Docking method based on multi-sensor equipment

Abstract

The invention discloses a docking method based on multi-sensor equipment, and the method comprises the steps: scanning a two-dimensional code on docking equipment through a camera on a robot, obtaining the center coordinate Q of the two-dimensional code through an aruco algorithm, and obtaining the coordinate Q1 of the two-dimensional code relative to the robot according to the position of the center of the robot relative to a map and the installation position of the camera on the robot; according to the position of the two-dimensional code on the docking equipment, obtaining a coordinate point P2 of the docking equipment relative to the robot, the coordinate point P2 being a target docking point, the current coordinate R0 of the robot and the coordinate P2 of the target docking point being known, taking a transition point P3 in the docking direction of the docking equipment, planning a route from the P2 to the P3 as a path 1 through a Bezier first-order curve, and using a Bezier second-order curve to plan a path from P3 to R0 as a path Path2, combining the path Path1 and the path Path2 into a path Path3, controlling the robot to move along the path Path3, and making the current coordinate R0 of the robot to coincide with the target butt joint point P2. Interference with the side edge of butt joint equipment can be prevented, and the butt joint precision is improved.

Description

technical field [0001] The invention relates to the technical field of mobile robot device docking, in particular to a multi-sensor device docking method. Background technique [0002] At present, in the field of intelligent robots, there are problems of low positioning efficiency, slow speed, and low stability when the robot docks with auxiliary accessories such as charging and shelves. The existing methods generally use two-dimensional code positioning, laser or vision sensors for positioning, and then control while planning, but the data will be unstable during the movement of the robot, resulting in reduced positioning accuracy, low efficiency, and poor stability. Contents of the invention [0003] The purpose of the present invention is to overcome the above-mentioned shortcomings of the prior art, and provide a multi-sensor device docking method that can prevent interference with the side of the docking device, avoid docking failure, improve experience and docking ac...

AI Technical Summary

Problems solved by technology

[0002] At present, in the field of intelligent robots, there are problems of low positioning efficiency, slow speed, and low stability when the robot docks with auxiliary accessories such as charging and shelves.

The existing methods generally use sensors such as two-dimensional code positioning, laser or vision for positioning, and then control while planning. However, the data will be unstable during the movement of the robot, resulting in reduced positioning accuracy, low efficiency, and poor stability.

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