CN109211237A - Robot location's bearing calibration and device based on more charging piles - Google Patents
Robot location's bearing calibration and device based on more charging piles Download PDFInfo
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- CN109211237A CN109211237A CN201810893285.4A CN201810893285A CN109211237A CN 109211237 A CN109211237 A CN 109211237A CN 201810893285 A CN201810893285 A CN 201810893285A CN 109211237 A CN109211237 A CN 109211237A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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Abstract
本申请公开了一种基于多充电桩的机器人位置校正方法和装置。该基于多充电桩的机器人位置校正方法包括：当机器人在充电桩充电时，采集充电桩周围的环境特征信息；根据环境特征信息与充电桩的对应关系，确定出所述环境特征信息对应的充电桩；获取所述充电桩所在的位置；将所述位置作为所述机器人的当前位置。该基于多充电桩的机器人位置校正装置包括：特征信息采集模块、匹配模块、位置信息获取模块以及机器人位置矫正模块。本申请解决了现有技术中在机器人则把位置校正到充电桩的位置时，出现的把位置校正到错误的位置上的问题。
The present application discloses a method and device for position correction of a robot based on multiple charging piles. The method for correcting the position of a robot based on multiple charging piles includes: when the robot is charging at the charging pile, collecting environmental characteristic information around the charging pile; and determining the charging corresponding to the environmental characteristic information according to the corresponding relationship between the environmental characteristic information and the charging pile. pile; obtain the position where the charging pile is located; take the position as the current position of the robot. The multi-charging pile-based robot position correction device includes a feature information collection module, a matching module, a position information acquisition module, and a robot position correction module. The present application solves the problem of correcting the position to the wrong position in the prior art when the robot corrects the position to the position of the charging pile.
Description
Technical field
This application involves robot fields, in particular to a kind of robot location correction side based on more charging piles
Method and a kind of robot location's means for correcting based on more charging piles.
Background technique
With the development of robot technology, robot using more more and more universal, usage scenario is more and more, increasingly
Greatly.One robot foot of some scenes is to deal with, but some scenes are bigger, and individual machine people not enough uses, it is necessary to more
A robot.
Since charging pile position is held essentially constant, charging pile is applied not only to charge, and is also used to correct the position of robot.
Traditional situation has several robots just to match several charging piles, the corresponding charging pile of each robot, when robot detects
In charged state, the position correction of robot to the position of corresponding charging pile.If in task robot break down or its
Its human factor, robot is artificially deliberately shifted on other charging piles, robot then position correction to mistake position on,
Follow-up work is caused to malfunction.
There is the problem of mistake for the correction of robot location in the related technology, inventors herein proposes a solution.
Apply for content
The main purpose of the application is to provide a kind of robot location's bearing calibration based on more charging piles, existing to solve
When having in technology in robot then the position of position correction to charging pile, appearance in position correction to the position of mistake
Problem.
To achieve the goals above, according to the one aspect of the application, a kind of robot based on more charging piles is provided
Method for correcting position, this method: when environmental characteristic information of the robot when charging pile charges, around acquisition charging pile；According to
The corresponding relationship of environmental characteristic information and charging pile determines the corresponding charging pile of the environmental characteristic information；It is filled described in acquisition
Position where electric stake；Using the position as the current location of the robot.
Further, in step: when robot is when charging pile charges, before the environmental characteristic information for acquiring surrounding, and also
It include: the environmental characteristic information in collecting work region around each charging pile；Establish the environmental characteristic information and charging pile
Corresponding relationship.
Further, the environmental characteristic information includes: the image information in environment, the identification information in environment or environment
In at least one of spatial structural form.
Further, the environmental characteristic information around the acquisition charging pile, comprising: pass through infrared scanning device, laser
At least one of scanning means, radar installations or camera acquire the environmental characteristic information around charging pile.
Further, the position obtained where the charging pile, comprising: according to pair of position on charging pile and map
It should be related to, obtain position of the charging pile on map.
Further, the position includes: coordinate of the charging pile on map, described using the position as the machine
The current location of people, comprising: using coordinate of the charging pile on map as the changing coordinates of robot.
To achieve the goals above, according to the another aspect of the application, a kind of robot based on more charging piles is provided
Position correction apparatus, the device include: environmental characteristic information acquisition module, for acquiring the letter of the environmental characteristic around charging pile
Breath；Matching module determines that the environmental characteristic information is corresponding for the corresponding relationship according to environmental characteristic information and charging pile
Charging pile；Position information acquisition module, for obtaining the position where the charging pile；Robot location's rectification module is used
Position where the current location of robot is corrected to the charging pile.
Further, device further include: trigger module works as institute for being triggered when robot is in charging pile charging
Environmental characteristic information when stating trigger module and being triggered, around the characteristic information acquisition module acquisition charging pile.
Further, the device further include: information association module, for according to each charging in collected working region
Environmental characteristic information around stake, establishes the corresponding relationship of environmental characteristic information and charging pile.
Further, the characteristic information acquisition module includes: infrared scanning device, laser scanning device, radar installations
Or at least one of camera.
In the embodiment of the present application, when robot some charging pile charge when, pass through acquisition charging pile around ring
Border characteristic information, and then according to the corresponding relationship of environmental characteristic information and charging pile, determine that the environmental characteristic information is corresponding
Charging pile, achieved the purpose that accurately to identify current charging pile, further obtained the location information of current charging pile, and
It is corrected according to current location of the location information of current charging pile to robot, it can accurately in charging to realize
The position correction of robot be the technical effect of current charging pile position, so solve in the prior art robot then
When position correction is to the position of charging pile, occur the problem in position correction to the position of mistake.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the flow diagram of robot location bearing calibration of the embodiment based on more charging piles；
Fig. 2 is the flow diagram that embodiment establishes environmental characteristic information and charging pile corresponding relationship；
Fig. 3 is robot location means for correcting structural schematic diagram of the embodiment based on more charging piles.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
" connection " may be a fixed connection, and be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be straight
It connects connected, or indirectly connected through an intermediary, or is two companies internal between device, element or component
It is logical.For those of ordinary skills, can understand as the case may be above-mentioned term in this application specifically contain
Justice.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1, should the robot location bearing calibration method and step S101 to step S104 based on more charging piles.
Step S101 acquires the environmental characteristic information around charging pile.In this step, when robot starts to fill a certain
When electric stake is charged, the environmental characteristic information around the charging pile is acquired, for believing according to the environmental characteristic around charging pile
Breath identifies the charging pile is which charging pile in working region.In the alternative embodiment of the application, the environmental characteristic
Information can be image information, the identification characteristics that are arranged in around charging pile or by scanning filling of obtaining around charging pile
Space structure etc. around electric stake.In the alternative embodiment of the application, the environmental characteristic information around the charging pile can lead to
It crosses the devices such as infrared scanning device, laser scanning device, radar installations or camera to be acquired, for example, can by camera
To collect the image information around charging pile, the space structure around charging pile can be scanned by radar installations, and or
Person scans the identification characteristics etc. being arranged in around charging pile by infrared scanning device or laser scanning device.
Step S102 determines the environmental characteristic information pair according to the corresponding relationship of environmental characteristic information and charging pile
The charging pile answered.In this step, the corresponding relationship of the standard environment characteristic information and charging pile that pre-set is obtained first,
In the alternative embodiment of the application, the corresponding relationship be collected each charging pile around standard environment characteristic information with
Corresponding relationship between the id information of each charging pile, the corresponding relationship can be stored in advance in background server, need
When, each robot can obtain the correspondence relationship information from background server, in another alternative embodiment of the application,
The corresponding relationship also can be stored in advance in the default memory space of robot, can call directly the information when needed.
In this step, further according to the corresponding relationship of standard environment characteristic information and charging pile, identify that current environment feature is believed
Corresponding charging pile is ceased, in the alternative embodiment of the application, can be identified according to image recognition and similarity mode
The corresponding charging pile of current environment characteristic information, for example, the image information around collected charging pile is successively filled with each
The preset standard environmental characteristic information of electric stake compares, via similarity mode determine image information around charging pile with
Which preset standard environmental characteristic information matches, and then determines the corresponding charging pile of the image information, is identified with this
The charging pile that robot currently charges.
Step S103 obtains the position where the charging pile.In this step, it is identified by above-mentioned steps S102
After the charging pile that robot currently charges, according to the corresponding relationship of position on charging pile in the work environment and map, obtain
Position of the charging pile on map.In the alternative embodiment of the application, the position of each charging pile in working environment
Information is stored in the memory space of robot, when needed can direct called data.In the optional implementation of the application
In example, the position where charging pile can be coordinate information of the charging pile on map, in this step, then according to each charging
The corresponding relationship of stake and ground map reference, determines coordinate information of the current charging pile on map.
Step S104, using the position as the current location of the robot.In this step, according to currently charging
The location information of charging pile is corrected the current location of robot, when robot current location and charging pile position not
When consistent, using the position of charging pile as the current location of robot.In the alternative embodiment of the application, where charging pile
Position can be coordinate information of the charging pile on map, in this step, then according to the coordinate of charging pile currently to charge
Information is corrected the current position coordinates of robot, i.e. the map when the robot currently coordinate on map and charging pile
When coordinate is inconsistent, using the map reference of the charging pile as the changing coordinates of robot.
The application determines the charging pile that robot currently charges by using the method for Context awareness, and 3 pass through environment
Identify and be exactly a necessary condition determining charging pile, the environment in working region around each charging pile will difference,
Otherwise the phenomenon that will appear identification mistake occurs.For this problem, charging pile can be put by when charging pile is arranged
It sets in the discrepant position of environment, or by the way that the methods of different identification feature is arranged near each charging pile, makes each
Environment around charging pile difference.
It can be seen from the above description that the application determines that robot is current by using the method for Context awareness
The charging pile of charging, and then be corrected according to current location of the location information of the charging pile currently to charge to robot, it is real
Showed charging when can accurately the position correction of robot be current charging pile position technical effect, also solve existing
In technology in robot then the position of position correction to charging pile when, appearance position correction to mistake position on asking
Topic.
The application identifies the corresponding charging pile of environmental characteristic information in view of simple and quick, needs to establish out ring in advance
Corresponding relationship between border characteristic information and charging pile, and build environment feature identification model, for automatically identifying environment spy
Reference ceases corresponding charging pile.
As shown in Fig. 2, the method for the corresponding relationship established out between environmental characteristic information and charging pile specifically includes step
S201 and step S202.
Step S201, the environmental characteristic information in collecting work region around each charging pile.In this step, work is acquired
Make the standard environment characteristic information in region around each charging pile, when which is used for as subsequent identification
Contrast model the standard environment characteristic information around collected each charging pile is saved in this step.
Step S202 establishes the corresponding relationship of the environmental characteristic information and charging pile.In this step, according to above-mentioned
Standard environment characteristic information in step S201 in collected working region around each charging pile establishes out environmental characteristic letter
The corresponding relationship of breath and charging pile.In embodiments herein, also according to the corresponding relationship of environmental characteristic information and charging pile
Environmental characteristic identification model is established out, for automatically identifying the corresponding charging pile of environmental characteristic information, when to the environmental characteristic
When input detects the environmental characteristic information around target charging pile in identification model, pass through the automatic of environmental characteristic identification model
Identification, which is exported.
It can be seen from the above description that the application passes through the environmental characteristic letter acquired around each charging pile in advance
Breath, and environmental characteristic identification model is established according to the corresponding relationship of environmental characteristic information and charging pile, convenient for simple and quick
Identify that environmental characteristic believes corresponding charging pile.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
According to the embodiment of the present application, additionally provide a kind of for implementing above-mentioned robot location's correction based on more charging piles
Robot location's means for correcting of method, as shown in figure 3, the device includes: environmental characteristic information acquisition module 1, matching module
2, position information acquisition module 3 and robot location's rectification module 4, in which:
Environmental characteristic information acquisition module 1, for acquiring the environmental characteristic information around charging pile, in the optional of the application
In embodiment, the environmental characteristic information can be, around the collected charging pile of environmental characteristic information acquisition module 1
Image information, the identification characteristics being arranged in around charging pile or by scanning space structure around obtained charging pile etc..
In the alternative embodiment of the application, the environmental characteristic information acquisition module 1 include: infrared scanning device, laser scanning device,
At least one of radar installations or camera etc.；
Matching module 2 determines the environmental characteristic letter for the corresponding relationship according to environmental characteristic information and charging pile
Corresponding charging pile is ceased, in the alternative embodiment of the application, matching module 2 can be used for according to image recognition and similar
Degree matching is to identify the corresponding charging pile of current environment characteristic information, for example, the matching module 2 is by collected charging pile
The image information of surrounding is successively compared with the preset standard environmental characteristic information of each charging pile, true via similarity mode
The image information made around charging pile matches with which preset standard environmental characteristic information, identifies that robot works as with this
The charging pile of preceding charging；
Position information acquisition module 3, for obtaining the position where the charging pile, in the alternative embodiment of the application
In, the position where charging pile can be coordinate information of the charging pile on map；
Robot location's rectification module 4, the position for being corrected to the current location of robot where the charging pile,
In the alternative embodiment of the application, robot location's rectification module 4 is believed according to the coordinate of the charging pile currently to charge
Breath is corrected the current position coordinates of robot, i.e., when currently the map of the coordinate on map and charging pile is sat for robot
When marking inconsistent, using the map reference of the charging pile as the changing coordinates of robot.
As shown in figure 3, the device further include: trigger module 5, the trigger module 5 are used to charge when robot in charging pile
When be triggered, when the trigger module is triggered, the characteristic information acquisition module start acquire charging pile around environment
Characteristic information.
As shown in figure 3, the device further include: information association module 6, the information association module 6 are used for according to collected
Environmental characteristic information in working region around each charging pile, establishes the corresponding relationship of environmental characteristic information and charging pile,
In the alternative embodiment of the application, environmental characteristic knowledge can be established out according to the corresponding relationship of environmental characteristic information and charging pile
Other model, for identifying corresponding charging pile according to the environmental characteristic information detected.
Obviously, those skilled in the art should be understood that each module of above-mentioned the application or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the application be not limited to it is any specific
Hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of robot location's bearing calibration based on more charging piles characterized by comprising
When environmental characteristic information of the robot when charging pile charges, around acquisition charging pile；
According to the corresponding relationship of environmental characteristic information and charging pile, the corresponding charging pile of the environmental characteristic information is determined；
Obtain the position where the charging pile；
Using the position as the current location of the robot.
2. robot location's bearing calibration according to claim 1 based on more charging piles, which is characterized in that in step:
When robot is when charging pile charges, before the environmental characteristic information for acquiring surrounding, further includes:
Environmental characteristic information in collecting work region around each charging pile；
Establish the corresponding relationship of the environmental characteristic information and charging pile.
3. robot location's bearing calibration according to claim 1 or 2 based on more charging piles, which is characterized in that described
Environmental characteristic information includes: in the image information in environment, the identification information in environment or the spatial structural form in environment
It is at least one.
4. robot location's bearing calibration according to claim 1 or 2 based on more charging piles, which is characterized in that described
Acquire the environmental characteristic information around charging pile, comprising:
By at least one of infrared scanning device, laser scanning device, radar installations or camera, acquire around charging pile
Environmental characteristic information.
5. robot location's bearing calibration according to claim 1 based on more charging piles, which is characterized in that the acquisition
Position where the charging pile, comprising:
According to the corresponding relationship of position on charging pile and map, position of the charging pile on map is obtained.
6. robot location's bearing calibration according to claim 1 based on more charging piles, which is characterized in that the position
It include: coordinate of the charging pile on map,
It is described using the position as the current location of the robot, comprising:
Using coordinate of the charging pile on map as the changing coordinates of robot.
7. a kind of robot location's means for correcting based on more charging piles characterized by comprising
Environmental characteristic information acquisition module, for acquiring the environmental characteristic information around charging pile；
Matching module determines the environmental characteristic information pair for the corresponding relationship according to environmental characteristic information and charging pile
The charging pile answered；
Position information acquisition module, for obtaining the position where the charging pile；
Robot location's rectification module, the position for being corrected to the current location of robot where the charging pile.
8. robot location's means for correcting according to claim 7 based on more charging piles, which is characterized in that further include:
Trigger module, for being triggered when robot is in charging pile charging, when the trigger module is triggered, the feature
Information acquisition module acquires the environmental characteristic information around charging pile.
9. robot location's means for correcting according to claim 7 based on more charging piles, which is characterized in that further include:
Information association module, for establishing according to the environmental characteristic information around each charging pile in collected working region
The corresponding relationship of environmental characteristic information and charging pile.
10. robot location's means for correcting according to claim 7 based on more charging piles, which is characterized in that the spy
Levying information acquisition module includes: at least one of infrared scanning device, laser scanning device, radar installations or camera.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810893285.4A CN109211237A (en) | 2018-08-07 | 2018-08-07 | Robot location's bearing calibration and device based on more charging piles |
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| CN201810893285.4A CN109211237A (en) | 2018-08-07 | 2018-08-07 | Robot location's bearing calibration and device based on more charging piles |
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| CN116604564A (en) * | 2023-06-19 | 2023-08-18 | 北京云迹科技股份有限公司 | Robot task automatic correction method and device, electronic equipment and medium |
| CN116587286A (en) * | 2023-06-26 | 2023-08-15 | 北京云迹科技股份有限公司 | A robot task verification method, device, electronic equipment and medium |
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