基于反光材料的移动机器人定位充电桩方案设计  

Scheme of Mobile Robot's Locating Charging Pile Based on Retro-reflective Material

作　　者：马学思 张云龙 李家锐 MA Xue-si;ZHANG Yun-long;LI Jia-rui(Xiamen Comfort Science&Technology Group Co.,Ltd.,Xiamen 361008 China;Fujian Key Laboratory of Intelligent Massage Apparatus,Xiamen 361008 China)

机构地区：[1]奥佳华智能健康科技集团股份有限公司,福建厦门361008 [2]福建省智能健康按摩器具重点实验室,福建厦门361008

出　　处：《自动化技术与应用》2024年第7期26-29,70,共5页Techniques of Automation and Applications

基　　金：厦门市科技局中医医疗器械专项(3502Z20224001)。

摘　　要：针对移动机器人无法自主对接未给出确定位置的充电桩而充电失败的情况,提出一种移动机器人定位充电桩方案。通过使用反光材料,利用激光雷达的强度特征和Hough变换,实现机器人对未知位置的充电桩的检测和定位,达到激光雷达检测动态充电桩位姿的目的;通过红外传感器的发射与接收数据特征,完成机器人对接被检测到的充电桩的功能。测试结果显示,反光材料的引入和激光雷达强度信息的使用可以有效解决机器人定位未给出精确位置的充电桩的成功率,与红外传感器结合的定位充电桩方案可以辅助机器人对接该情况下的充电桩。The scheme for mobile robots locating the charging pile is designed to avoid charging failures when the position and orientation of the charging pile is not given.Using the reflection material,with the help of the laser radars intensity and Hough transformation,localizing the unknown charging pile is accomplished,which helps laser radar detection of the dynamic charging pile.Then infrared sensors help to adjust the position and orientation of the robot to align with the localized charging pile with the help of their data transforming and data receiving characters.The result of experiment shows that usage of retro-reflective material and laser lidars intensity helps robot to locating the charging pile of which the position and orientation in not given.Combining with infrared sensors,the robot can align with the unknown charging pile.

关 键 词：移动机器人 激光雷达检测 充电桩 HOUGH变换 对接 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]