Passing method and device for autonomous navigation of mobile charging pile in narrow channel and medium
By installing lidar and ultrasonic sensors on mobile charging piles and combining with path planning algorithms, the problem of difficulty in passing in narrow channels is solved, the traffic capacity and environmental adaptability are improved, and management costs are reduced.
Patent Information
- Application Number
- CN202411578217.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-07
- Publication Date
- 2025-02-25
AI Technical Summary
The difficulty of mobile charging piles passing through narrow channels has led to failure in path planning and traffic congestion in parking lots, increasing management costs.
Lidar and ultrasonic sensors are installed directly in front of the mobile charging pile, combining path planning algorithms and environmental perception, and adjusting local paths to ensure access. Specific steps include detecting obstacles, judging the feasibility of target points, planning global paths, adjusting local paths, and adopting strategies to rotate and re-plan routes when encountering narrow channels.
It improves the traffic capacity and environmental adaptability of mobile charging piles in narrow channels, reduces parking lot management costs, and improves parking space utilization and benefits.
Smart Images
Figure CN119512090A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of electric vehicle charging, and in particular to a method, a device and a medium for autonomous navigation of a mobile charging pile in a narrow channel. Background Art
[0002] In recent years, with the implementation of environmental protection policies and the development of new energy technologies, the market of new energy electric vehicles has been increasingly valued by more and more car companies, and electric vehicles have entered thousands of households. At present, there are many potential customers who are interested in purchasing electric vehicles. The biggest concern of people when purchasing is how to charge electric vehicles in a timely and fast manner. Therefore, many public parking lots are equipped with dedicated electric vehicle parking spaces, which are equipped with charging piles. However, the parking spaces may sometimes be occupied by fuel vehicles, or electric vehicles may not leave in time after being fully charged, or the charging parking spaces may be idle for a long time, all of which cause a waste of public resources.
[0003] In response to the above situation, the market has begun to promote mobile charging piles. There are two main routes for mobile charging piles: fixed track movement and unrestricted autonomous navigation movement. Fixed track movement requires the installation of tracks in advance in the parking lot, which occupies the parking lot area to a certain extent, reduces the available parking spaces and driving roads, and seriously affects the utilization rate and revenue of the parking lot. Unrestricted autonomous navigation movement requires a relatively spacious area to facilitate the planning of the mobile charging pile route. In order to prevent vehicles or pedestrians from suddenly appearing on the opposite side, it is also necessary to move close to the right side. However, when it is close to the right side or passing through a narrow area, the mobile charging pile's ability to pass and avoid will be greatly limited, further leading to the failure of its local path planning, and even in serious cases, it will be trapped and stranded on the spot, causing traffic congestion in the parking lot, which to a certain extent increases the management cost of the parking lot. Summary of the invention
[0004] In view of the defects of the prior art, the present invention provides a method, device and medium for autonomous navigation of a mobile charging pile in a narrow channel, so that the mobile charging pile can pass through the narrow channel efficiently and accurately to complete various tasks.
[0005] In order to solve the technical problem, the technical solution adopted by the present invention is: a method for autonomous navigation of a mobile charging pile in a narrow channel, comprising the following steps: S01. Install a laser radar and an ultrasonic sensor in front of the mobile charging pile. The laser radar is used to detect obstacles within a certain angle range in front of the mobile charging pile, and the ultrasonic sensor is used to detect obstacles in front of the mobile charging pile. S02. After receiving the target point location, the mobile charging pile first determines whether the target point is an executable target point. If it is an unexecutable target point, the task is directly cancelled and feedback is given to the user. If it is an executable target point, step S03 is performed; S03. Use the path planning algorithm to plan the global path, and adjust the local path according to the surrounding environment information sensed by the lidar and ultrasonic sensors during the movement. The actual walking route is the local path. Specifically, this step is as follows: S31. Determine the unilateral width limit threshold L during the movement of the mobile charging pile. The unilateral width limit threshold L is calculated based on the chassis size of the mobile charging pile. The calculation formula is: ; where L represents the unilateral width limit threshold, l represents the length of the chassis of the mobile charging pile, and w represents the width of the chassis of the mobile charging pile; During the movement of the mobile charging pile, its running direction is affected by L1, L2, and L. When L1 > L2 and L2 < L, the angular velocity of the mobile charging pile is positive, and the mobile charging pile moves to the left. When L1 < L2 and L1 < L, the angular velocity of the mobile charging pile is negative, and the mobile charging pile moves to the right. When both L1 and L2 are less than L, it is determined that the mobile charging pile enters the narrow channel. Here, L1 represents the distance from the mobile charging pile detected by the lidar to the obstacle on the left front side, and L2 represents the distance from the mobile charging pile detected by the lidar to the obstacle on the right front side; S33. When it is determined that the mobile charging pile enters the narrow channel, the mobile charging pile records the position coordinate information at this moment as inpoint; After the mobile charging pile enters the narrow channel, its movement direction is affected by L1 and L2. When L1 > L2, the angular velocity of the mobile charging pile is positive, and the mobile charging pile moves to the left. When L1 < L2, the angular velocity of the mobile charging pile is negative, and the mobile charging pile moves to the right. When the relationship between L1, L2, and L3 satisfies the following relationship: ; where L3 is the distance from the mobile charging pile detected by the ultrasonic sensor to the obstacle in front; The mobile charging pile rotates 180° in place, returns to inpoint, and at the same time sets the just-traveled route as the no-go area for this time, and re-plans the global route; S35. After the set number of attempts, if the mobile charging pile still fails to reach the target point position, inform the user to choose manual intervention or directly end the task and return to the standby point.
[0006] Furthermore, the types of non-executable target points include: the target point is outside the activity map range of the mobile charging pile, there are inactive obstacles on the target point, and the space where the target point is located is not sufficient to support the free movement of the mobile charging pile.
[0007] Furthermore, the global path is planned through the A* algorithm.
[0008] Furthermore, the recognition range of the laser radar is -175°~175°, where the 0° direction is directly in front of the mobile charging pile.
[0009] Furthermore, L1 and L2 are the distances from the laser radar in the -45° and 45° directions to the obstacles on both sides.
[0010] Furthermore, the detectable distance of the ultrasonic sensor is 0.05m~3m, and the recognition angle is 30°.
[0011] Furthermore, the mobile charging pile is provided with an emergency stop button and an anti-collision structure warning.
[0012] The present invention also discloses a passage device for automatic navigation of a mobile charging pile in a narrow channel, comprising a processor and a memory storing program instructions, wherein the processor is configured to execute the passage method for automatic navigation of a mobile charging pile in a narrow channel as described above when running the program instructions.
[0013] The present invention also discloses a storage medium storing program instructions, which, when running, execute the method for automatically navigating a mobile charging pile in a narrow channel as described above.
[0014] The beneficial effects of the present invention are as follows: the traffic capacity and environmental adaptability of mobile charging piles are improved, and convenient and efficient services are provided for various places. Precise control is achieved through the mobile charging pile control system to ensure that the mobile charging piles can pass stably and efficiently in narrow passages. The management cost of large parking lots is reduced, and the utilization rate and income of parking spaces in parking lots are improved. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 Schematic diagram of detection before a mobile charging pile enters a narrow channel. DETAILED DESCRIPTION
[0016] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0017] Example 1 This embodiment discloses a method for autonomous navigation of a mobile charging pile in a narrow passage, comprising the following steps: S01. Install a laser radar and an ultrasonic sensor in front of the mobile charging pile. The laser radar is used to detect obstacles within a certain angle range in front of the mobile charging pile, and the ultrasonic sensor is used to detect obstacles in front of the mobile charging pile. When the mobile charging pile is moving, the laser radar and ultrasonic sensor are used to perceive the surrounding environment in real time, obtain obstacle information in the narrow channel corridor, and generate a real-time local path of the mobile charging pile based on the perception results. The mobile charging pile will move along the local path.
[0018] like Figure 1As shown in the figure, the recognition range of the lidar is -175° to 175°, where the 0° direction is directly in front of the mobile charging pile. The mobile charging pile records the real-time distances from the laser at the -45° and 45° directions of the lidar to the obstacles on both sides. The angles -45° and 45° are respectively denoted as α1 and α2, and the detected distances are respectively denoted as L1 (at α1, unit: meter) and L2 (at α2, unit: meter).
[0019] The ultrasonic sensor is located directly in front of the mobile charging pile. It can detect distances from 0.05 m to 3 m and has an identification angle of 30°. The mobile charging pile obtains the distance to the obstacle in front, denoted as L3 (in the front, unit: meter), based on the real-time feedback distances from the lidar and the ultrasonic sensor.
[0020] S02. After receiving the target point position, the mobile charging pile first determines whether the target point is an executable target point. If it is not an executable target point, it directly cancels the task and feeds back to the user. If it is an executable target point, it proceeds to step S03. The types of non-executable target points include: the target point is outside the activity map range of the mobile charging pile, there are inactive obstacles on the target point, and the space at the target point location is insufficient to support the free movement of the mobile charging pile.
[0021] S03. After determining that the target point position is executable, the mobile charging pile uses the A* algorithm to plan the global path and adjusts the local path according to the real-time data during the movement. The actual walking route is the local path. During the movement, it adjusts the movement direction and speed of the mobile charging pile according to the surrounding environment information sensed by the lidar and the ultrasonic sensor to ensure that the mobile charging pile can accurately pass along the planned path.
[0022] This step is specifically as follows: S31. Determine the unilateral width limit threshold L during the movement of the mobile charging pile. The unilateral width limit threshold L is calculated based on the chassis size of the mobile charging pile. The calculation formula is: ; where L represents the unilateral width limit threshold, l represents the length of the chassis of the mobile charging pile, and w represents the width of the chassis of the mobile charging pile.
[0023] The movement direction of the mobile charging pile during movement is affected by L1, L2, and L. When L1 > L2 and L2 < L, the angular velocity of the mobile charging pile is positive, and the mobile charging pile moves to the left. When L1 < L2 and L1 < L, the angular velocity of the mobile charging pile is negative, and the mobile charging pile moves to the right. When both L1 and L2 are less than L, it is determined that the mobile charging pile enters a narrow channel, where L1 represents the distance from the mobile charging pile detected by the lidar to the obstacle on the left front side, and L2 represents the distance from the mobile charging pile detected by the lidar to the obstacle on the right front side.
[0024] S33. When it is determined that the mobile charging pile enters the narrow passage, the mobile charging pile records the position coordinate information at this moment as inpoint (entry point).
[0025] S34. After the mobile charging pile enters the narrow passage, the movement direction of the mobile charging pile is affected by L1 and L2. When L1 > L2, the angular velocity of the mobile charging pile is positive, and the mobile charging pile moves to the left; when L1 < L2, the angular velocity of the mobile charging pile is negative, and the mobile charging pile moves to the right. When the relationship between L1, L2, and L3 satisfies the following relationship: ; where L3 is the distance between the mobile charging pile detected by the ultrasonic sensor and the obstacle in front. The mobile charging pile rotates 180° in place, returns to inpoint, and at the same time sets the just-traveled route as the no-go area for this time, and re-plans the global route.
[0026] S35. After the set number of attempts, the mobile charging pile still fails to reach the target point position. Instruct the user to choose to manually intervene to assist the mobile charging pile to reach the target point position, or directly end the task and return to the standby point.
[0027] In this embodiment, safety measures are set on the mobile charging pile, including an emergency stop button, an anti-collision device, etc., to ensure the safety of the mobile charging pile during the passage. When the mobile charging pile fails or an accident occurs, the movement of the mobile charging pile can be stopped in time to avoid damage to the surrounding environment and itself.
[0028] Embodiment 2 This embodiment discloses a passing device for automatic navigation of a mobile charging pile in a narrow passage, including a processor and a memory. Optionally, the device may further include a communication interface and a bus. Among them, the processor, the communication interface, and the memory can complete mutual communication through the bus. The communication interface can be used for information transmission. The processor can call the logical instructions in the memory to execute the passing method for automatic navigation of the mobile charging pile in the narrow passage in the above embodiment.
[0029] In addition, when the logical instructions in the above memory are implemented in the form of a software functional unit and sold or used as an independent product, they can be stored in a computer-readable storage medium.
[0030] The memory, as a computer-readable storage medium, can be used to store software programs and computer executable programs, such as program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor executes the function application and data processing by running the program instructions / modules stored in the memory, that is, the method for automatically navigating the mobile charging pile in a narrow channel in the above embodiment is realized.
[0031] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory may include a high-speed random access memory and may also include a non-volatile memory.
[0032] Example 3 This embodiment provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to execute the above-mentioned method for automatically navigating a mobile charging pile in a narrow channel.
[0033] The computer-readable storage medium mentioned above may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.
[0034] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiment of the present disclosure. The aforementioned storage medium may be a non-transient storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, and other media that can store program codes, or a transient storage medium.
[0035] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent only possible changes. Unless explicitly required, separate components and functions are optional, and the order of operation may vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the scope of protection. As used in the description in the text, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of one or more associated listings. In addition, when used in this application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method or device including the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.
[0036] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. The technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. The technicians may clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.
Claims
1. A method for autonomous navigation of a mobile charging pile in a narrow passage, characterized by: It includes the following steps: S01. Install a lidar and an ultrasonic sensor respectively in the direct front of the mobile charging pile. The lidar is used to detect obstacles within a certain angular range in front of the mobile charging pile, and the ultrasonic sensor is used to detect obstacles directly in front of the mobile charging pile; S02. After the mobile charging pile receives the target point position, it first determines whether the target point is an executable target point. If it is not an executable target point, the task is directly cancelled and the user is informed. If it is an executable target point, then step S03 is performed; S03. Use a path planning algorithm to plan the global path, and adjust the local path according to the surrounding environment information sensed by the lidar and the ultrasonic sensor during the movement. The actual walking route is the local path; Specifically, this step is as follows: S31. Determine the unilateral width limit threshold L during the movement of the mobile charging pile. The unilateral width limit threshold L is calculated according to the chassis size of the mobile charging pile, and the calculation formula is as follows: ； where L represents the unilateral width limit threshold, l represents the length of the chassis of the mobile charging pile, and w represents the width of the chassis of the mobile charging pile; S32. The running direction of the mobile charging pile during the movement is affected by L1, L2, and L. When L1 > L2 and L2 < L, the angular velocity of the mobile charging pile is positive, and the mobile charging pile moves to the left; when L1 < L2 and L1 < L, the angular velocity of the mobile charging pile is negative, and the mobile charging pile moves to the right. When both L1 and L2 are less than L, it is determined that the mobile charging pile enters a narrow passage, where L1 represents the distance from the mobile charging pile detected by the lidar to the obstacle on the left front side, and L2 represents the distance from the mobile charging pile detected by the lidar to the obstacle on the right front side; S33. When the mobile charging pile determines that it enters the narrow passage, the mobile charging pile records the position coordinate information at this moment as inpoint; S34. After the mobile charging pile enters the narrow passage, the movement direction of the mobile charging pile is affected by L1 and L2. When L1 > L2, the angular velocity of the mobile charging pile is positive, and the mobile charging pile moves to the left; when L1 < L2, the angular velocity of the mobile charging pile is negative, and the mobile charging pile moves to the right. When the relationship between L1, L2, and L3 satisfies the following relationship: ； where L3 is the distance from the mobile charging pile detected by the ultrasonic sensor to the obstacle in front; The mobile charging pile rotates 180° in place, returns to inpoint, and at the same time sets the just traveled route as the no-go area for this time, and re-plans the global route; S35. After the set number of attempts, the mobile charging pile still fails to reach the target point position, and the user is informed to choose manual intervention or directly end the task and return to the standby point.
2. The method for autonomous navigation of a mobile charging pile in a narrow channel according to claim 1, characterized in that: The types of non-executable target points include: the target point is outside the activity map range of the mobile charging pile, there are inactive obstacles on the target point, and the space where the target point is located is not sufficient to support the free movement of the mobile charging pile.
3. The method for autonomous navigation of a mobile charging pile in a narrow channel according to claim 1, characterized in that: The global path is planned through the A* algorithm.
4. The method for automatically navigating a mobile charging pile in a narrow passage according to claim 1, characterized in that: The recognition range of the lidar is -175° to 175°, where the 0° direction is the direct front of the mobile charging pile.
5. The method for automatically navigating a mobile charging pile in a narrow passage according to claim 1, characterized in that: L1 and L2 take the distances from the laser at the -45° and 45° directions of the lidar to the obstacles on both sides.
6. The method for automatically navigating a mobile charging pile in a narrow passage according to claim 1, characterized in that: The detectable distance of the ultrasonic sensor is 0.05m to 3m, and the recognition angle is 30°.
7. The method for automatically navigating a mobile charging pile in a narrow passage according to claim 1, characterized in that: The mobile charging station is equipped with an emergency stop button and anti-collision structure warning.
8. A mobile charging pile automatic navigation device in a narrow channel, comprising a processor and a memory storing program instructions, characterized in that: The processor is configured to execute the method for automatically navigating a mobile charging pile in a narrow channel as described in any one of claims 1 to 7 when running the program instructions.
9. A storage medium storing program instructions, characterized in that: When the program instructions are executed, the method for automatically navigating a mobile charging pile in a narrow channel as described in any one of claims 1 to 7 is executed.