Robot Autonomous Charging Method Based on Laser Radar

doi:10.3969/j.issn.1673-4440.2022.04.004

Railway Signalling & Communication Engineering ›› 2022, Vol. 19 ›› Issue (4): 19-23.DOI: 10.3969/j.issn.1673-4440.2022.04.004

Previous Articles Next Articles

Robot Autonomous Charging Method Based on Laser Radar

Liu Jiabin^{1, 2}

1. CRSC Research & Design Institute Group Co., Ltd., Beijing 100070, China；
2. Beijing Engineering Technology Research Center of Operation Control Systems for High Speed Railways, Beijing 100070, China

Received:2021-04-07 Revised:2022-02-10 Online:2022-04-25 Published:2022-04-25

一种基于激光雷达的机器人自主充电方法

刘甲宾^1,2

1．北京全路通信信号研究设计院集团有限公司，北京 100070；
2．北京市高速铁路运行控制系统工程技术研究中心，北京 100070

作者简介:刘甲宾（1984—），男，工程师，硕士，主要研究方向：自动化、智能化设备的研究和开发，邮箱：liujiabin@crscd.com.cn
基金资助:
2021年国家发明专利（CN202110025450.6）

Abstract

Abstract: With designing a charging device with feature structure, the paper introduces a robot autonomous charging method based on the charging device. The robot obtains the characteristic structure data through the laser radar, locks the charging device, calculates the deviation, and drives the robot itself to move to the charging device to complete the charging.

Key words: autonomous charging, a charging device with feature structure, robot, laser radar

摘要： 在设计带有特征结构的充电装置基础上，介绍一种基于该充电装置的机器人自主充电方法。机器人通过激光雷达获取特征结构数据、锁定充电装置、计算偏差，然后根据偏差驱动机器人移动到充电装置完成充电。

关键词: 自主充电, 特征结构充电桩, 机器人, 激光雷达

CLC Number:

TP24

Liu Jiabin. Robot Autonomous Charging Method Based on Laser Radar[J]. Railway Signalling & Communication Engineering, 2022, 19(4): 19-23.

刘甲宾. 一种基于激光雷达的机器人自主充电方法[J]. 铁路通信信号工程技术, 2022, 19(4): 19-23.

Figures/Tables 6

References

[1]中华人民共和国国务院.国发[2015]28号国务院关于印发《中国制造2025》的通知[EB/OL].(2015-5-19)[2019-10-21].http://www.gov.cn/zhengce/content/2015-05/19/content_9784.htm.
[2]中国国家铁路集团有限公司.铁发改[2020]129号国铁集团关于印发《新时代交通强国铁路先行规划纲要》的通知[EB/OL].(2020-7-2)[2020-08-12].http://www.china-railway.com.cn/xwzx/rdzt/ghgy/gyqw/202008/t20200812_107636.html.
[3]姚毅.高铁经济对区域经济发展的影响[J].开放导报，2018(1):94-98.
Yao Yi.The Impact of High Speed Rail Economy on Regional Economic Development[J].China Opening Journal, 2018(1):94-98.
[4]金江磊,闫浩文,刘涛,等.高速铁路通达度与城市驱动力的时空耦合关系研究[J].地理与地理信息科学，2019，35(3):120-126.
Jin Jianglei, Yan Haowen, Liu Tao, et al.Spatio-Temporal Coupling Relations between the Accessibility of High-Speed Railway and the Urban Driving Forces in China[J].Geography and Geo-Information Science, 2019, 35(3):120-126.
[5]刘大玲,黄小钢.高速铁路无砟轨道系统状态监测及预防性维修[J].中国机械工程，2019，30(3):101-105.
Liu Daling, Huang Xiaogang.Condition Monitoring and Preventive Maintenance of Ballastless Track Systems for High-Speed Railways[J].China Mechanical Engineering,2019,30(3):349-353.
[6]张奎刚.铁路机械室内智能操作机器人安全分析[J].铁路通信信号工程技术，2020，17(4):25-27.
Zhang Kuigang. Safety Analysis of Railway Intelligent Operating Robot in Machine Room[J]. Railway Signalling & Communication Engineering, 2020, 17(4): 25-27.
[7]安徽爱依特科技有限公司.一种机器人自充电装置及其方法: CN109093648A[P].2018-12-28.
[8]亿嘉和科技股份有限公司.一种基于激光对射的定位方法以及机器人自主充电方法:CN109460032A[P].2019-03-12.
[9]亿嘉和科技股份有限公司.一种巡检机器人定位方法及自动充电方法:CN106786938B[P]. 2020-03-20.
[10]杭州申昊科技股份有限公司.一种基于激光导航的变电站巡检机器人自主充电方法:CN106020188A[P].2016-10-12.
[11]武汉工控仪器仪表有限公司.一种室外移动机器人无线充电系统及方法:CN110061552A[P]. 2019-07-26.
[12]Tully Foote, Mike Purvis. Standard Units of Measure and Coordinate Conventions[EB/OL]. (2010-10-07)[2022-02-21] https://www.ros.org/reps/rep-0103.html#id7.
[13]石德斌.运营高铁线路平纵断面线形评估与优化研究[J].铁道工程学报，2019，36(2):10-13.
Shi Debin.Research on the Evaluation and Optimization of Horizontal and Longitudinal Section of High-Speed Railway Lines in Operation[J].Journal of Railway Engineering Society, 2019, 36(2):7-10.

Robot Autonomous Charging Method Based on Laser Radar

一种基于激光雷达的机器人自主充电方法

PDF

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 6

References

Related Articles 0

Recommended Articles

Metrics

Comments