The invention relates to a quadruped robot charging pile and a fine positioning method thereof, the quadruped robot charging pile comprises a charging pile body, the top of the charging pile body is provided with an electrode area and at least one two-dimensional code, and the electrode area and the two-dimensional code are in the same plane. The two-dimensional code encodes the ID of the two-dimensional code, the center distance between the two-dimensional code and the electrode area, and the angle information of two mutually perpendicular sides of the two-dimensional code relative to a connecting line between the center of the two-dimensional code and the center of the electrode area. When the charging pile enters the visual field range of an abdomen camera of the quadruped robot, the abdomen camera detects and identifies the charging pile and reads related information of the two-dimensional code at the top of the charging pile, the accurate position of the charging pile in a world coordinate system can be positioned according to set parameters, and the autonomous charging of the robot is facilitated.
本发明涉及四足机器人充电桩及其精定位方法,包括充电桩本体,所述充电桩本体顶部有电极区和至少一个二维码,电极区与二维码在同一平面内。所述二维码编码了该二维码的ID、该二维码与电极区的中心距离,以及该二维码的两条相互垂直边相对于该二维码中心到电极区中心连线的角度信息。当充电桩进入四足机器人腹部相机的视野范围内,腹部相机检测并识别充电桩并读取充电桩顶部二维码的相关信息,根据设置好的参数,可定位出充电桩在世界坐标系中的准确位置,利于机器人实现自主充电。
Quadruped robot charging pile and fine positioning method thereof
四足机器人充电桩及其精定位方法
2021-09-10
Patent
Elektronische Ressource
Chinesisch
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / G06K Erkennen von Daten , RECOGNITION OF DATA / H02J CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER , Schaltungsanordnungen oder Systeme für die Abgabe oder Verteilung elektrischer Leistung |
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