The embodiment of the invention discloses a pile-returning charging method and device for a four-wheel independent steering robot and a medium, and relates to the technical field of intelligent robots. The method comprises the steps that a charging pile identification code image located on a designated charging pile is collected; identifying the charging pile identification code image to obtain an image identifier corresponding to the charging pile identification code image and position data of the charging pile identification code image, and verifying the image identifier to obtain a specified verification result of the charging pile identification code image; when a specified verification result of the charging pile identification code image meets a preset condition, calculating a relative pose relationship between the specified charging pile and the four-wheel independent steering robot according to position data of the charging pile identification code image and pre-acquired equipment parameters of an image acquisition device; and the four-wheel independent steering robot is adjusted to the designated posture according to the relative posture relation between the designated charging pile and the four-wheel independent steering robot, so that the four-wheel independent steering robot is charged through the designated charging pile under the designated posture.
本说明书实施例公开了一种四轮独立转向机器人的回桩充电方法、设备及介质,涉及智能机器人技术领域,方法包括:采集位于指定充电桩上的充电桩标识码图像;对充电桩标识码图像进行识别,得到充电桩标识码图像对应的图像标识以及充电桩标识码图像的位置数据,对图像标识进行验证得到充电桩标识码图像的指定验证结果;当充电桩标识码图像的指定验证结果符合预设条件时,根据充电桩标识码图像的位置数据和预先获取的图像采集装置的设备参数,计算指定充电桩和四轮独立转向机器人的相对位姿关系;根据指定充电桩和四轮独立转向机器人的相对位姿关系,将四轮独立转向机器调整至指定位姿,以在指定位姿下通过指定充电桩对四轮独立转向机器人进行充电。
Pile returning charging method and device of four-wheel independent steering robot and medium
一种四轮独立转向机器人的回桩充电方法、设备及介质
06.01.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / G06K Erkennen von Daten , RECOGNITION OF DATA / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / 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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