Robot Charging Localization via Lidar Line Fitting
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Solution Overview
Problem
Current robot recharging localization methods, such as infrared and visual localization, are prone to interference from ambient light, leading to reduced accuracy and reliability in robot recharging processes.
Innovation Solution
A robot recharging localization method utilizing a lidar-based detecting radar to calculate the directional angle of a charging identification area, determine a sequence of identification points, and fit these points to obtain a linear equation of the identification line, allowing for precise localization of the charging station, independent of ambient light interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If infrared or visual localization methods are used for robot recharging, then the localization function can be implemented, but the localization accuracy deteriorates due to ambient light interference
Solution Approach 1:
The patent replaces optical-based localization methods (infrared and visual) with radar-based localization. The radar emits electromagnetic waves and detects reflections to determine the robot's position relative to the charging station, eliminating dependence on ambient light conditions. This substitution of the detection mechanism fundamentally resolves the contradiction by using a different physical principle (electromagnetic wave reflection) that is not affected by light interference.
2Reliability
If radar is used for localization, then ambient light interference is eliminated, but the device complexity increases
Solution Approach 1:
The patent integrates the radar into the robot's existing sensor system, where the radar serves multiple functions: it is used for both navigation (obstacle detection and path planning) and localization (determining position relative to charging station). By making the radar a multi-functional component, the patent avoids adding dedicated hardware solely for localization, thereby reducing the overall device complexity increase while maintaining improved reliability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This method enhances the accuracy and reliability of robot recharging by effectively filtering identification points and determining the central positional coordinate of the charging station, improving the robot's ability to dock reliably.
Implementation Method 1
A robot recharging localization method utilizing a lidar-based detecting radar to calculate the directional angle of a charging identification area
Data Source
AI summary
The present disclosure provides a robot recharging localization method including: calculating a directional angle of a first identification line based on identification points near a radar zero point of the first recognition line collected by a radar of the robot; determining a sequence of the identification points in an identification area according to the calculated directional angle of the first identification line, and finding two endpoints of the sequence of the identification points; determining dividing point(s) in the sequence of the identification points; fitting the sequence of the identification points to obtain a linear equation of the first identification line with respect to a coordinate system of a mobile robot; and determining a central positional coordinate of the first identification line based on the dividing point(s) and a linear equation, and determining a relative position of the robot based on the central positional coordinate and the linear equation.