WO2022089547A1 - Procédé et système de positionnement de pile de charge par robot - Google Patents

Procédé et système de positionnement de pile de charge par robot Download PDF

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Publication number
WO2022089547A1
WO2022089547A1 PCT/CN2021/127126 CN2021127126W WO2022089547A1 WO 2022089547 A1 WO2022089547 A1 WO 2022089547A1 CN 2021127126 W CN2021127126 W CN 2021127126W WO 2022089547 A1 WO2022089547 A1 WO 2022089547A1
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WO
WIPO (PCT)
Prior art keywords
charging pile
point cloud
robot
positioning
laser
Prior art date
Application number
PCT/CN2021/127126
Other languages
English (en)
Chinese (zh)
Inventor
朱俊安
张涛
郭璁
Original Assignee
深圳市普渡科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市普渡科技有限公司 filed Critical 深圳市普渡科技有限公司
Publication of WO2022089547A1 publication Critical patent/WO2022089547A1/fr

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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
    • G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course 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
    • 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
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • 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

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Health & Medical Sciences (AREA)
  • Business, Economics & Management (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

La présente invention concerne un procédé et un système de positionnement d'une pile de charge par robot. Le procédé comprend : le calcul d'un nuage de points idéal d'informations caractéristiques et d'une carte de distance du nuage de points idéal ; la recherche des nuages de points laser dans une plage de recherche ; la recherche des nuages de points laser dans la plage de recherche au moyen d'une fenêtre glissante pour délivrer en sortie une pluralité de nuages de points candidats, et la sélection d'un nuage de points laser ayant une erreur d'alignement minimale en tant que nuage de points de pile de charge ; et l'alignement du nuage de points de pile de charge avec le nuage de points idéal au moyen d'un procédé de décomposition de valeurs singulières, pour calculer la pose de la pile de charge.
PCT/CN2021/127126 2020-10-29 2021-10-28 Procédé et système de positionnement de pile de charge par robot WO2022089547A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011183134.3A CN112327842B (zh) 2020-10-29 2020-10-29 机器人定位充电桩的方法及系统
CN202011183134.3 2020-10-29

Publications (1)

Publication Number Publication Date
WO2022089547A1 true WO2022089547A1 (fr) 2022-05-05

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PCT/CN2021/127126 WO2022089547A1 (fr) 2020-10-29 2021-10-28 Procédé et système de positionnement de pile de charge par robot

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CN (1) CN112327842B (fr)
WO (1) WO2022089547A1 (fr)

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CN112363500B (zh) * 2020-10-29 2023-05-16 深圳市普渡科技有限公司 自动回充移动方法及系统
CN112327842B (zh) * 2020-10-29 2022-06-03 深圳市普渡科技有限公司 机器人定位充电桩的方法及系统
CN112666564B (zh) * 2021-03-16 2021-07-06 瓴道(上海)机器人科技有限公司 充电桩的定位方法、装置及设备、存储介质
CN113341396B (zh) * 2021-05-28 2023-12-15 深圳市优必选科技股份有限公司 机器人及其充电桩识别方法和装置
CN115509214B (zh) * 2021-06-04 2024-03-15 同方威视技术股份有限公司 定位控制方法和装置、自主充电控制装置、方法及系统

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CN110375752A (zh) * 2018-08-29 2019-10-25 天津京东深拓机器人科技有限公司 一种生成导航点的方法和装置
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CN112327842A (zh) 2021-02-05

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