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Inspection robot positioning method and automatic charging method

A technology of inspection robot and positioning method, which is applied to instruments, current collectors, electric vehicles, etc., can solve problems such as high docking error requirements, and achieve the effects of good robustness, improved success rate, and fast and efficient charging.

Active Publication Date: 2017-05-31
YIJIAHE TECH CO LTD
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Problems solved by technology

This method deviates from positioning and has higher requirements for docking errors

Method used

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  • Inspection robot positioning method and automatic charging method
  • Inspection robot positioning method and automatic charging method
  • Inspection robot positioning method and automatic charging method

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Experimental program
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Embodiment Construction

[0025] like figure 1 As shown, the main steps of the inspection robot positioning method provided by the present invention are as follows:

[0026] 1. Noise removal: De-noise the laser data collected by the laser sensor in front of the inspection robot 2 and on the walls on both sides of the charging room 1, remove the noise data, reduce the computational complexity and improve the accuracy;

[0027] 2. Secondary point set segmentation: The laser acquisition data is divided into multiple continuous areas according to continuity. The principle of the quadratic point set segmentation algorithm is as follows figure 2 shown.

[0028] ①The first point set segmentation: Through smooth fitting, the accumulated error is amortized to improve the accuracy of segmentation.

[0029] The program flow chart of the first point set segmentation is as follows image 3 As shown, N represents the number of laser data, select continuous 2m+1 laser data (corresponding to the i-th to 2m+i-th l...

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Abstract

The invention provides an inspection robot positioning method and an automatic charging method. Through twice linear division, a charging room model is rebuilt; then, a key point of the rebuilt charging model is used for realizing the precise positioning of a robot. The continuous laser data set is firstly divided through a fast and efficient secondary point set division algorithm; three edge features with high robustness are obtained; then, the charging room model is rebuilt; key points corresponding to the rebuilt charging room model are used for positioning the robot. The positioning accuracy is ensured; meanwhile, the relying on the charging room wall corner turning points is avoided; the relying degree on a charging room building process is low.

Description

technical field [0001] The invention relates to a positioning method and an automatic charging method for an inspection robot. Background technique [0002] There are two main automatic charging methods on the market: (1) The automatic charging of the sweeping robot is to continuously send out signals through the charging base, and then the receiver on the top of the robot receives the signal, and finally finds the way to "go home", but In some cases, it will be impossible to navigate, unable to return to the base and stranded "on the way". (2) Automatic contact charging technology, the connection contacts are located above the robot body. When the robot reaches the charging base, it will automatically complete the docking with the ground connection contacts, and automatically disengage after charging. This method is out of positioning and requires higher docking errors. SUMMARY OF THE INVENTION [0003] In order to solve the problems existing in the prior art, the prese...

Claims

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Application Information

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IPC IPC(8): H02J7/00G01S17/46
CPCG01S17/46H02J7/00
Inventor 林欢王锋程敏许春山
Owner YIJIAHE TECH CO LTD
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