Positioning method based on three-dimensional laser grid and robot autonomous charging method

Abstract

The invention discloses a positioning method based on a three-dimensional laser grid and a robot autonomous charging method, and belongs to the technical field of intelligent robots. The positioning method is used for positioning when a robot enters a charging room for charging and comprises the following steps: judging whether the robot enters the charging room or not; roughly positioning the robot; carrying out fine positioning of the robot; and determining coordinates of the robot. The method is suitable for autonomous charging of the robot in trackless navigation and positioning, and automation and intelligence of the whole charging process are achieved. No matter whether the wall of the charging room is flat or not, very high navigation positioning precision can be achieved.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, and in particular relates to a three-dimensional laser grid-based positioning method and a robot autonomous charging method. Background technique [0002] At present, the autonomous charging of substation inspection robots mostly adopts contact-type autonomous charging technology. When the inspection robot needs to be charged, it will automatically drive to the designated charging area, and the charging connection contact of the robot will be automatically and accurately docked with the power supply contact of the charging base for charging. After the charging is completed, the inspection robot automatically separates from the charging base and drives to the working area or standby area. [0003] How to realize the positioning and navigation of the inspection robot is the key to the robot's autonomous charging. At present, the commonly used solution is the navigation and positioning ...

AI Technical Summary

Problems solved by technology

[0007] (1) If the left and right walls of the charging room are uneven, it will lead to a deviation in the fitting line, which will affect the accuracy of the corner position of the charging room, and make the navigation and positioning accuracy of the robot unsatisfactory, resulting in the robot charging connection contact and the charging base. The power supply contact failure phenomenon

When using the above two methods for robot navigation and positioning and autonomous charging, the requirements for the flatness of the walls of the charging room are relatively high, and the robot's ability to adapt to the environment is poor

[0008] (2) The laser data collected by the two-dimensional laser sensor has the characteristics of sparsity, which affects the fitting accuracy of the straight line, which in turn affects the positioning accuracy of the robot

Images