Positioning Method and Device for AGV Charging Pile

Abstract

The present application provides a positioning method and device for an AGV charging pile. The method includes: obtaining point cloud data of a V-groove, a first distance, and a target angle, where the first distance is the distance between the endpoints of both sides of the V corresponding to the V-groove, and the target angle is the angle of the vertex angle of the V corresponding to the V-groove; determining at least a first candidate positioning point, a candidate charging point, and a second candidate positioning point based on at least the point cloud data of the V-groove, the first distance, and the target angle; fitting two sides of the V-groove based on at least the first candidate positioning point, the candidate charging point, and the second candidate positioning point, and determining the coordinates of the intersection of the two sides as the coordinates of the target charging point. By determining at least the points that conform to the geometric characteristics of the V-groove and then fitting the two sides of the V-groove, the intersection of the two fitted lines is obtained as the target charging point, thereby solving the problem of low positioning stability of the charging pile due to limited laser point cloud information in the prior art.

Description

Technical Field

[0001] The present application relates to the technical field of automatic charging, and in particular, to a positioning method, device, computer-readable storage medium, processor, and electronic device for an AGV charging pile. Background Art

[0002] More and more Automated Guided Vehicles (AGVs) working indoors are applied in industrial production and commercial services to improve production efficiency and reduce labor costs. Automatic charging means that when the electric energy of the AGV is nearly exhausted, it can automatically find a charging pile for charging. Automatic charging is a basic function of the AGV, and the identification and positioning of the charging pile are a key link in automatic charging.

[0003] Currently, the methods for charging pile identification and positioning can be divided into three categories: (1) methods based on infrared signals; (2) methods based on images; (3) methods based on lidar. Among them, the method based on infrared signals has a large number of devices and is easily affected by external interference. The method based on images is greatly affected by light. The lidar is less affected by environmental factors and can operate stably in most environments. However, due to the relatively small amount of information carried by the lidar information, the stability of related algorithms is not high. The automatic charging process of the AGV in the prior art is as Figure 1 shown. The AGV is first navigated near the charging pile, and then the charging pile is identified and positioned. After determining the pose of the charging pile, it approaches the charging pile to complete the docking action. It can be seen that the identification and positioning of the charging pile are the key links in completing automatic charging. Once the charging pile cannot be correctly identified and positioned, automatic charging cannot be successfully completed.

[0004] Therefore, how to stably identify and position the charging pile under the premise of limited lidar point information is an urgent problem to be solved.

[0005] The above information disclosed in the background art section is only used to enhance the understanding of the background art of the technology described in this article. Therefore, the background art may contain certain information that is not prior art known to those skilled in the art in this country. Summary of the Invention

[0006] The main purpose of the present application is to provide a positioning method, device, computer-readable storage medium, processor, and electronic device for an AGV charging pile to solve the problem of low stability of charging pile positioning due to limited lidar point cloud information in the prior art.

[0007] To achieve the above object, according to one aspect of the present application, a positioning method for an AGV charging pile is provided. The AGV charging pile has a V-shaped groove. The method includes: obtaining the point cloud data, a first distance, and a target angle of the V-shaped groove. The first distance is the distance between the endpoints of the two sides of the V corresponding to the V-shaped groove, and the target angle is the angle of the vertex of the V corresponding to the V-shaped groove; determining a first candidate positioning point, a candidate charging point, and a second candidate positioning point at least based on the point cloud data, the first distance, and the target angle of the V-shaped groove. The distance between the first candidate positioning point and the second candidate positioning point is within a first predetermined range, the first predetermined range includes the first distance, the difference between the distance from the first candidate positioning point to the candidate charging point and the distance from the candidate charging point to the second candidate positioning point is within a second predetermined range, the second predetermined range includes zero, and the angle of the vertex of the V formed by the first candidate positioning point, the candidate charging point, and the second candidate positioning point is within a third predetermined range, the third predetermined range includes the target angle; fitting the two sides of the V-shaped groove at least based on the first candidate positioning point, the candidate charging point, and the second candidate positioning point, and determining the coordinates of the intersection of the two sides as the coordinates of the target charging point.

[0008] Optionally, determining a first candidate positioning point, a candidate charging point, and a second candidate positioning point at least according to the point cloud data of the V-shaped groove, the first distance, and the target angle includes: determining multiple groups of candidate points that meet a first predetermined condition in the point cloud data of the V-shaped groove, each group of the candidate points including a first candidate positioning point, a candidate charging point, and a second candidate positioning point; in each group of the candidate points that meet the first predetermined condition, the distance between the first candidate positioning point and the second candidate positioning point is within a first predetermined range, and the difference between the distance from the first candidate positioning point to the candidate charging point and the distance from the candidate charging point to the second candidate positioning point is within a second predetermined range; determining a group of the candidate points that meet a second predetermined condition as a target point in the point cloud data of multiple groups of the candidate points; in the target point that meets the second predetermined condition, the angle of the vertex of the V formed by the first candidate positioning point, the candidate charging point, and the second candidate positioning point is within a third predetermined range, and in the point cloud data of multiple first intermediate points, the absolute value of the Pearson correlation coefficient between the abscissa and the ordinate of each of the first intermediate points is within a fourth predetermined range, and in the point cloud data of multiple second intermediate points, the absolute value of the Pearson correlation coefficient between the abscissa and the ordinate of each of the second intermediate points is within the fourth predetermined range, the first intermediate point is the point between the first candidate positioning point and the candidate charging point, the second intermediate point is the point between the candidate charging point and the second candidate positioning point, and the minimum value of the fourth predetermined range is greater than 0.8.

[0009] Optionally, fitting two sides of the V-shaped groove and determining the coordinates of the intersection point of the two sides as the coordinates of the target charging point at least according to the first candidate positioning point, the candidate charging point, and the second candidate positioning point includes: fitting multiple first intermediate points to obtain a first straight line; fitting multiple second intermediate points to obtain a second straight line; calculating the coordinates of the intersection point of the first straight line and the second straight line to obtain the coordinates of the target charging point, and the vertex of the V corresponding to the V-shaped groove is the target charging point.

[0010] Optionally, the method further includes: determining a target vector at least according to the coordinates of the target charging point, and the target vector is the attitude vector of the target charging point.

[0011] Optionally, determining a target vector based at least on coordinates of the target charging point includes: calculating a first positioning point and a second positioning point according to the coordinates of the target charging point, the first straight line, and the second straight line, where the first positioning point and the second positioning point are used to represent endpoints of corresponding V-shaped sides of the V-shaped groove; calculating a sum of a vector from the target charging point to the first positioning point and a vector from the target charging point to the second positioning point to obtain the target vector.

[0012] Optionally, a second distance is a distance from a vertex of the V-shaped groove corresponding to the V-shaped groove to one of the endpoints. Calculating the first positioning point and the second positioning point according to the coordinates of the target charging point, the first straight line, and the second straight line includes: calculating a point on the first straight line whose distance to the target charging point is equal to the second distance to obtain the first positioning point, where a distance between the first positioning point and the first candidate positioning point is within a fifth predetermined range, and the fifth predetermined range includes zero; calculating a point on the second straight line whose distance to the target charging point is equal to the second distance to obtain the second positioning point, where a distance between the second positioning point and the second candidate positioning point is within a sixth predetermined range, and the sixth predetermined range includes zero.

[0013] Optionally, the method further includes: obtaining a charging type of the AGV; charging the AGV according to the charging type, the coordinates of the target charging point, and the target vector.

[0014] According to another aspect of the present application, a positioning device for an AGV charging pile is further provided. The AGV charging pile has a V-shaped groove. The device includes a first acquisition unit, a first determination unit, and a second determination unit. Among them, the first acquisition unit is used to acquire the point cloud data, the first distance, and the target angle of the V-shaped groove. The first distance is the distance between the endpoints of the two sides of the V corresponding to the V-shaped groove, and the target angle is the angle of the apex of the V corresponding to the V-shaped groove. The first determination unit is used to determine a first candidate positioning point, a candidate charging point, and a second candidate positioning point at least based on the point cloud data, the first distance, and the target angle of the V-shaped groove. Among them, the distance between the first candidate positioning point and the second candidate positioning point is within a first predetermined range. The first predetermined range includes the first distance. The difference between the distance from the first candidate positioning point to the candidate charging point and the distance from the candidate charging point to the second candidate positioning point is within a second predetermined range. The second predetermined range includes zero. The angle of the apex of the V formed by the first candidate positioning point, the candidate charging point, and the second candidate positioning point is within a third predetermined range. The third predetermined range includes the target angle. The second determination unit is used to fit the two sides of the V-shaped groove at least based on the first candidate positioning point, the candidate charging point, and the second candidate positioning point, and determine the coordinates of the intersection of the two sides as the coordinates of the target charging point.

[0015] According to another aspect of the present application, a computer-readable storage medium is further provided. The computer-readable storage medium includes a stored program. Among them, when the program runs, it controls the device where the computer-readable storage medium is located to execute any one of the positioning methods of the AGV charging pile.

[0016] According to another aspect of the present application, a processor is further provided. The processor is used to run a program. Among them, when the program runs, it executes any one of the positioning methods of the AGV charging pile.

[0017] According to another aspect of the present application, an electronic device is further provided, including: one or more processors, a memory, a display device, and one or more programs. Among them, the one or more programs are stored in the memory and are configured to be executed by the one or more processors. The one or more programs include those for executing any one of the positioning methods of the AGV charging pile.

[0018] Applying the technical solution of the present application, in the positioning method of the AGV charging pile, first, obtain the point cloud data of the V-shaped groove, the first distance, and the target angle. The first distance is the distance between the endpoints of the two sides of the V corresponding to the V-shaped groove, and the target angle is the angle of the apex of the V corresponding to the V-shaped groove. Then, at least based on the point cloud data of the V-shaped groove, the first distance, and the target angle, determine the first candidate positioning point, the candidate charging point, and the second candidate positioning point. Among them, the distance between the first candidate positioning point and the second candidate positioning point is within a first predetermined range, the first predetermined range includes the first distance, the difference between the distance from the first candidate positioning point to the candidate charging point and the distance from the candidate charging point to the second candidate positioning point is within a second predetermined range, the second predetermined range includes zero, and the angle of the apex of the V formed by the first candidate positioning point, the candidate charging point, and the second candidate positioning point is within a third predetermined range, the third predetermined range includes the target angle. Finally, at least based on the first candidate positioning point, the candidate charging point, and the second candidate positioning point, fit the two sides of the V-shaped groove, and determine the coordinates of the intersection point of the two sides as the coordinates of the target charging point. This method determines at least the first candidate positioning point, the candidate charging point, and the second candidate positioning point of the AGV charging pile that meet the geometric characteristics through the distance between the endpoints of the two sides of the V of the V-shaped groove and the apex angle of the V, and then fits the two sides of the V-shaped groove according to the points between the candidate charging point and the first candidate positioning point and the points between the candidate charging point and the second candidate positioning point, so as to obtain the intersection point of the two fitted straight lines as the target charging point. According to multiple points between the candidate charging point that meets the geometric characteristics of the V-shaped groove and the first candidate positioning point and the second candidate positioning point for fitting, the stability of the fitted straight line is high, so the intersection point obtained from the two fitted straight lines, that is, the target charging point, is also more stable, thereby solving the problem of low positioning stability of the charging pile due to limited laser point cloud information in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The specification drawings forming a part of the present application are used to provide a further understanding of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0020] Figure 1 shows an automatic charging flowchart of an AGV according to the prior art;

[0021] Figure 2 shows a flowchart of a positioning method of an AGV charging pile according to an embodiment of the present application;

[0022] Figure 3Shows the lidar point cloud map of the V-groove according to an embodiment of the present application;

[0023] Figure 4 Shows a schematic diagram of the V-groove of the AGV charging pile according to an embodiment of the present application;

[0024] Figure 5 Shows the logic diagram of the positioning method of the AGV charging pile according to an embodiment of the present application;

[0025] Figure 6 Shows the lidar point cloud map of the V-groove according to another embodiment of the present application;

[0026] Figure 7 Shows a schematic diagram of the positioning device of the AGV charging pile according to an embodiment of the present application.

[0027] Wherein, the above-mentioned drawings include the following reference numerals:

[0028] 100, V-groove; 200, other objects; 101, first candidate positioning point; 102, candidate charging point; 103, second candidate positioning point; 104, AGV; 105, first straight line; 106, second straight line; 107, first positioning point; 108, target charging point; 109, second positioning point; 110, target vector. Detailed implementation manners

[0029] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0030] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0031] It should be noted that the terms "first", "second", etc. in the description, claims and the above-mentioned drawings of the present application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so as to implement the embodiments of the present application described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily limit to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element can be directly on the other element, or there may also be an intermediate element. Moreover, in the description and claims, when an element is described as "connected" to another element, the element can be "directly connected" to the other element, or "connected" to the other element through a third element.

[0033] As introduced in the background art, due to limited laser point cloud information in the prior art, the positioning stability of the charging pile is relatively low. To solve the above problems, the present application proposes a positioning method, device, computer-readable storage medium, processor, and electronic device for an AGV charging pile.

[0034] According to an embodiment of the present application, a positioning method for an AGV charging pile is provided.

[0035] Figure 2 is a flowchart of a positioning method for an AGV charging pile according to an embodiment of the present application. The above AGV charging pile has a V-shaped groove, as Figure 2 shown, the method includes the following steps:

[0036] Step S101, obtaining the point cloud data, the first distance, and the target angle of the above V-shaped groove. The first distance is the distance between the endpoints of the two sides of the V corresponding to the above V-shaped groove, and the target angle is the angle of the apex of the V corresponding to the above V-shaped groove;

[0037] Step S102: Determine a first candidate positioning point, a candidate charging point, and a second candidate positioning point based on at least the point cloud data of the V-shaped groove, the first distance, and the target angle. The distance between the first candidate positioning point and the second candidate positioning point is within a first predetermined range, which includes the first distance. The difference between the distance from the first candidate positioning point to the candidate charging point and the distance from the candidate charging point to the second candidate positioning point is within a second predetermined range, which includes zero. The angle of the vertex of the V formed by the first candidate positioning point, the candidate charging point, and the second candidate positioning point is within a third predetermined range, which includes the target angle.

[0038] Step S103: Fit the two sides of the V-shaped groove based on at least the first candidate positioning point, the candidate charging point, and the second candidate positioning point, and determine the coordinates of the intersection of the two sides as the coordinates of the target charging point.

[0039] In the above positioning method of the AGV charging pile, first, the point cloud data of the V-shaped groove, the first distance, and the target angle are obtained. The first distance is the distance between the endpoints of the two sides of the V corresponding to the V-shaped groove, and the target angle is the angle of the vertex of the V corresponding to the V-shaped groove. After that, at least based on the point cloud data of the V-shaped groove, the first distance, and the target angle, a first candidate positioning point, a candidate charging point, and a second candidate positioning point are determined. The distance between the first candidate positioning point and the second candidate positioning point is within a first predetermined range, and the first predetermined range includes the first distance. The difference between the distance from the first candidate positioning point to the candidate charging point and the distance from the candidate charging point to the second candidate positioning point is within a second predetermined range, and the second predetermined range includes zero. The angle of the vertex of the V formed by the first candidate positioning point, the candidate charging point, and the second candidate positioning point is within a third predetermined range, and the third predetermined range includes the target angle. Finally, at least based on the first candidate positioning point, the candidate charging point, and the second candidate positioning point, the two sides of the V-shaped groove are fitted, and the coordinates of the intersection of the two sides are determined as the coordinates of the target charging point. This method determines the first candidate positioning point, the candidate charging point, and the second candidate positioning point of the AGV charging pile that at least meet the above geometric characteristics through the distance between the endpoints of the two sides of the V of the V-shaped groove and the vertex angle of the V, and then fits the two sides of the V-shaped groove according to the points between the candidate charging point and the first candidate positioning point and the points between the candidate charging point and the second candidate positioning point, so as to obtain the intersection of the two fitted straight lines as the target charging point. According to the multiple points between the candidate charging point that meets the geometric characteristics of the V-shaped groove and the first candidate positioning point and the second candidate positioning point, fitting is performed, and the stability of the fitted straight line is high. Therefore, the intersection point obtained from the two fitted straight lines, that is, the target charging point, is also more stable, thus solving the problem of low positioning stability of the charging pile due to limited laser point cloud information in the prior art.

[0040] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0041] In a specific embodiment of the present application, a single-line lidar is set on the AGV, and the point cloud data of the V-shaped groove in the lidar coordinate system is obtained through the single-line lidar. The lidar point cloud map is as Figure 3 shown Figure 3It includes the point cloud of the above V-shaped groove 100 and the point cloud of other objects 200. The above lidar coordinate system takes the above AGV 104 as the coordinate origin, the driving direction of the above AGV 104 is the x-axis direction, and the y-axis is perpendicular to the x-axis on the horizontal plane and on the left side of the above AGV 104.

[0042] In an embodiment of the present application, at least based on the above point cloud data of the V-shaped groove, the above first distance, and the above target angle, a first candidate positioning point, a candidate charging point, and a second candidate positioning point are determined, including: in the above point cloud data of the V-shaped groove, multiple groups of candidate points that meet the first predetermined condition are determined. Each group of the above candidate points includes a first candidate positioning point, a candidate charging point, and a second candidate positioning point. In each group of the above candidate points that meet the first predetermined condition, the distance between the first candidate positioning point and the second candidate positioning point is within a first predetermined range, and the difference between the distance from the first candidate positioning point to the candidate charging point and the distance from the candidate charging point to the second candidate positioning point is within a second predetermined range; in the above point cloud data of multiple groups of the above candidate points, a group of the above candidate points that meet the second predetermined condition is determined as the target point. In the above target point that meets the second predetermined condition, the angle of the vertex of the V formed by the first candidate positioning point, the candidate charging point, and the second candidate positioning point is within the above third predetermined range, and in the point cloud data of multiple first intermediate points, the absolute value of the Pearson correlation coefficient between the abscissa and the ordinate of each of the above first intermediate points is within a fourth predetermined range. In the point cloud data of multiple second intermediate points, the absolute value of the Pearson correlation coefficient between the abscissa and the ordinate of each of the above second intermediate points is within the above fourth predetermined range. The above first intermediate point is the point between the first candidate positioning point and the candidate charging point, and the above second intermediate point is the point between the candidate charging point and the second candidate positioning point. The minimum value of the above fourth predetermined range is greater than 0.8. Through the above first predetermined condition, multiple groups of the above candidate points that conform to the characteristics of the above V-shaped groove can be initially identified. Then, through the above second predetermined condition, the first candidate positioning point, the candidate charging point, and the second candidate positioning point that conform to more V-shaped groove characteristics can be further identified. By identifying the V-shaped groove candidate points that best meet the conditions through the geometric characteristics of the V-shaped groove, the method is simple and the accuracy of identifying the V-shaped groove is high.

[0043] In practical applications, the above first predetermined range can be the above first distance ± 5 cm, the above second predetermined range can be 0 ± 5 cm, the above third predetermined range can be the above target angle ± 10°, and the above fourth predetermined range can be 0.8 to 1. For example Figure 4As shown, the distance between the above-mentioned first candidate positioning point 101 and the above-mentioned second candidate positioning point 103 is within the range of the above-mentioned first distance ±5 cm. The difference between the distance from the above-mentioned first candidate positioning point 101 to the above-mentioned candidate charging point 102 and the distance from the above-mentioned candidate charging point 102 to the above-mentioned second candidate positioning point 103 is within the range of 0 ±5 cm. The angle of the vertex of the V formed by the above-mentioned first candidate positioning point 101, the above-mentioned candidate charging point 102, and the above-mentioned second candidate positioning point 103 can be within the range of the above-mentioned target angle ±10°. The absolute value of the correlation coefficient between the abscissa and the ordinate of the above-mentioned multiple first intermediate points is between 0.8 and 1. The absolute value of the correlation coefficient between the abscissa and the ordinate of the above-mentioned multiple second intermediate points is also between 0.8 and 1. The closer the correlation coefficient is to 1, the closer the connection line of the above-mentioned multiple first intermediate points is to a straight line, and the closer the connection line of the above-mentioned second intermediate points is to a straight line, that is, the above-mentioned first candidate positioning point 101, the above-mentioned candidate charging point 102, and the above-mentioned second candidate positioning point are more in line with the characteristics of the above-mentioned V-shaped groove.

[0044] In order to obtain the target charging point more stably and accurately, in another embodiment of the present application, as Figure 5 shown, at least based on the above-mentioned first candidate positioning point, the above-mentioned candidate charging point, and the above-mentioned second candidate positioning point, fit the two sides of the above-mentioned V-shaped groove, and determine the coordinates of the intersection point of the two sides as the coordinates of the target charging point, including: fitting the above-mentioned multiple first intermediate points to obtain a first straight line; fitting the above-mentioned multiple second intermediate points to obtain a second straight line; calculating the coordinates of the intersection point of the above-mentioned first straight line and the above-mentioned second straight line to obtain the coordinates of the above-mentioned target charging point, and the vertex of the V corresponding to the above-mentioned V-shaped groove is the above-mentioned target charging point.

[0045] Specifically, when obtaining point cloud data through a lidar, obtain the point cloud data in the scanning order. If it is confirmed that the above-mentioned first candidate positioning point, the above-mentioned candidate charging point, and the above-mentioned second positioning point are points that conform to the geometric characteristics of the V-shaped groove, then the points between the above-mentioned first candidate positioning point and the above-mentioned candidate charging point and the points between the candidate charging point and the above-mentioned second candidate positioning point are all the point clouds forming the V-shaped groove. In practical applications, the fluctuation of the above-mentioned candidate charging point is relatively large. In order to obtain the coordinates of the stable and accurate target charging point, as Figure 6 shown, use the points between the above-mentioned first candidate positioning point and the above-mentioned candidate charging point and the candidate charging point to fit the above-mentioned first straight line 105 and the above-mentioned second straight line 106, and the intersection point of the above-mentioned first straight line 105 and the above-mentioned second straight line 106 is the above-mentioned target charging point 108.

[0046] In another embodiment of the present application, the above method further includes: as Figure 5As shown, at least based on the coordinates of the above-mentioned target charging point, a target vector is determined, and the above-mentioned target vector is the attitude vector of the above-mentioned target charging point. Based on the coordinates of the above-mentioned target charging point, the attitude vector of the charging pile can be accurately calculated, so that the AGV can more quickly identify the charging pile and charge.

[0047] In another embodiment of the present application, in order to more accurately calculate the attitude vector of the above-mentioned charging pile, at least based on the coordinates of the above-mentioned target charging point, a target vector is determined, including: calculating a first positioning point and a second positioning point according to the coordinates of the above-mentioned target charging point, the above-mentioned first straight line, and the above-mentioned second straight line, where the above-mentioned first positioning point and the above-mentioned second positioning point are used to represent the endpoints of the corresponding V-shaped sides of the above-mentioned V-shaped groove; calculating the sum of the vector from the above-mentioned target charging point to the above-mentioned first positioning point and the vector from the above-mentioned target charging point to the above-mentioned second positioning point to obtain the above-mentioned target vector. The direction of the above-mentioned target vector is the direction of the angular bisector of the apex angle of the above-mentioned V-shaped groove.

[0048] In another embodiment of the present application, the second distance is the distance from the vertex of the V-shaped character corresponding to the above-mentioned V-shaped groove to one of the above-mentioned endpoints. Calculating the above-mentioned first positioning point and the above-mentioned second positioning point according to the coordinates of the above-mentioned target charging point, the above-mentioned first straight line, and the above-mentioned second straight line includes: calculating a point on the above-mentioned first straight line whose distance to the above-mentioned target charging point is equal to the above-mentioned second distance to obtain the above-mentioned first positioning point, and the distance between the above-mentioned first positioning point and the above-mentioned first candidate positioning point is within a fifth predetermined range, and the fifth predetermined range includes zero; calculating a point on the above-mentioned second straight line whose distance to the above-mentioned target charging point is equal to the above-mentioned second distance to obtain the above-mentioned second positioning point, and the distance between the above-mentioned second positioning point and the above-mentioned second candidate positioning point is within a sixth predetermined range, and the sixth predetermined range includes zero. Through the geometric characteristics of the V-shaped groove, the distance from the vertex to the two endpoints is the second distance. As Figure 5 shown, through the above-mentioned first straight line 105, the above-mentioned second straight line 106, and the above-mentioned target charging point 108, the above-mentioned first positioning point 107 and the above-mentioned second positioning point 109 of the above-mentioned V-shaped groove can be conveniently and accurately calculated, and then through vector calculation, the above-mentioned target vector 110 can be obtained.

[0049] In yet another embodiment of the present application, in order to enable the charging pile to adaptively adjust the charging strategy and thus improve the utilization rate of the charging pile, the above method further includes: as Figure 5 shown, obtaining the charging type of the above-mentioned AGV; charging the above-mentioned AGV according to the above-mentioned charging type, the coordinates of the above-mentioned target charging point, and the above-mentioned target vector.

[0050] In actual applications, due to the different types of AGVs and different battery charging strategies, in order to improve the utilization rate of charging piles and save costs, infrared communication modules are installed in the center of the V-groove and the center of the AGV charging head. The charging pile can obtain the charging type of the AGV through the infrared module, and then adjust its own charging strategy to adapt to the AGV, so that one charging pile can charge multiple types of AGVs, expanding the use of charging piles, saving charging pile costs, and improving the utilization rate of charging piles. The infrared module on the V-groove is not on the same horizontal plane as the single-line laser radar, so the V-shaped feature of the V-groove point cloud is not affected by the infrared module.

[0051] Specifically, the AGV navigates to the vicinity of the charging pile, positions the charging pile, determines the target charging point and target vector, obtains the charging type of the AGV through the infrared module, approaches the charging pile according to the target charging point and target vector, completes the charging action, and then charges the AGV according to the charging type of the AGV.

[0052] In another specific embodiment of the present application, Figure 5 As shown, after determining the target charging point, the target vector and the charging type, the target charging point, the target vector and the charging type are output and the AGV is charged.

[0053] In practical applications, the least squares method is used to fit the above points. The least squares method for fitting a straight line is mainly to find a straight line that minimizes the sum of the Euclidean distances from all known points to the straight line or minimizes the sum of the squared errors from the points to the straight line. The least squares method can be used to fit the best parameter fitting results in a statistical sense.

[0054] The embodiment of the present application also provides a positioning device for an AGV charging pile. It should be noted that the positioning device for an AGV charging pile in the embodiment of the present application can be used to execute the positioning method for an AGV charging pile provided in the embodiment of the present application. The positioning device for an AGV charging pile provided in the embodiment of the present application is introduced below.

[0055] Figure 7 Schematic diagram of a positioning device for an AGV charging pile according to an embodiment of the present application. The above-mentioned AGV charging pile has a V-shaped groove, such as Figure 7 As shown, the device comprises:

[0056] A first acquisition unit 10 is used to acquire point cloud data of the V-shaped groove, a first distance, and a target angle, wherein the first distance is the distance between the endpoints of the two sides of the V-shaped groove, and the target angle is the angle of the top angle of the V-shaped groove;

[0057] The first determination unit 20 is configured to determine a first candidate positioning point, a candidate charging point, and a second candidate positioning point at least based on the point cloud data of the V-shaped groove, the first distance, and the target angle, wherein the distance between the first candidate positioning point and the second candidate positioning point is within a first predetermined range, the first predetermined range includes the first distance, the difference between the distance from the first candidate positioning point to the candidate charging point and the distance from the candidate charging point to the second candidate positioning point is within a second predetermined range, the second predetermined range includes zero, and the angle of the vertex of the V formed by the first candidate positioning point, the candidate charging point, and the second candidate positioning point is within a third predetermined range, and the third predetermined range includes the target angle;

[0058] The second determination unit 30 is configured to fit the two sides of the V-shaped groove at least based on the first candidate positioning point, the candidate charging point, and the second candidate positioning point, and determine the coordinates of the intersection of the two sides as the coordinates of the target charging point.

[0059] In the positioning device of the above AGV charging pile, first, the point cloud data, the first distance, and the target angle of the V-shaped groove are obtained through the first acquisition unit. The first distance is the distance between the endpoints of both sides of the V character corresponding to the V-shaped groove, and the target angle is the angle of the apex of the V character corresponding to the V-shaped groove. After that, through the first determination unit, at least based on the point cloud data, the first distance, and the target angle of the V-shaped groove, a first candidate positioning point, a candidate charging point, and a second candidate positioning point are determined. Among them, the distance between the first candidate positioning point and the second candidate positioning point is within a first predetermined range, the first predetermined range includes the first distance, the difference between the distance from the first candidate positioning point to the candidate charging point and the distance from the candidate charging point to the second candidate positioning point is within a second predetermined range, the second predetermined range includes zero, and the angle of the apex of the V character formed by the first candidate positioning point, the candidate charging point, and the second candidate positioning point is within a third predetermined range, the third predetermined range includes the target angle. Finally, through the second determination unit, at least based on the first candidate positioning point, the candidate charging point, and the second candidate positioning point, the two sides of the V-shaped groove are fitted, and the coordinates of the intersection point of the two sides are determined as the coordinates of the target charging point. This device determines the first candidate positioning point, the candidate charging point, and the second candidate positioning point of the AGV charging pile that at least meet the above geometric characteristics through the distance between the endpoints of both sides of the V character of the V-shaped groove and the apex of the V character, and then fits the two sides of the V-shaped groove according to the points between the candidate charging point and the first candidate positioning point and the points between the candidate charging point and the second candidate positioning point, so that the intersection point of the two fitted straight lines is the target charging point. According to multiple points between the candidate charging point that meets the geometric characteristics of the V-shaped groove and the first candidate positioning point and the second candidate positioning point, fitting is performed, and the stability of the fitted straight line is high. Therefore, the intersection point obtained from the two fitted straight lines, that is, the target charging point, is also more stable, thus solving the problem of low positioning stability of the charging pile due to limited laser point cloud information in the prior art.

[0060] In a specific embodiment of the present application, a single-line lidar is set on the AGV, and the point cloud data of the V-shaped groove in the lidar coordinate system is obtained through the single-line lidar. The lidar coordinate system takes the AGV as the coordinate origin, the driving direction of the AGV is the x-axis direction, the y-axis is perpendicular to the x-axis on the horizontal plane and is on the left side of the AGV, and the lidar point cloud map of the V-shaped groove is as Figure 3 shown.

[0061] In an embodiment of the present application, the first determination unit includes a first determination subunit and a second determination subunit. Among them, the first determination subunit is used to determine multiple groups of candidate points that meet the first predetermined condition in the point cloud data of the V-shaped groove. Each group of the candidate points includes a first candidate positioning point, a candidate charging point, and a second candidate positioning point. In each group of the candidate points that meet the first predetermined condition, the distance between the first candidate positioning point and the second candidate positioning point is within a first predetermined range, and the difference between the distance from the first candidate positioning point to the candidate charging point and the distance from the candidate charging point to the second candidate positioning point is within a second predetermined range. The second determination subunit is used to determine a group of the candidate points that meet the second predetermined condition as the target points in the point cloud data of multiple groups of the candidate points. In the target points that meet the second predetermined condition, the angle of the vertex of the V formed by the first candidate positioning point, the candidate charging point, and the second candidate positioning point is within the third predetermined range, and in the point cloud data of multiple first intermediate points, the absolute value of the Pearson correlation coefficient between the abscissa and the ordinate of each of the first intermediate points is within a fourth predetermined range. In the point cloud data of multiple second intermediate points, the absolute value of the Pearson correlation coefficient between the abscissa and the ordinate of each of the second intermediate points is within the fourth predetermined range. The first intermediate point is the point between the first candidate positioning point and the candidate charging point, and the second intermediate point is the point between the candidate charging point and the second candidate positioning point. The minimum value of the fourth predetermined range is greater than 0.8. Through the above first predetermined condition, multiple groups of the candidate points that conform to the characteristics of the V-shaped groove can be initially identified. Then, through the above second predetermined condition, the first candidate positioning point, the candidate charging point, and the second candidate positioning point that conform to more V-shaped groove characteristics can be further identified. The most qualified V-shaped groove candidate points are identified through the geometric characteristics of the V-shaped groove, and the method is simple and the accuracy of identifying the V-shaped groove is high.

[0062] In practical applications, the first predetermined range may be the first distance ±5 cm, the second predetermined range may be 0 ±5 cm, the third predetermined range may be the target angle ±10°, and the fourth predetermined range may be 0.8 to 1. For example Figure 4As shown, the distance between the first candidate positioning point 101 and the second candidate positioning point 103 is within the range of the first distance ±5 cm. The difference between the distance from the first candidate positioning point 101 to the candidate charging point 102 and the distance from the candidate charging point 102 to the second candidate positioning point 103 is within the range of 0 ±5 cm. The angle of the vertex of the V formed by the first candidate positioning point 101, the candidate charging point 102, and the second candidate positioning point 103 can be within the range of the target angle ±10°. The absolute value of the correlation coefficient between the abscissa and the ordinate of the multiple first intermediate points is between 0.8 and 1, and the absolute value of the correlation coefficient between the abscissa and the ordinate of the multiple second intermediate points is also between 0.8 and 1. The closer the correlation coefficient is to 1, the closer the connection line of the multiple first intermediate points is to a straight line, and the closer the connection line of the second intermediate points is to a straight line, that is, the first candidate positioning point 101, the candidate charging point 102, and the second candidate positioning point more conform to the characteristics of the V-shaped groove.

[0063] In order to obtain the target charging point more stably and accurately, in another embodiment of the present application, the second determination unit includes a first fitting subunit, a second fitting subunit, and a first calculation subunit. Among them, the first fitting subunit is used to fit the multiple first intermediate points to obtain a first straight line; the second fitting subunit is used to fit the multiple second intermediate points to obtain a second straight line; the first calculation subunit is used to calculate the coordinates of the intersection point of the first straight line and the second straight line to obtain the coordinates of the target charging point, and the vertex of the V corresponding to the V-shaped groove is the target charging point.

[0064] Specifically, when obtaining point cloud data through a lidar, the point cloud data is obtained in the scanning order. If it is confirmed that the first candidate positioning point, the candidate charging point, and the second positioning point are points that conform to the geometric characteristics of the V-shaped groove, then the points between the first candidate positioning point and the candidate charging point and the points between the candidate charging point and the second candidate positioning point are all the point clouds forming the V-shaped groove. In practical applications, the fluctuation of the candidate charging point is relatively large. In order to obtain the coordinates of the stable and accurate target charging point, as Figure 6 shown, the points between the first candidate positioning point and the candidate charging point and the candidate charging point are used to fit the first straight line 105 and the second straight line 106, and the intersection point of the first straight line 105 and the second straight line 106 is the target charging point 108.

[0065] In another embodiment of the present application, the above method further includes a third determination unit, which is configured to determine a target vector at least according to the coordinates of the above target charging point, and the above target vector is the attitude vector of the above target charging point. According to the coordinates of the above target charging point, the attitude vector of the charging pile can be accurately calculated, so that the AGV can more quickly identify the charging pile and charge.

[0066] In order to more accurately calculate the attitude vector of the above charging pile, in another embodiment of the present application, the above third determination unit includes a second calculation subunit and a third calculation subunit. Among them, the above second calculation subunit is configured to calculate the above first positioning point and the above second positioning point according to the coordinates of the above target charging point, the first straight line and the second straight line, and the above first positioning point and the above second positioning point are used to represent the endpoints of the corresponding V-shaped sides of the above V-shaped groove; the above third calculation subunit is configured to calculate the sum of the vector from the above target charging point to the above first positioning point and the vector from the above target charging point to the above second positioning point to obtain the above target vector. The direction of the above target vector is the direction of the angular bisector of the apex angle of the above V-shaped groove.

[0067] In another embodiment of the present application, the above second calculation subunit includes a first calculation module and a second calculation module. Among them, the above first calculation module is configured to calculate the point on the above first straight line whose distance to the above target charging point is equal to the above second distance to obtain the above first positioning point, and the distance between the above first positioning point and the above first candidate positioning point is within a fifth predetermined range, and the fifth predetermined range includes zero; the above second calculation module is configured to calculate the point on the above second straight line whose distance to the above target charging point is equal to the above second distance to obtain the above second positioning point, and the distance between the above second positioning point and the above second candidate positioning point is within a sixth predetermined range, and the sixth predetermined range includes zero. According to the geometric characteristics of the V-shaped groove, the distance from the vertex to the endpoints of both sides is the second distance. As Figure 5 shown, through the above first straight line 105, the above second straight line 106 and the above target charging point 108, the above first positioning point 107 and the above second positioning point 109 of the above V-shaped groove can be conveniently and accurately calculated, and then through vector calculation, the above target vector 110 can be obtained.

[0068] In order to enable the charging pile to adaptively adjust the charging strategy, thereby improving the utilization rate of the charging pile, in another embodiment of the present application, the above method further includes a second acquisition unit and a charging unit. Among them, the above second acquisition unit is configured to acquire the charging type of the above AGV; the above charging unit is configured to charge the above AGV according to the above charging type, the coordinates of the above target charging point and the above target vector.

[0069] In practical applications, due to the different types of AGVs and different battery charging strategies, in order to improve the utilization rate of charging piles and save costs, an infrared communication module is installed at the center of the V-shaped groove and the center of the AGV charging head. The charging pile can obtain the charging type of the AGV through the infrared module, so as to adjust its own charging strategy to adapt to the AGV, enabling a charging pile to charge multiple types of AGVs, expanding the usage scenarios of the charging pile, saving the cost of the charging pile, and improving the utilization rate of the charging pile. The infrared module on the V-shaped groove is not on the same horizontal plane as the single-line lidar. Therefore, the V-shaped feature of the V-shaped groove point cloud is not affected by the infrared module.

[0070] Specifically, the above AGV navigates around the above charging pile, locates the above charging pile, determines the target charging point and the target vector, and obtains the charging type of the above AGV through the infrared module. It approaches the charging pile according to the target charging point and the target vector to complete the pile docking action, and then charges the above AGV according to the charging type of the above AGV.

[0071] In another specific embodiment of the present application, as Figure 5 shown, after determining the above target charging point, the target vector, and the above charging type, output the above target charging point, the target vector, and the above charging type and charge the AGV.

[0072] In practical applications, the least squares method is used to fit the above points. Fitting a straight line with the least squares method mainly means finding a straight line such that the sum of the Euclidean distances from all known points to this straight line is the smallest or the sum of the squared errors from the points to the straight line is the smallest. Using the least squares method for fitting can obtain the best parameter fitting result in a statistical sense.

[0073] The positioning device of the above AGV charging pile includes a processor and a memory. The above first acquisition unit, first determination unit, and second determination unit, etc. are all stored in the memory as program units, and the processor executes the above program units stored in the memory to implement corresponding functions.

[0074] The processor contains a kernel, and the kernel retrieves the corresponding program units from the memory. One or more kernels can be set, and by adjusting the kernel parameters, the problem of low positioning stability of the charging pile due to limited laser point cloud information in the prior art can be solved.

[0075] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM), and / or non-volatile memory in the form of, for example, read-only memory (ROM) or flash memory (flash RAM). The memory includes at least one memory chip.

[0076] An embodiment of the present invention provides a computer-readable storage medium. The computer-readable storage medium includes a stored program. When the program runs, it controls the device where the computer-readable storage medium is located to execute the positioning method of the AGV charging pile.

[0077] An embodiment of the present invention provides a processor. The processor is used to run a program. When the program runs, it executes the positioning method of the AGV charging pile.

[0078] An embodiment of the present invention provides a device. The device includes a processor, a memory, and a program stored on the memory and executable on the processor. When the processor executes the program, it implements at least the following steps:

[0079] Step S101, obtain the point cloud data, the first distance, and the target angle of the V-shaped groove. The first distance is the distance between the endpoints of the two sides of the V corresponding to the V-shaped groove, and the target angle is the angle of the vertex of the V corresponding to the V-shaped groove;

[0080] Step S102, determine the first candidate positioning point, the candidate charging point, and the second candidate positioning point at least according to the point cloud data, the first distance, and the target angle of the V-shaped groove. The distance between the first candidate positioning point and the second candidate positioning point is within a first predetermined range. The first predetermined range includes the first distance. The difference between the distance from the first candidate positioning point to the candidate charging point and the distance from the candidate charging point to the second candidate positioning point is within a second predetermined range. The second predetermined range includes zero. The angle of the vertex of the V formed by the first candidate positioning point, the candidate charging point, and the second candidate positioning point is within a third predetermined range. The third predetermined range includes the target angle;

[0081] Step S103, fit the two sides of the V-shaped groove at least according to the first candidate positioning point, the candidate charging point, and the second candidate positioning point, and determine the coordinates of the intersection of the two sides as the coordinates of the target charging point.

[0082] The device in this article can be a server, a PC, a PAD, a mobile phone, etc.

[0083] The present application also provides a computer program product. When executed on a data processing device, it is adapted to execute a program initialized with at least the following method steps:

[0084] Step S101, obtain the point cloud data, the first distance, and the target angle of the V-shaped groove. The first distance is the distance between the endpoints of the two sides of the V corresponding to the V-shaped groove, and the target angle is the angle of the vertex of the V corresponding to the V-shaped groove;

[0085] Step S102: Determine a first candidate positioning point, a candidate charging point, and a second candidate positioning point based on at least the point cloud data of the V-shaped groove, the first distance, and the target angle. The distance between the first candidate positioning point and the second candidate positioning point is within a first predetermined range, which includes the first distance. The difference between the distance from the first candidate positioning point to the candidate charging point and the distance from the candidate charging point to the second candidate positioning point is within a second predetermined range, which includes zero. The angle of the vertex of the V formed by the first candidate positioning point, the candidate charging point, and the second candidate positioning point is within a third predetermined range, which includes the target angle.

[0086] Step S103: Fit the two sides of the V-shaped groove based on at least the first candidate positioning point, the candidate charging point, and the second candidate positioning point, and determine the coordinates of the intersection of the two sides as the coordinates of the target charging point.

[0087] This application also provides an electronic device, including: one or more processors, a memory, a display device, and one or more programs. The one or more programs are stored in the memory and configured to be executed by the one or more processors. The one or more programs include those for executing any of the above AGV charging pile positioning methods.

[0088] In order to enable those skilled in the art to more clearly understand the technical solutions of this application, the technical solutions of this application will be described in detail below in combination with specific embodiments and comparative examples.

[0089] Embodiment

[0090] The positioning method of the AGV charging pile in this embodiment includes the following process, as Figure 5 shown:

[0091] Step S201: Navigate the AGV to the vicinity of the charging pile;

[0092] Step S202: Determine multiple groups of candidate points;

[0093] Step S203: Determine a first candidate positioning point, a candidate charging point, and a second candidate positioning point;

[0094] Step S204: Determine the target charging point and the target vector;

[0095] Step S205: Obtain the charging type;

[0096] Step S206: Output information and charge.

[0097] The above-mentioned step 202 includes: obtaining the point cloud data of the above V-groove, the first distance, and the target angle, where the first distance is the distance between the endpoints of both sides of the V corresponding to the above V-groove, and the target angle is the angle of the vertex of the V corresponding to the above V-groove; in the point cloud data of the above V-groove, multiple groups of candidate points that meet the first predetermined condition are determined. Each group of the above candidate points includes a first candidate positioning point, a candidate charging point, and a second candidate positioning point. In each group of the above candidate points that meet the first predetermined condition, the distance between the first candidate positioning point and the second candidate positioning point is within the first predetermined range, and the difference between the distance from the first candidate positioning point to the candidate charging point and the distance from the candidate charging point to the second candidate positioning point is within the second predetermined range.

[0098] The above-mentioned step 203 includes: in the point cloud data of multiple groups of the above candidate points, determining a group of the above candidate points that meet the second predetermined condition as the target points. In the above target points that meet the second predetermined condition, the angle of the vertex of the V formed by the first candidate positioning point, the candidate charging point, and the second candidate positioning point is within the third predetermined range, and in the point cloud data of multiple first intermediate points, the absolute value of the Pearson correlation coefficient between the abscissa and the ordinate of the multiple first intermediate points is within the fourth predetermined range. In the point cloud data of multiple second intermediate points, the absolute value of the Pearson correlation coefficient between the abscissa and the ordinate of the multiple second intermediate points is within the above fourth predetermined range. The above first intermediate points are the points between the first candidate positioning point and the candidate charging point, and the above second intermediate points are the points between the candidate charging point and the second candidate positioning point. The minimum value of the above fourth predetermined range is greater than 0.8.

[0099] The above-mentioned step 204 includes: fitting multiple above first intermediate points to obtain a first straight line, and fitting multiple above second intermediate points to obtain a second straight line; calculating the coordinates of the intersection point of the first straight line and the second straight line to obtain the coordinates of the above target charging point, and the vertex of the V corresponding to the above V-groove is the above target charging point. Calculating the points on the first straight line whose distance to the above target charging point is equal to the second distance to obtain the above first positioning point; calculating the points on the second straight line whose distance to the above target charging point is equal to the second distance to obtain the above second positioning point; calculating the sum of the vector from the above target charging point to the above first positioning point and the vector from the above target charging point to the above second positioning point to obtain the above target vector.

[0100] The above-mentioned step 205 includes: obtaining the charging type of the above AGV through an infrared module.

[0101] The above-mentioned step 206 includes: outputting the target charging point, target vector, and charging type of the above-mentioned charging pile, approaching the charging pile according to the target charging point and target vector to complete the pile approaching action, and then charging the above-mentioned AGV according to the charging type of the above-mentioned AGV.

[0102] In the above-mentioned embodiments of the present invention, the descriptions of each embodiment have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0103] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0104] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0105] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device realizes the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0106] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for realizing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0107] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0108] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash RAM. The memory is an example of computer-readable media.

[0109] Computer-readable media includes both permanent and non-permanent, removable and non-removable media implemented by any method or technology for information storage. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0110] It should also be noted that the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but also other elements not expressly listed or elements inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0111] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0112] 1) In the positioning method of the AGV charging pile of the present application, first, the point cloud data of the V-shaped groove, the first distance, and the target angle are obtained. The first distance is the distance between the endpoints of the two sides of the V corresponding to the V-shaped groove, and the target angle is the angle of the vertex of the V corresponding to the V-shaped groove. After that, at least based on the point cloud data of the V-shaped groove, the first distance, and the target angle, a first candidate positioning point, a candidate charging point, and a second candidate positioning point are determined. The distance between the first candidate positioning point and the second candidate positioning point is within a first predetermined range, and the first predetermined range includes the first distance. The difference between the distance from the first candidate positioning point to the candidate charging point and the distance from the candidate charging point to the second candidate positioning point is within a second predetermined range, and the second predetermined range includes zero. The angle of the vertex of the V formed by the first candidate positioning point, the candidate charging point, and the second candidate positioning point is within a third predetermined range, and the third predetermined range includes the target angle. Finally, at least based on the first candidate positioning point, the candidate charging point, and the second candidate positioning point, the two sides of the V-shaped groove are fitted, and the coordinates of the intersection point of the two sides are determined as the coordinates of the target charging point. This method determines the first candidate positioning point, the candidate charging point, and the second candidate positioning point of the AGV charging pile that at least meet the above geometric characteristics through the distance between the endpoints of the two sides of the V of the V-shaped groove and the vertex angle of the V, and then fits the two sides of the V-shaped groove according to the points between the candidate charging point and the first candidate positioning point and the points between the candidate charging point and the second candidate positioning point, so that the intersection point of the two fitted straight lines is the target charging point. According to the multiple points between the candidate charging point that meets the geometric characteristics of the V-shaped groove and the first candidate positioning point and the second candidate positioning point for fitting, the stability of the fitted straight line is high, so that the intersection point obtained from the two fitted straight lines, that is, the target charging point, is also more stable, thus solving the problem of low positioning stability of the charging pile due to limited laser point cloud information in the prior art.

[0113] 2) In the positioning device of the AGV charging pile of the present application, first, the point cloud data, the first distance, and the target angle of the V-shaped groove are obtained by the first obtaining unit. The first distance is the distance between the endpoints of the two sides of the V corresponding to the V-shaped groove, and the target angle is the angle of the vertex of the V corresponding to the V-shaped groove. Then, the first determining unit determines at least the first candidate positioning point, the candidate charging point, and the second candidate positioning point according to the point cloud data, the first distance, and the target angle of the V-shaped groove. The distance between the first candidate positioning point and the second candidate positioning point is within a first predetermined range, and the first predetermined range includes the first distance. The difference between the distance from the first candidate positioning point to the candidate charging point and the distance from the candidate charging point to the second candidate positioning point is within a second predetermined range, and the second predetermined range includes zero. The angle of the vertex of the V formed by the first candidate positioning point, the candidate charging point, and the second candidate positioning point is within a third predetermined range, and the third predetermined range includes the target angle. Finally, the second determining unit fits the two sides of the V-shaped groove and determines the coordinates of the intersection point of the two sides as the coordinates of the target charging point at least according to the first candidate positioning point, the candidate charging point, and the second candidate positioning point. The device determines at least the first candidate positioning point, the candidate charging point, and the second candidate positioning point of the AGV charging pile that meet the above geometric characteristics according to the distance between the endpoints of the two sides of the V of the V-shaped groove and the vertex angle of the V, and then fits the two sides of the V-shaped groove according to the points between the candidate charging point and the first candidate positioning point and the points between the candidate charging point and the second candidate positioning point, so as to obtain the intersection point of the two fitted straight lines as the target charging point. The stability of the fitted straight line is high according to the multiple points between the candidate charging point that meets the geometric characteristics of the V-shaped groove and the first candidate positioning point and the second candidate positioning point. Therefore, the intersection point obtained from the two fitted straight lines, that is, the target charging point, is also more stable, thus solving the problem of low positioning stability of the charging pile due to limited laser point cloud information in the prior art.

[0114] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A positioning method for an AGV charging pile, characterized in that, The AGV charging pile has a V-shaped groove, and the method includes: Obtaining the point cloud data, a first distance, and a target angle of the V-shaped groove, where the first distance is the distance between the endpoints of the two sides of the V corresponding to the V-shaped groove, and the target angle is the angle of the vertex of the V corresponding to the V-shaped groove; In the point cloud data of the V-shaped groove, determining multiple groups of candidate points that meet a first predetermined condition. Each group of candidate points includes a first candidate positioning point, a candidate charging point, and a second candidate positioning point. In each group of candidate points that meet the first predetermined condition, the distance between the first candidate positioning point and the second candidate positioning point is within a first predetermined range, and the difference between the distance from the first candidate positioning point to the candidate charging point and the distance from the candidate charging point to the second candidate positioning point is within a second predetermined range; In the point cloud data of multiple groups of candidate points, determining a group of candidate points that meet a second predetermined condition as the target points. In the target points that meet the second predetermined condition, the angle of the vertex of the V formed by the first candidate positioning point, the candidate charging point, and the second candidate positioning point is within a third predetermined range, and in the point cloud data of multiple first intermediate points, the absolute value of the Pearson correlation coefficient between the abscissa and the ordinate of each first intermediate point is within a fourth predetermined range. In the point cloud data of multiple second intermediate points, the absolute value of the Pearson correlation coefficient between the abscissa and the ordinate of each second intermediate point is within the fourth predetermined range. The first intermediate point is the point between the first candidate positioning point and the candidate charging point, the second intermediate point is the point between the candidate charging point and the second candidate positioning point, the minimum value of the fourth predetermined range is greater than 0.8, the first predetermined range includes the first distance, the second predetermined range includes zero, and the third predetermined range includes the target angle; At least based on the first candidate positioning point, the candidate charging point, and the second candidate positioning point, fitting the two sides of the V-shaped groove and determining the coordinates of the intersection of the two sides as the coordinates of the target charging point.

2. The method according to claim 1, wherein At least based on the first candidate positioning point, the candidate charging point, and the second candidate positioning point, fitting the two sides of the V-shaped groove and determining the coordinates of the intersection of the two sides as the coordinates of the target charging point, including: Fitting multiple first intermediate points to obtain a first straight line; Fitting multiple second intermediate points to obtain a second straight line; Calculating the coordinates of the intersection of the first straight line and the second straight line to obtain the coordinates of the target charging point, and the vertex of the V corresponding to the V-shaped groove is the target charging point.

3. The method according to claim 2, wherein The method further includes: Determining a target vector at least based on the coordinates of the target charging point, where the target vector is the attitude vector of the target charging point.

4. The method according to claim 3, wherein Determining a target vector at least based on the coordinates of the target charging point, including: Calculate a first positioning point and a second positioning point according to the coordinates of the target charging point, the first straight line, and the second straight line, where the first positioning point and the second positioning point are used to represent the endpoints of the corresponding V-shaped sides of the V-shaped groove; Calculate the sum of the vector from the target charging point to the first positioning point and the vector from the target charging point to the second positioning point to obtain the target vector.

5. The method according to claim 4, wherein The second distance is the distance from the vertex of the V corresponding to the V-shaped groove to one of the endpoints. Calculating the first positioning point and the second positioning point according to the coordinates of the target charging point, the first straight line, and the second straight line includes: Calculate the point on the first straight line whose distance to the target charging point is equal to the second distance to obtain the first positioning point, and the distance between the first positioning point and the first candidate positioning point is within a fifth predetermined range, and the fifth predetermined range includes zero; Calculate the point on the second straight line whose distance to the target charging point is equal to the second distance to obtain the second positioning point, and the distance between the second positioning point and the second candidate positioning point is within a sixth predetermined range, and the sixth predetermined range includes zero.

6. The method according to claim 4, wherein The method further includes: Obtain the charging type of the AGV; Charge the AGV according to the charging type, the coordinates of the target charging point, and the target vector.

7. A positioning device for an AGV charging pile, characterized in that, The AGV charging pile has a V-shaped groove, and the device includes: A first acquisition unit, configured to acquire the point cloud data, the first distance, and the target angle of the V-shaped groove, where the first distance is the distance between the endpoints of the two sides of the V corresponding to the V-shaped groove, and the target angle is the angle of the apex of the V corresponding to the V-shaped groove; A first determination unit, configured to determine multiple groups of candidate points that meet a first predetermined condition in the point cloud data of the V-shaped groove. Each group of candidate points includes a first candidate positioning point, a candidate charging point, and a second candidate positioning point. In each group of candidate points that meet the first predetermined condition, the distance between the first candidate positioning point and the second candidate positioning point is within a first predetermined range, and the difference between the distance from the first candidate positioning point to the candidate charging point and the distance from the candidate charging point to the second candidate positioning point is within a second predetermined range; and is configured to determine a group of candidate points that meet a second predetermined condition as the target points in the point cloud data of multiple groups of candidate points. In the target points that meet the second predetermined condition, the angle of the vertex of the V formed by the first candidate positioning point, the candidate charging point, and the second candidate positioning point is within a third predetermined range, and in the point cloud data of multiple first intermediate points, the absolute value of the Pearson correlation coefficient between the abscissa and the ordinate of each first intermediate point is within a fourth predetermined range. In the point cloud data of multiple second intermediate points, the absolute value of the Pearson correlation coefficient between the abscissa and the ordinate of each second intermediate point is within the fourth predetermined range. The first intermediate point is the point between the first candidate positioning point and the candidate charging point, and the second intermediate point is the point between the candidate charging point and the second candidate positioning point. The minimum value of the fourth predetermined range is greater than 0.

8. The first predetermined range includes the first distance, the second predetermined range includes zero, and the third predetermined range includes the target angle; A second determination unit, configured to fit two sides of the V-shaped groove at least based on the first candidate positioning point, the candidate charging point, and the second candidate positioning point, and determine the coordinates of the intersection of the two sides as the coordinates of the target charging point.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein when the program runs, it controls the device where the computer-readable storage medium is located to execute the positioning method of the AGV charging pile according to any one of claims 1 to 6.

9. A processor, characterized in that, The processor is configured to run a program, wherein when the program runs, it executes the positioning method of the AGV charging pile according to any one of claims 1 to 6.

10. An electronic device, characterized in that, Comprising: One or more processors, a memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors. The one or more programs include those for executing the positioning method of the AGV charging pile according to any one of claims 1 to 6.

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