Autonomous charging method, device and equipment for mobile robot and storage medium

Abstract

The invention discloses an autonomous charging method, device and equipment of a mobile robot and a storage medium, and relates to the technical field of intelligent charging, and the autonomous charging method of the mobile robot comprises the steps: controlling a chassis of the mobile robot to move to a preset distance range of a charging pile, and obtaining scanning data of a laser radar for the charging pile, performing linear feature extraction on the scanning data to obtain a candidate linear feature set; obtaining contour features of the charging pile according to the scanning data, and screening target linear features from the candidate linear feature set according to the contour features; determining a target position based on the angle and the endpoint position of the target linear feature, and controlling the chassis to move to the target position; and the chassis is controlled to advance from the target position in the orthogonal direction until the charging contact on the chassis detects the voltage, charging connection is completed, and charging is carried out. According to the invention, the accuracy of identifying the charging pile can be improved, and the charging reliability is enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent charging, in particular to a self-charging method and device for a mobile robot, equipment and a storage medium. BACKGROUND

[0002] In recent years, the technology of mobile robots has developed very rapidly. At present, one of the most commonly used ways for mobile robots to identify and charge automatic charging piles is to install infrared sensors to identify and locate through multiple sets of infrared sensors installed on the chassis and charging piles. However, the environment has a great influence on the infrared module, and it is relatively easy to cause misidentification due to false triggering. Therefore, how to improve the accuracy of charging pile identification and enhance the reliability of charging is still a problem to be solved.

[0003] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The main purpose of the present application is to provide a self-charging method and device for a mobile robot, equipment and a storage medium, aiming to solve the technical problem of how to improve the accuracy of charging pile identification and enhance the reliability of charging.

[0005] To achieve the above purpose, the present application provides a self-charging method for a mobile robot, which comprises:

[0006] controlling the chassis of the mobile robot to move to a preset distance range of the charging pile, and obtaining scanning data of the charging pile by a laser radar, performing straight line feature extraction on the scanning data to obtain a candidate straight line feature set;

[0007] obtaining a contour feature of the charging pile according to the scanning data, and screening a target straight line feature from the candidate straight line feature set according to the contour feature;

[0008] determining a target position based on the angle and endpoint position of the target straight line feature, and controlling the chassis to move to the target position;

[0009] controlling the chassis to travel in a normal direction from the target position until the charging contact patch on the chassis detects a voltage, completing the charging connection and charging.

[0010] In an embodiment, the step of performing straight line feature extraction on the scanning data to obtain a candidate straight line feature set comprises:

[0011] based on a preset seed point number and a preset normal fitting threshold, performing iterative processing on the scanning data to generate multiple initial straight line segments;

[0012] According to a preset minimum straight line length and a preset minimum number of straight line segments, the initial straight line segments are filtered, and straight line segments meeting the length and point number requirements are output as a candidate straight line feature set.

[0013] In an embodiment, the step of iteratively processing the scan data to fit to generate a plurality of initial straight line segments includes:

[0014] Starting from a starting point of the scan data, a number of continuous data points equal to a preset seed point number are selected as an initial seed point set;

[0015] A straight line fitting is performed on the initial seed point set to obtain an initial straight line equation, and an orthogonal distance of each point in the initial seed point set to a straight line represented by the initial straight line equation is calculated;

[0016] If all the orthogonal distances are less than a preset orthogonal fitting threshold, it is determined that the current seed point set is valid, and region growing is performed based on the current straight line equation to include adjacent points meeting the preset orthogonal fitting threshold to generate an initial straight line segment;

[0017] If the current seed point set is invalid, the selected point set is moved backward and a straight line fitting is performed until the entire scan data is traversed to fit to generate a plurality of initial straight line segments.

[0018] In an embodiment, the step of screening a target straight line feature from the candidate straight line feature set according to the contour feature includes:

[0019] A target straight line length is determined according to the contour feature;

[0020] The candidate straight line feature set is screened according to the target straight line length to obtain a target straight line feature.

[0021] In an embodiment, after the step of screening a target straight line feature from the candidate straight line feature set according to the contour feature, the method further includes:

[0022] When the target straight line feature cannot be screened, the chassis is controlled to rotate to the left by a first preset angle and to rotate to the right by a second preset angle;

[0023] The straight line feature extraction and screening are continuously performed during the rotation process until the target straight line feature is obtained.

[0024] In an embodiment, the step of determining a target position based on an angle and an endpoint position of the target straight line feature includes:

[0025] A perpendicular bisector is calculated according to the endpoint coordinates of the target straight line feature;

[0026] A lateral displacement deviation of the current position of the chassis from the perpendicular bisector is calculated.

[0027] calculating an angle deviation of a current orientation of the chassis from the target straight line feature;

[0028] determining a position with zero lateral displacement deviation and zero angle deviation as the target position.

[0029] In an embodiment, the step of controlling the chassis to move to the target position comprises:

[0030] generating movement control instructions according to the calculated lateral displacement deviation and angle deviation;

[0031] issuing the movement control instructions to drive the chassis to move laterally and rotate;

[0032] monitoring the lateral displacement deviation and angle deviation in real time, and stopping movement when both are zero, confirming arrival at the target position.

[0033] In addition, to achieve the above object, the present application further provides an autonomous charging device for a mobile robot, comprising:

[0034] an extraction module configured to control a chassis of the mobile robot to move to a preset distance range of a charging pile, and obtain scanning data of the charging pile by a laser radar, and extract straight line features from the scanning data to obtain a candidate straight line feature set;

[0035] a screening module configured to obtain a contour feature of the charging pile according to the scanning data, and screen a target straight line feature from the candidate straight line feature set according to the contour feature;

[0036] a determination module configured to determine a target position based on an angle and an endpoint position of the target straight line feature, and control the chassis to move to the target position;

[0037] a charging module configured to control the chassis to move from the target position in a perpendicular direction until a charging tab on the chassis detects a voltage, complete a charging connection, and perform charging.

[0038] In addition, to achieve the above object, the present application further provides an autonomous charging device for a mobile robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the autonomous charging method for a mobile robot as described above.

[0039] In addition, to achieve the above object, the application further provides a storage medium, which is a computer readable storage medium, and a computer program is stored on the storage medium, and the computer program is executed by a processor to implement the steps of the autonomous charging method of the mobile robot.

[0040] In addition, to achieve the above object, the application further provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the steps of the autonomous charging method of the mobile robot.

[0041] The application provides an autonomous charging method of a mobile robot, the application controls a chassis of the mobile robot to move to a preset distance range of a charging pile, obtains scanning data of the charging pile by a laser radar, extracts a straight line feature set from the scanning data, obtains a contour feature of the charging pile according to the scanning data, and screens a target straight line feature from the candidate straight line feature set according to the contour feature; determines a target position based on an angle and an endpoint position of the target straight line feature, and controls the chassis to move to the target position; controls the chassis to move in a normal direction from the target position until a charging contact piece on the chassis detects a voltage, completes a charging connection, and performs charging. The application perceives inherent geometric features of the charging pile by the laser radar, identifies the charging pile through the inherent geometric features, can accurately identify the position of the charging pile, improves the accuracy of identification of the charging pile, and enhances the reliability of charging. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and serve to explain the principles of the application together with the specification.

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced hereinafter. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without any creative work.

[0044] Figure 1 A flowchart is provided for the autonomous charging method of the mobile robot in the first embodiment of the application;

[0045] Figure 2 A flowchart is provided for the autonomous charging method of the mobile robot in the second embodiment of the application;

[0046] Figure 3 A straight line fitting flowchart is provided for the autonomous charging method of the mobile robot in the second embodiment of the application;

[0047] Figure 4 A brief flowchart of the autonomous charging method of the mobile robot provided in Embodiment One of the present application is shown in the figure.

[0048] Figure 5 A schematic diagram of the module structure of the autonomous charging device of the mobile robot provided in Embodiment One of the present application is shown in the figure.

[0049] Figure 6 A schematic diagram of the device structure of the hardware operating environment involved in the autonomous charging method of the mobile robot in Embodiment One of the present application is shown in the figure.

[0050] The object implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are merely intended to explain the technical solutions of the present application, and are not intended to limit the present application.

[0052] In order to better understand the technical solutions of the present application, the specific embodiments will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0053] The chassis of the mobile robot is controlled to move to a preset distance range of the charging pile, and scanning data of the charging pile is obtained by a laser radar. Straight line features are extracted from the scanning data to obtain a candidate straight line feature set. The profile feature of the charging pile is obtained from the scanning data, and a target straight line feature is selected from the candidate straight line feature set according to the profile feature. The target position is determined based on the angle and endpoint position of the target straight line feature, and the chassis is controlled to move to the target position. The chassis is controlled to move in the orthogonal direction from the target position until the charging contact patch on the chassis detects a voltage, completes the charging connection and performs charging.

[0054] At present, one of the most commonly used ways for mobile robots to recognize and charge automatic charging piles is to install infrared sensors, and to recognize and position by installing multiple groups of infrared sensors on the chassis and the charging pile. However, environmental factors have a greater impact on infrared modules, and false recognition is more likely to occur due to accidental triggering. Therefore, how to improve the accuracy of charging pile recognition and enhance the reliability of charging is still a problem to be solved.

[0055] The present application can accurately identify the position of the charging pile by perceiving the inherent geometric features of the charging pile through the laser radar and recognizing the charging pile through the inherent geometric features, thereby improving the accuracy of charging pile recognition and enhancing the reliability of charging.

[0056] Based on this, the present application provides an autonomous charging method for a mobile robot, which is described with reference to Figure 1 ,Figure 1 Flowchart of a first embodiment of the autonomous charging method of the mobile robot.

[0057] In this embodiment, the autonomous charging method of the mobile robot comprises steps S10-S40:

[0058] Step S10: Control the chassis of the mobile robot to move to a preset distance range of the charging pile, and obtain scanning data of the charging pile by the laser radar, and perform straight line feature extraction on the scanning data to obtain a candidate straight line feature set.

[0059] It should be noted that the execution subject of the present embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, an autonomous charging device of a mobile robot, etc. capable of realizing the above functions. In the following, the autonomous charging device of the mobile robot is taken as an example to describe the present embodiment and the following embodiments.

[0060] It should be noted that the chassis of the mobile robot can be equipped with a navigation system, which moves the chassis to a preset distance range in front of the charging pile. The specific preset distance range can be determined according to the charging pile, for example, 80 cm. Due to the navigation system itself, there will be a certain range of deviation in the position and angle of navigation. At this time, the scanning data of the charging pile by the laser radar is obtained, and straight line feature extraction is performed on the scanning data. Before extraction, the radar data can be preprocessed to directly delete the data in the rear 180-degree range, reducing the interference terms. And set the parameter items of straight line extraction, including the shortest straight line length, the orthogonal fitting threshold, the seed point number, and the minimum number of points contained in the straight line segment. By comparing the length characteristics of the charging pile and the profile scanned by the laser radar, the shortest straight line length can be set to be slightly smaller than the length of the charging pile, and other parameters can be set to meet the characteristics of the charging pile profile.

[0061] Step S20: Obtain the profile feature of the charging pile according to the scanning data, and screen the target straight line feature from the candidate straight line feature set according to the profile feature.

[0062] It should be noted that the profile feature of the charging pile is the fixed geometric feature of the charging pile, which can be used to determine the target straight line feature in the candidate straight line feature set that best matches the profile feature of the charging pile.

[0063] In a feasible manner, the step of screening the target straight line feature from the candidate straight line feature set according to the profile feature comprises: determining the target straight line length according to the profile feature; and screening the candidate straight line feature set according to the target straight line length to obtain the target straight line feature.

[0064] It should be noted that a target straight line length can be determined according to the contour feature, and the target straight line length can represent the pose information of the charging pile, and is used to select a target straight line feature meeting the target straight line length from the candidate straight line feature set.

[0065] In a possible manner, after the step of screening the target straight line feature from the candidate straight line feature set according to the contour feature, the method further includes: when the target straight line feature fails to be screened, controlling the chassis to rotate left by a first preset angle and right by a second preset angle; and continuously performing straight line feature extraction and screening during the rotation until the target straight line feature is obtained.

[0066] It should be noted that after the target straight line feature is obtained, the straight line starting point and ending point coordinates and the angle information are the position and angle information of the current charging pile. If no corresponding straight line is found in the candidate straight line feature set, the chassis can be moved to rotate left by 45 degrees and right by 90 degrees. The straight line feature extraction is performed while rotating, and if an effective straight line segment is extracted, the rotation is immediately stopped.

[0067] Step S30: determining a target position based on the angle and endpoint position of the target straight line feature, and controlling the chassis to move to the target position;

[0068] It should be noted that the angle and endpoint position of the target straight line feature represent the position and angle of the charging pile relative to the mobile robot, and the specific target position can be the perpendicular bisector of the target straight line feature.

[0069] In a possible manner, the step of determining the target position based on the angle and endpoint position of the target straight line feature includes: calculating a perpendicular bisector according to the endpoint coordinates of the target straight line feature; calculating a lateral displacement deviation of the current position of the chassis from the perpendicular bisector; calculating an angle deviation of the current orientation of the chassis from the angle of the target straight line feature; and determining a position with zero lateral displacement deviation and zero angle deviation as the target position. The step of controlling the chassis to move to the target position includes: generating a movement control instruction according to the calculated lateral displacement deviation and angle deviation; issuing the movement control instruction to drive the chassis to perform lateral movement and rotation movement; and monitoring the lateral displacement deviation and angle deviation in real time, and stopping movement when both of them are zero, and confirming that the target position is reached.

[0070] It should be noted that the chassis is controlled to move to the perpendicular bisector of the target straight line feature, that is, the offset of the fitted charging pile straight line is 0, and the chassis is rotated to the positive direction until the offset angle of the charging pile straight line segment is 0 degrees.

[0071] Step S40: controlling the chassis to move in the orthogonal direction from the target position until the charging contact on the chassis detects a voltage, completing the charging connection and charging.

[0072] It should be noted that by controlling the moving chassis to move forward until the charging contact on the chassis detects a voltage, the movement is stopped. The charging is completed.

[0073] The embodiment controls the chassis of the mobile robot to move to a preset distance range of the charging pile, and obtains scanning data of the charging pile by the laser radar. Straight line feature extraction is performed on the scanning data to obtain a candidate straight line feature set. The profile feature of the charging pile is obtained according to the scanning data, and a target straight line feature is selected from the candidate straight line feature set according to the profile feature. The target position is determined based on the angle and endpoint position of the target straight line feature, and the chassis is controlled to move to the target position. The chassis is controlled to move in the orthogonal direction from the target position until the charging contact on the chassis detects a voltage, completing the charging connection and charging. In this embodiment, the inherent geometric features of the charging pile are perceived by the laser radar, and the identification of the charging pile is performed based on the inherent geometric features. The position of the charging pile can be accurately identified, the accuracy of the identification of the charging pile is improved, and the reliability of the charging is enhanced.

[0074] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as the above-mentioned first embodiment can be referred to the above introduction, and will not be repeated hereinafter. On this basis, please refer to Figure 2 , step S10 further includes steps S101-S102:

[0075] Step S101: based on a preset seed point number and a preset orthogonal fitting threshold, the scanning data is iteratively processed to generate a plurality of initial straight line segments;

[0076] It should be noted that the line segment extraction method based on seed region growing can be specifically used, that is, all the scanning data is circularly traversed to fit the straight line.

[0077] In a feasible manner, the step of iteratively processing the scan data to fit to generate a plurality of initial straight line segments includes: starting from a starting point of the scan data, selecting a number of preset seed points of continuous data points as an initial seed point set; performing straight line fitting on the initial seed point set to obtain an initial straight line equation, and calculating the orthogonal distance of each point in the initial seed point set to the straight line represented by the initial straight line equation; if all the orthogonal distances are less than a preset orthogonal fitting threshold, it is determined that the current seed point set is valid, and region growing is performed based on the current straight line equation to include the adjacent points meeting the preset orthogonal fitting threshold to generate an initial straight line segment; if the current seed point set is invalid, the selected point set is moved backward and straight line fitting is performed until the entire scan data is traversed, and a plurality of initial straight line segments are fitted and generated.

[0078] It should be noted that, with reference to Figure 3 , Figure 3 is a schematic diagram of a straight line fitting process, Figure 3 If the point in the scan data is scan_data[index], the first time index is 0, and scan_data[index] is the initial point to start calculating, based on the seed point number (seed_line_points), the least square method is used for straight line fitting, and the fitted straight line is ax+by+c=0. Until all points are traversed. Then judge whether the distance of each point on the candidate seed line segment to the fitted straight line is less than the threshold value least_thresh, and whether index is equal to seed_line_points. If both are less than least_thresh, it means that the current fitted straight line is valid, and the next step is continued, otherwise it is re-started. Finally, grow forward with the current fitted straight line, and judge whether the distance of the next point to the straight line is less than the threshold value least_thresh. If it is satisfied, index+=1. Until it is not satisfied.

[0079] Step S102: filtering the initial straight line segments according to the preset minimum straight line length and the preset minimum number of straight line segment points, and outputting the straight line segments meeting the length and point number requirements as a candidate straight line feature set.

[0080] It should be noted that the preset minimum straight line length and the preset minimum number of straight line segment points can be determined according to the contour features of the charging pile. The candidate straight line feature set meeting the requirements is selected through the preset minimum straight line length and the preset minimum number of straight line segment points.

[0081] By way of example, in order to assist understanding of the implementation process of the autonomous charging method of the mobile robot obtained after the above-mentioned embodiment one, please refer to Figure 4 , Figure 4A brief flowchart of an autonomous charging method of a mobile robot is provided, specifically: after receiving a charging task, the mobile robot is controlled to move to a charging point by a navigation2 (navigation system 2) navigation system of ROS2 (robot operating system version 2); then a straight line segment is fitted through radar data, and it is judged whether the straight line segment cluster satisfies the charging pile characteristics, if not, the mobile robot is controlled to rotate 45 degrees left and then 90 degrees right through a cmd_vel (motion control command) topic. If it is satisfied, the mobile robot is controlled to move in the y-axis through the cmd_vel topic of ROS2 to make the offset amount 0; then the mobile robot is controlled to rotate to the offset angle 0 through the cmd_vel; then the mobile robot is controlled to move forward to dock the charging pile through the cmd_vel, and it is detected whether the charging contact voltage exists, if it exists, charging is started until the charging is completed, if it does not exist, the mobile robot is controlled to move forward to dock the charging pile again through the cmd_vel.

[0082] It should be noted that the above examples are only used for understanding the present application and do not constitute a limitation on the autonomous charging method of the mobile robot of the present application, and more forms of simple transformation based on this technical concept are within the protection scope of the present application.

[0083] The present application also provides an autonomous charging device of a mobile robot, please refer to Figure 5 , the autonomous charging device of the mobile robot comprises:

[0084] The extraction module 10 is used for controlling the chassis of the mobile robot to move to a preset distance range of a charging pile, and obtaining scanning data of the charging pile by a laser radar, and performing straight line feature extraction on the scanning data to obtain a candidate straight line feature set;

[0085] The screening module 20 is used for obtaining a contour feature of the charging pile according to the scanning data, and screening a target straight line feature from the candidate straight line feature set according to the contour feature;

[0086] The determination module 30 is used for determining a target position based on an angle and an endpoint position of the target straight line feature, and controlling the chassis to move to the target position;

[0087] The charging module 40 is used for controlling the chassis to move in a perpendicular direction from the target position until a voltage is detected by a charging contact patch on the chassis, completing a charging connection and charging.

[0088] The embodiment controls the chassis of the mobile robot to move to a preset distance range of a charging pile, acquires scanning data of the charging pile by a laser radar, extracts a straight line feature set from the scanning data, acquires a contour feature of the charging pile according to the scanning data, and screens a target straight line feature from the candidate straight line feature set according to the contour feature. The target position is determined based on the angle and endpoint position of the target straight line feature, and the chassis is controlled to move to the target position. The chassis is controlled to move in a normal direction from the target position until a charging contact patch on the chassis detects a voltage, a charging connection is completed, and charging is performed. The embodiment can accurately identify the position of the charging pile by perceiving the inherent geometric feature of the charging pile and identifying the charging pile based on the inherent geometric feature, improve the accuracy of charging pile identification, and enhance the reliability of charging.

[0089] In an embodiment, the extraction module 10 is further configured to perform iterative processing on the scanning data based on a preset seed point number and a preset orthogonal fitting threshold, and generate a plurality of initial straight line segments by fitting.

[0090] In an embodiment, the extraction module 10 is further configured to select a plurality of continuous data points as an initial seed point set, the number of the continuous data points being the preset seed point number, from a starting point of the scanning data.

[0091] The initial straight line equation is obtained by performing straight line fitting on the initial seed point set, and the orthogonal distances of the points in the initial seed point set to the straight line represented by the initial straight line equation are calculated. If all the orthogonal distances are less than the preset orthogonal fitting threshold, it is determined that the current seed point set is valid, and region growing is performed based on the current straight line equation to include the adjacent points that meet the preset orthogonal fitting threshold, thereby generating an initial straight line segment. If the current seed point set is invalid, the selected point set is moved backward and straight line fitting is performed until the entire scanning data is traversed, thereby generating a plurality of initial straight line segments.

[0092] In an embodiment, the screening module 20 is further configured to determine a target straight line length according to the contour feature, and screen the candidate straight line feature set according to the target straight line length, thereby obtaining the target straight line feature.

[0093] In an embodiment, the screening module 20 is further configured to control the chassis to rotate to the left by a first preset angle and rotate to the right by a second preset angle when the target straight line feature cannot be screened out, and continuously perform straight line feature extraction and screening during the rotation process until the target straight line feature is obtained.

[0094] In an embodiment, the determining module 30 is further configured to calculate a perpendicular line according to the end point coordinates of the target straight line feature; calculate a lateral displacement deviation of the current position of the chassis from the perpendicular line; calculate an angle deviation of the current orientation of the chassis from the target straight line feature; and determine a position with zero lateral displacement deviation and zero angle deviation as the target position.

[0095] In an embodiment, the determining module 30 is further configured to generate a movement control instruction according to the calculated lateral displacement deviation and angle deviation; issue the movement control instruction to drive the chassis to perform lateral movement and rotation movement; monitor the lateral displacement deviation and angle deviation in real time, and stop the movement when both of them are zero, and confirm the arrival at the target position.

[0096] The autonomous charging device of the mobile robot provided in the application adopts the autonomous charging method of the mobile robot in the above embodiment, and can solve the technical problem of how to improve the accuracy of charging pile recognition and enhance the reliability of charging. Compared with the prior art, the autonomous charging device of the mobile robot provided in the application has the same beneficial effects as the autonomous charging method of the mobile robot provided in the above embodiment, and other technical features in the autonomous charging device of the mobile robot are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0097] The application provides an autonomous charging device of a mobile robot, which comprises at least one processor and a memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the autonomous charging method of the mobile robot in the above embodiment one.

[0098] Reference will now be made to the following description Figure 6 which shows a structural schematic diagram of the autonomous charging device of the mobile robot suitable for being used to implement the embodiments of the application. The autonomous charging device of the mobile robot in the embodiments of the application can include but is not limited to mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistant), PADs (Portable Application Description), PMPs (Portable Media Player), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. Figure 6 The shown autonomous charging device of the mobile robot is only an example, and should not bring any limitation to the functions and use range of the embodiments of the application.

[0099] AsFigure 6 As shown, the autonomous charging device of the mobile robot can include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to programs stored in a ROM (Read Only Memory) 1002 or programs loaded from a storage device 1003 into a RAM (Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the autonomous charging device of the mobile robot are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; the storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the autonomous charging device of the mobile robot to communicate wirelessly or wired with other devices to exchange data. Although the autonomous charging device of the mobile robot with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be alternatively implemented or provided.

[0100] In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the methods of the embodiments of the present disclosure are performed.

[0101] The autonomous charging device of the mobile robot provided by the present disclosure adopts the autonomous charging method of the mobile robot in the above-mentioned embodiments, and can solve the technical problem of how to improve the accuracy of charging pile recognition and enhance the reliability of charging. Compared with the prior art, the autonomous charging device of the mobile robot provided by the present disclosure has the same beneficial effects as the autonomous charging method of the mobile robot provided by the above-mentioned embodiments, and other technical features in the autonomous charging device of the mobile robot are the same as the features disclosed in the previous embodiment method, which will not be repeated here.

[0102] It should be understood that various aspects disclosed herein can be implemented in hardware, software, firmware, or a combination thereof. In the description above, specific features, structures, materials or characteristics can be combined in any suitable manner without necessarily being limited to one or more embodiments or examples.

[0103] The above description is merely illustrative of the application and not restrictive.

[0104] The application provides a computer readable storage medium having stored thereon computer readable program instructions (i.e., a computer program) for performing the autonomous charging method of the mobile robot in the above embodiment.

[0105] The computer readable storage medium provided by the application may, for example, be a U disk, but is not limited to an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to, an electric connection with one or more conductive wires, 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 thereof. In the present embodiment, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer readable storage medium can be transmitted by any suitable medium, including but not limited to an electric wire, an optical cable, an RF (Radio Frequency), etc., or any suitable combination thereof.

[0106] The above computer readable storage medium can be contained in the autonomous charging device of the mobile robot; or can exist separately without being assembled into the autonomous charging device of the mobile robot.

[0107] The computer readable storage medium described above carries one or more programs, when the one or more programs are executed by the autonomous charging device of the mobile robot, the autonomous charging device of the mobile robot is caused to: control the chassis of the mobile robot to move to a preset distance range of a charging pile, and acquire scanning data of the charging pile by a laser radar, perform straight line feature extraction on the scanning data to obtain a candidate straight line feature set; obtain a contour feature of the charging pile according to the scanning data, and screen a target straight line feature from the candidate straight line feature set according to the contour feature; determine a target position based on an angle and an endpoint position of the target straight line feature, and control the chassis to move to the target position; control the chassis to travel in a normal direction from the target position until a charging tab on the chassis detects a voltage, complete a charging connection, and perform charging.

[0108] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0109] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a procedure, or a portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may

[0110] The modules described in the embodiments of the present application can be implemented in the form of software or in the form of hardware. In some cases, the name of the module does not constitute a limitation on the module itself.

[0111] The readable storage medium provided by the present application is a computer readable storage medium, which stores computer readable program instructions (i.e., a computer program) for executing the autonomous charging method of the mobile robot described above, and can solve the technical problem of how to improve the accuracy of charging pile identification and enhance the reliability of charging. Compared with the prior art, the computer readable storage medium provided by the present application has the same beneficial effects as the autonomous charging method of the mobile robot provided by the above embodiments, and will not be described here.

[0112] The present application also provides a computer program product comprising a computer program, which, when executed by a processor, implements the steps of the autonomous charging method of the mobile robot as described above.

[0113] The computer program product provided by the present application can solve the technical problem of how to improve the accuracy of charging pile identification and enhance the reliability of charging. Compared with the prior art, the computer program product provided by the present application has the same beneficial effects as the autonomous charging method of the mobile robot provided by the above embodiments, and will not be described here.

[0114] The above only describes some embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation, direct / indirect application in other related technical fields based on the technical concept of the present application, and the contents of the present application specification and drawings are included in the patent protection scope of the present application.

Claims

1. A method for autonomous charging of a mobile robot, characterized in that, The method includes: The chassis of the mobile robot is controlled to move to a preset distance range of the charging pile, and the scanning data of the charging pile by the LiDAR is acquired. Straight line features are extracted from the scanning data to obtain a candidate straight line feature set. The outline features of the charging pile are obtained based on the scan data, and target straight line features are selected from the candidate straight line feature set based on the outline features; The target position is determined based on the angle and endpoint position of the target straight line characteristics, and the chassis is controlled to move to the target position; The chassis is controlled to move from the target position along an orthogonal direction until the charging contacts on the chassis detect voltage, thus completing the charging connection and starting the charging process.

2. The method as described in claim 1, characterized in that, The step of extracting straight line features from the scanned data to obtain a candidate straight line feature set includes: Based on a preset number of seed points and a preset orthogonal fitting threshold, the scanned data is iteratively processed to fit and generate multiple initial line segments; The initial line segments are filtered based on the preset shortest line length and the preset minimum number of points in a line segment, and the line segments that meet the length and point requirements are output as a candidate line feature set.

3. The method as described in claim 2, characterized in that, The step of iteratively processing the scanned data to fit and generate multiple initial line segments includes: Starting from the starting point of the scanned data, select a set of consecutive data points equal to a preset number of seed points as the initial seed point set; The initial seed point set is fitted with a straight line to obtain an initial straight line equation, and the orthogonal distance from each point in the initial seed point set to the straight line represented by the initial straight line equation is calculated. If all the orthogonal distances are less than the preset orthogonal fitting threshold, the current seed point set is determined to be valid, and a region growth is performed based on the current straight line equation. The neighboring points that meet the preset orthogonal fitting threshold are included to generate an initial straight line segment. If the current seed point set is invalid, move backward to select the point set and perform line fitting until the entire scan data is traversed, and multiple initial line segments are generated by fitting.

4. The method as described in claim 1, characterized in that, The step of filtering target line features from the candidate line feature set based on the contour features includes: The length of the target straight line is determined based on the contour features; The candidate line feature set is filtered according to the target line length to obtain the target line feature.

5. The method as described in claim 1, characterized in that, After the step of filtering target line features from the candidate line feature set based on the contour features, the method further includes: When the target straight line feature cannot be selected, the chassis is controlled to rotate to the left by a first preset angle and to the right by a second preset angle. During the rotation process, straight line feature extraction and filtering are continuously performed until the target straight line feature is obtained.

6. The method as described in claim 1, characterized in that, The step of determining the target position based on the angle and endpoint positions of the target straight line features includes: Calculate the perpendicular bisector based on the endpoint coordinates of the target straight line feature; Calculate the lateral displacement deviation between the current position of the chassis and the vertical line; Calculate the angular deviation between the current orientation of the chassis and the target straight line feature; The position where the lateral displacement deviation is zero and the angular deviation is zero is determined as the target position.

7. The method as described in claim 1, characterized in that, The step of controlling the chassis to move to the target position includes: The movement control command is generated based on the calculated lateral displacement deviation and angular deviation. The motion control command is issued to drive the chassis to perform lateral and rotational movements; The lateral displacement deviation and angular deviation are monitored in real time, and the movement stops when both return to zero, confirming that the target position has been reached.

8. An autonomous charging device for a mobile robot, characterized in that, The device includes: The extraction module is used to control the chassis of the mobile robot to move to a preset distance range of the charging pile, and to acquire the scanning data of the charging pile by the lidar, and to extract the straight line features from the scanning data to obtain a candidate straight line feature set. The filtering module is used to obtain the contour features of the charging pile based on the scan data, and to filter target straight line features from the candidate straight line feature set based on the contour features; The determination module is used to determine the target position based on the angle and endpoint position of the target straight line features, and control the chassis to move to the target position; The charging module is used to control the chassis to move from the target position along an orthogonal direction until the charging contacts on the chassis detect voltage, complete the charging connection, and start charging.

9. An autonomous charging device for a mobile robot, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the autonomous charging method for the mobile robot as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the autonomous charging method of the mobile robot as described in any one of claims 1 to 7.

Images