Mobile equipment docking method and device, equipment and storage medium

Abstract

The invention relates to a docking method, device and equipment of mobile equipment and a storage medium, and belongs to the technical field of automatic guide trolleys, and the method comprises the steps: obtaining image data of the mobile equipment at a first position through an image sampling device configured by the mobile equipment; when the obstacle spacing formed by the surrounding objects of the mobile device reflected by the image data is within a first set range, controlling the mobile device to reconstruct a map at the first position to obtain a reconstructed image; obtaining position information of the first position and a set butt joint path according to the reconstructed image; wherein the docking path is used for providing a moving space of a calibration position of the mobile equipment before the mobile equipment completes docking; and when the position information shows that the first position is located in the docking path, determining a docking track matched with the first position in the docking path, and controlling the mobile device to move according to the docking track.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the technical field of automatic guided vehicles, and more specifically, to a method, apparatus, device and storage medium for docking a mobile device. Background Art

[0002] With the development of intelligent equipment in the warehousing industry, the Automated Guided Vehicle (AGV), as a mobile device, can move the stored goods to the indicated location.

[0003] At present, the existing automatic guided vehicles can build maps of storage warehouses through the configured radars or cameras, so that the automatic guided vehicles can move to the docking position of the shelves according to the built map. However, due to factors such as the expansion of the storage warehouse or the change of the shelf placement, it is difficult for the automatic guided vehicle to move to the docking position according to the built map, affecting the working efficiency of the automatic guided vehicle. Summary of the invention

[0004] One purpose of the embodiments of the present disclosure is to provide a new technical solution for docking of mobile devices.

[0005] According to a first aspect of the present disclosure, a method for docking a mobile device is provided, the method comprising:

[0006] Acquiring image data of the mobile device at a first position through an image sampling device configured on the mobile device;

[0007] When the obstacle distance formed by the objects around the mobile device reflected by the image data is within a first set range, controlling the mobile device to re-map at the first position to obtain a reconstructed image;

[0008] According to the reconstructed image, position information of the first position and a set docking path is obtained; wherein the docking path is used to provide a moving space for calibrating the position of the mobile device before the mobile device completes docking;

[0009] When the position information indicates that the first position is located in the docking path, a docking track matching the first position in the docking path is determined, and the mobile device is controlled to move according to the docking track.

[0010] Optionally, the determining a docking track in the docking path that matches the first position, and controlling the mobile device to move according to the docking track includes:

[0011] Determining an inclination angle of the mobile device at the first position; wherein the inclination angle is an angle between a lateral direction of the mobile device and a path width direction of the docking path; wherein the lateral direction of the mobile device is perpendicular to a forward direction of the mobile device;

[0012] A docking track in the docking path that matches the first position and the tilt angle is determined, and the mobile device is controlled to move according to the docking track.

[0013] Optionally, after obtaining the position information of the first position and the set docking path according to the reconstructed image, the method further includes:

[0014] When the position information indicates that the mobile device has not reached the starting point of the docking path, taking a second position corresponding to the starting point of the path as a target point, controlling the movement of the mobile device, and obtaining a target position and a target angle of the mobile device;

[0015] Determining an optimal trajectory in the docking path that matches the target position and target angle;

[0016] The mobile device is controlled to move according to the optimal trajectory.

[0017] Optionally, after determining a docking track matching the first position in the docking path and controlling the mobile device to move according to the docking track, the method further includes:

[0018] detecting a third position of the mobile device after a set period of time;

[0019] When the distance difference between the third position and the fourth position is less than or equal to a set threshold, the mobile device is controlled to perform a set docking operation; wherein the fourth position is an expected position of the mobile device after moving along the docking path for the set time period.

[0020] Optionally, the mobile device is moved by a stored positioning map; after obtaining the position information of the first position and the set docking path according to the reconstructed image, the method further includes:

[0021] Determining a first area of ​​the first location in the positioning map;

[0022] Determining, by using the first area and the location information, that a path starting point of the docking path is in a second area of ​​the positioning map;

[0023] The positioning map is updated according to the key frames of the reconstructed image.

[0024] Optionally, the docking path corresponds to a set rectangular area, the midpoint of the first side of the rectangular area corresponds to the starting point of the docking path, the midpoint of the second side of the rectangular area corresponds to the end point of the docking path, the first endpoint of the docking track is on the first side of the rectangular area, and the second endpoint of the docking track is on the second side of the rectangular area.

[0025] According to a second aspect of the present disclosure, a docking device for a mobile device is also provided, the device comprising:

[0026] A data acquisition module, configured to acquire image data of the mobile device at a first position through an image sampling device configured on the mobile device;

[0027] An image reconstruction module, configured to control the mobile device to re-map at the first position to obtain a reconstructed image when the obstacle distance between the mobile device and surrounding objects reflected by the image data is within a first set range;

[0028] An information obtaining module, used to obtain position information of the first position and a set docking path according to the reconstructed image; wherein the docking path is used to provide a moving space for the mobile device to calibrate the position before the mobile device completes docking;

[0029] The mobile control module is used to determine a docking track matching the first position in the docking path when the position information indicates that the first position is located in the docking path, and control the mobile device to move according to the docking track.

[0030] According to a third aspect of the present disclosure, an electronic device is also provided, including a processor, wherein the processor is connected to a memory, and the memory is used to store a computer program; the processor is used to execute the computer program to implement the method described in the first aspect of the present disclosure.

[0031] According to a fourth aspect of the present disclosure, there is also provided an electric seat, comprising an electric seat body, wherein the electric seat further comprises the electronic device as described in the third aspect.

[0032] According to a fifth aspect of the present disclosure, a vehicle is also provided, comprising the electric seat as described in the third aspect or the fourth aspect.

[0033] According to a sixth aspect of the present disclosure, a computer storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0034] A beneficial effect of the embodiments of the present disclosure is that the docking method of the mobile device provided by the present invention can obtain image data of the first position of the mobile device through the image acquisition device configured by the mobile device, and when the image data reflects that the obstacle distance of the obstacle at the first position is within a first set range, the mobile device is controlled to re-map at the first position, and the position information of the docking path is determined, so that the mobile device can move to the docking path in the shortest distance according to the position information, and the mobile device moves to the docking position of the shelf according to the matching docking trajectory, so that the mobile device located at the first position can move to the docking position in a shorter distance in different postures and the docking surface of the mobile device is parallel to the docking position, which effectively improves the working efficiency of the mobile device.

[0035] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0037] Figure 1 is a flowchart of a method for docking a mobile device according to an embodiment;

[0038] Figure 2 is a schematic diagram of a docking path according to one embodiment;

[0039] Figure 3 is a schematic diagram of the hardware structure of an electronic device according to an embodiment;

[0040] Figure 4 is a block diagram of an electronic device according to an embodiment. DETAILED DESCRIPTION

[0041] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0042] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0043] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0044] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0045] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0046] <Method Example>

[0047] Figure 1 The figure is a flowchart of a method for docking a mobile device according to an embodiment. The implementation subject is, for example, a mobile device, and the mobile device is, for example, an automated guided vehicle (AGV).

[0048] like Figure 1 As shown, the docking method of the mobile device of this embodiment may include the following steps S110 to S140:

[0049] Step S110: acquiring image data of the mobile device at a first position through an image sampling device configured in the mobile device.

[0050] In the present application, the image acquisition device is, for example, a radar or a camera, and the image acquisition device can acquire image data of the surrounding environment of the mobile device.

[0051] In the present application, the mobile device can move to the starting point of the docking path according to the planned path, and the end point of the docking path corresponds to the docking position of the shelf. There is a distance between the starting point of the docking path and the end point of the docking path, so that after the mobile device reaches the starting point of the docking path in different postures, the mobile device can move to the end point of the docking path and turn at the same time, so that the mobile device is facing the docking position of the shelf, so as to achieve accurate docking of the mobile device and the shelf. Among them, the different postures of the mobile device have a relative angle to the docking position of the mobile device and the shelf, for example, the facing posture of the mobile device is the docking position of the mobile device facing the shelf, and the tilted 30° posture of the mobile device is the relative angle between the docking surface of the mobile device and the docking position of the shelf is 30°.

[0052] In the present application, the first position may be a position where the mobile device cannot continue to move along the planned path due to factors such as obstacles or shelves in front.

[0053] Step S120, when the obstacle distance formed by the objects around the mobile device reflected by the image data is within a first set range, control the mobile device to re-map at the first position to obtain a reconstructed image.

[0054] In the present application, the first set range may be obtained according to the minimum passing width of the mobile device, which is not limited here.

[0055] In this application, the surrounding objects of the mobile device can be goods, shelves, handling equipment, etc., which are not limited here. The obstacle distance can be a passage through an object, for example, a passage formed by the support legs and support plates of a shelf, or a distance between two objects, for example, the gap between two different goods can be used as a passage.

[0056] In the present application, the mobile device can enter a mapping mode, so that the mobile device can move near a first position, for example, the mobile device rotates or moves along an obstacle, and the image acquisition device is controlled to work to obtain a sampled image near the first position. The mobile device constructs a reconstructed image of the first position by determining an environmental point cloud in the sampled image.

[0057] Step S130: obtaining position information of the first position and the set docking path according to the reconstructed image.

[0058] In the present application, reflective strips can be affixed to the ground or pillars corresponding to the docking path in the storage warehouse, that is, reflective strips of different shapes or sizes can be affixed to the ground or pillars corresponding to the starting point and end point of the docking path, so that the image acquisition device of the mobile device can detect the reflective strip at the starting point of the docking path, so that the mobile device can determine the relative distance between the first position and the reflective strip at the starting point of the docking path, and use it as the position information of the first position and the set docking path.

[0059] Step S140: when the position information indicates that the first position is located in the docking path, determine a docking track in the docking path that matches the first position, and control the mobile device to move according to the docking track.

[0060] In some examples, such as Figure 2 As shown, the first position corresponds to point A2, the set rectangular area corresponding to the docking path is area T1, the point A2 is located in area T1, the end point of the docking path is point P2, and the mobile device can determine that when the mobile device is at point A2 and the relative angle between the docking surface of the mobile device and the docking position of the shelf is angle a2, the docking trajectory is trajectory L2, and the mobile device can control the mobile device to move to point P2 along trajectory L2.

[0061] In some embodiments, the docking path corresponds to a set rectangular area, the midpoint of the first side of the rectangular area corresponds to the starting point of the docking path, the midpoint of the second side of the rectangular area corresponds to the end point of the docking path, the first endpoint of the docking track is on the first side of the rectangular area, and the second endpoint of the docking track is on the second side of the rectangular area.

[0062] In some examples, such as Figure 2 As shown, the rectangular area corresponding to the docking path is area T1, the path starting point is point P1, and the path end point is point P2. In other words, by setting the docking path as a rectangular area, the mobile device at the first position can move to the docking position in a shorter distance in different postures, which can effectively improve the accuracy of docking between the mobile device and the shelf while improving the working efficiency of the mobile device.

[0063] In some embodiments, step S140 may include the following steps S210 and S220:

[0064] Step S210, determining the tilt angle of the mobile device at the first position; wherein the tilt angle is the angle between the lateral direction of the mobile device and the path width direction of the docking path; wherein the lateral direction of the mobile device is perpendicular to the forward direction of the mobile device.

[0065] In some examples, such as Figure 2 As shown, the first position corresponds to point A2, the horizontal direction of the mobile device corresponds to direction r1, the path width direction of the docking path corresponds to direction r2, and the inclination angle is angle a2.

[0066] Step S220: determining a docking track in the docking path that matches the first position and the tilt angle, and controlling the mobile device to move according to the docking track.

[0067] In some examples, the mobile device pre-sets different tilt angles and different first positions corresponding to different docking trajectories. These docking trajectories may be pre-set or may be trajectories of the mobile device that have been successfully docked before.

[0068] In some examples, such as Figure 2 As shown, the first position corresponds to point A2, the inclination angle is angle a2, the matched docking track is track L2, and the mobile device controls the mobile device to move along track L2.

[0069] In other words, the mobile device moves according to the corresponding docking trajectory matched with the tilt angle and the first position, which effectively improves the probability of successful docking between the mobile device and the shelf, thereby improving the working efficiency of the mobile device.

[0070] In some embodiments, after step S130, the method further includes the following steps S310 to S330:

[0071] Step S310, when the position information indicates that the mobile device has not reached the starting point of the docking path, the second position corresponding to the starting point of the path is used as the target point to control the movement of the mobile device and obtain the target position and target angle of the mobile device.

[0072] In some examples, such as Figure 2 As shown, the second position corresponds to point P1, and the mobile device can move from the first position to the second position. When the mobile device moves with the second position as the target point, the mobile device finally moves to point A1, and the relative angle between the docking surface of the mobile device at point A1 and the docking position of the shelf is angle a1, and the target position corresponds to point A1.

[0073] Step S320, determining the optimal trajectory in the docking path that matches the target position and the target angle.

[0074] In some examples, such as Figure 2 As shown, the target position corresponds to point A1, the target angle is angle a1, the matched optimal trajectory is trajectory L1, and the mobile device controls the mobile device to move according to trajectory L1.

[0075] Step S330: Control the mobile device to move according to the optimal trajectory.

[0076] In other words, since the mobile device may have a position deviation when moving to the starting point of the docking path, the mobile device moves according to the optimal trajectory corresponding to the target position and target angle, which further effectively improves the probability of successful docking between the mobile device and the shelf, thereby improving the working efficiency of the mobile device.

[0077] In some embodiments, after step S140, the method further includes the following steps S410 and S420:

[0078] Step S410, detecting a third position of the mobile device after a set period of time.

[0079] In the present application, when the mobile device moves along the docking track, the mobile device can determine the third position of the mobile device after the set time period by means of an odometer or an image acquisition device, wherein the set time period can be pre-set and is not limited here.

[0080] Step S420, when the distance difference between the third position and the fourth position is less than or equal to a set threshold, control the mobile device to perform a set docking operation; wherein the fourth position is an expected position of the mobile device after moving along the docking path for a set time period.

[0081] In the present application, since the moving speed of the mobile device is fixed, the moving distance of the mobile device can be determined according to the moving speed of the mobile device and the set time, and then it can be determined that the mobile device has moved to a point on the docking path, which corresponds to the expected position.

[0082] In the present application, the threshold value may be set to 1 cm or 2 cm, etc., and is not limited here.

[0083] In other words, when the mobile device can move completely along the docking path, the mobile device can dock with the shelf when reaching the end point of the docking path, so as to realize the function of the mobile device moving materials on the shelf.

[0084] In some embodiments, after step S120, the method further includes the following steps S510 to S530:

[0085] Step S510: determine that a first location is in a first area in a positioning map.

[0086] In the present application, the positioning map may be a three-dimensional point cloud map or a grid map, and each grid of the grid map is associated with a corresponding environmental point cloud.

[0087] In the present application, the mobile device can determine the first position of the mobile device in the first area of ​​the positioning map by an odometer or an image acquisition device. Taking the positioning map as a grid map as an example, the first area can be one grid or multiple grids corresponding to the first position.

[0088] Step S520: Determine, through the first area and the location information, that the starting point of the docking path is in the second area of ​​the positioning map.

[0089] In the present application, when the first area where the mobile device is located and the relative position information between the mobile device and the path starting point of the docking path are determined, the mobile device can determine that the path starting point of the docking path is in the second area of ​​the positioning map. Taking the positioning map as a grid map as an example, the second area can be one or more grids corresponding to the path starting point of the docking path.

[0090] Step S530: updating the positioning map according to the key frame of the reconstructed image.

[0091] In some examples, the mobile device may extract the environment point cloud in the key frame of the reconstructed image and replace the environment point cloud in the second area of ​​the previous positioning map to update the positioning map.

[0092] In other words, by updating the positioning map through reconstructing the image, the occurrence of subsequent mobile devices being blocked by obstacles when moving along the planned path can be effectively reduced, further improving the working efficiency of the mobile device.

[0093] <Equipment Example 1>

[0094] Figure 3 FIG. 1 is a block diagram of a docking device for a mobile device according to an embodiment. Figure 4 As shown, the docking device 300 of the mobile device may include:

[0095] The data acquisition module 310 is used to acquire image data of the mobile device at the first position through an image sampling device configured in the mobile device;

[0096] An image reconstruction module 320, configured to control the mobile device to re-map at a first position to obtain a reconstructed image when the obstacle distance formed by the surrounding objects of the mobile device reflected by the image data is within a first set range;

[0097] The information obtaining module 330 is used to obtain the position information of the first position and the set docking path according to the reconstructed image; wherein the docking path is used to provide a moving space for the mobile device to calibrate the position before the mobile device completes docking;

[0098] The movement control module 340 is used to determine a docking track matching the first position in the docking path when the position information indicates that the first position is located in the docking path, and control the mobile device to move according to the docking track.

[0099] Optionally, the mobile control module 340 is also used to determine the tilt angle of the mobile device at the first position; wherein the tilt angle is the angle between the lateral direction of the mobile device and the path width direction of the docking path; wherein the lateral direction of the mobile device is perpendicular to the forward direction of the mobile device; determine a docking trajectory in the docking path that matches the first position and the tilt angle, and control the mobile device to move according to the docking trajectory.

[0100] Optionally, the docking device 300 of the mobile device also includes a trajectory determination module, which is used to control the movement of the mobile device with the second position corresponding to the starting point of the path as the target point when the position information indicates that the mobile device has not reached the starting point of the docking path, and obtain the target position and target angle of the mobile device; determine the optimal trajectory in the docking path that matches the target position and target angle; and control the mobile device to move according to the optimal trajectory.

[0101] Optionally, the docking device 300 of the mobile device also includes a position detection module, which is used to detect a third position of the mobile device after a set time period; when the distance difference between the third position and the fourth position is less than or equal to a set threshold, the mobile device is controlled to perform a set docking operation; wherein the fourth position is the expected position of the mobile device after moving along the docking path for a set time period.

[0102] Optionally, the docking device 300 of the mobile device also includes a map update module, which is used to determine that the first position is in a first area in the positioning map; determine that the starting point of the docking path is in a second area of ​​the positioning map through the first area and position information; and update the positioning map according to the key frame of the reconstructed image.

[0103] The docking device 300 of the mobile device may be a mobile device.

[0104] <Equipment Example 2>

[0105] Figure 4 is a schematic diagram of the hardware structure of an electronic device according to an embodiment.

[0106] like Figure 4 As shown, the electronic device 400 includes a processor 410 and a memory 420, wherein the memory 420 is used to store an executable computer program, and the processor 410 is used to execute a method such as any of the above method embodiments under the control of the computer program.

[0107] The electronic device 400 may be a mobile device.

[0108] Each module of the above-mentioned docking device 300 for a mobile device may be implemented by the processor 410 in this embodiment executing a computer program stored in the memory 420, or may be implemented by other structures, which are not limited here.

[0109] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0110] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0111] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0112] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0113] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0114] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0115] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0116] The flowchart and block diagram in the accompanying drawings show the possible architecture, functions and operations of the system, method and computer program product according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of an instruction, and a part of a module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0117] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A method for docking a mobile device, characterized in that: The method comprises: Acquiring image data of the mobile device at a first position through an image sampling device configured on the mobile device; When the obstacle distance formed by the objects around the mobile device reflected by the image data is within a first set range, controlling the mobile device to re-map at the first position to obtain a reconstructed image; According to the reconstructed image, position information of the first position and a set docking path is obtained; wherein the docking path is used to provide a moving space for calibrating the position of the mobile device before the mobile device completes docking; When the position information indicates that the first position is located in the docking path, a docking track matching the first position in the docking path is determined, and the mobile device is controlled to move according to the docking track.

2. The method according to claim 1, characterized in that The step of determining a docking track in the docking path that matches the first position, and controlling the mobile device to move according to the docking track, includes: Determining an inclination angle of the mobile device at the first position; wherein the inclination angle is an angle between a lateral direction of the mobile device and a path width direction of the docking path; wherein the lateral direction of the mobile device is perpendicular to a forward direction of the mobile device; A docking track in the docking path that matches the first position and the tilt angle is determined, and the mobile device is controlled to move according to the docking track.

3. The method according to claim 1, characterized in that After obtaining the position information of the first position and the set docking path according to the reconstructed image, the method further includes: When the position information indicates that the mobile device has not reached the starting point of the docking path, taking a second position corresponding to the starting point of the path as a target point, controlling the movement of the mobile device, and obtaining a target position and a target angle of the mobile device; Determining an optimal trajectory in the docking path that matches the target position and target angle; The mobile device is controlled to move according to the optimal trajectory.

4. The method according to claim 1, characterized in that: After determining a docking track matching the first position in the docking path and controlling the mobile device to move according to the docking track, the method further includes: detecting a third position of the mobile device after a set period of time; When the distance difference between the third position and the fourth position is less than or equal to a set threshold, the mobile device is controlled to perform a set docking operation; wherein the fourth position is an expected position of the mobile device after moving along the docking path for the set time period.

5. The method according to claim 1, characterized in that The mobile device moves according to the stored positioning map; after obtaining the position information of the first position and the set docking path according to the reconstructed image, the method further includes: Determining a first area of ​​the first location in the positioning map; Determining, by using the first area and the location information, that a path starting point of the docking path is in a second area of ​​the positioning map; The positioning map is updated according to the key frames of the reconstructed image.

6. The method according to any one of claims 1 to 5, characterized in that: The docking path corresponds to a set rectangular area, the midpoint of the first side of the rectangular area corresponds to the path starting point of the docking path, the midpoint of the second side of the rectangular area corresponds to the path end point of the docking path, the first endpoint of the docking track is on the first side of the rectangular area, and the second endpoint of the docking track is on the second side of the rectangular area.

7. A docking device for a mobile device, characterized in that: The device comprises: A data acquisition module, configured to acquire image data of the mobile device at a first position through an image sampling device configured on the mobile device; An image reconstruction module, configured to control the mobile device to re-map at the first position to obtain a reconstructed image when the obstacle distance formed by the surrounding objects of the mobile device reflected by the image data is within a first set range; An information obtaining module, used to obtain position information of the first position and a set docking path according to the reconstructed image; wherein the docking path is used to provide a moving space for the mobile device to calibrate the position before the mobile device completes docking; The mobile control module is used to determine a docking track matching the first position in the docking path when the position information indicates that the first position is located in the docking path, and control the mobile device to move according to the docking track.

8. An electronic device, characterized in that: The method comprises a processor connected to a memory, wherein the memory is used to store a computer program; the processor is used to execute the computer program to implement the method according to any one of claims 1 to 6.

9. A mobile device, characterized in that: A docking device for a mobile device as claimed in claim 7 or an electronic device as claimed in claim 8.

10. A computer storage medium, characterized in that: The computer storage medium stores a computer-readable program, and the computer-readable program is executed by a processor to perform the steps of the method according to any one of claims 1 to 6.

Images