Charging pile and recognition method thereof as well as intelligent mobile robot

Abstract

The invention discloses a charging pile and a recognition method thereof, as well as an intelligent mobile robot. The charging pile comprises a pile body with an electricity supply part and a mark, wherein the mark comprises at least two mark elements with different reflex reflection coefficients and which are adjacently arrayed on one plane of the pile body in the same direction; and the mark issimple in structure and small in size, and the manufacturing cost is reduced. The recognition method of the charging pile comprises the following steps of obtaining scanning data of a laser radar by the intelligent mobile robot with the laser radar; then according to reflective strength and measuring distance, determining a first mark element and a second mark element with different reflex reflection coefficients; and finally, according to the reflective strength, the measuring distance and the angle value, determining the pose of the intelligent mobile robot relative to the charging pile, sothat after the position of the electricity supply part is determined by the intelligent mobile robot, the intelligent mobile robot is in butt joint with the electricity supply part for charging, so that accurate recognizing and accurate positioning are realized.

Description

technical field [0001] The invention relates to the technical field of autonomous charging of intelligent mobile robots, in particular to a charging pile, an identification method thereof, and an intelligent mobile robot. Background technique [0002] With the development of science and technology and the improvement of people's living standards, a variety of intelligent mobile robots have emerged on the market, such as household cleaning robots, escort robots, and meal delivery robots. Various types of sensors, path planning, map construction and other technologies are integrated in intelligent mobile robots, enabling intelligent mobile robots to avoid obstacles during autonomous movement. Some intelligent mobile robots can also achieve autonomous charging, which is more intelligent. Greatly reduced labor intensity and time. [0003] In terms of the technical realization of autonomous charging, some of them continuously send signals through the charging pile, and the recei...

AI Technical Summary

Problems solved by technology

[0003] In terms of the technical realization of autonomous charging, some of them continuously send signals through the charging pile, and the receiver on the intelligent mobile robot receives the signal, and finally completes the docking with the charging pile, and autonomously charges the intelligent mobile robot; this method is used to achieve For autonomous charging, other electronic components such as circuit boards and signal transmitters need to be installed for charging piles, which increases manufacturing costs

[0004] Some design the charging pile as a concave-convex structure on the surface, use the laser radar on the intelligent mobile robot to scan the concave-convex structure, use the step difference obtained by distance measurement to match and identify the charging pile, and finally complete the docking with the charging pile. Autonomously charge the intelligent mobile robot; however, the charging pile is designed with a concave-convex structure on the surface, resulting in a relatively large volume of the charging pile and relatively high manufacturing costs

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