Title:
ROBOT AND CHARGING PILE RECOGNITION METHOD AND APPARATUS THEREFOR
Document Type and Number:
WIPO Patent Application WO/2022/247137
Kind Code:
A1
Abstract:
A robot and a charging pile recognition method and apparatus therefor, a robot and a computer-readable storage medium. The method comprises: acquiring, by means of a single-line laser radar, point cloud data of a scenario where a robot is located (S401); segmenting the point cloud data according to predetermined size data of a surface of a charging pile, so as to obtain a plurality of point cloud segments and determine poses thereof (S402); determining pose transformation matrixes according to the poses of the point cloud segments and a pre-determined pose of a template point cloud of the charging pile, and adjusting the poses of the point cloud segments according to the pose transformation matrixes (S403); and matching the point cloud segments, which have been subjected to pose conversion, with the template point cloud, and according to matching scores, determining a point cloud segment corresponding to the charging pile (S404). By means of the method, the precision of matching between a charging pile and a point cloud segment can be effectively improved, thereby improving the application range of the charging pile recognition method.
Inventors:
ZHAO YONGSHENG (CN)
GONG JIANREN (CN)
GONG JIANREN (CN)
Application Number:
PCT/CN2021/127150
Publication Date:
December 01, 2022
Filing Date:
October 28, 2021
Export Citation:
Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
G01S7/48; G01S17/88
Foreign References:
| CN113341396A | 2021-09-03 | |||
| CN112198871A | 2021-01-08 | |||
| CN112561998A | 2021-03-26 | |||
| CN112327842A | 2021-02-05 | |||
| CN111324121A | 2020-06-23 | |||
| CN110824491A | 2020-02-21 | |||
| US20170046840A1 | 2017-02-16 |
Attorney, Agent or Firm:
SHENZHEN ZHONGYI UNION INTELLECTUAL PROPERTY AGENCY CO.,LTD. (CN)
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