Control method of mobile device, electronic device and storage medium

Abstract

The present invention provides a method for controlling a mobile device, an electronic device, and a storage medium. The method comprises: upon detecting a target object, controlling the mobile device to move from a current position to a target preceding position corresponding to the target object, such that the mobile device is aligned with the target object upon reaching the target preceding position; and controlling the mobile device to move linearly from the target preceding position to the position where the target object is located. By setting the target preceding position and aligning the mobile device with the target object when at the target preceding position, the present invention ensures that the mobile device is accurately aligned with the target object.

Description

Technical Field

[0001] The present invention relates to the field of control technology, and in particular to a control method for a mobile device, an electronic device, and a storage medium. Background Art

[0002] In recent years, with the rise of new energy companies and e-commerce, the warehousing and logistics industries have developed rapidly. The frequent handling and storage of goods in warehousing systems places high demands on efficiency. This places the following requirements on the motion trajectory of mobile devices such as AGVs (Automated Guided Vehicles) to align with cargo pallets: precise alignment with the pallets, smooth trajectories, and meeting kinematic constraints. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a control method for a mobile device, an electronic device, and a storage medium that overcome the above problems or at least partially solve the above problems.

[0004] According to a first aspect of an embodiment of the present invention, a method for controlling a mobile device is provided, comprising:

[0005] When a target object is detected, controlling the mobile device to move from a current position to a target front position corresponding to the target object, so that the mobile device is aligned with the target object when reaching the target front position;

[0006] The mobile device is controlled to move linearly from the target front position to the target object position.

[0007] According to a second aspect of an embodiment of the present invention, a control device for a mobile device is provided, comprising:

[0008] A first control module is configured to control the mobile device to move from a current position to a target front position corresponding to the target object when a target object is detected, so that the mobile device is aligned with the target object when reaching the target front position;

[0009] The second control module is used to control the mobile device to move linearly from the target front position to the target object position.

[0010] According to a third aspect of an embodiment of the present invention, an electronic device is provided, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the control method for the mobile device as described in the first aspect.

[0011] According to a fourth aspect of an embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the control method of the mobile device as described in the first aspect is implemented.

[0012] According to a fifth aspect of an embodiment of the present invention, a computer program product is provided, including a computer program or computer instructions, which, when executed by a processor, implements the control method of the mobile device described in the first aspect.

[0013] The control method, electronic device and storage medium of a mobile device provided by the embodiments of the present invention control the mobile device to move from the current position to the target front position corresponding to the target object when a target object is detected, so that the mobile device is aligned with the target object when reaching the target front position, and controls the mobile device to move in a straight line from the target front position to the position where the target object is located. By setting the target front position and aligning the mobile device with the target object when it is at the target front position, it can be ensured that the mobile device is accurately aligned with the target object.

[0014] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Various other advantages and benefits will become apparent to those skilled in the art by reading the following detailed description of the preferred embodiment.The accompanying drawings are only for the purpose of illustrating the preferred embodiment and are not to be considered as limiting the present invention.

[0016] Figure 1 This is a flowchart of a method for controlling a mobile device provided by an embodiment of the present invention;

[0017] Figure 2 is a flowchart of another method for controlling a mobile device provided by an embodiment of the present invention;

[0018] Figure 3 is a schematic diagram of trajectory planning when a mobile device is aimed at a target object in an embodiment of the present invention;

[0019] Figure 4 This is a structural block diagram of a control device for a mobile device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0020] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0021] The mobile device in the embodiment of the present application can be moved from one location to another and can also carry objects at the same time, for example, by lifting, pulling, forking, etc.

[0022] Figure 1 This is a flowchart of a method for controlling a mobile device provided by an embodiment of the present invention. This method can be applied to trajectory planning when the mobile device is aimed at a target object, such as Figure 1 As shown, the method may include:

[0023] 101 , when a target object is detected, controlling the mobile device to move from a current position to a target front position corresponding to the target object, so that the mobile device is aligned with the target object when reaching the target front position.

[0024] The target object may be, for example, a pallet, a shelf, a material container, etc.

[0025] Mobile devices can use a variety of technical means to detect targets. For example, a mobile device can detect targets based on images captured by a camera, i.e., when an image of the target is captured, the target is detected. Alternatively, a mobile device can detect targets based on sensors, determining whether the target is detected based on the signals emitted by the sensors.

[0026] The target forward position corresponding to the target object is a position between the target object and the current position. When the mobile device is at the target forward position, it has completed posture adjustment and is aligned with the target object. Here, alignment refers to the mobile device aligning with the target object at the desired yaw angle. Once the mobile device is aligned with the target object, it can align with the target object by continuing to move in a straight line to the target object's location. A corresponding target forward position is set in front of the target object, and the mobile device is controlled to complete posture adjustment when it reaches the target forward position. This prevents the mobile device from colliding with the target object due to posture adjustment (such as yaw angle) during the process of moving toward the target object and aligning with it. After the mobile device is aligned with the target object, the target object can be moved to another location. It should be noted that the method of aligning the mobile device with the target object can vary in different application scenarios. For example, for a hidden mobile device, the mobile device can move under the target object (such as a shelf, rack, etc.) and align with the target object. The target object can then be lifted off the ground and moved to another location. For a pulling mobile device, the device is moved in front of the object, the traction mechanism of the mobile device is aligned with the traction mechanism of the object, and the traction mechanism is connected to pull the object to another location. For a forklift mobile device, the fork is inserted into the fork hole or bottom of the object and extended into the appropriate position to complete the alignment. The object can then be lifted off the ground and moved to another location.

[0027] The target leading position can be pre-determined based on the position and posture of the target object. For example, when a mobile device receives a transport task, it can obtain the position of the target object and the current leading position corresponding to the target object; or, the target leading position can be pre-determined and stored in a storage medium, and when the target object is detected, the target leading position corresponding to the target object can be obtained from the storage medium. The target leading position can also be determined when the target object is detected, for example, based on the size of the mobile device, the size of the target object, and the position and posture information of the target object.

[0028] Control the mobile device to move from the current position to the target front position along a curved trajectory, a straight trajectory or a broken line trajectory, so that the mobile device is aligned with the target object when it reaches the target front position, that is, the orientation of the mobile device at the target front position is consistent with the orientation of the target object, and the line between the center point of the mobile device and the center point of the target object is consistent with the orientation of the target object.

[0029] If the mobile device is already aligned with the target object when the target object is detected, the mobile device can move from the current position along a straight line trajectory to the position in front of the target; otherwise, the mobile device moves from the current position along a curved trajectory or a broken line trajectory to the position in front of the target, and continuously adjusts its posture during this process to ensure that it can be aligned with the target object when it reaches the position in front of the target.

[0030] In one embodiment of the present invention, the motion trajectory of the mobile device from the current position to the target preceding position is a curved trajectory, which can ensure the smoothness of the motion trajectory from the current position to the target preceding position and satisfy kinematic constraints.

[0031] 102 , controlling the mobile device to move linearly from a position in front of the target to a position where the target object is located.

[0032] The mobile device is aligned with the target object when it is at the target-front position. The mobile device can move linearly from the target-front position to the target object. Once the mobile device reaches the target object, it can align with the target object. When the mobile device moves from the target-front position to the target object, it can move at a constant speed for a certain distance. When the sensor detects that the distance to the target object meets a certain condition, it decelerates until it reaches the target object and stops, thus aligning with the target object.

[0033] The control method of the mobile device provided in this embodiment controls the mobile device to move from the current position to the target front position when a target object is detected, so that the mobile device is aligned with the target object when reaching the target front position, and controls the mobile device to move in a straight line from the target front position to the position where the target object is located. By setting the target front position and aligning the mobile device with the target object when at the target front position, it can be ensured that the mobile device is accurately aimed at the target object.

[0034] In one embodiment of the present invention, the method further includes: determining the target front position according to the size of the mobile device, the size of the target object, and the position and posture information of the target object.

[0035] Based on the position and posture information of the target object, the orientation of the target object can be determined. Since the mobile device needs to be aligned with the target object when it is in the target front position, the straight line between the target front position and the center point of the target object is consistent with the orientation. In this way, based on the orientation and position of the target object, the straight line on which the target front position is located can be determined. In addition, in order to prevent the mobile device from colliding with the target object, the mobile device needs to maintain a certain distance from the target object when it is in the target front position. Based on the size of the mobile device and the size of the target object, as well as the distance that the mobile device needs to maintain from the target object when it is in the target front position, the target front position can be obtained on the straight line. The target front position determined in this way can ensure that the mobile device does not collide with the target object during the process of aligning the mobile device from the target front position.

[0036] In one embodiment of the present invention, the target leading position is determined based on the size of the mobile device, the size of the target object, and the position and posture information of the target object, including: determining the distance that needs to be maintained between the mobile device and the target object when the mobile device is aligned with the target object based on the size of the mobile device and the size of the target object; determining the expected yaw angle of the mobile device at the target leading position based on the position and posture information of the target object; and determining the target leading position based on the distance, the expected yaw angle, and the position of the target object.

[0037] The sum of half the length of the mobile device, half the length of the target, and the distance margin can be determined as the distance that needs to be maintained between the mobile device and the target when the mobile device and the target are aligned, that is, the distance between the target leading position and the center point of the target is determined. The position and posture information of the target object can include the axis yaw angle of the target object. The axis yaw angle of the target object is determined as the expected yaw angle of the mobile device at the target leading position to ensure that the mobile device is aligned with the target when at the target leading position. Since the position of the target object is fixed, the target leading position can be obtained using the trigonometric cosine theorem based on the distance that needs to be maintained between the mobile device and the target when the mobile device and the target are aligned, the expected yaw angle, and the position of the target object. Among them, the yaw angle of the mobile device refers to the angle between the x-axis of the mobile device coordinate system xoy (i.e., the forward direction of the mobile device) and the x-axis of the earth coordinate system XOY.

[0038] By determining the target front position in the above manner, a collision between the mobile device and the target object can be avoided, and the mobile device can be ensured to be accurately aligned with the target object.

[0039] In one embodiment of the present invention, determining the distance that needs to be maintained between the mobile device and the target when the mobile device is aligned with the target based on the size of the mobile device and the size of the target includes: determining the distance that needs to be maintained between the mobile device and the target when the mobile device is aligned with the target based on the size of the mobile device, the size of the target, and a distance margin, wherein the distance margin is related to the speed of the mobile device when it reaches the front position of the target.

[0040] The distance required between the mobile device and the target when aligned is determined by summing half the length of the mobile device, half the length of the target, and the distance margin. The distance margin is positively correlated with the speed of the mobile device when it reaches the position in front of the target. The slower the speed of the mobile device when it reaches the position in front of the target, the smaller the distance margin. The faster the speed of the mobile device when it reaches the position in front of the target, the larger the distance margin. This ensures that the mobile device can stop at a sufficient distance from the target when aligned, avoiding collision with the target.

[0041] It should be noted that the distance margin may vary with the speed of the mobile device when it reaches the target front position, or may be set to a fixed value.

[0042] In one embodiment of the present invention, determining the target leading position according to the distance, the expected yaw angle, and the position of the target object includes:

[0043] Determine the horizontal coordinate P of the target front position according to the following expression: ex , vertical coordinate P ey :

[0044]

[0045]

[0046] Among them, P px represents the horizontal coordinate of the target object, P py represents the ordinate of the target object, L represents the length of the mobile device, l represents the length of the target object, ∈ represents the distance margin, represents the desired yaw angle.

[0047] Assuming the length of the mobile device is L and the length of the target is l, to ensure that the mobile device has the desired yaw angle Aim at the target object, and do not collide with the target object due to the yaw angle adjustment during the alignment process of the pallet. The mobile device needs to be at least within a certain distance from the target object. At , the yaw angle of the mobile device is adjusted to the desired yaw angle. Where ∈ represents the distance margin, which can be a preset value or determined based on the speed of the mobile device at the target leading position. For example, the greater the speed of the mobile device at the target leading position, the greater the distance margin.

[0048] Determine the horizontal coordinate P of the target front position by the above formula ex and the vertical coordinate P ey After that, when the mobile device reaches the front position of the target, it adjusts the yaw angle to the desired yaw angle and then can drive straight towards the target object.

[0049] The target front position determined by the above formula can ensure that the mobile device can accurately aim at the target object.

[0050] In one embodiment of the present invention, the speed of the mobile device at the current position is greater than the speed of the mobile device at the target front position. When the mobile device receives a task, it moves toward the target position and detects the target during the movement. At this time, the speed of the mobile device is greater than the speed when it is about to stop. When the mobile device moves from the target front position to the target position, it needs to be able to stop directly. The speed at this time cannot be too high. Therefore, the speed of the mobile device at the current position is greater than the speed at the target front position to ensure that the mobile device approaches the target at a faster speed, and the speed at the target front position is smaller to ensure that the mobile device can stop in time at the target position to avoid collision with the target.

[0051] In one embodiment of the present invention, the method further includes: adjusting the yaw angle of the mobile device during the process of controlling the mobile device to move from the current position to the target front position, and when the mobile device reaches the target front position, adjusting the yaw angle of the mobile device to an expected yaw angle, wherein the expected yaw angle is determined based on the position and posture information of the target object.

[0052] Because the mobile device needs to be aligned with the target object when in the target-leading position, the desired yaw angle of the mobile device at the target-leading position can be determined based on the position and posture information of the target object. For example, the yaw angle of the target object's axis can be determined as the desired yaw angle of the mobile device at the target-leading position. While controlling the movement of the mobile device from its current position to the target-leading position, the yaw angle of the mobile device is adjusted in real time so that upon reaching the target-leading position, the yaw angle of the mobile device is adjusted to the desired yaw angle. This ensures that the mobile device is aligned with the target object at the desired yaw angle, and prevents collision with the target object during the alignment process due to the yaw angle adjustment.

[0053] Figure 2 This is a flowchart of a method for controlling a mobile device provided by an embodiment of the present invention. Figure 2 As shown, the method may include:

[0054] 201. When a target object is detected, determine, based on a current position and a preceding target position, a plurality of candidate speeds of a mobile device when reaching the preceding target position, and a plurality of candidate times required for the mobile device to move from the current position to the preceding target position.

[0055] Figure 3 FIG is a schematic diagram of trajectory planning when a mobile device is aimed at a target object in an embodiment of the present invention. Figure 3As shown, the embodiment of the present invention decomposes the trajectory planning for the target object into two stages, namely, a curved trajectory 1 from the current position of the mobile device to the position before the target and a straight trajectory 2 from the position before the target to the position of the target object.

[0056] The mobile device can move at a constant speed for a certain distance along a straight line from the target leading position to the target object's location. When the sensor detects that the distance to the target object meets certain conditions, the mobile device decelerates until it reaches the target object's location and stops. Therefore, the speed of the mobile device when reaching the target leading position cannot be too high, but rather a speed that allows it to stop directly when reaching the target object's location from the target leading position. This allows for the determination of multiple candidate speeds for the mobile device when reaching the target leading position. Based on the current position and the target leading position, the distance between the current position and the target leading position can be determined, and based on this distance, multiple candidate times required for the mobile device to move from the current position to the target leading position can be determined.

[0057] In one embodiment of the present invention, based on the current position and the target preceding position, multiple candidate speeds of the mobile device when reaching the target preceding position and multiple candidate times required for the mobile device to move from the current position to the target preceding position are determined, including: obtaining the maximum driving speed of the mobile device before stopping; sampling between the target speed lower limit and the maximum driving speed to obtain multiple candidate speeds of the mobile device when reaching the target preceding position; determining the minimum time and the maximum time based on the candidate speeds and the distance between the current position and the target preceding position; sampling between the minimum time and the maximum time to obtain multiple candidate times required for the mobile device to move from the current position to the target preceding position.

[0058] The maximum driving speed is a speed that satisfies the motor control constraint of the mobile device, and may be a preset value that satisfies the motor control constraint, or a value determined based on the motor control constraint.

[0059] Due to the limitation of the control quality of the chassis motor of mobile equipment such as AGV, the driving speed of the mobile equipment should not be too high before it stops, otherwise the body will shake. Therefore, the maximum driving speed that meets the motor control constraints of the mobile equipment can be obtained, and the maximum driving speed V before the mobile equipment stops can be obtained. emax The target speed lower limit can be, for example, 0, or a target lower limit value pre-set based on demand, for example, the target speed lower limit can be 0.1, etc. In this way, sampling can be performed between the target speed lower limit and the maximum driving speed to obtain multiple candidate speeds V when the mobile device reaches the target front position. eWhen sampling between the target speed lower limit and the maximum driving speed, sampling can be performed at equal intervals based on a pre-set speed sampling rate, such as 0.05 m / s, or random sampling can be performed. The speed sampling rate can be an optimal value determined in advance through simulation.

[0060] The trajectory of the mobile device from the current position to the target front position conforms to the trajectory equation based on the polynomial. The polynomial-based trajectory planning method can be used to calculate the time t for the mobile device to reach the target front position. e Conduct reasonable sampling.

[0061] The distance between the current position and the target preceding position is calculated using the following formula:

[0062]

[0063] Among them, Dis represents the distance between the current position and the target preceding position, P 0x 、P 0y Represents the horizontal and vertical coordinates of the current position of the mobile device, P ex 、P ey They represent the horizontal and vertical coordinates of the target preceding parking point respectively.

[0064] Based on the distance between the current position and the target preceding position and the candidate speed, the minimum time and maximum time required for the mobile device to move from the current position to the target preceding position can be determined. For example, the quotient of the distance between the current position and the target preceding position and the candidate speed can be determined as the linear motion time. When the motion trajectory of the mobile device from the current position to the target preceding position is a curved trajectory, and the length of the curved trajectory is greater than the distance Dis between the current position and the target preceding position, the minimum multiple of the linear motion time can be determined as the minimum time, and the maximum multiple of the linear motion time can be determined as the maximum time. The minimum multiple and the maximum multiple can be determined in advance through simulation. For example, the minimum multiple is determined to be 1.1 through simulation, and the maximum multiple is determined to be 1.2 through simulation.

[0065] Sampling is performed between the minimum time and the maximum time. Sampling can be performed at equal intervals or randomly to obtain multiple candidate times required for the mobile device to move from the current position to the target preceding position. The sampling interval when sampling at equal intervals can be a pre-set value or determined through simulation. For example, the sampling interval is determined by simulation to be 0.1 times the linear motion time, that is,

[0066] By sampling between the target speed lower limit and the maximum driving speed to obtain multiple candidate speeds, and sampling between the minimum time and the maximum time to obtain multiple candidate times, a data foundation is laid for the generation of candidate curve trajectories, and more reasonable candidate curve trajectories can be generated.

[0067] 202 : Determine a plurality of candidate curved trajectories of the mobile device moving from the current position to the preceding target position based on the current position, the plurality of candidate speeds, the preceding target position, and the plurality of candidate times.

[0068] The candidate curve trajectory can be planned based on a polynomial trajectory planning method. For example, a fifth-order polynomial can be used to plan the candidate curve trajectory. For the fifth-order polynomial, the trajectory parameters need to be determined based on the current position, candidate speed, target leading position and candidate time.

[0069] When using a polynomial-based trajectory planning method to determine candidate curve trajectories, the corresponding current position, candidate speed, target leading position and candidate time can be substituted into the polynomial-based trajectory equation to obtain a candidate curve trajectory for the mobile device from the current position to the target leading position. Through multiple sets of current positions, candidate speeds, target leading positions and candidate times, multiple candidate curve trajectories for the mobile device from the current position to the target leading position can be obtained.

[0070] Assume that the horizontal position of the mobile device is P x , longitudinal position P y The trajectory equations that change with time t are trajectory equations based on quintic polynomials, which can be expressed as follows:

[0071] P x (t) = a5t 5 +a4t 4 +a3t 3 +a2t 2 +a1t+a0

[0072] P y (t) = b5t 5 +b4t 4 +b3t 3 +b2t 2 +b1t+b0

[0073] Among them, a0, a1, a2, a3, a4, and a5 are lateral trajectory parameters, and b0, b1, b2, b3, b4, and b5 are longitudinal trajectory parameters.

[0074] From the above two equations, we can get the lateral velocity V of the mobile device: x , lateral acceleration a x , longitudinal speed Vy , longitudinal acceleration a y The relationships over time are:

[0075] V x (t) = 5a5t 4 +4a4t 3 +3a3t 2 +2a2t+a1

[0076] a x (t) = 20a5t 3 +12a4t 2 +6a3t+2a2

[0077] V y (t) = 5b5t 4 +4b4t 3 +3b3t 2 +2b2t+b1

[0078] a y (t) = 20b5t 3 +12b4t 2 +6b3t+2b2

[0079] Based on the target front position (P ex , P ey ), candidate speed V e , candidate time, expected yaw angle Assuming that the acceleration of the mobile device when it reaches the front position of the target is 0, the first, second, and third equations for the lateral trajectory parameters are as follows:

[0080] P ex =a5t e 5 +a4t e 4 +a3t e 3 +a2t e 2 +a1t e +a0

[0081]

[0082] 0=20a5t e 3 +12a4t e 2 +6a3t e +2a2

[0083] The first, second, and third equations for the longitudinal trajectory parameters are as follows:

[0084] P ey =b5t e 5 +b4t e 4 +b3t e 3 +b2t e 2 +b1t e +b0

[0085]

[0086] 0=20b5t e 3 +12b4t e 2 +6b3t e +2b2

[0087] At the current time t0, the current position of the mobile device (P 0x , P 0y ), current speed V0, current yaw angle Current acceleration (a 0x , a 0y ), then the fourth, fifth, and sixth equations for the lateral trajectory parameters are as follows:

[0088] P 0x =a5t0 5 +a4t0 4 +a3t0 3 +a2t0 2 +a1t0+a0

[0089]

[0090] a 0x =20a5t0 3 +12a4t0 2 +6a3t0+2a2

[0091] The fourth, fifth, and sixth equations for the longitudinal trajectory parameters are as follows:

[0092] P 0y =b5t0 5 +b4t0 4 +b3t0 3 +b2t0 2 +b1t0+b0

[0093]

[0094] a 0y =20b5t0 3 +12b4t02 +6b3t0+2b2

[0095] By combining the first, second, third, fourth, fifth and sixth equations for the lateral trajectory parameters, we obtain a system of equations for the lateral trajectory parameters. By combining the first, second, third, fourth, fifth and sixth equations for the longitudinal trajectory parameters, we obtain a system of equations for the longitudinal trajectory parameters. That is, by combining the above 12 equations, we can solve the lateral trajectory parameters a0, a1, a2, a3, a4, a5 and the longitudinal trajectory parameters b0, b1, b2, b3, b4, b5, and thus obtain the lateral motion trajectory P of the mobile device from the current position to the target front position. x (t) and longitudinal motion trajectory P y (t).

[0096] By using a trajectory equation based on a quintic polynomial, a smooth trajectory that satisfies kinematic constraints can be solved well without introducing too many variables. The computational complexity is appropriate, and the trajectory fitted by the quintic polynomial is curvature continuous, which ensures that the angular velocity of the mobile device is continuous when tracking the trajectory.

[0097] 203 : Determine a target curved trajectory of the mobile device from the current position to the target preceding position from the multiple candidate curved trajectories.

[0098] By constructing a comprehensive evaluation function that considers the smoothness, rapidity, and trajectory traceability of the mobile device, each of multiple candidate curve trajectories is evaluated to obtain an evaluation value for each candidate curve trajectory. By comparing the evaluation values ​​of all candidate trajectories, an optimal candidate curve trajectory can be selected from the multiple candidate curve trajectories and determined as the target curve trajectory.

[0099] In one embodiment of the present invention, determining a target curve trajectory of the mobile device from the current position to the target preceding position from the multiple candidate curve trajectories includes: determining a trajectory constraint cost for each of the candidate curve trajectories, the trajectory constraint cost of each of the candidate curve trajectories being determined based on at least one of the acceleration cost, impact velocity cost, yaw angular velocity cost, and travel time cost of the candidate curve trajectory; and selecting a candidate curve trajectory with the smallest trajectory constraint cost from the multiple candidate curve trajectories as the target curve trajectory.

[0100] When the trajectory equation of the candidate curve trajectory is a polynomial-based trajectory equation, the polynomial-based lateral trajectory equation can be differentiated to obtain a lateral velocity equation, the polynomial-based longitudinal trajectory equation can be differentiated to obtain a longitudinal velocity equation, the lateral velocity equation can be differentiated to obtain a lateral acceleration equation, and the longitudinal velocity equation can be differentiated to obtain a longitudinal acceleration equation. Then, the sum of the lateral acceleration and the longitudinal acceleration can be integrated between the current time and the candidate time to obtain the acceleration cost of the corresponding candidate curve trajectory. That is, the acceleration cost of the candidate curve trajectory is calculated according to the following formula:

[0101]

[0102] Among them, c a represents the acceleration cost, a x (t) represents the lateral acceleration, a y (t) represents the longitudinal acceleration, t0 represents the current time, t e Indicates candidate time.

[0103] By determining the acceleration cost, the cumulative acceleration of the entire trajectory can be made smaller, making the speed of the mobile device more stable.

[0104] The lateral impact velocity equation is derived by differentiating the lateral acceleration equation, and the longitudinal impact velocity equation is derived by differentiating the longitudinal acceleration equation. The sum of the lateral impact velocity and the longitudinal impact velocity is then integrated between the current time and the candidate time to obtain the impact velocity cost of the corresponding candidate curve trajectory. The impact velocity cost of the candidate curve trajectory is calculated according to the following formula:

[0105]

[0106] Among them, c j Indicates the impact speed cost, jer x (t) represents the lateral impact velocity, jer y (t) represents the longitudinal impact velocity, t0 represents the current time, t e In the above trajectory equation based on the fifth-order polynomial, the lateral impact velocity jer x (t) and longitudinal impact velocity jer y (t) are represented as follows:

[0107] jer x (t) = 60a5t 2 +24a4t+6a3

[0108] jer y (t) = 60b5t 2 +24b4t+6b3

[0109] Among them, a3, a5, and a4 are the lateral trajectory parameters in the above-mentioned trajectory equation based on the fifth-order polynomial, and b3, b4, and b5 are the longitudinal trajectory parameters in the above-mentioned trajectory equation based on the fifth-order polynomial.

[0110] By determining the impact velocity cost, the cumulative impact velocity of the entire trajectory can be made smaller, thereby making the acceleration of the mobile device more stable; and combining the acceleration cost and the impact velocity cost can jointly ensure that the planned trajectory has stronger longitudinal trackability.

[0111] Based on the lateral velocity, lateral acceleration, longitudinal velocity, and longitudinal acceleration, the yaw rate is determined as follows:

[0112]

[0113] Where ome(t) represents the yaw angular velocity, V x (t) represents the lateral velocity, V y (t) represents the longitudinal velocity, a x (t) represents the lateral acceleration, a y (t) represents the longitudinal acceleration.

[0114] Integrate the yaw rate between the current time and the candidate time to obtain the yaw rate cost of the corresponding candidate trajectory:

[0115]

[0116] Among them, c w represents the yaw rate cost, t0 represents the current time, t e Indicates candidate time.

[0117] By determining the yaw rate, the cumulative yaw rate of the entire trajectory can be made smaller, thereby making the posture movement of the mobile device smoother; and the yaw rate cost can ensure that the planned trajectory has stronger lateral trackability.

[0118] The travel time cost of a candidate curve trajectory is the difference between the candidate time and the current time of the candidate curve trajectory. The travel time cost is expressed as follows:

[0119] c t =t e -t0

[0120] Among them, c t represents the travel time cost, t e represents the candidate time, and t0 represents the current time.

[0121] By determining the exercise time cost, the total duration of the entire trajectory can be shortened, ensuring that the mobile device reaches the target front position faster.

[0122] After determining at least one of the acceleration cost, impact velocity cost, yaw angular velocity cost, and travel time cost of the candidate curve trajectory, the trajectory constraint cost of the candidate curve trajectory may be determined based on at least one of the acceleration cost, impact velocity cost, yaw angular velocity cost, and travel time cost of the candidate curve trajectory. For example, the trajectory constraint cost of the candidate curve trajectory may be obtained by performing a weighted summation on the acceleration cost, impact velocity cost, yaw angular velocity cost, and travel time cost. That is, the trajectory constraint cost of the candidate curve trajectory may be determined according to the following formula:

[0123] C=k a c a +k j c j +k w c w +k t c t

[0124] Among them, C is the trajectory constraint cost, k a 、k j 、k w 、k t They represent the weight coefficients of acceleration cost, impact velocity cost, yaw rate cost and travel time cost, respectively. a 、c j 、c w 、c t They represent acceleration cost, impact velocity cost, yaw rate cost and travel time cost respectively.

[0125] The candidate curve trajectory with the minimum trajectory constraint cost is selected from multiple candidate curve trajectories as the target curve trajectory, so that a candidate curve trajectory with better motion smoothness, faster speed and stronger trajectory trackability can be determined as the target curve trajectory.

[0126] In one embodiment of the present invention, determining a target curve trajectory of the mobile device from the current position to the target front position from the multiple candidate curve trajectories includes: deleting candidate curve trajectories that do not meet trajectory constraints from the multiple candidate curve trajectories, wherein the trajectory constraints include at least one of speed constraints, acceleration constraints, angular velocity constraints, and collision detection conditions; determining a trajectory constraint cost for each of the remaining candidate curve trajectories, wherein the trajectory constraint cost of each candidate curve trajectory is determined based on at least one of the acceleration cost, impact velocity cost, yaw angular velocity cost, and driving time cost of the candidate curve trajectory; and selecting a candidate curve trajectory with the smallest trajectory constraint cost from the remaining candidate curve trajectories as the target curve trajectory.

[0127] A trajectory constraint condition is judged for each candidate curve trajectory among multiple candidate curve trajectories. If a candidate curve trajectory does not meet the trajectory constraint condition, the candidate curve trajectory is deleted from the multiple candidate curve trajectories to implement kinematic constraint detection and collision detection for the candidate curve trajectory.

[0128] According to the method of determining the trajectory constraint cost, the trajectory constraint cost of each remaining candidate curve trajectory is determined, and then the candidate curve trajectory with the smallest trajectory constraint cost is selected from the remaining candidate curve trajectories as the target curve trajectory.

[0129] By checking the trajectory constraints of multiple candidate curve trajectories, candidate curve trajectories that do not meet the conditions can be deleted, thereby preventing the planned trajectory from exceeding the motion capability boundary value of the mobile device, and reducing the calculation amount of subsequent trajectory constraint costs, thereby improving the efficiency of trajectory planning.

[0130] 204 : Control the mobile device to move from the current position to the target front position corresponding to the target object, so that the mobile device is aligned with the target object when reaching the target front position.

[0131] 205 : Control the mobile device to move linearly from the target front position to the target object position.

[0132] The control method of the mobile device provided in this embodiment determines multiple candidate speeds of the mobile device when reaching the target leading position and multiple candidate times required for the mobile device to move from the current position to the target leading position based on the current position and the target leading position, and then determines multiple candidate curve trajectories for the mobile device to move from the current position to the target leading position based on the current position, multiple candidate speeds, the target leading position and multiple candidate times, and determines the target curve trajectory of the mobile device from the current position to the target leading position from the multiple candidate curve trajectories. Since multiple candidate curve trajectories are obtained by determining multiple candidate speeds and multiple candidate times, and the optimal candidate curve trajectory is selected from the multiple candidate curve trajectories as the target curve trajectory, the trajectory of the mobile device from the current position to the target leading position is relatively smooth and meets kinematic constraints, thereby ensuring that the mobile device is accurately aligned with the target object.

[0133] It should be noted that for the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0134] Figure 4 This is a structural block diagram of a control device for a mobile device provided by an embodiment of the present invention. Figure 4 As shown, the control device of the mobile device may include:

[0135] The first control module 401 is configured to control the mobile device to move from a current position to a target front position corresponding to the target object when a target object is detected, so that the mobile device is aligned with the target object when reaching the target front position;

[0136] The second control module 402 is configured to control the mobile device to move linearly from the target front position to the target object position.

[0137] Optionally, the motion trajectory of the mobile device from the current position to the target front position is a curved trajectory.

[0138] Optionally, the speed of the mobile device at the current position is greater than the speed of the mobile device at the target preceding position.

[0139] Optionally, the device further includes:

[0140] The yaw angle adjustment module is used to adjust the yaw angle of the mobile device while controlling the mobile device to move from the current position to the target leading position, and when the mobile device reaches the target leading position, adjust the yaw angle of the mobile device to a desired yaw angle, where the desired yaw angle is determined based on the position and posture information of the target object.

[0141] Optionally, the device further includes:

[0142] The front position determination module is used to determine the target front position according to the size of the mobile device, the size of the target object and the position and posture information of the target object.

[0143] Optionally, the pre-position determination module includes:

[0144] a distance determining unit, configured to determine, based on the size of the mobile device and the size of the target, a distance that needs to be maintained between the mobile device and the target when the mobile device is aligned with the target;

[0145] an expected yaw angle determining unit, configured to determine an expected yaw angle of the mobile device at a position in front of the target according to the position and posture information of the target object;

[0146] The leading position determining unit is configured to determine the target leading position according to the distance, the expected yaw angle, and the position of the target object.

[0147] Optionally, the distance determining unit is specifically configured to:

[0148] Determine the distance that needs to be maintained between the mobile device and the target when the mobile device is aligned with the target according to the size of the mobile device, the size of the target, and the distance margin;

[0149] The distance margin is related to the speed of the mobile device when it reaches the target preceding position.

[0150] Optionally, the pre-position determining unit is specifically configured to:

[0151] Determine the horizontal coordinate P of the target front position according to the following expression: ex , vertical coordinate P ey :

[0152]

[0153]

[0154] Among them, P px represents the horizontal coordinate of the target object, P pyrepresents the ordinate of the target object, L represents the length of the mobile device, l represents the length of the target object, ∈ represents the distance margin, represents the desired yaw angle.

[0155] Optionally, the device further includes:

[0156] a candidate parameter determination module, configured to determine, based on the current position and the target preceding position, a plurality of candidate speeds of the mobile device when reaching the target preceding position, and a plurality of candidate times required for the mobile device to move from the current position to the target preceding position;

[0157] a candidate trajectory determination module, configured to determine a plurality of candidate curved trajectories for the mobile device moving from the current position to the target preceding position based on the current position, the plurality of candidate speeds, the target preceding position, and the plurality of candidate times;

[0158] The target trajectory determination module is configured to determine a target curved trajectory of the mobile device from the current position to the target preceding position from the plurality of candidate curved trajectories.

[0159] Optionally, the candidate parameter determination module includes:

[0160] a maximum speed determining unit, configured to obtain a maximum speed of the mobile device before the mobile device stops traveling;

[0161] a candidate speed determination unit, configured to perform sampling between a target speed lower limit and the maximum travel speed to obtain a plurality of candidate speeds of the mobile device when the mobile device reaches the target preceding position;

[0162] a time interval determining unit, configured to determine a minimum time and a maximum time based on the candidate speed and the distance between the current position and the target preceding position;

[0163] The candidate time determination unit is configured to perform sampling between the minimum time and the maximum time to obtain a plurality of candidate times required for the mobile device to move from the current position to the target preceding position.

[0164] Optionally, the target trajectory determination module is specifically configured to:

[0165] determining a trajectory constraint cost for each candidate curve trajectory, wherein the trajectory constraint cost for each candidate curve trajectory is determined based on at least one of an acceleration cost, an impact velocity cost, a yaw rate cost, and a travel time cost of the candidate curve trajectory;

[0166] A candidate curve trajectory with the minimum trajectory constraint cost is selected from the multiple candidate curve trajectories as the target curve trajectory.

[0167] Optionally, the target trajectory determination module is specifically configured to:

[0168] Deleting candidate curve trajectories that do not satisfy trajectory constraints among the multiple candidate curve trajectories, where the trajectory constraints include: at least one of a speed constraint, an acceleration constraint, an angular velocity constraint, and a collision detection condition;

[0169] determining a trajectory constraint cost for each of the remaining candidate curve trajectories, wherein the trajectory constraint cost for each of the candidate curve trajectories is determined based on at least one of an acceleration cost, an impact velocity cost, a yaw rate cost, and a travel time cost of the candidate curve trajectory;

[0170] A candidate curve trajectory with the minimum trajectory constraint cost is selected from the remaining candidate curve trajectories as the target curve trajectory.

[0171] The control device of the mobile device provided in this embodiment controls the mobile device to move from the current position to the target front position corresponding to the target object when a target object is detected, so that the mobile device is aligned with the target object when reaching the target front position, and controls the mobile device to move in a straight line from the target front position to the position where the target object is located. By setting the target front position and aligning the mobile device with the target object when at the target front position, it can be ensured that the mobile device is accurately aimed at the target object.

[0172] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0173] Furthermore, according to one embodiment of the present invention, an electronic device is provided, which may be an AGV, a robot, or other device. The electronic device includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the control method of the mobile device of the aforementioned embodiment is implemented.

[0174] According to one embodiment of the present invention, a computer-readable storage medium is also provided, which includes but is not limited to a disk storage, a CD-ROM, an optical storage, etc., and a computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the control method of the mobile device of the aforementioned embodiment is implemented.

[0175] According to one embodiment of the present invention, a computer program product is further provided, including a computer program or computer instructions, which implements the control method of the mobile device described in the above embodiment when executed by a processor.

[0176] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0177] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatus, or computer program products. Thus, embodiments of the present invention may take the form of a fully hardware embodiment, a fully software embodiment, or an embodiment combining software and hardware. Furthermore, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0178] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the process in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0179] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0180] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0181] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they are aware of the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0182] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0183] The above is a detailed introduction to the control method, device, electronic device and storage medium of a mobile device provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A method for controlling a mobile device, characterized in that: include: When a target object is detected, controlling the mobile device to move from a current position to a target front position corresponding to the target object, so that the mobile device is aligned with the target object when reaching the target front position; The target leading position is obtained by the trigonometric cosine theorem based on a distance required to be maintained between the mobile device and the target when the mobile device is aligned with the target, a desired yaw angle, and a position of the target; the distance required to be maintained between the mobile device and the target when the mobile device is aligned with the target is the sum of half the length of the mobile device, half the length of the target, and a distance margin; The mobile device is controlled to move linearly from the target front position to the target object position.

2. The method according to claim 1, characterized in that The motion trajectory of the mobile device from the current position to the target preceding position is a curved trajectory.

3. The method according to claim 1 or 2, characterized in that The speed of the mobile device at the current position is greater than the speed of the mobile device at the target preceding position.

4. The method according to claim 1 or 2, characterized in that Also includes: In the process of controlling the mobile device to move from the current position to the target front position, the yaw angle of the mobile device is adjusted. When the mobile device reaches the target front position, the yaw angle of the mobile device is adjusted to an expected yaw angle, and the expected yaw angle is determined based on the position and posture information of the target object.

5. The method according to claim 1 or 2, characterized in that Also includes: The target front position is determined according to the size of the mobile device, the size of the target object, and the position and posture information of the target object.

6. The method according to claim 5, characterized in that Determining the target front position according to the size of the mobile device, the size of the target object, and the position and posture information of the target object includes: determining, based on the size of the mobile device and the size of the target, a distance that needs to be maintained between the mobile device and the target when the mobile device is aligned with the target; Determining, based on the position and posture information of the target object, an expected yaw angle of the mobile device at a position in front of the target object; The target leading position is determined according to the distance, the expected yaw angle, and the position of the target object.

7. The method according to claim 6, characterized in that The determining, based on the size of the mobile device and the size of the target, a distance that needs to be maintained between the mobile device and the target when the mobile device is aligned with the target, includes: Determine the distance that needs to be maintained between the mobile device and the target when the mobile device is aligned with the target according to the size of the mobile device, the size of the target, and the distance margin; The distance margin is related to the speed of the mobile device when it reaches the target preceding position.

8. The method according to claim 6 or 7, characterized in that Determining the target leading position according to the distance, the expected yaw angle, and the position of the target object includes: Determine the horizontal coordinate of the target front position according to the following expression: , vertical axis : in, represents the horizontal coordinate of the target object, represents the vertical coordinate of the target object, represents the length of the mobile device, represents the length of the target object, Represents the distance margin, represents the desired yaw angle.

9. The method according to claim 1, 2, 6 or 7, characterized in that Also includes: determining, based on the current position and the preceding target position, a plurality of candidate speeds of the mobile device when reaching the preceding target position, and a plurality of candidate times required for the mobile device to move from the current position to the preceding target position; determining, based on the current position, the plurality of candidate speeds, the target preceding position, and the plurality of candidate times, a plurality of candidate curved trajectories for the mobile device moving from the current position to the target preceding position; A target curved trajectory of the mobile device from the current position to the target preceding position is determined from the plurality of candidate curved trajectories.

10. The method according to claim 9, characterized in that Determining, based on the current position and the preceding target position, a plurality of candidate speeds of the mobile device when reaching the preceding target position, and a plurality of candidate times required for the mobile device to move from the current position to the preceding target position, comprising: Obtaining the maximum speed of the mobile device before it stops traveling; Sampling between a target speed lower limit and the maximum travel speed to obtain a plurality of candidate speeds of the mobile device when the mobile device reaches the target preceding position; determining a minimum time and a maximum time based on the candidate speed and the distance between the current position and the target preceding position; Sampling is performed between the minimum time and the maximum time to obtain a plurality of candidate times required for the mobile device to move from the current position to the target preceding position.

11. The method according to claim 10, characterized in that Determining a target curved trajectory of the mobile device from the current position to the target preceding position from the plurality of candidate curved trajectories includes: determining a trajectory constraint cost for each candidate curve trajectory, wherein the trajectory constraint cost for each candidate curve trajectory is determined based on at least one of an acceleration cost, an impact velocity cost, a yaw rate cost, and a travel time cost of the candidate curve trajectory; A candidate curve trajectory with the minimum trajectory constraint cost is selected from the multiple candidate curve trajectories as the target curve trajectory.

12. The method according to claim 10, characterized in that Determining a target curved trajectory of the mobile device from the current position to the target preceding position from the plurality of candidate curved trajectories includes: Deleting candidate curve trajectories that do not satisfy trajectory constraints among the multiple candidate curve trajectories, where the trajectory constraints include: at least one of a speed constraint, an acceleration constraint, an angular velocity constraint, and a collision detection condition; determining a trajectory constraint cost for each of the remaining candidate curve trajectories, wherein the trajectory constraint cost for each of the candidate curve trajectories is determined based on at least one of an acceleration cost, an impact velocity cost, a yaw rate cost, and a travel time cost of the candidate curve trajectory; A candidate curve trajectory with the minimum trajectory constraint cost is selected from the remaining candidate curve trajectories as the target curve trajectory.

13. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the method for controlling a mobile device according to any one of claims 1 to 12.

14. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for controlling a mobile device according to any one of claims 1 to 12 is implemented.

15. A computer program product, characterized in that The method comprises a computer program or a computer instruction, and when the computer program or the computer instruction is executed by a processor, the method for controlling the mobile device according to any one of claims 1 to 12 is implemented.

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