Robot control methods, systems, devices, electronic equipment and storage media

Abstract

This application provides a robot control method, system, device, electronic device, and storage medium, relating to the field of robot technology. The method includes: when the robot is stopped in a designated area, acquiring an image using an image acquisition device located in the designated area to obtain an image to be processed, and obtaining a distance to be processed by multiple ranging sensors located in the designated area; when the robot is in a preset standard pose in the designated area, the image acquired by the image acquisition device includes preset markers set on the robot surface, and the multiple ranging sensors are located on at least one side of the robot according to the robot's body direction; based on the image to be processed and the distance to be processed, determining the pose deviation to be adjusted between the robot's current pose and the preset standard pose; and controlling the robot to adjust its pose according to the pose deviation to be adjusted. This can improve the accuracy of the robot's pose when stopped and ensure the safety of task execution.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a robot control method, system, device, electronic device, and storage medium. Background Technology

[0002] With the rapid development of robotics technology, robots are widely used in various scenarios to replace human labor in performing various tasks to meet user needs. In some scenarios, robots need to stop accurately in a designated area. However, due to the limitations of the robot's own navigation system accuracy, the robot's pose when stopping in the designated area may deviate, resulting in low accuracy.

[0003] For example, in an automotive assembly line scenario, robots need to transport car parts and move them to a designated area so that a pre-set docking device in that area can accurately dock with the car parts carried by the robot. In this case, there are strict requirements for the robot's posture when it stops in the designated area. If the posture is inaccurate when stopping, it can easily lead to docking failure, material falling, damage to the robot or the pre-set docking device, or even injury to personnel.

[0004] Therefore, there is an urgent need for a method to improve the accuracy of robot pose when it stops, so as to ensure the safety of robot in performing tasks. Summary of the Invention

[0005] The purpose of this application is to provide a robot control method, system, device, electronic device, and storage medium to improve the accuracy of the robot's pose when it stops and ensure the safety of the robot in performing tasks. The specific technical solution is as follows:

[0006] A first aspect of this application provides a robot control method, the method comprising:

[0007] When the robot is stopped in the designated area, it acquires an image by means of an image acquisition device set in the designated area to obtain the current image to be processed, and obtains the current distance to be processed by means of multiple ranging sensors set in the designated area.

[0008] Wherein, when the robot is in the preset standard pose required by the specified area in the specified area, the image acquired by the image acquisition device includes preset markers set on the surface of the robot; when the robot is in the preset standard pose in the specified area, according to the body direction of the robot, the plurality of ranging sensors are located on at least one side of the robot, and the plurality of ranging sensors are able to detect the distance between themselves and the robot;

[0009] Based on the current image to be processed and the current distance to be processed, the pose deviation between the robot's current pose and the preset standard pose is determined, and used as the current pose deviation to be adjusted.

[0010] The robot is controlled to adjust its pose according to the current pose deviation to be adjusted.

[0011] Optionally, controlling the robot to adjust its pose according to the current pose deviation to be adjusted includes:

[0012] If the current pose deviation to be adjusted is greater than a preset threshold, the robot is controlled to adjust its pose according to the current pose deviation to be adjusted.

[0013] The method further includes:

[0014] After controlling the robot to adjust its pose according to the current pose deviation to be adjusted, the following steps are returned to execution: when the robot is in a stopped state in the specified area, an image is acquired by an image acquisition device set in the specified area to obtain the current image to be processed, and the current distance to be processed is obtained by multiple ranging sensors set in the specified area, until the determined pose deviation to be adjusted is not greater than a preset threshold.

[0015] Optionally, the pose deviation to be adjusted includes: a first distance deviation in a first direction between the robot's current pose and the preset standard pose; a second distance deviation in a second direction between the robot's current pose and the preset standard pose; and an angle deviation between the robot's current pose and the preset standard pose; the first direction is the robot's body direction when it is in the preset standard pose in the designated area; the second direction is perpendicular to the first direction in the horizontal plane.

[0016] The step of determining the pose deviation between the robot's current pose and the preset standard pose, based on the current image to be processed and the current distance to be processed, as the current pose deviation to be adjusted, includes:

[0017] The first distance deviation is determined by comparing the position of the preset marker in the current image to be processed with the position of the preset marker in the standard image; wherein, the standard image is: the image acquired by the image acquisition device when the robot is in a preset standard pose in the specified area;

[0018] The angle deviation is determined based on the current distance to be processed and the distance between the multiple ranging sensors; wherein, the standard distance includes: the distance detected by the multiple ranging sensors when the robot is in a preset standard pose in the designated area;

[0019] The second distance deviation is determined based on the comparison between the position of the preset marker in the current image to be processed and the position of the preset marker in the standard image, and / or the difference between the current distance to be processed and the standard distance.

[0020] Optionally, the preset marker is set on the surface of the robot's lifting mechanism; the posture deviation to be adjusted further includes: the height deviation between the current height of the lifting mechanism and the height of the lifting mechanism when the robot is in the preset standard posture;

[0021] The method further includes:

[0022] The height deviation is determined by comparing the position of the preset marker in the current image to be processed with the position of the preset marker in the standard image.

[0023] Optionally, the plurality of ranging sensors include a first ranging sensor and a second ranging sensor, the line connecting the first ranging sensor and the second ranging sensor is parallel to the first direction, and the detection direction of the first ranging sensor and the second ranging sensor is perpendicular to the first direction; when the robot is in the preset standard pose in the designated area, the line connecting the two points on the robot detected by the first ranging sensor and the second ranging sensor is parallel to the first direction;

[0024] The tangent of the angle deviation represents the ratio of the absolute value of the difference between the distances to be processed detected by the first ranging sensor and the second ranging sensor to the distance between the first ranging sensor and the second ranging sensor.

[0025] Controlling the robot to adjust its pose according to the current pose deviation to be adjusted includes:

[0026] The distance between the robot's rotation center point and a designated ranging sensor in the first direction is calculated as the first distance to be utilized; wherein, the designated ranging sensor includes at least one of the first ranging sensor and the second ranging sensor;

[0027] Calculate the difference between the second and third available distances as the available difference; wherein, the second available distance represents the distance between the preset marker and the rotation center point in the direction of the robot's body; the cosine value of the angle deviation represents the ratio between the third available distance and the second available distance;

[0028] Based on the difference to be utilized and the first distance deviation, the distance that the robot needs to move in the first direction after rotating according to the angle deviation is determined, and used as the first distance adjustment amount;

[0029] Based on the angle deviation, the first distance to be utilized, and the distance to be processed detected by the designated ranging sensor, the distance between the robot and the designated ranging sensor after rotating according to the angle deviation is calculated and used as the fourth distance to be utilized.

[0030] Calculate the difference between the standard distance corresponding to the specified ranging sensor and the fourth distance to be utilized, and obtain the distance that the robot needs to move in the second direction after rotating according to the angle deviation, as the second distance adjustment amount;

[0031] Control the robot to rotate according to the stated angular deviation;

[0032] After the rotation is completed, the robot is controlled to move in the first direction according to the first distance adjustment amount, and the robot is controlled to move in the second direction according to the second distance adjustment amount.

[0033] A second aspect of this application also provides a robot control system, the system comprising: a control terminal, an image acquisition device disposed in a designated area, and a plurality of ranging sensors; wherein, when the robot is in a preset standard pose required by the designated area, the image acquired by the image acquisition device includes preset markers disposed on the surface of the robot; when the robot is in the preset standard pose in the designated area, the plurality of ranging sensors are located on at least one side of the robot according to the robot's body direction, and the plurality of ranging sensors are capable of detecting the distance between themselves and the robot;

[0034] The control terminal is used to execute any of the robot control methods described above.

[0035] Optionally, the control terminal is further configured to send a specified signal to the warehouse management system after controlling the robot to complete the pose adjustment, indicating that the robot has completed the pose adjustment, so that when the warehouse management system receives the specified signal, it controls the preset docking device in the specified area to dock with the robot.

[0036] A third aspect of this application also provides a robot control device, the device comprising:

[0037] The data acquisition module is used to acquire images through an image acquisition device set in the designated area when the robot is stopped in the designated area, to obtain the current image to be processed, and to obtain the current distance to be processed by multiple ranging sensors set in the designated area.

[0038] Wherein, when the robot is in the preset standard pose required by the specified area in the specified area, the image acquired by the image acquisition device includes preset markers set on the surface of the robot; when the robot is in the preset standard pose in the specified area, according to the body direction of the robot, the plurality of ranging sensors are located on at least one side of the robot, and the plurality of ranging sensors are able to detect the distance between themselves and the robot;

[0039] The pose deviation determination module is used to determine the pose deviation between the robot's current pose and the preset standard pose based on the current image to be processed and the current distance to be processed, and use it as the current pose deviation to be adjusted.

[0040] The pose adjustment module is used to control the robot to adjust its pose according to the current pose deviation to be adjusted.

[0041] Optionally, the pose adjustment module is specifically used to control the robot to adjust its pose according to the current pose deviation when the current pose deviation to be adjusted is greater than a preset threshold.

[0042] The device further includes:

[0043] The detection trigger module is used to trigger the data acquisition module after controlling the robot to adjust its pose according to the current pose deviation to be adjusted, until the determined pose deviation to be adjusted is not greater than a preset threshold.

[0044] Optionally, the pose deviation to be adjusted includes: a first distance deviation in a first direction between the robot's current pose and the preset standard pose; a second distance deviation in a second direction between the robot's current pose and the preset standard pose; and an angle deviation between the robot's current pose and the preset standard pose; the first direction is the robot's body direction when it is in the preset standard pose in the designated area; the second direction is perpendicular to the first direction in the horizontal plane.

[0045] The pose deviation determination module is specifically used to compare the position of the preset marker in the current image to be processed with the position of the preset marker in the standard image to determine the first distance deviation; wherein, the standard image is: the image acquired by the image acquisition device when the robot is in a preset standard pose in the specified area;

[0046] The angle deviation is determined based on the current distance to be processed and the distance between the multiple ranging sensors; wherein, the standard distance includes: the distance detected by the multiple ranging sensors when the robot is in a preset standard pose in the designated area;

[0047] The second distance deviation is determined based on the comparison between the position of the preset marker in the current image to be processed and the position of the preset marker in the standard image, and / or the difference between the current distance to be processed and the standard distance.

[0048] Optionally, the preset marker is set on the surface of the robot's lifting mechanism; the posture deviation to be adjusted further includes: the height deviation between the current height of the lifting mechanism and the height of the lifting mechanism when the robot is in the preset standard posture;

[0049] The device further includes:

[0050] The height deviation determination module is used to compare the position of the preset marker in the current image to be processed with the position of the preset marker in the standard image to determine the height deviation.

[0051] Optionally, the plurality of ranging sensors include a first ranging sensor and a second ranging sensor, the line connecting the first ranging sensor and the second ranging sensor is parallel to the first direction, and the detection direction of the first ranging sensor and the second ranging sensor is perpendicular to the first direction; when the robot is in the preset standard pose in the designated area, the line connecting the two points on the robot detected by the first ranging sensor and the second ranging sensor is parallel to the first direction;

[0052] The tangent of the angle deviation represents the ratio of the absolute value of the difference between the distances to be processed detected by the first ranging sensor and the second ranging sensor to the distance between the first ranging sensor and the second ranging sensor.

[0053] The pose adjustment module includes:

[0054] The first calculation submodule is used to calculate the distance between the rotation center point of the robot and the designated ranging sensor in the first direction, as the first distance to be utilized; wherein, the designated ranging sensor includes at least one of the first ranging sensor and the second ranging sensor;

[0055] The second calculation submodule is used to calculate the difference between the second available distance and the third available distance as the available difference; wherein, the second available distance represents the distance between the preset marker and the rotation center point in the direction of the robot's body; the cosine value of the angle deviation represents the ratio between the third available distance and the second available distance;

[0056] The first distance adjustment amount determination submodule is used to determine, based on the difference to be utilized and the first distance deviation, the distance that the robot needs to move in the first direction after rotating according to the angle deviation, as the first distance adjustment amount;

[0057] The third calculation submodule is used to calculate the distance between the robot after rotating according to the angle deviation and the designated distance sensor based on the angle deviation, the first distance to be utilized, and the distance to be processed detected by the designated distance sensor, and use it as the fourth distance to be utilized.

[0058] The second distance adjustment amount determination submodule is used to calculate the difference between the standard distance corresponding to the specified ranging sensor and the fourth distance to be used, and obtain the distance that the robot needs to move in the second direction after rotating according to the angle deviation, as the second distance adjustment amount;

[0059] The rotation control submodule is used to control the robot to rotate according to the angular deviation;

[0060] The motion control submodule is used to control the robot to move in the first direction according to the first distance adjustment amount after rotation is completed, and to control the robot to move in the second direction according to the second distance adjustment amount.

[0061] Another aspect of this application provides an electronic device, comprising:

[0062] Memory, used to store computer programs;

[0063] The processor, when executing a program stored in memory, implements any of the robot control methods described above.

[0064] Another aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements any of the robot control methods described above.

[0065] This application also provides a computer program product containing instructions that, when run on a computer, cause the computer to execute any of the robot control methods described above.

[0066] Beneficial effects of the embodiments in this application:

[0067] This application provides a robot control method that, when a robot is stationary within a designated area, acquires an image using an image acquisition device located in that area to obtain a current image to be processed, and detects a current distance to be processed using multiple ranging sensors located in the designated area. When the robot is in a preset standard pose within the designated area, the image acquired by the image acquisition device includes preset markers on the robot's surface. When the robot is in a preset standard pose within the designated area, multiple ranging sensors are located on at least one side of the robot, according to the robot's body direction, and these sensors can detect the distance to the robot. Based on the current image to be processed and the current distance to be processed, the pose deviation between the robot's current pose and the preset standard pose is determined as the current pose deviation to be adjusted. The robot is then controlled to adjust its pose according to the current pose deviation to be adjusted.

[0068] Based on the above processing, when the robot is stationary within the designated area, an image to be processed can be acquired by the image acquisition device in that area. The distance between the robot and the image in the designated area (i.e., the distance to be processed) is detected by multiple ranging sensors within the designated area. The image to be processed and the distance to be processed can represent the robot's current pose (i.e., including position and orientation). In other words, based on the image to be processed and the distance to be processed, the robot's current position and orientation can be determined. The preset standard pose required by the designated area can represent the pose that meets the stopping requirements of the designated area; that is, it can represent the standard position and standard orientation that meet the stopping requirements of the designated area.

[0069] Accordingly, based on the image to be processed and the distance to be processed, the pose deviation between the robot's current pose and the preset standard pose (i.e., the pose deviation to be adjusted) can be determined. That is, the deviation between the robot's current position and the standard position, as well as the deviation between the current orientation and the standard orientation, can be determined. Furthermore, the robot can be controlled to adjust its pose according to the determined pose deviation. Thus, when the robot is stopped within a designated area, its pose at the moment of stopping can be detected, and the pose can be adjusted based on the determined pose deviation, thereby improving the accuracy of the robot's pose at the moment of stopping and ensuring the safety of the robot in performing its tasks.

[0070] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0071] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0072] Figure 1 This is a schematic diagram of a first flowchart of a robot control method provided in an embodiment of this application;

[0073] Figure 2 This is a schematic diagram of an image acquisition device provided in an embodiment of this application;

[0074] Figure 3 A schematic diagram of a ranging sensor provided in an embodiment of this application;

[0075] Figure 4 A schematic diagram showing the placement of an image acquisition device and multiple ranging sensors provided in an embodiment of this application;

[0076] Figure 5 A schematic diagram of the structure of a robot provided in an embodiment of this application;

[0077] Figure 6 A schematic diagram of a differential steering wheel provided in an embodiment of this application;

[0078] Figure 7a This is a first schematic diagram of robot movement provided in an embodiment of this application;

[0079] Figure 7b This is a second schematic diagram of robot movement provided in an embodiment of this application;

[0080] Figure 7cThis is a third schematic diagram of robot movement provided in an embodiment of this application;

[0081] Figure 7d This is a fourth schematic diagram of robot movement provided in the embodiments of this application;

[0082] Figure 8 This is a second flowchart illustrating the robot control method provided in the embodiments of this application;

[0083] Figure 9a A schematic diagram illustrating an angle deviation provided in an embodiment of this application;

[0084] Figure 9b A schematic diagram illustrating another angle deviation provided in an embodiment of this application;

[0085] Figure 10 This application provides a schematic diagram illustrating the principle of calculating the difference to be utilized in an embodiment of the present application.

[0086] Figure 11 A schematic diagram illustrating the principle of calculating the angle deviation and the second distance adjustment based on the collected data, provided in this application embodiment;

[0087] Figure 12 A schematic diagram illustrating a first distance deviation and height deviation provided for an embodiment of this application;

[0088] Figure 13 A communication diagram illustrating robot control based on a robot control system, provided as an embodiment of this application;

[0089] Figure 14 This is a third flowchart illustrating the robot control method provided in the embodiments of this application;

[0090] Figure 15 This is a schematic diagram of the structure of a robot control device provided in an embodiment of this application;

[0091] Figure 16 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0092] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0093] With the rapid development of robotics technology, robots are widely used in various scenarios to replace human labor in performing various tasks to meet user needs.

[0094] In some scenarios, robots need to stop precisely in a designated area. However, due to limitations in the accuracy of the robot's own navigation system, the robot's pose when stopping in the designated area may deviate, resulting in low accuracy.

[0095] For example, in an automotive assembly line scenario, a robot needs to transport automotive parts and move them to a designated area so that a pre-set docking device in that area can accurately dock with the automotive parts carried by the robot. This pre-set docking device could be a machine or a hoist. In this case, there are strict requirements for the robot's posture when it stops in the designated area. Inaccurate posture can easily lead to docking failure, material falling, damage to the robot or the pre-set docking device, or even personnel injury.

[0096] To improve the accuracy of the robot's pose when it stops and ensure the safety of the robot in performing its tasks, this application provides a robot control method, see [link to relevant documentation]. Figure 1 , Figure 1 This is a first flowchart illustrating a robot control method provided in an embodiment of this application. The method may include:

[0097] Step S101: When the robot is stopped in the designated area, it acquires an image through an image acquisition device set in the designated area to obtain the current image to be processed, and obtains the current distance to be processed by multiple ranging sensors set in the designated area.

[0098] Specifically, when the robot is in the designated area in the preset standard pose required by the designated area, the image acquired by the image acquisition device includes preset markers set on the surface of the robot; when the robot is in the designated area in the preset standard pose, according to the robot's body direction, multiple ranging sensors are located on at least one side of the robot, and the multiple ranging sensors are able to detect the distance between themselves and the robot.

[0099] Step S102: Based on the current image to be processed and the current distance to be processed, determine the pose deviation between the robot's current pose and the preset standard pose, and use it as the current pose deviation to be adjusted.

[0100] Step S103: Control the robot to adjust its pose according to the current pose deviation to be adjusted.

[0101] Based on the above processing, when the robot is stationary within the designated area, an image to be processed can be acquired by the image acquisition device in that area. The distance between the robot and the image in the designated area (i.e., the distance to be processed) is detected by multiple ranging sensors within the designated area. The image to be processed and the distance to be processed can represent the robot's current pose (i.e., including position and orientation). In other words, based on the image to be processed and the distance to be processed, the robot's current position and orientation can be determined. The preset standard pose required by the designated area can represent the pose that meets the stopping requirements of the designated area; that is, it can represent the standard position and standard orientation that meet the stopping requirements of the designated area.

[0102] Accordingly, based on the image to be processed and the distance to be processed, the pose deviation between the robot's current pose and the preset standard pose (i.e., the pose deviation to be adjusted) can be determined. That is, the deviation between the robot's current position and the standard position, as well as the deviation between the current orientation and the standard orientation, can be determined. Furthermore, the robot can be controlled to adjust its pose according to the determined pose deviation. Thus, when the robot is stopped within a designated area, its pose at the moment of stopping can be detected, and the pose can be adjusted based on the determined pose deviation, thereby improving the accuracy of the robot's pose at the moment of stopping and ensuring the safety of the robot in performing its tasks.

[0103] Regarding step S101, the type of robot in this application is not specifically limited. For example, the robot can be an AGV (Automated Guided Vehicle) or an AMR (Autonomous Mobile Robot).

[0104] The designated area can be the area where the robot needs to reach the target location indicated by the task it is currently performing. For example, the target location can be the place where the robot needs to move the material; or, the target location can be the location of a preset docking device, and the robot needs to travel to the target location in the designated area to dock with the preset docking device. The target location can also be called a designated workstation or docking point.

[0105] An image acquisition device and multiple ranging sensors are pre-set in the designated area. For example, the image acquisition device can be a camera, such as... Figure 2 As shown, the support component 201 is connected to the connecting component 202 for placing the camera 203. The connecting component 202 can move along the U-shaped slide rail on the support component 201 to adjust the position of the camera 203. The camera 203 includes a lens 2031 and a fill light 2032. The ranging sensor can be a laser ranging sensor, such as... Figure 3As shown, the support component 301 is connected to the connecting component 302 and is used to place the laser rangefinder 303. The connecting component 302 can move along the U-shaped slide rail on the support component 301 to adjust the position of the laser rangefinder 303.

[0106] The robot's surface can be equipped with preset markers, such as QR codes or labels of fixed shapes, such as rectangles or squares. The location of the preset markers on the robot's surface and the location of the image acquisition device within the designated area are not specifically limited, as long as the image acquired by the image acquisition device includes the preset markers when the robot is in a preset standard pose within the designated area.

[0107] A preset standard pose can be a pose that meets the stopping requirements of a specified area. For example, the specified area is the area where a preset docking device is located. When the robot is in the preset standard pose in the specified area, it can complete docking with the preset docking device.

[0108] For example, when the robot is in a preset standard pose in a designated area, the image acquisition device can be located on one side of the robot, and the preset marker can be located on the surface of that side of the robot, according to the robot's body orientation.

[0109] When the robot is in a preset standard pose within a designated area, multiple ranging sensors can be located on the same side of the robot, or on different sides, depending on the robot's orientation. The specific locations of each ranging sensor are not strictly limited, as long as they can detect the distance to the robot. For example, when the robot is in a preset standard pose within a designated area, multiple ranging sensors and image acquisition devices can all be located on the same side of the robot, such as... Figure 4 As shown. Figure 4 The direction of the middle arrow indicates the robot's orientation when it is in a preset standard pose within the designated area. Two ranging sensors 401 and one image acquisition device 402 are located on the same side of the robot.

[0110] Since robots typically need to enter a designated area from a pre-set entrance and exit from a pre-set exit to proceed to the location indicated by the next task, and when the robot is in a pre-set standard pose within the designated area, its direction of travel is the robot's body direction. Therefore, to avoid collisions between the robot and multiple ranging sensors and image acquisition devices during entry or exit from the designated area, when the robot is in a pre-set standard pose within the designated area, these sensors and image acquisition devices can be located on both sides of the robot, according to the robot's body direction. These multiple ranging sensors and image acquisition devices can be located on the same side or on different sides.

[0111] The robot control method provided in this application can be applied to a control terminal. The control terminal can be used to control an image acquisition device to acquire images, control a ranging sensor to perform detection, and control the robot. The control terminal can be a processor within the robot, or it can be a pre-set server. The control terminal can control the robot to travel to the target location indicated by the currently executed task, enabling the robot to travel to the designated area where the target location is located.

[0112] If the control unit is the processor within the robot, then when the control unit guides the robot to travel to the designated area where the target location is located and stops, the control unit can determine that the robot has traveled to the designated area and stopped. If the control unit is a pre-set server, then when the robot travels to the designated area and stops, the robot can send a message to the control unit indicating that the robot has stopped in the designated area. Accordingly, the control unit can determine that the robot is in a stopped state within the designated area.

[0113] When the control unit determines that the robot is stopped in the designated area, it can acquire the image to be processed through the image acquisition device and detect the distance to be processed through multiple ranging sensors.

[0114] For steps S102 and S103, the image to be processed and the distance to be processed can represent the robot's current pose (i.e., including position and orientation). In other words, the robot's current position and orientation can be determined based on the image to be processed and the distance to be processed. The preset standard pose required by the specified area can represent the pose that meets the stopping requirements of the specified area. That is, the preset standard pose can represent the standard position and standard orientation that meet the stopping requirements of the specified area.

[0115] Accordingly, based on the image to be processed and the distance to be processed, the pose deviation between the robot's current pose and the preset standard pose (i.e., the pose deviation to be adjusted) can be determined. That is, the deviation between the robot's current position and the standard position, as well as the deviation between the current orientation and the standard orientation, can be determined. Furthermore, the robot can be controlled to adjust its pose according to the determined pose deviation, thereby improving the accuracy of the robot's pose when it stops and ensuring the safety of the robot in performing its tasks.

[0116] The robot in this application can be as follows: Figure 5 As shown, Figure 5 This is a schematic diagram of a robot provided in an embodiment of this application. The robot may include: a lifting mechanism 501, a main control module, a navigation module, and a motion control module. The main control module and the navigation module may be disposed inside the robot, and the motion control module may be disposed at the bottom of the robot. Figure 5Not shown in the diagram. The motion control module includes: a walking motion control unit and an actuator control unit. The walking motion control unit can be a component that realizes the motion; for example, it can be an omnidirectional moving chassis or a differential wheel chassis. For instance, the walking motion control unit may include... Figure 6 The differential steering wheel shown. Figure 6 The differential steering wheel shown includes a rotatable connection part 601 for connecting to the robot, and two wheels 602 for enabling the robot to walk. The robot's orientation can be adjusted by the speed difference between the two wheels 602.

[0117] In one embodiment, the robot can move using two differential steering wheels, and the robot's orientation can be adjusted by changing the direction and speed of the two differential steering wheels. For example... Figures 7a-7d As shown, the rectangle represents the outline of the robot, and the side P represents the head of the robot. Figure 7a This is a first schematic diagram of robot movement provided in an embodiment of this application. Figure 7a The two differential steering wheels are aligned with the direction of the robot body, allowing the robot to move back and forth. Figure 7b This is a second schematic diagram of robot movement provided in an embodiment of this application. Figure 7b The two differential steering wheels are perpendicular to the direction of the robot body, allowing the robot to move left and right. Figure 7c This is a third schematic diagram of robot movement provided in an embodiment of this application. Figure 7c In the middle, after adjusting the differential steering wheel according to the direction of the arrow in the left figure, the robot's body direction in the left figure can be adjusted to the robot's body direction in the right figure. Figure 7d This is a fourth schematic diagram of robot movement provided in an embodiment of this application. Figure 7d In the diagram on the left, after adjusting the differential steering wheel according to the direction of the arrow, the robot's body direction in the diagram on the left can be adjusted to the robot's body direction in the diagram on the right.

[0118] In one embodiment, the pose deviation to be adjusted includes: a first distance deviation between the robot's current pose and a preset standard pose in a first direction; a second distance deviation between the robot's current pose and the preset standard pose in a second direction; and an angular deviation between the robot's current pose and the preset standard pose; the first direction is the robot's body direction when it is in the preset standard pose in a designated area; the second direction is perpendicular to the first direction in the horizontal plane. See also Figure 8 , Figure 8 This is a second flowchart illustrating the robot control method provided in an embodiment of this application. Step S102 includes:

[0119] Step S1021: Compare the positions of preset markers in the current image to be processed with the positions of preset markers in the standard image to determine the first distance deviation.

[0120] The standard image is the image captured by the image acquisition device when the robot is in a preset standard pose in a designated area.

[0121] Step S1022: Determine the angle deviation based on the current distance to be processed and the distance between multiple ranging sensors.

[0122] The standard distance includes the distance detected by multiple ranging sensors when the robot is in a preset standard pose in a designated area.

[0123] Step S1023: Based on the comparison results of the positions of the preset markers in the current image to be processed and the positions of the preset markers in the standard image, and / or the difference between the current distance to be processed and the standard distance, determine the second distance deviation.

[0124] In this embodiment of the application, when the robot is in a preset standard pose in a designated area, the image acquisition device can acquire an image (i.e., a standard image) containing preset markers set on the surface of the robot, and each ranging sensor can detect the distance between itself and the robot (i.e., the standard distance).

[0125] The robot's orientation in a preset standard pose within a designated area can be referred to as the first orientation. Since preset markers are placed on the robot's surface, and their relative positions to the robot are fixed, the distance deviation (i.e., the first distance deviation) between the robot's current pose and the preset standard pose can be determined by comparing the positions of the preset markers in the image to be processed with those in the standard image. For example, a world coordinate system can be pre-established, and the first orientation can represent the X-axis in this system. Based on a pre-defined transformation relationship between pixel coordinates and world coordinates in images acquired by an image acquisition device, the world coordinates corresponding to the positions of the preset markers in the image to be processed and in the standard image are determined. Correspondingly, the first distance deviation can be determined based on the difference in X-axis coordinates of the preset marker points on the preset markers. The first distance deviation can be expressed as ΔX. For example, the difference between the X-axis coordinates of the preset marker points in the image to be processed and those in the standard image can be calculated as the first distance deviation.

[0126] The angular deviation between the robot's current pose and the preset standard pose can be represented by the angle between the robot's current body direction and the first direction. Based on the distance to be processed and the distances between multiple ranging sensors, the angle between the robot's current body direction and the first direction can be determined, thus determining the angular deviation.

[0127] In one implementation, this application uses two ranging sensors. Based on the distance to be processed detected by the two ranging sensors and the distance between the two sensors, combined with the positions and detection directions of the two ranging sensors, the current orientation of the robot can be determined. Furthermore, the angle between the robot's current orientation and the first direction can be calculated, thus determining the angle deviation.

[0128] For example, the line connecting the two ranging sensors can be parallel to the first direction, and the detection directions of the two ranging sensors can be perpendicular to the first direction. When the robot is in a preset standard pose in a designated area, the line connecting the two points on the robot detected by the two ranging sensors is parallel to the first direction. Furthermore, the angular deviation α can be as follows: Figure 9a As shown, Figure 9a This is a schematic diagram of an angle deviation provided in an embodiment of this application. Points A and B represent ranging sensor 1 and ranging sensor 2, respectively. Point A1 represents the point on the robot currently detected by ranging sensor 1, and point B1 represents the point on the robot currently detected by ranging sensor 2. The distance detected by ranging sensor 1 can be 'a', the distance detected by ranging sensor 2 can be 'b', and the distance between the two ranging sensors can be 'c'. The angle deviation can be calculated using formula (1):

[0129]

[0130] Alternatively, the line connecting the two ranging sensors can be parallel to the first direction, with one ranging sensor's detection direction perpendicular to the first direction and the other ranging sensor's detection direction forming an angle β with the first direction. When the robot is in a preset standard pose within a designated area, the line connecting the two points on the robot detected by the two ranging sensors is parallel to the first direction. Furthermore, the angular deviation can be as follows: Figure 9b As shown, Figure 9b This is a schematic diagram of another angle deviation provided in an embodiment of this application. Points A and B represent ranging sensor 1 and ranging sensor 2, respectively. Point A1 represents the point on the robot currently detected by ranging sensor 1, and point B1 represents the point on the robot currently detected by ranging sensor 2. The distance detected by ranging sensor 1 can be a, the distance detected by ranging sensor 2 can be b, and the distance between the two ranging sensors can be c. The angle deviation can be calculated using formula (2):

[0131]

[0132] In another implementation, this application may employ more than two ranging sensors. Based on the distance to be processed detected by any two ranging sensors, the distance between the two sensors, and the positions and detection directions of the two ranging sensors, a candidate angle deviation can be determined. Furthermore, the average value of multiple candidate angle deviations can be calculated as the final angle deviation.

[0133] Since the preset markers are set on the robot's surface, and the relative positions of the preset markers and the robot are fixed, the distance deviation (i.e., the second distance deviation) between the robot's current pose and the preset standard pose in a second direction can be determined by comparing the position of the preset markers in the image to be processed with the position of the preset markers in the standard image. For example, the second direction can be the Y-axis direction in the aforementioned world coordinate system. Based on the predetermined transformation relationship between pixel coordinates and world coordinates in the image acquired by the image acquisition device, the world coordinates corresponding to the position of the preset markers in the image to be processed, and the world coordinates corresponding to the position of the preset markers in the standard image, are determined. Accordingly, the second distance deviation can be determined based on the coordinate difference on the Y-axis of the preset marker points on the preset markers. The second distance deviation can be expressed as ΔY.

[0134] Alternatively, the second distance deviation can be determined by calculating the difference between the distance to be processed detected by each ranging sensor and the standard distance. For example, when the detection direction of a ranging sensor is consistent with the second direction, the difference between the distance to be processed detected by that ranging sensor and the standard distance can be used as the distance deviation detected by that ranging sensor. When the detection direction of a ranging sensor is inconsistent with the second direction, the projection of the difference between the distance to be processed detected by that ranging sensor and the standard distance onto the second direction can be calculated based on the angle between the detection direction and the second direction, and this projection can be used as the distance deviation detected by that ranging sensor. The second distance deviation can be determined based on the distance deviations detected by each ranging sensor. For example, the average value of the distance deviations detected by each ranging sensor can be used as the second distance deviation.

[0135] Based on the above processing, the first distance deviation, the second distance deviation, and the angle deviation of the robot's current pose can be determined. This allows for pose adjustment when there is a deviation in the robot's position in the first direction, the second direction, or the robot's body direction. This further ensures that the accuracy of the robot's pose when it stops is improved, thus guaranteeing the safety of the robot in performing its tasks.

[0136] In this application, since the robot's body orientation and the first and second distance deviations are related, when the robot's body orientation changes, if the robot's pose at the time of stopping is detected again, the first and second distance deviations will also change. That is to say, after adjusting the pose according to the angle deviation, if the robot's pose at the time of stopping is detected again, both the first and second distance deviations will change.

[0137] To ensure the accuracy of pose adjustment based on the desired pose deviation, the distance adjustment amounts in the first and second directions of the robot's pose after rotation according to the angle deviation can be calculated based on the angle deviation, the first distance deviation, and the second distance deviation. After the robot rotates according to the angle deviation, its position is adjusted according to the determined distance adjustment amounts in the first and second directions, thus achieving pose adjustment based on the desired pose deviation.

[0138] In one implementation, a robot model can be constructed in the world coordinate system based on the robot's structural dimensions, the position, angular deviation, first distance deviation, and second distance deviation of the image acquisition device and multiple ranging sensors. Then, based on the angular deviation and the robot model, the robot's pose in the world coordinate system after rotation according to the angular deviation can be determined. Correspondingly, the distance deviations between the robot's pose after rotation according to the angular deviation and the preset standard pose in the first and second directions can be determined, yielding the distance adjustment amounts in the first and second directions. Thus, rotation according to the angular deviation can be performed first, and then the robot's position can be adjusted according to the determined distance adjustment amounts in the first and second directions, achieving pose adjustment based on the desired pose deviation.

[0139] In another implementation, multiple ranging sensors include a first ranging sensor and a second ranging sensor. The line connecting the first ranging sensor and the second ranging sensor is parallel to a first direction, and the detection directions of the first ranging sensor and the second ranging sensor are perpendicular to the first direction. When the robot is in a preset standard pose in a designated area, the line connecting two points on the robot detected by the first ranging sensor and the second ranging sensor is parallel to the first direction.

[0140] The tangent of the angle deviation represents the ratio of the absolute value of the difference between the distances to be processed detected by the first and second ranging sensors to the distance between the first and second ranging sensors.

[0141] Step S103 includes:

[0142] Step 1: Calculate the distance between the robot's rotation center point and the designated ranging sensor in the first direction, and use this distance as the first distance to be utilized.

[0143] The specified ranging sensor includes at least one of a first ranging sensor and a second ranging sensor.

[0144] Step 2: Calculate the difference between the second and third distances to be utilized, and use it as the difference in utilization.

[0145] Wherein, the second distance to be utilized represents the distance between the preset marker and the rotation center point in the direction of the robot's body; the cosine value of the angle deviation represents the ratio between the third distance to be utilized and the second distance to be utilized.

[0146] Step 3: Based on the difference to be utilized and the first distance deviation, determine the distance that the robot needs to move in the first direction after rotating according to the angle deviation, and use it as the first distance adjustment amount.

[0147] Step 4: Based on the angle deviation, the first distance to be utilized, and the distance to be processed detected by the designated ranging sensor, calculate the distance between the robot after rotating according to the angle deviation and the designated ranging sensor, and use it as the fourth distance to be utilized.

[0148] Step 5: Calculate the difference between the standard distance corresponding to the specified ranging sensor and the fourth distance to be used, and obtain the distance that the robot needs to move in the second direction after rotating according to the angular deviation, as the second distance adjustment amount.

[0149] Step Six: Control the robot to rotate according to the angular deviation.

[0150] Step 7: After the rotation is completed, control the robot to move in the first direction by the first distance adjustment amount, and control the robot to move in the second direction by the second distance adjustment amount.

[0151] In this implementation, calculating the angle deviation requires at least two distances to be processed detected by the range sensors, as well as the distance between the two range sensors. Specifically, the tangent of the angle deviation can be obtained by calculating the ratio of the absolute value of the difference between the distances to be processed detected by the first and second range sensors to the distance between the first and second range sensors; that is, the angle deviation can be obtained.

[0152] In this application, the side that is always in front of the direction of travel when the robot is moving can be referred to as the robot's head. The physical center point of the robot can be referred to as the robot's rotation center point. During the robot's rotation, the position of the rotation center point remains unchanged. Based on the relative positions of the first and second ranging sensors with the rotation center point, and the magnitude of the change between the distance to be processed detected by the first and second ranging sensors and the corresponding standard distance (which can be referred to as the distance change), the rotation direction when the robot rotates according to the angular deviation can be determined. For ease of description, the rotation direction in this application can refer to the rotation direction of the robot's head.

[0153] For example, when the robot is in a preset standard pose within a designated area, the first ranging sensor is located on the side of the rotation center point away from the robot's head, and the second ranging sensor is located on the side of the rotation center point closer to the robot's head.

[0154] When the distance to be processed detected by the first ranging sensor is less than the corresponding standard distance, and the distance to be processed detected by the second ranging sensor is greater than the corresponding standard distance, the robot's rotation direction can be determined to be clockwise. When the distance to be processed detected by the first ranging sensor is greater than the corresponding standard distance, and the distance to be processed detected by the second ranging sensor is less than the corresponding standard distance, the robot's rotation direction can be determined to be counterclockwise.

[0155] When the distance to be processed detected by both the first and second ranging sensors is less than the corresponding standard distance, and the distance change corresponding to the first ranging sensor is less than the distance change corresponding to the second ranging sensor, the robot's rotation direction can be determined to be counterclockwise. When the distance to be processed detected by both the first and second ranging sensors is greater than the corresponding standard distance, and the distance change corresponding to the first ranging sensor is less than the distance change corresponding to the second ranging sensor, the robot's rotation direction can be determined to be clockwise.

[0156] When the robot is in a preset standard pose within a designated area, the distance between the designated ranging sensor and the robot's rotation center point in the first direction can be determined based on the position of the designated ranging sensor. Combined with the first distance deviation, the current distance between the designated ranging sensor and the robot's rotation center point in the first direction (i.e., the first usable distance) can also be determined.

[0157] The distance between the preset marker and the rotation center point in the robot's body direction (i.e., the second usable distance) can be determined in advance based on the positions of the preset marker and the rotation center point. For example, the distance between the preset marker and the rotation center point in the robot's body direction can be predetermined as the second usable distance. Since the cosine value of the angle deviation represents the ratio between the third usable distance and the second usable distance, the third usable distance can also be calculated based on the angle deviation and the second usable distance. The difference between the second and third usable distances (i.e., the usable difference) can be calculated, representing the change in distance the robot needs to move in the first direction after rotating according to the angle deviation, relative to the first distance deviation. Accordingly, based on the usable difference and the first distance deviation, the distance the robot needs to move in the body direction after rotating according to the angle deviation (i.e., the first distance adjustment amount) can be determined.

[0158] For example, taking the direction of the robot's head when it is in a preset standard pose within a designated area as the positive X-axis of the world coordinate system, a positive first distance deviation indicates that the robot has shifted in the positive X-axis direction, i.e., forward, and needs to move backward to adjust its position. A negative first distance deviation indicates that the robot has shifted in the negative X-axis direction, i.e., backward, and needs to move forward to adjust its position. Accordingly, after determining the difference to be utilized, the first distance adjustment amount can be determined based on the positional relationship between the preset marker point and the rotation center point used in calculating the first distance deviation, combined with the difference to be utilized and the first distance deviation.

[0159] For example, in this application, when the preset marker point is on the side of the rotation center point closer to the robot head, the sum of the difference to be utilized and the first distance deviation can be calculated as the first distance adjustment amount; when the preset marker point is on the side of the rotation center point farther from the robot head, the difference between the first distance deviation and the difference to be utilized can be calculated as the first distance adjustment amount.

[0160] Consistent with the first distance deviation, the sign of the first distance adjustment amount indicates whether the robot needs to move forward or backward after rotating according to the angle deviation.

[0161] like Figure 10 As shown, Figure 10This is a schematic diagram illustrating the principle of calculating the difference to be utilized, provided in an embodiment of this application. M represents a preset marker point when the robot is in its current pose, and M1 represents the preset marker point after rotation according to the angle deviation. During the rotation according to the angle deviation, the robot rotates along a straight line passing through M in the body direction with N as the center. L represents the distance between the preset marker and the rotation center point in the robot's body direction (i.e., the second distance to be utilized), α represents the angle deviation, L1 represents the third distance to be utilized, and L2 represents the difference to be utilized. Specifically, the difference to be utilized can be calculated using the following formulas (3) and (4):

[0162] L1=L·cosα (3)

[0163] L2 = L - L1 (4)

[0164] Based on the angular deviation and the first usable distance, the change in distance between the robot and the designated ranging sensor after rotating according to the angular deviation (i.e., the fourth usable distance) relative to the processing distance detected by the designated ranging sensor can be calculated. Accordingly, based on the calculated change and the processing distance detected by the designated ranging sensor, the fourth usable distance can be obtained.

[0165] Specifically, based on the rotation direction, the positional relationship between the ranging sensor and the rotation center point, the calculated change, and the distance to be processed detected by the ranging sensor, a fourth usable distance can be determined. For example, when the ranging sensor is on the side of the rotation center point closer to the robot's head, and the rotation direction is clockwise, the difference between the distance to be processed detected by the ranging sensor and the determined change can be calculated as the fourth usable distance. When the ranging sensor is on the side of the rotation center point farther from the robot's head, and the rotation direction is clockwise, the sum of the distance to be processed detected by the ranging sensor and the determined change can be calculated as the fourth usable distance.

[0166] Then, the difference between the standard distance corresponding to the specified ranging sensor and the fourth distance to be utilized is calculated to obtain the distance the robot needs to move in the second direction after rotating according to the angular deviation (i.e., the second distance adjustment amount). The sign of the second distance adjustment amount can indicate the second movement direction of the robot in the second direction after rotating according to the angular deviation. For example, in this application, the left side of the robot refers to the left side of the robot body in the direction of the robot head; the right side of the robot refers to the right side of the robot body in the direction of the robot head. Taking the left side of the robot as the positive Y-axis direction of the world coordinate system, when the second distance adjustment amount is negative, it means that the robot is offset in the positive Y-axis direction, that is, offset to the left, and needs to move to the right to adjust its position; when the second distance adjustment amount is positive, it means that the robot is offset in the negative Y-axis direction, that is, offset to the right, and needs to move to the left to adjust its position.

[0167] In calculating the second distance adjustment, the distance to be processed and the corresponding standard distance can be obtained by either the first or the second ranging sensor.

[0168] Alternatively, in calculating the second distance adjustment, the distance to be processed and the corresponding standard distance detected by both the first and second ranging sensors can be used. For each ranging sensor, the corresponding second distance adjustment can be calculated. Then, based on the second distance adjustment values ​​corresponding to the two ranging sensors, the final second distance adjustment can be determined. For example, the average of the second distance adjustment values ​​corresponding to the two ranging sensors can be calculated as the final second distance adjustment.

[0169] After determining the angle deviation, the first distance adjustment amount, and the second distance adjustment amount, the robot can be controlled to rotate according to the angle deviation and the determined rotation direction to adjust the robot's body direction. Then, the robot can be controlled to adjust its position in the first direction according to the first distance adjustment amount, and its position in the second direction according to the second distance adjustment amount, thereby achieving posture adjustment according to the posture deviation to be adjusted.

[0170] like Figure 11 As shown, Figure 11This is a schematic diagram illustrating the principle of calculating the angle deviation and the second distance adjustment based on the collected data, as provided in this application embodiment. The angle deviation is α. Point Q1 represents the point on the robot currently detected by the ranging sensor 1 (i.e., the first ranging sensor mentioned above), and point Q2 represents the point on the robot currently detected by the ranging sensor 2 (i.e., the second ranging sensor mentioned above). X1 represents the distance between the rotation center point and the ranging sensor 1 in the first direction, and X2 represents the distance between the rotation center point and the ranging sensor 2 in the first direction. X1 and X2 are the first distance to be utilized mentioned above. X1+X2 represents the distance between the ranging sensor 1 and the ranging sensor 2. ΔY1 represents the distance between the ranging sensor 1 and the robot, and ΔY2 represents the distance between the ranging sensor 2 and the robot. The angle deviation α can be calculated using formula (5):

[0171]

[0172] ΔY3 represents the change in distance between the robot and ranging sensor 1 after rotation according to the angular deviation, relative to before rotation; ΔY4 represents the change in distance between the robot and ranging sensor 2 after rotation according to the angular deviation, relative to before rotation. ΔY5 represents the distance between the robot and ranging sensor 1 after rotation according to the angular deviation, and ΔY6 represents the distance between the robot and ranging sensor 2 after rotation according to the angular deviation. Specifically, these can be calculated using the following formulas (6)-(9):

[0173] ΔY3=X1·tanα (6)

[0174] ΔY4=X2·tanα (7)

[0175] ΔY5=ΔY1+ΔY3 (8)

[0176] ΔY6=ΔY2-ΔY4 (9)

[0177] ΔY represents the second distance adjustment amount, which can be calculated using formula (10) or formula (11). Alternatively, ΔY can be the average of the results calculated by formula (10) and formula (11). Y(1) represents the standard distance corresponding to distance sensor 1, and Y(2) represents the standard distance corresponding to distance sensor 2.

[0178] ΔY=Y(1)-ΔY5 (10)

[0179] ΔY=Y(2)-ΔY6 (11)

[0180] Based on the above processing, the robot can be rotated first according to the angle deviation, and then the robot's pose can be adjusted according to the distance adjustment amount in the first and second directions. This achieves pose adjustment according to the pose deviation to be adjusted, thus ensuring the accuracy of pose adjustment according to the pose deviation to be adjusted.

[0181] In one embodiment, the robot may include a lifting mechanism (such as...) Figure 5 The lifting mechanism 501 shown can be used to transport materials, and the robot can control the lifting mechanism to raise and lower, thereby adjusting the height of the lifting mechanism. For example, the robot can adjust the height of the lifting mechanism so that the materials carried by the lifting mechanism can dock with a preset docking device above the robot. A preset marker is set on the surface of the robot's lifting mechanism. The posture deviation to be adjusted also includes: the height deviation between the current height of the lifting mechanism and the height of the lifting mechanism when the robot is in a preset standard posture. The method further includes:

[0182] The height deviation is determined by comparing the positions of preset markers in the current image to be processed with the positions of preset markers in the standard image.

[0183] In this embodiment, since the preset marker is set on the surface of the robot's lifting mechanism, and the relative positional relationship between the preset marker and the robot's lifting mechanism is fixed, the position of the preset marker in the image acquired by the image acquisition device can represent the height of the robot's lifting mechanism. For example, when the robot is in a preset standard pose in a designated area, the image acquisition device can be located on one side of the robot, according to the robot's body direction, and the preset marker can be set on the surface of the lifting mechanism on that side.

[0184] By comparing the positions of the preset markers in the image to be processed with the positions of the preset markers in the standard image, the deviation between the current height of the lifting mechanism and the height of the lifting mechanism when the robot is in the preset standard pose (i.e., height deviation) can be determined.

[0185] For example, the Z-axis direction in the aforementioned world coordinate system can be vertical. Based on a pre-defined transformation relationship between pixel coordinates and world coordinates in images acquired by an image acquisition device, the world coordinates corresponding to the positions of preset markers in the image to be processed, and the world coordinates corresponding to the positions of preset markers in the standard image, are determined. The coordinate values ​​along the Z-axis in the world coordinate system can then represent height. Correspondingly, the current height of the lifting mechanism and the height of the lifting mechanism when the robot is in a preset standard pose can be determined, and the difference between the two heights can be calculated to obtain the height deviation.

[0186] Based on the above processing, the height deviation of the robot's lifting mechanism can be determined from the image to be processed. This allows for the adjustment of the lifting mechanism's height when deviations exist, further ensuring the accuracy of the robot's pose when it stops and guaranteeing the safety of the robot in performing its tasks.

[0187] In one embodiment, the aforementioned first distance deviation and height deviation are as follows: Figure 12 As shown, Figure 12 This is a schematic diagram illustrating a first distance deviation and a height deviation provided in an embodiment of this application. The preset marker is a rectangle; a solid rectangle represents the position of the preset marker when the robot is in a preset standard pose (also known as the standard position), and a dashed rectangle represents the position of the preset marker when the robot is in its current pose (also known as the actual stopping position). ΔX represents the first distance deviation, and ΔZ represents the height deviation.

[0188] In one embodiment, step S103 includes:

[0189] Step 1: If the current pose deviation to be adjusted is greater than the preset threshold, control the robot to adjust the pose according to the current pose deviation to be adjusted.

[0190] The method also includes:

[0191] Step 2: After the robot adjusts its pose according to the current pose deviation to be adjusted, return to step S101 until the determined pose deviation to be adjusted is not greater than the preset threshold.

[0192] In this embodiment, after determining the pose deviation to be adjusted, it can be determined whether the determined pose deviation is greater than a preset threshold. A corresponding preset threshold can be set for each pose deviation to be adjusted. For example, for the distance and height deviations in the above embodiments, the corresponding preset threshold can be 2mm or 3mm; for the angle deviations in the above embodiments, the corresponding preset threshold can be 1° or 1.5°.

[0193] If there are multiple different pose deviations to be adjusted, then if none of the pose deviations are greater than the corresponding preset threshold, it means that the pose deviation to be adjusted is not greater than the preset threshold. This means that the robot's pose when it stops is close to the preset standard pose, and the accuracy is high. In this case, there is no need to control the robot to adjust its pose.

[0194] When at least one of the pose deviations to be adjusted exceeds the corresponding preset threshold, it indicates that the pose deviation to be adjusted is greater than the preset threshold. This means that the robot's pose at the time of stopping differs significantly from the preset standard pose, resulting in low accuracy. In this case, the robot can be controlled to adjust its pose according to the pose deviation to be adjusted. Subsequently, the robot can confirm that it has completed the adjustment according to the pose deviation to be adjusted and send a message to the control terminal indicating that the robot has completed the adjustment. Accordingly, the control terminal can determine that the robot is in a stopped state within the specified area, and acquire new images to be processed again through the image acquisition device, as well as detect new distances to be processed through multiple ranging sensors.

[0195] Based on the new image to be processed and the new distance to be processed, the pose deviation between the pose after the last pose adjustment and the preset standard pose can be determined, which serves as the new pose deviation to be adjusted. Furthermore, the relationship between the new pose deviation to be adjusted and a preset threshold can be determined to decide whether the robot needs to be controlled to adjust its pose according to the new pose deviation.

[0196] Based on the above processing, the determination of whether pose adjustment is needed can be made according to the relationship between the determined adjustment pose deviation and the preset threshold. This eliminates the need to control the robot to perform pose adjustment every time the pose deviation is determined, thus reducing the number of pose adjustments. Furthermore, it ensures that the pose deviation between the robot's final pose and the preset standard pose does not exceed the preset threshold, thereby guaranteeing high accuracy of the robot's final pose. In this way, while improving the accuracy of the robot's pose when it stops and ensuring the safety of the robot in performing its tasks, it also improves the efficiency of pose adjustment and reduces the resources consumed in pose adjustment.

[0197] Based on the same inventive concept, this application also provides a robot control system, the system comprising: a control terminal, an image acquisition device disposed in a designated area, and multiple ranging sensors; wherein, when the robot is in a preset standard pose required by the designated area, the image acquired by the image acquisition device includes preset markers disposed on the surface of the robot; when the robot is in the preset standard pose in the designated area, the multiple ranging sensors are located on at least one side of the robot according to the robot's body direction, and the multiple ranging sensors are capable of detecting the distance between themselves and the robot.

[0198] The control terminal is used to execute any of the robot control methods described above.

[0199] In one embodiment, the control terminal is further configured to send a designated signal to the warehouse management system after controlling the robot to complete the pose adjustment, indicating that the robot has completed the pose adjustment, so that the warehouse management system, upon receiving the designated signal, controls a preset docking device in the designated area to dock with the robot.

[0200] In one embodiment, see Figure 13 , Figure 13 This is a communication diagram illustrating robot control based on a robot control system, provided as an embodiment of this application. The robot control system may include: WMS (Warehouse Management System), WCS (Warehouse Control System), RCS (Robots Control System), a stopping accuracy detection system, and AGV.

[0201] WCS is a management and control system layer between WMS and RCS, allowing communication between them. RCS controls the AGV, and RCS can communicate with the AGV. The stop accuracy detection system includes a signal sampling module and a control module. The signal sampling module includes a camera (i.e., the image acquisition device in the above embodiment) and multiple ranging sensors. The control module is used for signal processing and wireless communication. Specifically, the control module processes the data collected by the signal sampling module and sends the processed data to the RCS. The stop accuracy detection system can be positioned outside the designated workstation (dating point), such as... Figure 4 As shown. In the above embodiment, the control terminal includes the control module of the stop accuracy detection system and the RCS. In this case, the control terminal is a pre-configured server.

[0202] In one embodiment, see Figure 14 , Figure 14 This is a schematic diagram of a third type of robot control method provided in an embodiment of this application.

[0203] The methods include:

[0204] Step S1401: The AGV receives the RCS docking instruction. That is, the RCS can send a docking instruction to the AGV to control the AGV to travel to the target location indicated by the docking task to be completed (i.e., the designated area in the above embodiment).

[0205] Step S1402: The AGV travels to the target point according to its own navigation and positioning method and reports to the RCS that it has reached the target position. That is, when the AGV travels to the designated area, it can send a positioning command to the RCS. After receiving the positioning command, the RCS can send a stop accuracy detection command to the stop accuracy detection system to start detecting the pose at the time of stopping.

[0206] Step S1403: The stop accuracy detection system starts detecting the AGV's stop accuracy and calculates the offset value to determine whether the offset value meets the docking requirements. That is, the stop accuracy detection system detects the AGV's stop accuracy. Specifically, steps S101 and S102 in the above embodiments are executed. The offset value is the pose deviation to be adjusted in the above embodiments.

[0207] Step S1404: Offset value feedback to RCS. That is, the stopping accuracy detection system feeds back the detection results to the RCS so that the RCS can determine whether the stopping accuracy meets the docking requirements based on the detection results. Specifically, it determines whether the pose deviation to be adjusted is greater than a preset threshold.

[0208] Step S1405: If the offset value meets the docking requirements, the RCS feeds back the information to the WMS via the WCS. The WMS then issues a docking command to begin the docking task. That is, if the pose deviation to be adjusted is not greater than a preset threshold, the RCS sends information to the WMS via the WCS indicating that the stopping accuracy meets the requirements. Upon receiving this information, the WMS can send a docking command to the preset docking device (also known as the docking mechanism) to control the preset docking device to dock with the AGV.

[0209] Step S1406: If the offset value does not meet the docking requirements, the RCS sends the offset value to the AGV, and the AGV adjusts its position according to the offset value. Then, it returns to execute step S1403. That is, it executes steps 1 and 2 in the above embodiment.

[0210] Step S1407: After docking is complete, the RCS sends the next task to the AGV, and the AGV leaves the current docking station. That is, after docking is completed, the RCS can send the next task to be executed to the AGV and control the AGV to leave the designated area.

[0211] Based on the above processing, the position and posture of the AGV when it stops in a specified area can be detected and corrected according to the offset of the stop accuracy detection, so as to ensure high-precision docking with third-party docking devices.

[0212] Based on the same inventive concept, this application also provides a robot control device, see [link to relevant documentation]. Figure 15 , Figure 15 This is a schematic diagram of a robot control device provided in an embodiment of this application. The device includes:

[0213] The data acquisition module 1501 is used to acquire images by means of an image acquisition device set in the specified area when the robot is in a stopped state in the specified area, to obtain the current image to be processed, and to obtain the current distance to be processed by means of multiple ranging sensors set in the specified area.

[0214] Wherein, when the robot is in the preset standard pose required by the specified area in the specified area, the image acquired by the image acquisition device includes preset markers set on the surface of the robot; when the robot is in the preset standard pose in the specified area, according to the body direction of the robot, the plurality of ranging sensors are located on at least one side of the robot, and the plurality of ranging sensors are able to detect the distance between themselves and the robot;

[0215] The pose deviation determination module 1502 is used to determine the pose deviation between the current pose of the robot and the preset standard pose based on the current image to be processed and the current distance to be processed, and use it as the current pose deviation to be adjusted.

[0216] The pose adjustment module 1503 is used to control the robot to adjust its pose according to the current pose deviation to be adjusted.

[0217] Based on the robot control device provided in this application embodiment, when the robot is stopped within a designated area, an image to be processed can be acquired through an image acquisition device in the designated area. The distance between the robot and the image in the designated area (i.e., the distance to be processed) can be detected by multiple ranging sensors in the designated area. The image to be processed and the distance to be processed can represent the robot's current pose (i.e., including position and orientation). In other words, based on the image to be processed and the distance to be processed, the robot's current position and orientation can be determined. The preset standard pose required by the designated area can represent the pose that satisfies the stopping requirements of the designated area; that is, it can represent the standard position and standard orientation that satisfy the stopping requirements of the designated area.

[0218] Accordingly, based on the image to be processed and the distance to be processed, the pose deviation between the robot's current pose and the preset standard pose (i.e., the pose deviation to be adjusted) can be determined. That is, the deviation between the robot's current position and the standard position, as well as the deviation between the current orientation and the standard orientation, can be determined. Furthermore, the robot can be controlled to adjust its pose according to the determined pose deviation. Thus, when the robot is stopped within a designated area, its pose at the moment of stopping can be detected, and the pose can be adjusted based on the determined pose deviation, thereby improving the accuracy of the robot's pose at the moment of stopping and ensuring the safety of the robot in performing its tasks.

[0219] In one embodiment, the pose adjustment module 1503 is specifically used to control the robot to adjust its pose according to the current pose deviation when the current pose deviation to be adjusted is greater than a preset threshold.

[0220] The device further includes:

[0221] The detection trigger module is used to trigger the data acquisition module after controlling the robot to adjust its pose according to the current pose deviation to be adjusted, until the determined pose deviation to be adjusted is not greater than a preset threshold.

[0222] In one embodiment, the pose deviation to be adjusted includes: a first distance deviation between the robot's current pose and the preset standard pose in a first direction, a second distance deviation between the robot's current pose and the preset standard pose in a second direction, and an angle deviation between the robot's current pose and the preset standard pose; the first direction is the robot's body direction when the robot is in the preset standard pose in the designated area; the second direction is perpendicular to the first direction in the horizontal plane.

[0223] The pose deviation determination module 1502 is specifically used to compare the position of the preset marker in the current image to be processed with the position of the preset marker in the standard image to determine the first distance deviation; wherein, the standard image is: the image acquired by the image acquisition device when the robot is in a preset standard pose in the specified area;

[0224] The angle deviation is determined based on the current distance to be processed and the distance between the multiple ranging sensors; wherein, the standard distance includes: the distance detected by the multiple ranging sensors when the robot is in a preset standard pose in the designated area;

[0225] The second distance deviation is determined based on the comparison between the position of the preset marker in the current image to be processed and the position of the preset marker in the standard image, and / or the difference between the current distance to be processed and the standard distance.

[0226] In one embodiment, the preset marker is disposed on the surface of the robot's lifting mechanism; the posture deviation to be adjusted further includes: the height deviation between the current height of the lifting mechanism and the height of the lifting mechanism when the robot is in the preset standard posture;

[0227] The device further includes:

[0228] The height deviation determination module is used to compare the position of the preset marker in the current image to be processed with the position of the preset marker in the standard image to determine the height deviation.

[0229] In one embodiment, the plurality of ranging sensors include a first ranging sensor and a second ranging sensor, the line connecting the first ranging sensor and the second ranging sensor is parallel to the first direction, and the detection direction of the first ranging sensor and the second ranging sensor is perpendicular to the first direction; when the robot is in the preset standard pose in the designated area, the line connecting the two points on the robot detected by the first ranging sensor and the second ranging sensor is parallel to the first direction.

[0230] The tangent of the angle deviation represents the ratio of the absolute value of the difference between the distances to be processed detected by the first ranging sensor and the second ranging sensor to the distance between the first ranging sensor and the second ranging sensor.

[0231] The pose adjustment module 1503 includes:

[0232] The first calculation submodule is used to calculate the distance between the rotation center point of the robot and the designated ranging sensor in the first direction, as the first distance to be utilized; wherein, the designated ranging sensor includes at least one of the first ranging sensor and the second ranging sensor;

[0233] The second calculation submodule is used to calculate the difference between the second available distance and the third available distance as the available difference; wherein, the second available distance represents the distance between the preset marker and the rotation center point in the direction of the robot's body; the cosine value of the angle deviation represents the ratio between the third available distance and the second available distance;

[0234] The first distance adjustment amount determination submodule is used to determine, based on the difference to be utilized and the first distance deviation, the distance that the robot needs to move in the first direction after rotating according to the angle deviation, as the first distance adjustment amount;

[0235] The third calculation submodule is used to calculate the distance between the robot after rotating according to the angle deviation and the designated distance sensor based on the angle deviation, the first distance to be utilized, and the distance to be processed detected by the designated distance sensor, and use it as the fourth distance to be utilized.

[0236] The second distance adjustment amount determination submodule is used to calculate the difference between the standard distance corresponding to the specified ranging sensor and the fourth distance to be used, and obtain the distance that the robot needs to move in the second direction after rotating according to the angle deviation, as the second distance adjustment amount;

[0237] The rotation control submodule is used to control the robot to rotate according to the angular deviation;

[0238] The motion control submodule is used to control the robot to move in the first direction according to the first distance adjustment amount after rotation is completed, and to control the robot to move in the second direction according to the second distance adjustment amount.

[0239] This application also provides an electronic device, such as... Figure 16 As shown, it includes:

[0240] Memory 1601 is used to store computer programs;

[0241] When processor 1602 executes the program stored in memory 1601, it performs the following steps:

[0242] When the robot is stopped in the designated area, it acquires an image by means of an image acquisition device set in the designated area to obtain the current image to be processed, and obtains the current distance to be processed by means of multiple ranging sensors set in the designated area.

[0243] Wherein, when the robot is in the preset standard pose required by the specified area in the specified area, the image acquired by the image acquisition device includes preset markers set on the surface of the robot; when the robot is in the preset standard pose in the specified area, according to the body direction of the robot, the plurality of ranging sensors are located on at least one side of the robot, and the plurality of ranging sensors are able to detect the distance between themselves and the robot;

[0244] Based on the current image to be processed and the current distance to be processed, the pose deviation between the robot's current pose and the preset standard pose is determined, and used as the current pose deviation to be adjusted.

[0245] The robot is controlled to adjust its pose according to the current pose deviation to be adjusted.

[0246] Furthermore, the aforementioned electronic device may also include a communication bus and / or a communication interface, with the processor 1602, the communication interface, and the memory 1601 communicating with each other via the communication bus.

[0247] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0248] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0249] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0250] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0251] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the robot control methods described above.

[0252] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the robot control methods described above.

[0253] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0254] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0255] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system, device, electronic device, and storage medium embodiments are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0256] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A robot control method, characterized in that, The method includes: When the robot is stopped in the designated area, it acquires an image by means of an image acquisition device set in the designated area to obtain the current image to be processed, and obtains the current distance to be processed by means of multiple ranging sensors set in the designated area. Wherein, when the robot is in the preset standard pose required by the specified area in the specified area, the image acquired by the image acquisition device includes preset markers set on the surface of the robot; when the robot is in the preset standard pose in the specified area, according to the body direction of the robot, the plurality of ranging sensors are located on at least one side of the robot, and the plurality of ranging sensors are able to detect the distance between themselves and the robot; Based on the current image to be processed and the current distance to be processed, the pose deviation between the robot's current pose and the preset standard pose is determined, and used as the current pose deviation to be adjusted. The robot is controlled to adjust its pose according to the current pose deviation to be adjusted.

2. The method according to claim 1, characterized in that, Controlling the robot to adjust its pose according to the current pose deviation to be adjusted includes: If the current pose deviation to be adjusted is greater than a preset threshold, the robot is controlled to adjust its pose according to the current pose deviation to be adjusted. The method further includes: After controlling the robot to adjust its pose according to the current pose deviation to be adjusted, the following steps are returned to execution: when the robot is in a stopped state in the specified area, an image is acquired by an image acquisition device set in the specified area to obtain the current image to be processed, and the current distance to be processed is obtained by multiple ranging sensors set in the specified area, until the determined pose deviation to be adjusted is not greater than a preset threshold.

3. The method according to claim 1 or 2, characterized in that, The pose deviation to be adjusted includes: a first distance deviation in a first direction between the robot's current pose and the preset standard pose; a second distance deviation in a second direction between the robot's current pose and the preset standard pose; and an angle deviation between the robot's current pose and the preset standard pose; the first direction is the robot's body direction when it is in the preset standard pose in the designated area; the second direction is perpendicular to the first direction in the horizontal plane. The step of determining the pose deviation between the robot's current pose and the preset standard pose, based on the current image to be processed and the current distance to be processed, as the current pose deviation to be adjusted, includes: The first distance deviation is determined by comparing the position of the preset marker in the current image to be processed with the position of the preset marker in the standard image; wherein, the standard image is: the image acquired by the image acquisition device when the robot is in a preset standard pose in the specified area; The angle deviation is determined based on the current distance to be processed and the distance between the multiple ranging sensors; Based on the comparison results of the position of the preset marker in the current image to be processed and the position of the preset marker in the standard image, and / or the difference between the current distance to be processed and the standard distance, the second distance deviation is determined; wherein, the standard distance includes: the distance detected by the plurality of ranging sensors when the robot is in a preset standard pose in the specified area.

4. The method according to claim 3, characterized in that, The preset marker is set on the surface of the robot's lifting mechanism; the posture deviation to be adjusted also includes: the height deviation between the current height of the lifting mechanism and the height of the lifting mechanism when the robot is in the preset standard posture; The method further includes: The height deviation is determined by comparing the position of the preset marker in the current image to be processed with the position of the preset marker in the standard image.

5. The method according to claim 3, characterized in that, The plurality of ranging sensors include a first ranging sensor and a second ranging sensor. The line connecting the first ranging sensor and the second ranging sensor is parallel to the first direction, and the detection direction of the first ranging sensor and the second ranging sensor is perpendicular to the first direction. When the robot is in the preset standard pose in the designated area, the line connecting the two points on the robot detected by the first ranging sensor and the second ranging sensor is parallel to the first direction. The tangent of the angle deviation represents the ratio of the absolute value of the difference between the distances to be processed detected by the first ranging sensor and the second ranging sensor to the distance between the first ranging sensor and the second ranging sensor. Controlling the robot to adjust its pose according to the current pose deviation to be adjusted includes: The distance between the robot's rotation center point and a designated ranging sensor in the first direction is calculated as the first distance to be utilized; wherein, the designated ranging sensor includes at least one of the first ranging sensor and the second ranging sensor; Calculate the difference between the second and third available distances as the available difference; wherein, the second available distance represents the distance between the preset marker and the rotation center point in the direction of the robot's body; the cosine value of the angle deviation represents the ratio between the third available distance and the second available distance; Based on the difference to be utilized and the first distance deviation, the distance that the robot needs to move in the first direction after rotating according to the angle deviation is determined, and used as the first distance adjustment amount; Based on the angle deviation, the first distance to be utilized, and the distance to be processed detected by the designated ranging sensor, the distance between the robot after rotating according to the angle deviation and the designated ranging sensor is calculated and used as the fourth distance to be utilized. Calculate the difference between the standard distance corresponding to the specified ranging sensor and the fourth distance to be utilized, and obtain the distance that the robot needs to move in the second direction after rotating according to the angle deviation, as the second distance adjustment amount; Control the robot to rotate according to the stated angular deviation; After the rotation is completed, the robot is controlled to move in the first direction according to the first distance adjustment amount, and the robot is controlled to move in the second direction according to the second distance adjustment amount.

6. A robot control system, characterized in that, The system includes: a control terminal, an image acquisition device disposed in a designated area, and multiple ranging sensors; wherein, when the robot is in a preset standard pose required by the designated area, the image acquired by the image acquisition device includes preset markers disposed on the surface of the robot; when the robot is in the preset standard pose in the designated area, the multiple ranging sensors are located on at least one side of the robot according to the robot's body direction, and the multiple ranging sensors are capable of detecting the distance between themselves and the robot; The control terminal is used to execute the method described in any one of claims 1-5.

7. The system according to claim 6, characterized in that, The control terminal is also used to send a designated signal to the warehouse management system after controlling the robot to complete the pose adjustment, indicating that the robot has completed the pose adjustment, so that when the warehouse management system receives the designated signal, it controls the preset docking device in the designated area to dock with the robot.

8. A robot control device, characterized in that, The device includes: The data acquisition module is used to acquire images by means of an image acquisition device set in the specified area when the robot is stopped in the specified area, to obtain the current image to be processed, and to obtain the current distance to be processed by means of multiple ranging sensors set in the specified area. Wherein, when the robot is in the preset standard pose required by the specified area in the specified area, the image acquired by the image acquisition device includes preset markers set on the surface of the robot; when the robot is in the preset standard pose in the specified area, according to the body direction of the robot, the plurality of ranging sensors are located on at least one side of the robot, and the plurality of ranging sensors are able to detect the distance between themselves and the robot; The pose deviation determination module is used to determine the pose deviation between the robot's current pose and the preset standard pose based on the current image to be processed and the current distance to be processed, and use it as the current pose deviation to be adjusted. The pose adjustment module is used to control the robot to adjust its pose according to the current pose deviation to be adjusted.

9. The apparatus according to claim 8, characterized in that, The pose adjustment module is specifically used to control the robot to adjust its pose according to the current pose deviation when the current pose deviation to be adjusted is greater than a preset threshold. The device further includes: The detection trigger module is used to trigger the data acquisition module after controlling the robot to adjust its pose according to the current pose deviation to be adjusted, until the determined pose deviation to be adjusted is not greater than a preset threshold. The pose deviation to be adjusted includes: a first distance deviation in a first direction between the robot's current pose and the preset standard pose; a second distance deviation in a second direction between the robot's current pose and the preset standard pose; and an angle deviation between the robot's current pose and the preset standard pose; the first direction is the robot's body direction when it is in the preset standard pose in the designated area; the second direction is perpendicular to the first direction in the horizontal plane. The pose deviation determination module is specifically used to compare the position of the preset marker in the current image to be processed with the position of the preset marker in the standard image to determine the first distance deviation; wherein, the standard image is: the image acquired by the image acquisition device when the robot is in a preset standard pose in the specified area; The angle deviation is determined based on the current distance to be processed and the distance between the multiple ranging sensors; Based on the comparison results of the position of the preset marker in the current image to be processed and the position of the preset marker in the standard image, and / or the difference between the current distance to be processed and the standard distance, the second distance deviation is determined; wherein, the standard distance includes: the distance detected by the plurality of ranging sensors when the robot is in a preset standard pose in the specified area; The preset marker is set on the surface of the robot's lifting mechanism; the posture deviation to be adjusted also includes: the height deviation between the current height of the lifting mechanism and the height of the lifting mechanism when the robot is in the preset standard posture; The height deviation determination module is used to compare the position of the preset marker in the current image to be processed with the position of the preset marker in the standard image to determine the height deviation; The plurality of ranging sensors include a first ranging sensor and a second ranging sensor. The line connecting the first ranging sensor and the second ranging sensor is parallel to the first direction, and the detection direction of the first ranging sensor and the second ranging sensor is perpendicular to the first direction. When the robot is in the preset standard pose in the designated area, the line connecting the two points on the robot detected by the first ranging sensor and the second ranging sensor is parallel to the first direction. The tangent of the angle deviation represents the ratio of the absolute value of the difference between the distances to be processed detected by the first ranging sensor and the second ranging sensor to the distance between the first ranging sensor and the second ranging sensor. The pose adjustment module includes: The first calculation submodule is used to calculate the distance between the rotation center point of the robot and the designated ranging sensor in the first direction, as the first distance to be utilized; wherein, the designated ranging sensor includes at least one of the first ranging sensor and the second ranging sensor; The second calculation submodule is used to calculate the difference between the second available distance and the third available distance as the available difference; wherein, the second available distance represents the distance between the preset marker and the rotation center point in the direction of the robot's body; the cosine value of the angle deviation represents the ratio between the third available distance and the second available distance; The first distance adjustment amount determination submodule is used to determine, based on the difference to be utilized and the first distance deviation, the distance that the robot needs to move in the first direction after rotating according to the angle deviation, as the first distance adjustment amount; The third calculation submodule is used to calculate the distance between the robot after rotating according to the angle deviation and the designated distance sensor based on the angle deviation, the first distance to be utilized, and the distance to be processed detected by the designated distance sensor, and use it as the fourth distance to be utilized. The second distance adjustment amount determination submodule is used to calculate the difference between the standard distance corresponding to the specified ranging sensor and the fourth distance to be used, and obtain the distance that the robot needs to move in the second direction after rotating according to the angle deviation, as the second distance adjustment amount; The rotation control submodule is used to control the robot to rotate according to the angular deviation; The motion control submodule is used to control the robot to move in the first direction according to the first distance adjustment amount after rotation is completed, and to control the robot to move in the second direction according to the second distance adjustment amount.

10. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method described in any one of claims 1-5.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1-5.

Images