Accurate docking method and device of charging pile, robot and charging pile

Abstract

The invention discloses a precise docking method and device of a charging pile, a robot and the charging pile. The method comprises the following steps: receiving infrared light information emitted by a charging pile; under the condition that the infrared area where the robot is located is a preset infrared area, an actual reflection point block matched with the preset structure size and a simulation reflection point block matched with the preset structure size are determined based on radar reflection information of the laser radar and the preset structure size of the laser filter device; and determining a target position of the charging pile relative to the robot according to the actual reflection point block and the simulated reflection point block. By judging whether the robot is in the preset infrared area or not, long-distance rough positioning is completed, the current position range of the robot moving chassis is narrowed, on the basis of the range, the laser radar is used for completing close-distance accurate positioning of the charging pile according to the size structure of the laser filter device, and the positioning accuracy of the charging pile is improved. And the charging success rate of the docking charging pile is improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic recharging technology, and in particular to a precise docking method, device, robot and charging pile for a charging pile. Background Art

[0002] With the development of intelligent robots (household service robots, cleaning and sweeping robots, industrial inspection robots, etc.), it has become a basic function for robots to autonomously return to charging piles for charging. It is a guarantee for the uninterrupted operation of robots. How to determine the location of the charging piles and accurately dock them is a problem that needs to be solved.

[0003] At present, the main method for intelligent robots to determine the location of charging piles includes: the robot receives infrared or ultrasonic signals from the charging piles to determine the location of the charging piles. However, this method cannot accurately find the location of the charging piles, resulting in failure to dock with the charging piles and failure to complete charging. Summary of the invention

[0004] The present invention provides a precise docking method for a charging pile, so as to solve the technical problem that the existing method for determining the position of a charging pile cannot accurately find the position of the charging pile, resulting in failure in docking with the charging pile and inability to complete charging.

[0005] According to one aspect of the present invention, a precise docking method for a charging pile is provided, wherein the robot is provided with a laser radar, and the charging pile is provided with a laser filter device, and the precise docking method comprises:

[0006] Receiving infrared light information emitted by the charging pile, wherein the infrared light information is used to instruct the charging pile to determine the infrared area where the robot is located;

[0007] In the case where the infrared area where the robot is located is a preset infrared area, based on the radar reflection information of the laser radar and the preset structural dimensions of the laser filter device, an actual reflection point block matching the preset structural dimensions and a simulated reflection point block matching the preset structural dimensions are determined; wherein the reflection point block is a linear reflection area formed by a collection of reflection points, and the reflection points are each point in the reflection point block;

[0008] The target position of the charging pile relative to the robot is determined according to the actual reflection point block and the simulated reflection point block.

[0009] Optionally, the actual reflection point block includes a preset number of reflection points arranged in sequence, and the determining, based on the radar reflection information of the laser radar and the preset structural size of the laser filter device, the actual reflection point block matching the preset structural size and the simulated reflection point block matching the preset structural size includes:

[0010] Determine the actual reflection point block, the first actual reflection point in the actual reflection point block, and the last actual reflection point in the actual reflection point block based on the radar reflection information and the preset structure size;

[0011] Determine the reflection line corresponding to each actual reflection point in the actual reflection point block based on the reflection angle corresponding to each actual reflection point;

[0012] Determine an initial simulated reflection point block according to the first actual reflection point, the last actual reflection point and the reflection line;

[0013] The simulated reflection point block is determined according to the initial simulated reflection point block and the preset structure size.

[0014] Optionally, the preset structural dimensions include at least a first structural dimension, the first structural dimension is a total length of the laser filter device, and determining a first actual reflection point matching a first end of the first structural dimension and a tail actual reflection point matching a tail end of the first structural dimension from the radar reflection information includes:

[0015] Based on the rotation direction of the laser radar, determine a first actual reflection point from the radar reflection information, and use the actual reflection point set where the first actual reflection point is located as an initial actual reflection point block;

[0016] Taking the first actual reflection point as the actual reflection point that matches the head end of the first structural dimension, searching for a second actual reflection point that matches the tail end of the first structural dimension in the initial actual reflection point block to obtain a reflection point search result;

[0017] When the reflection point search result indicates that the second actual reflection point is found, the first actual reflection point is determined as the first actual reflection point, the second actual reflection point is determined as the last actual reflection point, and the initial actual reflection point block is determined as the actual reflection point block.

[0018] Optionally, determining an initial simulated reflection point block according to the first actual reflection point, the last actual reflection point and the reflection line includes:

[0019] Determining a target connection line between the first actual reflection point and the last actual reflection point;

[0020] Connecting each of the reflection lines with the target line to obtain a connection intersection between each of the reflection lines and the target line;

[0021] The set of connection intersections is used as the initial simulated reflection point block; wherein the first connection intersection in the initial simulated reflection point block is the same as the first actual reflection point in the actual reflection point block, and the last connection intersection in the initial simulated reflection point block is the same as the last actual reflection point in the actual reflection point block.

[0022] Optionally, the preset structural size further includes a second preset size, a third preset size, a fourth preset size and a fifth preset size, wherein the second preset size, the third preset size and the fourth preset size are sizes of a reflective structure in the laser filter device, and the fifth preset size is a size of a light-absorbing structure in the laser filter device;

[0023] Determining the simulated reflection point block according to the initial simulated reflection point block and the preset size of the structure includes:

[0024] Traversing each of the connection intersections in the initial simulated reflection point block, and calculating the distance between the currently traversed connection intersection and the first connection intersection;

[0025] The distance corresponding to the currently traversed connection intersection is greater than the second preset size and less than the first sum value;

[0026] Or, when the distance corresponding to the currently traversed connection intersection is greater than the second sum value and less than the third sum value, the currently traversed connection intersection is used as a simulated reflection point; the first sum value is the sum of the second preset size and the fifth preset size; the second sum value is the sum of the second preset size, the third preset size and the fifth preset size; the third sum value is the sum of the second preset size, the third preset size and the preset multiple of the fifth preset size; the preset multiple matches the number of the light absorbing structures;

[0027] The set of the simulated reflection points is taken as the simulated reflection point block.

[0028] Optionally, determining the target position of the charging pile relative to the robot according to the actual reflection point block and the simulated reflection point block includes:

[0029] Calculating the correlation between the actual reflection point block and the simulated reflection point block;

[0030] The radar reflection area corresponding to the maximum value in the correlation is determined as the target position of the charging pile relative to the robot.

[0031] Optionally, the calculating the correlation between the actual reflection point block and the simulated reflection point block includes:

[0032] Calculating a target sum value parameter of the square of the distance between each of the actual reflection points in the actual reflection point block and each of the simulated reflection points in the simulated reflection point block;

[0033] The ratio between the number of the reflected lines and the target and value parameters is taken as the correlation.

[0034] According to another aspect of the present invention, a precise docking device for a charging pile is provided, which is used to perform the precise docking method described in any embodiment of the present invention, and the precise docking device includes:

[0035] A receiving module, the receiving module is used to receive infrared light information emitted by the charging pile, and the infrared light information is used to instruct the charging pile to determine the infrared area where the robot is located;

[0036] A first determination module, wherein the first determination module is used to determine, when the infrared area where the robot is located is a preset infrared area, an actual reflection point block matching the preset structural size and a simulated reflection point block matching the preset structural size based on radar reflection information of the laser radar and a preset structural size of the laser filter device; wherein a reflection point block is a linear reflection area formed by a collection of reflection points, and a reflection point is each point in the reflection point block;

[0037] The second determination module is used to determine the target position of the charging pile relative to the robot according to the actual reflection point block and the simulated reflection point block.

[0038] According to another aspect of the present invention, a robot is provided for implementing the precise docking method described in any embodiment of the present invention, wherein the robot comprises a laser radar and an infrared receiving device; the laser radar is used to transmit laser radar information and receive radar reflection information, and the infrared receiving device is used to receive infrared light information.

[0039] According to another aspect of the present invention, a charging pile is provided for implementing the precise docking method described in any embodiment of the present invention, the charging pile comprising a laser filter device and an infrared emitting device, the laser filter device comprising a first preset number of reflective structures and a second preset number of light-absorbing structures, the reflective structure being used to reflect laser radar information, the light-absorbing structure being used to absorb the laser radar information, wherein each of the reflective structures has different structural sizes, and the infrared emitting device being used to emit infrared light information.

[0040] The technical solution provided by the embodiment of the present invention, by adding a judgment method of a preset infrared area, determines whether the robot is in the preset infrared area, completes long-distance rough positioning, narrows the current position range of the robot's mobile chassis, and performs close-range precise docking based on this range. The laser radar can accurately determine the position of the charging pile at a close distance according to the size structure of the laser filter device, thereby improving the success rate of docking charging pile charging. The process of the robot automatically returning to the precise docking charging pile for charging after completing the task or when the battery is low is realized. The precise docking process provided by the embodiment of the present invention involves two parts: long-distance rough positioning and close-range precise positioning. The required sensors are integrated on the charging pile and the robot body, without the need for external conditions, with low installation and deployment costs, high docking success rate, and strong stability. The technical solution provided by the embodiment of the present invention solves the technical problem that the existing method for determining the position of the charging pile cannot accurately find the position of the charging pile, resulting in failure to dock the charging pile and inability to complete charging.

[0041] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 A flowchart of a method for accurately docking a charging pile provided by an embodiment of the present invention;

[0044] Figure 2 A charging pile docking algorithm operation module diagram provided by an embodiment of the present invention;

[0045] Figure 3 A schematic diagram of the structure of a charging pile provided in an embodiment of the present invention;

[0046] Figure 4 A schematic diagram of the structure of a robot mobile chassis provided by an embodiment of the present invention;

[0047] Figure 5 A schematic diagram of precise positioning of a charging pile provided by an embodiment of the present invention;

[0048] Figure 6 A flow chart of another method for accurately docking a charging pile provided by an embodiment of the present invention;

[0049] Figure 7 A flow chart of another method for accurately docking a charging pile provided in an embodiment of the present invention;

[0050] Figure 8 A schematic diagram of the structure of a precise docking device for a charging pile provided by an embodiment of the present invention;

[0051] Fig. 9 A schematic structural diagram of an electronic device for a precise docking method of a charging pile provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0053] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0054] Figure 1 This is a flow chart of a method for precise docking of a charging pile provided by an embodiment of the present invention. This embodiment is applicable to the situation where an intelligent robot is precisely docked and charged with a charging pile. The method can be executed by a precise docking device for a charging pile. The precise docking device can be implemented in the form of hardware and / or software. The precise docking device can be configured in any electronic device with communication function. Figure 1 , the precise docking method comprises:

[0055] S110, receiving infrared light information emitted by the charging pile, where the infrared light information is used to instruct the charging pile to determine the infrared area where the robot is located.

[0056] Among them, the infrared light information includes intensity information, wavelength information, frequency information and phase information.

[0057] Specifically, the robot's infrared light information is scanned by the scanning module in the docking charging pile algorithm. Figure 2 As shown, Figure 2 A charging pile docking algorithm operation module diagram provided by an embodiment of the present invention includes START: start module; IDLE: idle module; SCAN: scanning module; FIND_INFRARED: find infrared light module; GET_INFRARED: find infrared light module; SCAN_TO_ALIGN: move to the preset infrared area module according to the found infrared light information; ALIGNED: the current robot is already in the preset infrared area, far infrared alignment module; LIDAR_ALIGN: near radar precise docking module; LAST_DOCK: final docking module; DOCKED_IN: docking charging pile completion module. Scan the infrared light information of the robot through the scanning module.

[0058] S120. When the infrared area where the robot is located is a preset infrared area, based on the radar reflection information of the laser radar and the preset structural dimensions of the laser filter device, determine the actual reflection point blocks that match the preset structural dimensions and the simulated reflection point blocks that match the preset structural dimensions.

[0059] Among them, the actual reflection point block includes a preset number of reflection points arranged in sequence; the reflection point block is a collection of reflection points to form a linear reflection area, and the reflection points are each point in the reflection point block; the preset infrared area is an infrared area pre-set based on the docking success rate.

[0060] Specifically, Figure 3 For a schematic diagram of the structure of a charging pile provided in an embodiment of the present invention, see Figure 3, the structural diagram includes a charging pile 10, a laser filter device 21, an infrared emitting device 22, an infrared emitting hole RIGHT4, an infrared emitting hole MID5, and an infrared emitting hole LEFT6; the charging pile 10 is provided with an infrared emitting device 22, and the infrared emitting device 22 has built-in infrared emitting modules, namely, infrared emitting hole RIGHT 4, infrared emitting hole MID 5, and infrared emitting hole LEFT 6, which divide the infrared emitting area into three parts, infrared areas 1, 2, and 3. Infrared areas 1 and infrared areas 3 are symmetrical, and the infrared area 2 in the middle has a narrower range angle. The infrared light in the three areas is pre-encoded with different information. The infrared receiver LEFT 1, infrared receiver MID 2, and infrared receiver RIGHT 3 of the robot chassis receive and decode the infrared light that has encoded different information. By finding the infrared light module FIND_INFRARED and finding the infrared light module GET_INFRARED, it is roughly determined in which infrared area of ​​the charging pile the robot is located, that is, whether the robot is in infrared area 2. If the robot is not currently in the infrared area 2, the robot is moved to the infrared area 2 according to the infrared light information found, and the infrared receiver MID 2 receives the signal from the infrared transmitting hole MID 5, and tracks the signal to control the robot to slowly approach the charging pile 10. At this point, the rough positioning of the robot and the charging pile has been completed.

[0061] Figure 4 The schematic diagram of the structure of the robot mobile chassis provided by the embodiment of the present invention is shown in FIG. Figure 4 , the figure includes the robot mobile chassis 00, laser radar 20, infrared receiver LEFT 1, infrared receiver MID 2, infrared receiver RIGHT 3, left rear wheel 31, right rear wheel 32, front steering wheel 33; the laser filter device 21 on the charging pile, its gray part can absorb the laser emitted by the laser radar and does not reflect the laser. The total width of the device is L, and the lengths of the laser reflecting parts are L1, L2, and L3, as shown in FIG. Figure 5 As shown, Figure 5 This is a schematic diagram of a charging pile precise positioning provided by an embodiment of the present invention. This part is used for the robot chassis 00 to accurately locate the position of the charging pile 10 at a close distance. When the robot is in the infrared area 2 and slowly approaches the charging pile 10 to a certain distance, the laser radar 20 scans the surrounding objects, the laser filter device 21, and the ordinary obstacle 40. The lengths of the two gray light-absorbing parts in the laser filter device 21 are both Lg, and the red dotted line part is the actual reflection point block coordinate R (x R ,y R The black dashed line is the coordinates of the simulated reflection point block S(x S ,y S), wherein the laser reflection distance of the relevant reflection points in the simulated reflection point block S needs to be set to infinity inf according to the structural dimensions L, L1, L2, L3, and Lg of the laser filter device 21. The lengths of the first and last points of the actual reflection point block R and the simulated reflection point block S are both L.

[0062] S130: Determine the target position of the charging pile relative to the robot according to the actual reflection point block and the simulated reflection point block.

[0063] Specifically, the correlation between the actual reflection point block coordinates and the simulated reflection point block coordinates is calculated, and the precise position of the charging pile relative to the robot is determined based on the correlation. The higher the correlation, the more accurate the position of the charging pile relative to the robot.

[0064] The technical solution provided by the embodiment of the present invention, by adding a judgment method of a preset infrared area, determines whether the robot is in the preset infrared area, completes long-distance rough positioning, narrows the current position range of the robot's mobile chassis, and performs close-range precise docking based on this range. The laser radar can accurately determine the position of the charging pile at a close distance according to the size structure of the laser filter device, which greatly improves the success rate of docking charging pile charging. The process of the robot automatically returning to the precise docking charging pile for charging after completing the task or when the battery is low is realized. The precise docking process provided by the embodiment of the present invention involves two parts: long-distance rough positioning and close-range precise positioning. The required sensors are integrated on the charging pile and the robot body, without the need for external conditions, with low installation and deployment costs, high docking success rate, and strong stability. The technical solution provided by the embodiment of the present invention solves the technical problem that the existing method for determining the position of the charging pile cannot accurately find the position of the charging pile, resulting in failure to dock the charging pile and inability to complete charging.

[0065] Figure 6 This is a flow chart of another method for accurately docking a charging pile provided by an embodiment of the present invention. The embodiment of the present invention further refines the above embodiment on the basis of the above embodiment. Figure 6 , the precise docking method comprises:

[0066] S610: Receive infrared light information emitted by the charging station.

[0067] S620. When the infrared area where the robot is located is a preset infrared area, based on radar reflection information and preset structural dimensions, determine the actual reflection point block, the first actual reflection point in the actual reflection point block, and the last actual reflection point in the actual reflection point block.

[0068] S630: Determine the reflection line corresponding to each actual reflection point based on the reflection angle corresponding to each actual reflection point in the actual reflection point block.

[0069] S640: Determine an initial simulated reflection point block according to the first actual reflection point, the last actual reflection point, and the reflection line.

[0070] S650: Determine a simulated reflection point block according to the initial simulated reflection point block and a preset structure size.

[0071] Furthermore, the preset structural dimensions include at least a first structural dimension, and the first structural dimension is a total length L of the laser filter device;

[0072] Optionally, determining a first actual reflection point matching a first end of the first structural dimension and a tail actual reflection point matching a tail end of the first structural dimension from the radar reflection information includes:

[0073] Based on the rotation direction of the laser radar, the first actual reflection point is determined from the radar reflection information, and the actual reflection point set where the first actual reflection point is located is used as the initial actual reflection point block.

[0074] The first actual reflection point is taken as the actual reflection point matched with the head end of the first structural dimension, and a second actual reflection point matched with the tail end of the first structural dimension is searched in the initial actual reflection point block to obtain a reflection point search result.

[0075] When the reflection point search result indicates that the second actual reflection point is found, the first actual reflection point is determined as the first actual reflection point, the second actual reflection point is determined as the last actual reflection point, and the initial actual reflection point block is determined as the actual reflection point block.

[0076] Specifically, according to the rotation direction of the laser radar data (for example, counterclockwise), the mth reflection point block in the radar reflection information is selected as the initial actual reflection point block: the i-th radar reflection point data (i = 1, 2, 3, ... i ..., i is the maximum number of laser radar reflection lines) of the initial actual reflection point block is used as the first actual reflection point R of the reflection point block is , and m is used as the serial number of the reflection point block. Counterclockwise select the jth (j>i) radar actual reflection point as the candidate point R of the tail actual reflection point of the reflection point block iej , that is, the second actual reflection point, when the Euclidean distance between the coordinates of the first and last actual reflection points in the mth reflection point block is L, that is, the Euclidean distance EuclideanDistance(R is ,R iej )=L, indicating the first actual reflection point R currently selected is and the second actual reflection point R iej The distance between them matches the length of the first structural dimension to be detected, and the first actual reflection point of the mth reflection point block can be R is The actual reflection point R ie =R iejAt this time, the actual number of reflection points N between the first actual reflection point and the last actual reflection point can be calculated. i =j-i+1, which is the number of reflected lines calculated below.

[0077] Optionally, determining the initial simulated reflection point block according to the first actual reflection point, the last actual reflection point, and the reflection line includes:

[0078] Determine the target connection line between the first actual reflection point and the last actual reflection point;

[0079] Connect each reflection line with the target line to obtain a connection intersection point between each reflection line and the target line;

[0080] The set of connected intersection points is used as the initial simulation reflection point block.

[0081] The first connection intersection point in the initial simulated reflection point block is the same as the first actual reflection point in the actual reflection point block, and the last connection intersection point in the initial simulated reflection point block is the same as the last actual reflection point in the actual reflection point block.

[0082] Specifically, after obtaining the actual reflection point block R i The actual reflection points R at the beginning and end is , R ie Afterwards, the actual reflection points R of the first and last reflection points are obtained according to their coordinates. is ,R ie Target line Line[R is ,R ie ]; Establish a spatial rectangular coordinate system with the laser radar as the coordinate origin, according to the laser radar origin coordinate O(0,0) and the actual reflection point block R i Medium i Projection angle of a point You can get N i Reflection lines According to the connection between the target line and the reflection line, determine the N i The intersection of the reflection line CastLine and the target line Line, and then we can get N i Connect the intersection points and i The connection intersections are the initial simulation reflection point blocks The first connection intersection point in the initial simulated reflection point block is the same as the first actual reflection point in the actual reflection point block, and the last connection intersection point in the initial simulated reflection point block is the same as the last actual reflection point in the actual reflection point block.

[0083] Furthermore, the preset structural dimensions also include a second preset dimension, a third preset dimension, a fourth preset dimension, and a fifth preset dimension, wherein the second preset dimension, the third preset dimension, and the fourth preset dimension are dimensions of a reflective structure in the laser filter device, and the fifth preset dimension is a dimension of a light-absorbing structure in the laser filter device;

[0084] Optionally, according to the initial simulated reflection point block and the preset size of the structure, determining the simulated reflection point block includes:

[0085] Traverse each connection intersection in the initial simulated reflection point block, and calculate the distance between the current traversed connection intersection and the first connection intersection;

[0086] The distance corresponding to the currently traversed connection intersection is greater than the second preset size and less than the first sum value;

[0087] Or, when the distance corresponding to the currently traversed connection intersection is greater than the second sum value and less than the third sum value, the currently traversed connection intersection is used as a simulated reflection point; the first sum value is the sum of the second preset size and the fifth preset size; the second sum value is the sum of the second preset size, the third preset size and the fifth preset size; the third sum value is the sum of the second preset size, the third preset size and the preset multiple of the fifth preset size; the preset multiple matches the number of light-absorbing structures;

[0088] The collection of simulated reflection points is taken as a simulated reflection point block.

[0089] Specifically, according to the initial simulation reflection point block S i ′ The jth point Calculate S i ′ j The Euclidean distance Dtemp to the first simulated reflection point of the reflection point block = EuclideanDistance(S i ′ j ,S i ′ 1), generally the jth simulated reflection point S ij =S i ′ j; when Dtemp meets the following requirements: when the Euclidean distance is greater than the second preset size and less than the sum of the second preset size and the fifth preset size; or, the Euclidean distance is greater than the sum of the second preset size, the third preset size, and the fifth preset size and less than the sum of the second preset size, the third preset size, and twice the fifth preset size, that is, (Dtemp > L1 and Dtemp < L1 + Lg) or (Dtemp > L1 + Lg + L2 and Dtemp < L1 + 2Lg + L2). At this time, under the condition that the reflection distances in x and y both satisfy infinity, S i ′ j is S ij , that is, S i ′ j coordinates the j-th simulated reflection point can be obtained as follows: Thus, a simulated reflection point block can be obtained

[0090] S660. Determine the target position of the charging pile relative to the robot according to the actual reflection point block and the simulated reflection point block.

[0091] Figure 7 is a flowchart of another accurate docking method for a charging pile provided by an embodiment of the present invention. The embodiment of the present invention further refines the foregoing embodiments on the basis of the above-mentioned embodiments. Refer to Figure 7 , the accurate docking method includes:

[0092] S710. Receive the infrared light information emitted by the charging pile.

[0093] S720. When the infrared area where the robot is located is a preset infrared area, based on the radar reflection information of the lidar and the preset structural dimensions of the laser filter device, determine an actual reflection point block matching the preset structural dimensions and a simulated reflection point block matching the preset structural dimensions.

[0094] S730. Calculate the correlation degree between the actual reflection point block and the simulated reflection point block.

[0095] Optionally, calculating the correlation degree between the actual reflection point block and the simulated reflection point block includes:

[0096] Calculate the first square value of the difference between the ordinate of the actual reflection point block and the ordinate of the simulated reflection point block; calculate the second square value of the difference between the abscissa of the actual reflection point block and the abscissa of the simulated reflection point block; add the first average value and the second average value and sum to obtain a sum value; divide the sum value by the number of reflection lines, and the obtained quotient value is determined as the correlation degree.

[0097] Specifically, the m-th actual reflection point block The corresponding simulated reflection point block The correlation satisfies the following formula:

[0098] In the formula, Rele i is the correlation between the actual reflection point block and the simulated reflection point block, and j is the jth laser radar reflection line in the current mth reflection point block. i It is the number of laser radar reflection lines in the current reflection point block.

[0099] S740: Determine the radar reflection area corresponding to the maximum value in the correlation as the target position of the charging pile relative to the robot.

[0100] Specifically, the precise position P of the laser filter device 21, i.e., the charging pile 10 relative to the laser radar 20 should satisfy the following formula:

[0101] [Rele max ,i]=max{Rele i};

[0102] Since the structural dimensions L, L1, L2, L3, and Lg of the laser filter device 21 are artificially set (generally L and Lg are fixed, and adjusting the position of the gray light-absorbing part in the laser filter device 21 can change L1, L2, and L3), ordinary obstacles of this size rarely appear in the natural environment. The radar reflection area where the precise position P of the charging pile is located can be determined in combination with the relevant parameters of the laser radar, that is, the radar reflection area corresponding to the maximum correlation value. The maximum correlation value indicates that the preset laser filter device is detected in the radar reflection area, and the robot chassis is guided and controlled to accurately dock with the charging port of the charging pile according to the precise position P. Due to the limitations of the laser radar resolution and the total width L of the laser filter device, the position P value in the LIDAR_ALIGN module can be stably output within a certain distance. It should be noted that the infrared emission area of ​​the infrared emission device can be expanded to more than 3 to improve the accuracy of rough positioning. The structural dimensions L1, L2, and L3 of the laser filter device can be designed to be changeable, that is, the dimensions of L1, L2, and L3 can be changed to meet special environmental requirements, or to meet the scenario of multiple robots and multiple charging piles in the same environment.

[0103] Figure 8 This is a schematic diagram of the structure of a precise docking device for a charging pile provided by an embodiment of the present invention. Figure 8 As shown, the precise docking device includes: a receiving module 810 , a first determining module 820 and a second determining module 830 .

[0104] The receiving module 810 is used to receive the infrared light information emitted by the charging pile, and the infrared light information is used to instruct the charging pile to determine the infrared area where the robot is located.

[0105] The first determination module 820 is used to determine, when the infrared area where the robot is located is a preset infrared area, an actual reflection point block matching the preset structural dimensions and a simulated reflection point block matching the preset structural dimensions based on the radar reflection information of the laser radar and the preset structural dimensions of the laser filter device; wherein the reflection point block is a linear reflection area formed by a collection of reflection points, and the reflection points are each point in the reflection point block.

[0106] The second determination module 830 is used to determine the target position of the charging pile relative to the robot according to the actual reflection point block and the simulated reflection point block.

[0107] A precise docking device for a charging pile provided in an embodiment of the present invention can execute a precise docking method for a charging pile provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0108] Fig. 9 A schematic diagram of the structure of an electronic device for a precise docking method of a charging pile provided in an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0109] like Fig. 9 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0110] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0111] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a precise docking method for a charging pile.

[0112] In some embodiments, a precise docking method for a charging pile may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the precise docking method for a charging pile described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform a precise docking method for a charging pile in any other appropriate manner (e.g., by means of firmware).

[0113] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0114] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0115] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0116] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0117] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0118] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0119] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0120] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A precise docking method for a charging pile, characterized in that: The robot is provided with a laser radar, the charging pile is provided with a laser filter device, and the precise docking method includes: Receiving infrared light information emitted by the charging pile, wherein the infrared light information is used to instruct the charging pile to determine the infrared area where the robot is located; In the case where the infrared area where the robot is located is a preset infrared area, based on the radar reflection information of the laser radar and the preset structural dimensions of the laser filter device, an actual reflection point block matching the preset structural dimensions and a simulated reflection point block matching the preset structural dimensions are determined; wherein the reflection point block is a linear reflection area formed by a collection of reflection points, and the reflection points are each point in the reflection point block; The target position of the charging pile relative to the robot is determined according to the actual reflection point block and the simulated reflection point block.

2. The precise docking method according to claim 1, characterized in that: The actual reflection point block includes a preset number of reflection points arranged in sequence, and the actual reflection point block matching the preset structural size and the simulated reflection point block matching the preset structural size are determined based on the radar reflection information of the laser radar and the preset structural size of the laser filter device, including: Determine the actual reflection point block, the first actual reflection point in the actual reflection point block, and the last actual reflection point in the actual reflection point block based on the radar reflection information and the preset structure size; Determine the reflection line corresponding to each actual reflection point based on the reflection angle corresponding to each actual reflection point in the actual reflection point block; Determine an initial simulated reflection point block according to the first actual reflection point, the last actual reflection point and the reflection line; The simulated reflection point block is determined according to the initial simulated reflection point block and the preset structure size.

3. The precise docking method according to claim 2, characterized in that: The preset structural dimensions at least include a first structural dimension, the first structural dimension is the total length of the laser filter device, and the determining of a first actual reflection point matching the first end of the first structural dimension and a tail actual reflection point matching the tail end of the first structural dimension from the radar reflection information includes: Based on the rotation direction of the laser radar, determine a first actual reflection point from the radar reflection information, and use the actual reflection point set where the first actual reflection point is located as an initial actual reflection point block; Taking the first actual reflection point as the actual reflection point that matches the head end of the first structural dimension, searching for a second actual reflection point that matches the tail end of the first structural dimension in the initial actual reflection point block to obtain a reflection point search result; When the reflection point search result indicates that the second actual reflection point is found, the first actual reflection point is determined as the first actual reflection point, the second actual reflection point is determined as the last actual reflection point, and the initial actual reflection point block is determined as the actual reflection point block.

4. The precise docking method according to claim 2, characterized in that: The determining of the initial simulated reflection point block according to the first actual reflection point, the last actual reflection point and the reflection line comprises: Determining a target connection line between the first actual reflection point and the last actual reflection point; Connecting each of the reflection lines with the target line to obtain a connection intersection between each of the reflection lines and the target line; The set of connection intersections is used as the initial simulated reflection point block; wherein the first connection intersection in the initial simulated reflection point block is the same as the first actual reflection point in the actual reflection point block, and the last connection intersection in the initial simulated reflection point block is the same as the last actual reflection point in the actual reflection point block.

5. The precise docking method according to claim 2, characterized in that: The preset structural dimensions further include a second preset dimension, a third preset dimension, a fourth preset dimension and a fifth preset dimension, wherein the second preset dimension, the third preset dimension and the fourth preset dimension are dimensions of the reflective structure in the laser filter device, and the fifth preset dimension is the dimension of the light absorbing structure in the laser filter device; Determining the simulated reflection point block according to the initial simulated reflection point block and the preset size of the structure includes: Traversing each of the connection intersections in the initial simulated reflection point block, and calculating the distance between the currently traversed connection intersection and the first connection intersection; The distance corresponding to the currently traversed connection intersection is greater than the second preset size and less than the first sum value; Or, when the distance corresponding to the currently traversed connection intersection is greater than the second sum value and less than the third sum value, the currently traversed connection intersection is used as a simulated reflection point; the first sum value is the sum of the second preset size and the fifth preset size; the second sum value is the sum of the second preset size, the third preset size and the fifth preset size; the third sum value is the sum of the second preset size, the third preset size and the preset multiple of the fifth preset size; the preset multiple matches the number of the light absorbing structures; The set of the simulated reflection points is taken as the simulated reflection point block.

6. The precise docking method according to claim 1, characterized in that: The determining, according to the actual reflection point block and the simulated reflection point block, a target position of the charging pile relative to the robot comprises: Calculating the correlation between the actual reflection point block and the simulated reflection point block; The radar reflection area corresponding to the maximum value in the correlation is determined as the target position of the charging pile relative to the robot.

7. The precise docking method according to claim 6, characterized in that: The calculating the correlation between the actual reflection point block and the simulated reflection point block comprises: Calculating a target sum value parameter of the square of the distance between each of the actual reflection points in the actual reflection point block and each of the simulated reflection points in the simulated reflection point block; The ratio between the number of the reflected lines and the target and value parameters is taken as the correlation.

8. A precise docking device for a charging pile, characterized in that: Used to perform the precise docking method according to any one of claims 1 to 7, the precise docking device comprising: A receiving module, the receiving module is used to receive infrared light information emitted by the charging pile, and the infrared light information is used to instruct the charging pile to determine the infrared area where the robot is located; A first determination module, wherein the first determination module is used to determine, when the infrared area where the robot is located is a preset infrared area, an actual reflection point block matching the preset structural size and a simulated reflection point block matching the preset structural size based on radar reflection information of the laser radar and a preset structural size of the laser filter device; wherein a reflection point block is a linear reflection area formed by a collection of reflection points, and a reflection point is each point in the reflection point block; The second determination module is used to determine the target position of the charging pile relative to the robot according to the actual reflection point block and the simulated reflection point block.

9. A robot, characterized in that: Used to implement the precise docking method described in any one of claims 1-7, the robot includes a laser radar and an infrared receiving device; the laser radar is used to transmit laser radar information and receive radar reflection information, and the infrared receiving device is used to receive infrared light information.

10. A charging pile, characterized in that: Used to implement the precise docking method described in any one of claims 1-7, the charging pile includes a laser filter device and an infrared emitting device, the laser filter device includes a first preset number of reflective structures and a second preset number of light-absorbing structures, the reflective structure is used to reflect laser radar information, and the light-absorbing structure is used to absorb the laser radar information, wherein each of the reflective structures has a different structural size, and the infrared emitting device is used to emit infrared light information.

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