Charging base positioning method based on laser scanning information, chip and robot

Abstract

The invention discloses a charging base positioning method based on laser scanning information, a chip and a robot, wherein the charging base positioning method comprises the steps: carrying out clustering of obtained scanning points according to the distance between every two adjacent scanning points scanned and stored by a laser radar; fitting a positioning line segment by using a connecting line of the head and tail scanning points in each cluster and geometric vertical distances between other scanning points in the same cluster and the connecting line; enabling a first preset number of high-intensity scanning points which are continuously arranged in the preset storage space to form a high-intensity interval, enabling a second preset number of low-intensity scanning points which are continuously arranged in the preset storage space to form a low-intensity interval, and setting a pair of high-intensity interval and low-intensity interval which are adjacently distributed as a mutation interval; and selecting a group of candidate positioning coordinates with the maximum signal intensity value as the positioning position information of a charging base on the positioning line segment by utilizing the intensity information and the interval information of the high-intensity scanning points in the mutation interval.

Description

technical field [0001] The invention relates to the technical field of robot laser positioning, in particular to a charging stand positioning method based on laser scanning information, a chip and a robot. Background technique [0002] At present, the sweeping robot usually moves in the forward direction during the normal cleaning operation. The sweeping robot always lacks the necessary sensors on the rear side of the fuselage. Therefore, the sweeping robot can only use a flat surface when docking with the charging stand in a backward manner. Lidar assists positioning and navigation, but the surface of the charging stand can provide less positioning feature information, which has become a challenge for the current laser recharging algorithm design. [0003] Chinese invention patent CN110221617A discloses a robot charging stand, a robot automatic recharging system and an automatic recharging method. The automatic recharging method is disclosed: based on the corresponding dist...

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Problems solved by technology

[0004] Chinese invention patent CN110221617A needs to additionally set the coordinates of the marking area and the transition point, and it is necessary to repeatedly calculate the length of the line segment between the scanning points to match the distance arrangement between the strong reflection area and the weak reflection area, so as to determine the specific position of the charging stand information; however, based on the discrete distribution characteristics of the scanning points and are easily affected by obstacles in the environment, the regularity of the calculated line segment lengths between the scanning points is weak, and it is not easy to match the strength of the above-mentioned identification area. The width of the reflective area and the weak reflective area is arranged regularly, and the distance between two adjacent scanning points and the length of the line segment between the first and last two scanning points are used for matching judgment, which is prone to misjudgment, resulting in incorrect positioning results of the charging stand. correct

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