CN119806204B - A method and device for docking charging pile for robots - Google Patents
A method and device for docking charging pile for robotsInfo
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- CN119806204B CN119806204B CN202510221913.4A CN202510221913A CN119806204B CN 119806204 B CN119806204 B CN 119806204B CN 202510221913 A CN202510221913 A CN 202510221913A CN 119806204 B CN119806204 B CN 119806204B
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Abstract
本发明公开了一种用于机器人的对接充电桩方法及装置，机器人搭载单线激光雷达，充电桩上固定安装反光板，方法包括：获取实时的激光点云，分析激光点云中的各个反光点数据，确定反光直线方程，得到目标端点坐标，并给出反光板的位置信息；根据充电桩和反光板的相对位置关系，并结合反光板的位置信息，确定充电桩的位置信息；基于充电桩的位置信息，给出机器人对接充电桩的对接路径，完成机器人与充电桩的对接。本发明基于充电桩上设置的反光板实现激光点云的获取，降低环境在机器人对接充电桩过程中产生的影响，并对激光点云上的反光点进行分析得到充电桩上反光板的位置，进而得到充电桩位置实现对接，达到提高机器人对接充电桩准确度的效果。
The present invention discloses a method and device for docking a charging pile for a robot. The robot is equipped with a single-line laser radar, and a reflector is fixedly installed on the charging pile. The method includes: obtaining a real-time laser point cloud, analyzing the data of each reflective point in the laser point cloud, determining the equation of the reflective line, obtaining the coordinates of the target endpoint, and giving the position information of the reflector; determining the position information of the charging pile according to the relative position relationship between the charging pile and the reflector, and combining the position information of the reflector; based on the position information of the charging pile, giving the docking path of the robot docking with the charging pile, and completing the docking of the robot with the charging pile. The present invention realizes the acquisition of laser point cloud based on the reflector set on the charging pile, reduces the influence of the environment on the process of the robot docking with the charging pile, and analyzes the reflective points on the laser point cloud to obtain the position of the reflector on the charging pile, and then obtains the position of the charging pile to achieve docking, so as to achieve the effect of improving the accuracy of the robot docking with the charging pile.
Description
Technical Field
The invention belongs to the technical field of image analysis, and particularly relates to a butt joint charging pile method and device for a robot.
Background
With the development of robot technology, robots are increasingly applied to the production and life of people, and high-efficiency and convenient services are provided for the production and life of people. In order to improve the working efficiency of the robot, the robot is required to be matched with the charging pile in a butt joint mode to realize autonomous charging.
At present, in the matching charging process of the robot and the charging pile, the robot controls the robot to butt-joint the charging pile through a pile butt control algorithm according to the current positioning information. However, when the charging pile is moved or the robot is positioned to have certain deviation, pile failure is easily caused, so that the robot cannot be charged autonomously, and finally the robot is turned off, and normal work is affected.
In order to solve the problem that the butt joint of the robot and the charging pile fail, the prior art mainly relies on a GPS positioning technology, a visual identification technology and an infrared monitoring technology, but the positioning accuracy of the technologies can be affected to a certain extent in an environment with shielding or low visibility, and the problem of the robot in the butt joint of the charging pile can be caused.
Patent CN113378750a discloses a charging pile docking method, device, computer equipment and storage medium. The method is executed by the robot and comprises the steps of obtaining an environment map, generating a traveling instruction according to the position information of the charging pile in the environment map, obtaining a depth image and a three-channel color image if the traveling is determined to meet the condition of a preset distance range, calculating to obtain the current pose information of the charging pile according to the depth image and the three-channel color image, and determining a docking pose according to the current pose information of the charging pile so as to dock with the charging pile, so that the robot and the charging pile can be automatically, accurately and dynamically docked.
How to reduce the influence of the environment on the robot butt-joint charging pile and improve the accuracy of the robot butt-joint charging pile are problems to be solved currently.
Disclosure of Invention
Aiming at the defects in the prior art, the invention discloses a butt joint charging pile method and a butt joint charging pile device for a robot, wherein the robot is provided with a single-line laser radar, and a reflector is fixedly arranged on the charging pile; and based on the position information of the charging pile, a butt joint path of the robot for butt joint of the charging pile is given, and the butt joint of the robot and the charging pile is completed. According to the invention, the acquisition of the laser point cloud is realized based on the reflector arranged on the charging pile, the position of the reflector on the charging pile is obtained by analyzing the reflector on the laser point cloud, the position of the charging pile is further obtained to realize the butt joint, the influence of the environment in the process of butt joint of the robot with the charging pile is reduced by acquiring the laser point cloud, and the improvement of the accuracy of the butt joint of the robot with the charging pile is realized.
In a first aspect, the present invention provides a method for docking a charging pile for a robot, specifically including the steps of:
acquiring a real-time laser point cloud, wherein the laser point cloud comprises all reflection point data of a reflector;
Analyzing the data of each reflection point in the laser point cloud, determining a reflection linear equation, obtaining the coordinates of a target endpoint, and giving out the position information of the reflection plate;
Determining the position information of the charging pile according to the relative position relation between the charging pile and the reflecting plate and combining the position information of the reflecting plate;
based on the position information of the charging pile, a butt joint path of the robot for butt joint of the charging pile is provided, and the butt joint of the robot and the charging pile is completed.
Further, analyzing each reflection point data in the laser point cloud, determining a reflection linear equation, obtaining a target endpoint coordinate, and providing position information of the reflection plate, which specifically includes:
analyzing the laser intensity value of each pixel on the laser point cloud, determining a plurality of reflecting points, and obtaining data of each reflecting point;
performing analysis fitting on the data of each reflection point to obtain a reflection linear equation;
and determining the coordinates of the end points of the target based on the reflection linear equation and combining the position relation of a plurality of reflection points to give the position information of the reflection plate.
Further, each reflection point data is analyzed and fitted to obtain a reflection linear equation, which specifically comprises:
acquiring coordinate information of each reflecting point in a robot coordinate system based on the data of each reflecting point;
Performing Hough transformation on the coordinate information of each reflecting point to obtain straight line data corresponding to the reflecting point in a parameter space;
determining intersection point data among the straight lines according to the straight line data corresponding to the reflection points in the parameter space;
based on the intersection point data among the straight lines, giving out parameters of a reflection straight line equation, and determining the reflection straight line equation;
The reflection of light equation of straight line, specifically expressed as:
;
wherein x is the advancing direction of the robot, y is the direction vertical to x, y and x follow the right hand rule, and k and b are parameters of the reflection linear equation respectively.
Further, based on a reflection linear equation and combining the position relation of a plurality of reflection points, determining the coordinates of the target end points, and giving the position information of the reflection plate, wherein the method specifically comprises the following steps:
Comparing and analyzing the data of the plurality of reflection points to give coordinates of the target end points;
Giving the coordinates of the reflector based on the coordinates of the end points of the targets;
the direction of the reflector is determined through a reflection linear equation, the normal vector direction of the reflector is determined, and the normal vector direction of the reflector is specifically expressed as follows:
;
wherein, the The normal vector direction and the x-axis included angle of the reflecting plate are defined, and k is a parameter of a reflecting linear equation.
Further, comparing and analyzing the plurality of reflection point data to give coordinates of the target end point, specifically including:
Determining an abscissa maximum reflection point, an abscissa minimum reflection point, an ordinate maximum reflection point and an ordinate minimum reflection point from the plurality of reflection point data;
giving a maximum abscissa distance based on the maximum abscissa reflection point and the minimum abscissa reflection point;
giving a maximum ordinate distance based on the maximum ordinate reflection point and the minimum ordinate reflection point;
when the maximum ordinate distance is smaller than the maximum abscissa distance, taking the maximum abscissa reflection point and the minimum abscissa reflection point as target endpoints and determining target endpoint coordinates;
and when the maximum distance of the ordinate is greater than or equal to the maximum distance of the abscissa, taking the maximum reflection point of the ordinate and the minimum reflection point of the ordinate as target endpoints and determining the coordinates of the target endpoints.
Further, the target endpoint coordinates are specifically expressed as;
wherein, the AndFor the two target endpoint coordinates,The minimum value of the x-coordinate among the plurality of reflection points corresponds to the coordinate of the reflection point,The x-coordinate maximum value among the plurality of reflection points corresponds to the coordinates of the reflection point,The minimum value of the y coordinate in the plurality of reflection points corresponds to the coordinate of the reflection point,The maximum value of the y coordinates among the plurality of reflection points corresponds to the coordinates of the reflection point,Is thatAndThe distance between the two points.
Further, according to the relative positional relationship between the charging pile and the reflector, and in combination with the positional information of the reflector, the positional information of the charging pile is determined, which specifically includes:
Acquiring real-time environment data, analyzing the moving position of a robot, and determining a conversion matrix of a robot coordinate system and a fixed coordinate system, wherein the robot coordinate system is a coordinate system taking the position of the robot as an origin;
based on the target endpoint coordinates, analyzing midpoint coordinates corresponding to the target endpoint coordinates, and giving the reflector coordinates;
the method comprises the steps of combining a transformation matrix of a robot coordinate system and a fixed coordinate system, transforming the coordinates of the reflecting plate, and determining the initial position of the reflecting plate, wherein the initial position of the reflecting plate is specifically expressed as follows:
wherein, the The initial position of the reflector is M is a conversion matrix from a robot coordinate system to a map coordinate system,The coordinates of the reflecting plate;
And adjusting the initial position of the reflector according to the relative position relation between the charging pile and the reflector, and determining the position of the charging pile.
Further, the coordinates of the reflector are specifically expressed as:
wherein x is the abscissa of the charging pile in the robot coordinate system, y is the ordinate of the charging pile in the robot coordinate system, Respectively the abscissa of the target endpoint coordinates in the robot coordinate system,The ordinate of the target endpoint coordinates in the robot coordinate system, respectively.
Further, the transformation matrix of the robot coordinate system and the fixed coordinate system is determined by the following steps:
acquiring real-time environment data, and determining the position and posture change of the robot in a fixed coordinate system based on the real-time environment data;
Based on the position and posture change of the robot in the fixed coordinate system, the translation and rotation information of the robot coordinate system and the fixed coordinate system is analyzed by combining the position and posture of the robot in the robot coordinate system, and a conversion matrix is given.
Further, according to the relative position relation between the charging pile and the reflector, the initial position of the reflector is adjusted, and the position of the charging pile is determined, specifically comprising the following steps:
Based on the position of the reflecting plate on the charging pile, giving the position difference and the angle difference of the reflecting plate and the charging pile in all directions;
Based on the position difference of the reflecting plate and the charging pile in each direction, adjusting the coordinates of the initial position of the reflecting plate in the corresponding direction;
Based on the angle difference between the reflector and the charging pile in each direction, the angle of the corresponding direction of the initial position of the reflector is adjusted, and the position of the charging pile is determined.
Further, based on the position information of the charging pile, a docking path for the robot to dock the charging pile is provided, and docking of the robot and the charging pile is completed, specifically comprising the following steps:
Based on the position information of the charging pile, a robot docking path taking the position of the charging pile as an end point is given;
and acquiring the charging state of the robot in the docking process, and completing docking of the charging pile based on the charging state.
In a second aspect, the present invention also provides a docking charging pile device for a robot, using the docking charging pile method for a robot as described above, comprising:
The data acquisition module is used for acquiring real-time laser point clouds, wherein the laser point clouds comprise all reflection point data of the reflecting plate;
the position determining module is used for analyzing the data of each reflection point in the laser point cloud, determining a reflection linear equation, obtaining the coordinates of a target endpoint and giving out the position information of the reflection plate;
The charging pile determining module is used for determining the position information of the charging pile according to the relative position relation between the charging pile and the reflecting plate and combining the position information of the reflecting plate;
And the charging pile docking module is used for providing a docking path for the robot to dock the charging pile based on the position information of the charging pile, and completing docking of the robot and the charging pile.
The invention provides a method and a device for butting and charging piles of a robot, which at least comprise the following beneficial effects:
The acquisition of laser point cloud is realized based on the reflector plate that fills to carry out the analysis to the reflector plate's on the laser point cloud position on the electric pile that fills, and then obtain the electric pile position and realize the butt joint, through obtaining the laser point cloud, reduce the influence of environment to the robot butt joint fills electric pile, realize the improvement of robot butt joint fills electric pile degree of accuracy.
Drawings
Fig. 1 is a flow chart of a method for docking a charging pile for a robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a positional relationship between a robot and a charging pile according to an embodiment of the present invention;
FIG. 3 is a flowchart of determining coordinates of a target endpoint according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of determining coordinates of a target endpoint according to an embodiment of the present invention;
FIG. 5 is a flow chart of determining a reflection straight line equation according to an embodiment of the present invention;
FIG. 6 is a flowchart for determining the position of a charging pile according to an embodiment of the present invention;
FIG. 7 is a flowchart of determining a transformation matrix according to an embodiment of the present invention;
FIG. 8 is a flowchart for determining the position of a charging pile according to an embodiment of the present invention;
fig. 9 is a block diagram of a butt-joint charging pile device for a robot according to an embodiment of the present invention.
1. The device comprises a charging pile, a reflector, a charging port, a robot, a single-wire laser radar, a data acquisition module, a position determination module, a charging pile determination module and a charging pile docking module.
Detailed Description
In order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and specific embodiments. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, the "plurality" generally includes at least two.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of additional like elements in a commodity or device comprising the element.
With the wide application of industrial robots in the fields of logistics, storage, security protection and the like, the requirements of the charging pile butt joint application technology of robots are increasing increasingly. The positioning accuracy of the butt joint of the mobile robot and the charging pile directly influences the charging efficiency and the safety, and particularly, the traditional positioning method has a plurality of limitations in a low-light or low-visibility environment. Because the degree of automation of the robot is not high, matching charging is easy to fail, if the robot cannot charge in time, the electric quantity of the robot is exhausted, and the use experience is affected.
In order to solve the problem of failure of the robot to butt-joint the charging pile, the prior art mainly relies on GPS positioning technology, visual identification technology and infrared detection technology. And the charging pile is abutted by positioning the charging pile by using a GPS positioning technology. The GPS positioning technology is suitable for outdoor environments and can provide positioning services in the global scope. However, the GPS positioning technology has poor positioning accuracy in indoor or occluded environments, and it is difficult to provide reliable positioning information in low-light or low-visibility environments. And the visual recognition technology is used for recognizing the two-dimensional code on the charging pile to realize the butt joint of the charging pile. The visual recognition technology can recognize the characteristics of the charging pile, and is suitable for indoor and outdoor complex environments. However, in the visual recognition technology, the image recognition effect is remarkably reduced in the environment with low visibility, and positioning accuracy is difficult to ensure. And the infrared detection technology is used for detecting the infrared signals of the charging piles to realize the butt joint of the charging piles. The infrared identification technology can identify the relative positions of the robot and the charging pile, and is suitable for indoor simple environments. But the infrared detector device is relatively small, and is suitable for the small-sized sweeping robot opposite piles.
In summary, the existing positioning technology has the problem of reduced positioning accuracy in different degrees in the environment with low visibility, and has poor adaptability to different environments. Meanwhile, due to inaccurate positioning, the robot is easy to collide when approaching the charging pile, and potential safety hazards are increased.
In order to solve the problems, the invention provides a butt joint charging pile method for a robot, which obtains laser point clouds based on a reflector on a charging pile through acquisition and analysis, determines the position of the charging pile, gives a butt joint path based on the position of the charging pile, enables the robot to accurately approach the charging pile and complete butt joint, and reduces the influence on the position determination of the charging pile due to illumination, shielding and the like in the environment through the analysis of the laser point clouds so as to improve the butt joint precision of the robot and the charging pile.
As shown in fig. 1, the embodiment of the invention provides a method for docking and charging a pile for a robot, which comprises the following specific steps:
s101, acquiring a laser point cloud.
Specifically, the laser point cloud includes respective reflection point data of the reflection plate 11, and is obtained based on the reflection plate 11 provided on the charging stake 1. The robot 2 is provided with a single-line laser radar 21, laser is emitted by the single-line laser radar 21, and the laser is refracted on different surfaces and fed back to the robot 2 to obtain a laser point cloud. By installing the reflecting plate 11 on the charging pile 1 and positioning by utilizing the single-line laser radar 21 on the robot 2, the high-precision positioning of the charging pile 1 in a low-light or low-visibility environment is realized.
Referring to fig. 2, a reflector 11 is disposed above a charging port 12 of a charging pile 1, a single-line laser radar 21 is disposed on a robot 2, the robot 2 walks along the traveling direction of the robot 2, and laser emitted by the single-line laser radar 21 is reflected on the reflector 11, so as to obtain laser point clouds.
In the example provided by the present invention, the single-line lidar 21 may achieve object positioning by measuring the shape of the object or the specific reflectivity of the object. Since the shape of the charging pile 1 is not unique in the environment, positioning is achieved by considering the design of a specific reflectivity on the surface of the charging pile 1. The design adopts the reflective membrane to paste in 1 front surface of charging pile for 2 two-dimensional laser radar detection of robot, through the indirect location of location reflective membrane position charging pile 1 position.
S102, analyzing data of each reflection point in the laser point cloud, determining a reflection linear equation, obtaining target endpoint coordinates, and giving out position information of the reflection plate.
Referring to fig. 3, specifically, the laser intensity values of each pixel on the laser point cloud are analyzed to determine a plurality of reflection points, data of each reflection point is obtained, analysis fitting is performed on the data of each reflection point to obtain a reflection linear equation, and coordinates of a target endpoint are determined based on the reflection linear equation and by combining the position relations of the plurality of reflection points, so that position information of the reflection plate is given.
Further, the plurality of reflection point data are compared and analyzed to give the target endpoint coordinates. The reflector coordinates are given based on the target endpoint coordinates. The direction of the reflector is determined through a reflection linear equation, the normal vector direction of the reflector is determined, and the normal vector direction of the reflector is specifically expressed as follows:
wherein, the The normal vector direction and the x-axis included angle of the reflecting plate are defined, and k is a parameter of a reflecting linear equation.
Further, comparing and analyzing the plurality of reflection point data to give coordinates of the target end point, specifically including:
Determining an abscissa maximum reflection point, an abscissa minimum reflection point, an ordinate maximum reflection point and an ordinate minimum reflection point from the plurality of reflection point data;
giving a maximum abscissa distance based on the maximum abscissa reflection point and the minimum abscissa reflection point;
giving a maximum ordinate distance based on the maximum ordinate reflection point and the minimum ordinate reflection point;
when the maximum ordinate distance is smaller than the maximum abscissa distance, taking the maximum abscissa reflection point and the minimum abscissa reflection point as target endpoints and determining target endpoint coordinates;
and when the maximum distance of the ordinate is greater than or equal to the maximum distance of the abscissa, taking the maximum reflection point of the ordinate and the minimum reflection point of the ordinate as target endpoints and determining the coordinates of the target endpoints.
It should be understood that the abscissa maximum reflection point refers to the reflection point having the greatest abscissa value among all reflection point data, the abscissa minimum reflection point refers to the reflection point having the smallest abscissa value among all reflection point data, the ordinate maximum reflection point refers to the reflection point having the greatest ordinate value among all reflection point data, the ordinate minimum reflection point refers to the reflection point having the smallest ordinate value among all reflection point data, and it should be understood that when determining the abscissa maximum reflection point and the abscissa minimum reflection point, when the ordinate maximum reflecting point and the ordinate minimum reflecting point are determined independently of the ordinate size of each reflecting point data, the situation that two reflecting points in four points are identical may occur, for example, when the abscissa of a reflecting point is the minimum value of the abscissas in all reflecting point data and the ordinate of the reflecting point is the minimum value of the abscissas in all reflecting point data, the abscissa minimum reflecting point and the ordinate minimum reflecting point are identical at this time.
The target endpoint coordinates are specifically expressed as:
wherein, the AndFor the two target endpoint coordinates,The minimum value of the x-coordinate among the plurality of reflection points corresponds to the coordinate of the reflection point,The x-coordinate maximum value among the plurality of reflection points corresponds to the coordinates of the reflection point,The minimum value of the y coordinate in the plurality of reflection points corresponds to the coordinate of the reflection point,The maximum value of the y coordinates among the plurality of reflection points corresponds to the coordinates of the reflection point,Is thatAndThe distance between the two points.
Is the coordinate of the minimum reflection point on the abscissa,Is the coordinate of the maximum reflection point on the abscissa,Is the ordinate of the minimum reflection point,Is the ordinate of the ordinate maximum reflection point,For the maximum distance of the abscissa,Is the maximum distance in ordinate.
In one specific example, referring to FIG. 4, there are five retroreflective data A (1, 2), B (3, 5), C (7, 3), D (2, 1), E (5, 7). According to the judgment of the coordinate values in the five reflection point data, the maximum reflection point of the abscissa is C (7, 3), the minimum reflection point of the abscissa is A (1, 2), the maximum reflection point of the ordinate is E (5, 7), and the minimum reflection point of the ordinate is D (2, 1).
The maximum distance of the abscissa can then be obtained:
Maximum distance in ordinate:
Due to The target end points are therefore the ordinate maximum reflection point E (5, 7) and the ordinate minimum reflection point D (2, 1), i.e. p1=d (2, 1), p2=e (5, 7).
By determining the target endpoint by the method, the distribution situation of all reflection points can be considered more comprehensively compared with the method of directly designating two points as endpoints. And the target endpoint is determined by comparing the maximum distances of the horizontal coordinate and the vertical coordinate, the distribution of all points in two directions can be comprehensively considered, the selected endpoint can be ensured to cover all reflection points to the greatest extent, and the determined range is more in accordance with the actual data distribution.
Different reflection point distribution conditions have different maximum distance relations of the horizontal coordinate and the vertical coordinate. The judging method can adaptively select more suitable endpoints according to the characteristics of actual data, rather than fixedly designating certain points, and the universality and the flexibility of target endpoints are ensured.
The maximum distance is used for determining the end points, so that the boundary of the area containing all reflection points is more attached to actual data, compared with the appointed end points, the distribution range of the reflection points can be more accurately described, the problem that the area is too large or too small due to improper selection of the end points is reduced, and a more accurate basis can be provided in subsequent data analysis, processing and other works.
It can be understood that when the two-dimensional laser radar scans different reflecting surfaces, the obtained reflecting intensity is different, and when the two-dimensional laser radar scans the reflecting plate on the charging pile, the reflecting intensity of the reflecting plate is obviously enhanced compared with the plane of the non-reflecting plate.
In the example provided by the present invention, based on analysis of the reflector laser intensity and the non-reflector laser intensity, the laser intensity value of the reflecting plate is basically more than 1000, and the laser intensity value of the non-reflecting plate is basically less than 600, so that the reflecting range is set at [1000, + -infinity ]. The laser intensity values of all pixels in the laser point cloud are traversed, and when the laser intensity values are in the reflecting range, the pixel points are marked as reflecting points, so that the reflecting points are extracted.
The laser near the charging pile can only detect one reflecting plate, the laser data of the proposed reflecting plate is converted into point cloud data in a robot coordinate system, and then the point cloud data is fitted into a linear equation through a linear fitting function, so that a reflecting linear equation is obtained, and the reflecting linear equation is specifically expressed as follows:
in the example provided by the present invention, the reflection linear equation is established under the robot coordinate system. In the robot coordinate system, the position of the robot itself is set as the origin of the coordinate system, for example, the geometric center position of the chassis of the robot is set as the origin, and the reference point of the whole coordinate system is determined for measuring the positions of other points. The forward direction of the robot is set to the positive direction of the x-axis. For example, when the robot moves forward along a straight line, the direction in which it moves is the positive x-axis direction. The y-axis direction is perpendicular to the x-axis and follows the right hand rule. In the robot coordinate system, the coordinates of the points on the reflector detected by the laser sensor may be used to represent the position of the reflector around the robot.
Referring to fig. 5, further, coordinate information of each reflection point in the robot coordinate system is acquired based on the respective reflection point data. And carrying out Hough transformation on the coordinate information of each reflecting point to obtain the corresponding straight line data of the reflecting point in the parameter space. And determining intersection point data among the straight lines according to the straight line data corresponding to the reflection points in the parameter space. And based on the intersection point data among the straight lines, giving out parameters of the reflection straight line equation, and determining the reflection straight line equation.
The reflection of light equation of straight line, specifically expressed as:
wherein x is the advancing direction of the robot, y is the direction vertical to x, y and x follow the right hand rule, and k and b are parameters of the reflection linear equation respectively.
In the example provided by the invention, the reflection points in the robot coordinate system are mapped to a parameter space by means of Hough transformation, and the parameter space can be k-b space or polar coordinate parameter space. In k-b space, parameters k and b of the reflection linear equation are determined by finding the intersection of the curves. Specifically, for a plurality of reflection points in the robot coordinate systemIn k-b space, each point corresponds to a straight line. When there are a plurality of points collinear, the corresponding straight lines in the parameter space intersect at a point, the coordinates of this intersection pointThe slope k and intercept b of the fitted line.
The coordinate system in which the target endpoint coordinates are located is typically the robot coordinate system. The single-line laser radar is arranged on the robot, and the obtained cloud point coordinates of the reflector point obtained by processing the laser point cloud are coordinate values under a coordinate system established by taking the robot as a reference origin. These coordinate values describe the position of the reflector end point relative to the robot and will vary with the movement and attitude of the robot.
And (3) extracting reflection points corresponding to the reflection plate of the charging pile through analysis and judgment of the laser intensity of each pixel in the laser point cloud, calculating a reflection linear equation through a linear fitting mode, and calculating point cloud data of two endpoints of the reflection plate, namely target endpoint coordinates through endpoint logic.
And S103, determining the position information of the charging pile according to the relative position relation of the charging pile and the reflecting plate and combining the position information of the reflecting plate.
Referring to fig. 6, specifically, real-time environment data is acquired, a moving position of a robot is analyzed, and a transformation matrix of a robot coordinate system, which is a coordinate system with the position of the robot as an origin, and a fixed coordinate system is determined. And analyzing the midpoint coordinates corresponding to the target endpoint coordinates based on the target endpoint coordinates to give the reflector coordinates. And converting the coordinates of the reflector by combining a conversion matrix of the robot coordinate system and the fixed coordinate system, and determining the initial position of the reflector. And adjusting the initial position of the reflector according to the relative position relation between the charging pile and the reflector, and determining the position of the charging pile.
Further, the coordinates of the reflector are specifically expressed as:
wherein x is the abscissa of the charging pile in the robot coordinate system, y is the ordinate of the charging pile in the robot coordinate system, Respectively the abscissa of the target endpoint coordinates in the robot coordinate system,The ordinate of the target endpoint coordinates in the robot coordinate system, respectively.
In the example provided by the invention, whether the currently detected reflector is correct or not is judged through the reflector length threshold value. Specifically, the coordinates of two target endpoints of the light reflecting plate are judged according to the actual size of the light reflecting plate, and if the distances between the two target endpoints in the x direction and the y direction are smaller than the sizes of the light reflecting plate in the corresponding directions, the detected light reflecting plate is considered to be correct. If the position of the reflecting plate is correct, the coordinate of the reflecting plate under the robot coordinate system is calculated based on the target endpoint coordinate, and then the coordinate of the reflecting plate under the robot coordinate system is converted into the coordinate under the map coordinate system by combining the conversion matrix, so that the initial position of the reflecting plate is given.
Wherein, the The initial position of the reflector, namely the coordinate of the reflector under the map coordinate system, M is the conversion matrix from the robot coordinate system to the map coordinate system,Is the reflector coordinates.
Further, the transformation matrix of the robot coordinate system and the fixed coordinate system is determined by the following steps:
Referring to fig. 7, real-time environment data is acquired, and a position and orientation change of the robot in a fixed coordinate system is determined based on the real-time environment data. Based on the position and posture change of the robot in the fixed coordinate system, the translation and rotation information of the robot coordinate system and the fixed coordinate system is analyzed by combining the position and posture of the robot in the robot coordinate system, and a conversion matrix is given.
In the example provided by the present invention, the fixed coordinate system is a map coordinate system. It should be understood that the map coordinate system is a global fixed coordinate system, and is used for uniformly representing the information such as the object position and the pose of the robot in the whole working environment, so as to provide a global reference frame for the robot. The robot coordinate system changes continuously in position and orientation relative to the map coordinate system as the robot moves and rotates in the environment. The robot determines its own position and posture in the map coordinate system through its own sensor and algorithm, and converts its own perceived information (such as the endpoint coordinates of the reflector, i.e. the target endpoint coordinates) into the map coordinate system, so as to perform global positioning.
In the example provided by the invention, the acquisition of the conversion matrix is realized by adopting simultaneous localization and mapping (simultaneous localization AND MAPPING, SLAM), and the specific process is that in the simultaneous localization and mapping (simultaneous localization AND MAPPING, SLAM), the robot acquires environment information, namely real-time environment data by utilizing a plurality of sensors such as a laser radar, an inertial measurement unit (inertial measurement unit, IMU) and the like. For example, the laser radar scans the surrounding environment to obtain point cloud data, the pose change of the robot relative to the map is calculated by matching the point cloud data with the constructed map, the robot gradually constructs the map by continuously sensing and calculating the point cloud data, and the position and the pose of the robot in the map coordinate system are determined, so that a transformation matrix from the robot coordinate system to the map coordinate system is obtained. The transformation matrix is represented by 4*4 homogeneous transformation matrix M, and contains translation and rotation information. In a robotic operating system (robot operating system, ROS), a transformation library (transformation library) can conveniently manage and acquire transformation matrices. The transformation library records the relation among the coordinate systems by maintaining a coordinate system tree, and the robot can acquire a transformation matrix from the robot coordinate system to the map coordinate system by inquiring the coordinate system tree.
Since the target end point coordinates are obtained under the robot coordinate system, it is necessary to convert the target end point coordinates to the map coordinate system using the conversion matrix M of the robot coordinate system to the map coordinate system. By matrix multiplicationConverting, wherein (x, y) is the coordinates of the end point in the robot coordinate system,Is converted to coordinates in the map coordinate system. The homogeneous coordinate representation is used for facilitating the unified calculation of translation, rotation and other transformations.
Referring to fig. 8, further, the position difference and the angle difference between the light reflecting plate and the charging post in each direction are given based on the position of the light reflecting plate on the charging post. And adjusting the coordinates of the initial position of the reflecting plate in the corresponding direction based on the position difference of the reflecting plate and the charging pile in each direction. Based on the angle difference between the reflector and the charging pile in each direction, the angle of the corresponding direction of the initial position of the reflector is adjusted, and the position of the charging pile is determined.
According to the relative position relation between the charging pile and the reflecting plate, the initial position of the reflecting plate is adjusted, and the position of the charging pile is determined, specifically expressed as:
wherein, the Is the abscissa of the initial position of the reflector,Is the ordinate of the initial position of the reflector,The initial position angle of the reflector, namely the orientation angle of the reflector in a map coordinate system,As the abscissa of the position of the charging stake,Is the ordinate of the position of the charging pile,For the orientation angle of the charging stake position,For the horizontal coordinate difference value of the charging pile and the reflector in the map coordinate system,For the difference of the vertical coordinates of the charging pile and the reflector in the map coordinate system,The orientation angle difference of the charging pile and the reflector in the map coordinate system is obtained.
In the specific examples provided by the present invention,Is measured when the charging pile is provided with the reflecting plate. When the reflector is installed on the charging pile, a measuring tool (such as a ruler, an angle measuring instrument and the like) is used for directly measuring the position offset and the angle offset of the reflector relative to the charging pile on the horizontal plane. For example, the distance difference between the center of the reflector and the center of the charging pile in the x and y directions is measured by a ruler, and the angle difference between the orientation of the reflector and the orientation of the charging pile is measured by an angle measuring instrument.
Above-mentionedThe method comprises the steps of obtaining a normal vector of a charging pile through a reflection linear equation, and then carrying out coordinate system transformation on the normal vector of the charging pile based on a transformation matrix, wherein the normal vector of the charging pile is specifically expressed as:。
and S104, based on the position information of the charging pile, a docking path for the robot to dock the charging pile is provided, and docking of the robot and the charging pile is completed.
Specifically, based on the position information of the charging pile, a robot docking path ending at the charging pile position is given. And acquiring the charging state of the robot in the docking process, and completing docking of the charging pile based on the charging state.
In a specific embodiment, according to the position of the charging pile and the relative position relation of the robot to the pile, the navigation position of the robot to the pile is obtained, which is specifically expressed as:
wherein, the For the abscissa of the robot to the pile navigation position,For the ordinate of the robot to the pile navigation position,For the orientation angle of the robot to the pile navigation position,To charge the relative x-coordinate offset of the pile position to the pile navigation position,To charge the relative y-coordinate offset of the pile position to the pile navigation position,To charge the heading coordinate offset from the pile position to the pile navigation position.
When the robot starts piling, the robot is already in front of the charging pile, and a straight line from the current position of the robot to the butt joint position of the charging pile needs to be planned, namely the navigation path of the charging pile.
And controlling the robot to move towards the pile according to the navigation path of the charging pile, and judging that the action of the pile is finished when the robot detects the charging state or reaches the navigation position of the charging pile or detects collision, so as to finish the butt joint of the charging pile.
According to the butt joint charging pile method for the robot, laser point clouds are obtained through radar lasers arranged on the robot, then laser intensity values of all points in the laser point clouds are judged to obtain a plurality of reflection point data, then the reflection point data are analyzed under a robot coordinate system to obtain a reflection linear equation, and target endpoint coordinates are obtained. And further calculating the normal vector of the straight line and the distance from the robot to the straight line, and adjusting the initial position of the reflector according to the relative position relation between the charging pile and the reflector to determine the position of the charging pile. And planning a pile alignment path based on the charging pile position, and controlling the robot to complete pile alignment, so that the robot is in a charging pile state.
Referring to fig. 9, an embodiment of the present invention provides a docking charging stake device for a robot, including:
The data acquisition module 201 is configured to acquire a real-time laser point cloud, where the laser point cloud includes each reflection point data of the reflection board;
the position determining module 202 is configured to analyze each reflection point data in the laser point cloud, determine a reflection linear equation, obtain a target endpoint coordinate, and provide position information of the reflection plate;
The charging pile determining module 203 is configured to determine position information of the charging pile according to a relative position relationship between the charging pile and the reflector, and by combining position information of the reflector;
and the charging pile docking module 204 is used for providing a docking path for the robot to dock the charging pile based on the position information of the charging pile, and completing docking of the robot and the charging pile.
It will be clear to those skilled in the art that, for convenience and brevity of description, reference may be made to the corresponding process in the foregoing method embodiment for the specific working process of the described module, which is not described herein again.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. The butt joint charging pile method for the robot is characterized in that the robot is carried with a single-line laser radar, and a reflector is fixedly arranged on the charging pile, and the method specifically comprises the following steps:
acquiring a real-time laser point cloud, wherein the laser point cloud comprises all reflection point data of a reflector;
analyzing the laser intensity value of each pixel on the laser point cloud, determining a plurality of reflecting points, and obtaining data of each reflecting point;
performing analysis fitting on the data of each reflection point to obtain a reflection linear equation;
Based on a reflection linear equation and combining the position relation of a plurality of reflection points, determining the coordinates of a target endpoint and giving the position information of the reflection plate, wherein the method specifically comprises the following steps:
comparing and analyzing the plurality of reflection point data to give a target endpoint coordinate, wherein comparing and analyzing the plurality of reflection point data to give the target endpoint coordinate specifically comprises:
Determining an abscissa maximum reflection point, an abscissa minimum reflection point, an ordinate maximum reflection point and an ordinate minimum reflection point from the plurality of reflection point data;
giving a maximum abscissa distance based on the maximum abscissa reflection point and the minimum abscissa reflection point;
giving a maximum ordinate distance based on the maximum ordinate reflection point and the minimum ordinate reflection point;
when the maximum ordinate distance is smaller than the maximum abscissa distance, taking the maximum abscissa reflection point and the minimum abscissa reflection point as target endpoints and determining target endpoint coordinates;
When the maximum distance of the ordinate is greater than or equal to the maximum distance of the abscissa, taking the maximum reflection point of the ordinate and the minimum reflection point of the ordinate as target endpoints and determining the coordinates of the target endpoints;
Giving the coordinates of the reflector based on the coordinates of the end points of the targets;
determining the direction of the reflecting plate through a reflecting linear equation, and determining the normal vector direction of the reflecting plate;
Determining the position information of the charging pile according to the relative position relation between the charging pile and the reflecting plate and combining the position information of the reflecting plate;
based on the position information of the charging pile, a butt joint path of the robot for butt joint of the charging pile is provided, and the butt joint of the robot and the charging pile is completed.
2. The method for butt-joint charging pile of robot according to claim 1, wherein the analyzing and fitting are performed on each reflection point data to obtain a reflection linear equation, and the method specifically comprises:
acquiring coordinate information of each reflecting point in a robot coordinate system based on the data of each reflecting point;
Performing Hough transformation on the coordinate information of each reflecting point to obtain straight line data corresponding to the reflecting point in a parameter space;
determining intersection point data among the straight lines according to the straight line data corresponding to the reflection points in the parameter space;
based on the intersection point data among the straight lines, giving out parameters of a reflection straight line equation, and determining the reflection straight line equation;
The reflection of light equation of straight line, specifically expressed as:
;
wherein x is the advancing direction of the robot, y is the direction vertical to x, y and x follow the right hand rule, and k and b are parameters of the reflection linear equation respectively.
3. The method for docking and charging a pile for a robot according to claim 1, wherein the normal vector direction of the reflecting plate is specifically expressed as:
;
wherein, the The normal vector direction and the x-axis included angle of the reflecting plate are defined, and k is a parameter of a reflecting linear equation.
4. The method for docking a charging pile for a robot according to claim 1, wherein determining the position information of the charging pile according to the relative positional relationship of the charging pile and the reflecting plate in combination with the position information of the reflecting plate, comprises:
Acquiring real-time environment data, analyzing the moving position of a robot, and determining a conversion matrix of a robot coordinate system and a fixed coordinate system, wherein the robot coordinate system is a coordinate system taking the position of the robot as an origin;
based on the target endpoint coordinates, analyzing midpoint coordinates corresponding to the target endpoint coordinates, and giving the reflector coordinates;
the method comprises the steps of combining a transformation matrix of a robot coordinate system and a fixed coordinate system, transforming the coordinates of the reflecting plate, and determining the initial position of the reflecting plate, wherein the initial position of the reflecting plate is specifically expressed as follows:
;
wherein, the The initial position of the reflector is M is a conversion matrix from a robot coordinate system to a map coordinate system,The coordinates of the reflecting plate;
And adjusting the initial position of the reflector according to the relative position relation between the charging pile and the reflector, and determining the position of the charging pile.
5. The method for docking and charging a pile for a robot according to claim 4, wherein the coordinates of the reflecting plate are specifically expressed as:
;
wherein x is the abscissa of the charging pile in the robot coordinate system, y is the ordinate of the charging pile in the robot coordinate system, Respectively the abscissa of the target endpoint coordinates in the robot coordinate system,The ordinate of the target endpoint coordinates in the robot coordinate system, respectively.
6. The docking charging stake method for a robot as claimed in claim 4, wherein the transformation matrix of the robot coordinate system and the fixed coordinate system is determined by:
acquiring real-time environment data, and determining the position and posture change of the robot in a fixed coordinate system based on the real-time environment data;
Based on the position and posture change of the robot in the fixed coordinate system, the translation and rotation information of the robot coordinate system and the fixed coordinate system is analyzed by combining the position and posture of the robot in the robot coordinate system, and a conversion matrix is given.
7. The method for docking and charging a pile for a robot according to claim 4, wherein the initial position of the reflector is adjusted according to the relative positional relationship between the charging pile and the reflector, and the charging pile position is determined, comprising the steps of:
Based on the position of the reflecting plate on the charging pile, giving the position difference and the angle difference of the reflecting plate and the charging pile in all directions;
Based on the position difference of the reflecting plate and the charging pile in each direction, adjusting the coordinates of the initial position of the reflecting plate in the corresponding direction;
Based on the angle difference between the reflector and the charging pile in each direction, the angle of the corresponding direction of the initial position of the reflector is adjusted, and the position of the charging pile is determined.
8. The method for docking a charging pile for a robot according to claim 1, wherein a docking path for the robot to dock the charging pile is given based on the position information of the charging pile, and docking of the robot with the charging pile is completed, specifically comprising the steps of:
Based on the position information of the charging pile, a robot docking path taking the position of the charging pile as an end point is given;
and acquiring the charging state of the robot in the docking process, and completing docking of the charging pile based on the charging state.
9. A docking charging stake device for a robot, characterized by employing the docking charging stake method for a robot as claimed in any one of claims 1 to 8, comprising:
The data acquisition module is used for acquiring real-time laser point clouds, wherein the laser point clouds comprise all reflection point data of the reflecting plate;
The position determining module is used for analyzing the laser intensity value of each pixel on the laser point cloud, determining a plurality of reflecting points and acquiring data of each reflecting point;
performing analysis fitting on the data of each reflection point to obtain a reflection linear equation;
Based on a reflection linear equation and combining the position relation of a plurality of reflection points, determining the coordinates of a target endpoint and giving the position information of the reflection plate, wherein the method specifically comprises the following steps:
comparing and analyzing the plurality of reflection point data to give a target endpoint coordinate, wherein comparing and analyzing the plurality of reflection point data to give the target endpoint coordinate specifically comprises:
Determining an abscissa maximum reflection point, an abscissa minimum reflection point, an ordinate maximum reflection point and an ordinate minimum reflection point from the plurality of reflection point data;
giving a maximum abscissa distance based on the maximum abscissa reflection point and the minimum abscissa reflection point;
giving a maximum ordinate distance based on the maximum ordinate reflection point and the minimum ordinate reflection point;
when the maximum ordinate distance is smaller than the maximum abscissa distance, taking the maximum abscissa reflection point and the minimum abscissa reflection point as target endpoints and determining target endpoint coordinates;
When the maximum distance of the ordinate is greater than or equal to the maximum distance of the abscissa, taking the maximum reflection point of the ordinate and the minimum reflection point of the ordinate as target endpoints and determining the coordinates of the target endpoints;
Giving the coordinates of the reflector based on the coordinates of the end points of the targets;
determining the direction of the reflecting plate through a reflecting linear equation, and determining the normal vector direction of the reflecting plate;
The charging pile determining module is used for determining the position information of the charging pile according to the relative position relation between the charging pile and the reflecting plate and combining the position information of the reflecting plate;
And the charging pile docking module is used for providing a docking path for the robot to dock the charging pile based on the position information of the charging pile, and completing docking of the robot and the charging pile.
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