obtained, and a plurality of intercepted images in one-to-one correspondence are generated by the plurality of radar data point sets; the preset length is half of the width of a characteristic area of the charging pile.
4. The method of claim 1, wherein the step of comparing each captured image with the template image to obtain the position information of the center point of the charging pile comprises: and respectively subtracting each intercepted image from a preset template image, taking an absolute value of the difference value of the two intercepted images, and judging the geometric center point of the intercepted image with the minimum absolute value as the center point of the charging pile so as to obtain the position information of the center point of the charging pile.
5. The method of claim 1, wherein the step of calculating offset data of the robot relative to the charging pile according to the first radar data point set with the highest matching degree with the template to adjust the position and posture of the robot to be right opposite to the charging pile comprises:
extracting a first image from the first set of radar data points;
converting the point set corresponding to the first image from a polar coordinate system to a rectangular coordinate system, connecting the left end point and the right end point of the point set corresponding to the first image, calculating an included angle between the end point connecting line and a horizontal axis in the rectangular coordinate system, wherein the included angle is offset data required by the position and posture adjustment of the robot, and the robot with the position and posture adjusted according to the offset data can be judged to be just opposite to the charging pile.
6. The method for robot pile alignment based on lidar of claim 1, wherein the obtaining of the distance between the robot and the charging pile through the lidar and the controlling of the robot to move forward by the same distance according to the distance between the robot and the charging pile to enable the robot to successfully dock with the charging pile comprise:
and obtaining the distance between the robot and the charging pile by using a laser radar and a preset laser ranging method, inputting the distance between the robot and the charging pile into an internal system, and controlling the robot to advance by the same distance by using the internal system so as to enable the robot and the charging pile to be successfully butted.
7. A robot is to stake device based on lidar which characterized in that includes: the device comprises an image capturing module, an image comparison module, a calibration module and a motion control module;
the image intercepting module is used for scanning the surrounding environment information through a laser radar after the robot enters a preset pile aligning range of the charging pile, acquiring a plurality of radar data point sets, and generating a plurality of intercepted images according to the plurality of radar data point sets; each radar data point set corresponds to one image;
the image comparison module is used for respectively comparing each intercepted image with the template image to obtain the position information of the central point of the charging pile;
the calibration module calculates offset data of the robot relative to the charging pile according to a first radar data point set with the highest matching degree with the template, so that the position and the posture of the robot are adjusted to be opposite to the charging pile;
the motion control module is used for controlling the robot to advance for the same distance according to the distance between the robot and the charging pile obtained through the laser radar so that the robot can be successfully docked with the charging pile.
8. The apparatus as claimed in claim 7, wherein the image capturing module is configured to scan information of a surrounding environment through the lidar, obtain a plurality of radar data point sets, and generate a plurality of captured images according to the plurality of radar data point sets, and specifically includes:
the method comprises the steps that a plurality of laser beams are emitted through a laser radar to obtain a plurality of point laser points, each laser point is used as a segmentation center of a plurality of radar data, the laser points traverse to two ends respectively, data with preset length are intercepted, the laser points and the adjacent points of the laser points within the preset length range form a radar data point set, and therefore a plurality of radar data point sets are obtained, and a plurality of intercepted images which correspond one to one are generated through the plurality of radar data point sets; the preset length is half of the width of a characteristic area of the charging pile.
9. The lidar-based robot pile aligning device according to claim 7, wherein the image comparison module is configured to compare each captured image with the template image, respectively, to obtain the position information of the center point of the charging pile, and specifically comprises: and respectively subtracting each intercepted image from a preset template image, taking an absolute value from the difference value of the two intercepted images, and judging the geometric central point of the intercepted image with the minimum absolute value as the central point of the charging pile so as to obtain the central point position information of the charging pile.
10. A robot, comprising: the laser radar system comprises a controller and a laser radar connected with the controller;
the controller is configured to perform the lidar based robot pile-on-pile method as defined in any of claims 1-6.
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| CN202211240323.9A CN115657666A (en) | 2022-10-11 | 2022-10-11 | Laser radar-based robot pile aligning method and device |
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| CN202211240323.9A CN115657666A (en) | 2022-10-11 | 2022-10-11 | Laser radar-based robot pile aligning method and device |
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