Docking method, device and equipment of mobile device and storage medium

Abstract

The present disclosure relates to a docking of a mobile device, an apparatus, a device and a storage medium, and belongs to the technical field of automatic guided vehicles. The method comprises: acquiring image data of the mobile device at a first position through an image sampling device configured by the mobile device; when an obstacle distance formed by surrounding objects of the mobile device reflected in the image data is within a first set range, controlling the mobile device to perform re-mapping at the first position to obtain a reconstructed image; obtaining 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 mobile 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, 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] Embodiments of the present disclosure relate to the technical field of automated guided vehicles, and more particularly, to a docking method and device of a mobile device, a device, and a storage medium. BACKGROUND

[0002] With the development of intelligent equipment in the warehousing industry, an automated guided vehicle (AGV) as a mobile device can carry goods in the warehouse to an indicated position.

[0003] At present, an existing automated guided vehicle can map a warehouse by configuring a radar or a camera, so that the automated guided vehicle can move to a docking position of a shelf according to the built map. However, due to expansion of the warehouse or changes in the placement position of the shelf, the automated guided vehicle is difficult to move to the docking position according to the built map, which affects the work efficiency of the automated guided vehicle. SUMMARY

[0004] An object of embodiments of the present disclosure is to provide a new technical solution for docking of a mobile device.

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

[0006] acquiring image data of the mobile device at a first position by an image sampling device configured by the mobile device;

[0007] when an obstacle distance formed by surrounding objects of the mobile device reflected in the image data is within a first set range, controlling the mobile device to perform re-mapping at the first position to obtain a reconstructed image;

[0008] obtaining 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 a position before completing docking;

[0009] when the position information indicates that the first position is located in the docking path, determining a docking trajectory in the docking path matched with the first position, and controlling the mobile device to move according to the docking trajectory.

[0010] Optionally, the determining the docking trajectory in the docking path matched with the first position and controlling the mobile device to move according to the docking trajectory comprises:

[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] determining a docking trajectory in the docking path that matches the first position and the inclination angle, and controlling the mobile device to move according to the docking trajectory.

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

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

[0016] controlling the mobile device to move according to the optimal trajectory.

[0017] Optionally, after the docking trajectory in the docking path that matches the first position is determined, and the mobile device is controlled to move according to the docking trajectory, the method further comprises:

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

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

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

[0021] determining a first area of the first position in the positioning map;

[0022] determining, by using the first area and the position information, a second area of a path starting point of the docking path in the positioning map;

[0023] updating the positioning map according to key frames of the reconstructed image.

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

[0025] According to a second aspect of the present disclosure, a docking device of a mobile device is further provided, and the device comprises:

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

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

[0028] an information obtaining module configured 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 a position before completing docking;

[0029] a mobile control module configured to determine a docking track in the docking path matched with the first position when the position information indicates that the first position is 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 further provided, comprising a processor and a memory connected to the processor, the memory is configured to store a computer program, and the processor is configured to execute the computer program to implement the method according to the first aspect of the present disclosure.

[0031] According to a fourth aspect of the present disclosure, an electric seat is further provided, comprising an electric seat body, and the electric seat further comprises the electronic device according to the third aspect.

[0032] According to a fifth aspect of the present disclosure, a vehicle is further provided, comprising the electric seat according to the third aspect or the fourth aspect.

[0033] According to a sixth aspect of the present disclosure, a computer storage medium is further provided, and the computer storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to the first aspect of the present disclosure.

[0034] One beneficial effect of the embodiments of the present disclosure is that the docking method of the mobile device provided by the present application can acquire image data of the first position of the mobile device through the image acquisition device configured by the mobile device, and when the obstacle distance of the obstacle reflected in the image data at the first position is within a first set range, the mobile device is controlled to perform re-mapping 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 according to the position information in the shortest distance, and the mobile device moves to the docking position of the shelf according to the matched docking track, 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, thereby effectively improving 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 drawings. BRIEF DESCRIPTION OF DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of this 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 docking method of a mobile device according to an embodiment;

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

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

[0040] Figure 4 is a block schematic 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. Note that the relative arrangement, numerical expressions, and numerical values of components and steps set forth in these embodiments are not limiting to the scope of the present application unless otherwise specifically stated.

[0042] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting to the scope of the application or its applications or uses.

[0043] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the specification, where appropriate.

[0044] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0045] It should be noted that like reference numerals and letters refer to like items throughout the attached drawings, and once an item is defined in one drawing, it is not necessary to discuss it further in subsequent drawings.

[0046] <Method Embodiment>

[0047] Figure 1 is a flowchart of a docking method of a mobile device according to an embodiment. The docking subject is, for example, a mobile device, such as an Automated Guided Vehicle (AGV).

[0048] As shown in Figure 1 , the docking method of the mobile device according to the embodiment can include the following steps S110 to S140:

[0049] In step S110, image data of the mobile device at a first position is acquired by an image sampling device configured to the mobile device.

[0050] In the present application, the image sampling device is, for example, a radar or a camera, which can collect image data of the environment around the mobile device.

[0051] In the present application, the mobile device can move to the starting point of a docking path according to a planned path, the ending point of the docking path corresponding to the docking position of the shelf, and a distance is set between the starting point of the docking path and the ending point of the docking path, so that after the mobile device reaches the starting point of the docking path in different attitudes, the mobile device can turn while moving to the ending point of the docking path, so that the mobile device faces the docking position of the shelf, thereby realizing accurate docking of the mobile device and the shelf. Wherein, the different attitudes of the mobile device refer to the relative angle between the mobile device and the docking position of the shelf, for example, the facing attitude of the mobile device refers to that the mobile device faces the docking position of the shelf, and the 30° inclined attitude of the mobile device refers to that 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 can be a position where the mobile device cannot continue to move according to the planned path due to factors such as obstacles or shelves in front of the mobile device.

[0053] In step S120, when the obstacle distance formed by the surrounding objects of the mobile device reflected in the image data is within a first set range, the mobile device is controlled to re-map at the first position to obtain a reconstructed image.

[0054] In this application, the first defined range can be obtained based on the minimum pass width of the mobile device, and is not limited here.

[0055] In this application, the objects surrounding the mobile device can be goods, shelves, handling equipment, etc., and are not limited thereto. The obstacle spacing can be a passageway within an object, such as the passageway formed by the support legs and support plates of a shelf, or the spacing between two objects, such as the gap between two different goods.

[0056] In this application, the mobile device can enter a mapping mode, allowing it to move near a first location, such as rotating or moving along an obstacle, and controlling an image acquisition device to obtain sampled images near the first location. The mobile device then constructs a reconstructed image of the first location by determining the environmental point cloud in the sampled images.

[0057] Step S130: Based on the reconstructed image, obtain the position information of the first position and the set docking path.

[0058] In this application, reflective strips can be affixed to the ground or pillars corresponding to the docking path in the warehouse. That is, reflective strips of different shapes or sizes can be affixed to the ground or pillars corresponding to the start and end points of the docking path, so that the image acquisition device of the mobile device can detect the reflective strip at the start of the docking path, so that the mobile device can determine the relative distance between the first position and the reflective strip at the start 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 location information indicates that the first position is in the docking path, determine the docking trajectory in the docking path that matches the first position, and control the mobile device to move according to the docking trajectory.

[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, point A2 is located in area T1, and the end point of the docking path is point P2. 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. The mobile device can control the mobile device to move to point P2 according to trajectory L2.

[0061] In some embodiments, the docking path corresponds to a defined 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 ending point of the docking path, the first endpoint of the docking trajectory is on the first side of the rectangular area, and the second endpoint of the docking trajectory is on the second side of the rectangular area.

[0062] In some examples, as shown in Figure 2 The docking path corresponds to a set rectangular region, which is region T1, the path starting point is point P1, and the path ending point is point P2. In other words, by setting the docking path as a rectangular region, the mobile device at the first position can be moved to the docking position in different postures with a shorter distance, thereby improving the docking accuracy of the mobile device and the shelf while improving the working efficiency of the mobile device.

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

[0064] Step S210: 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; and wherein the lateral direction of the mobile device is perpendicular to the advancing direction of the mobile device.

[0065] In some examples, as shown in Figure 2 The first position corresponds to point A2, the lateral 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 trajectory in the docking path that matches the first position and the inclination angle, and controlling the mobile device to move according to the docking trajectory.

[0067] In some examples, the mobile device pre-sets different inclination angles and different first positions to correspond to different docking trajectories. These docking trajectories can be pre-set or can be trajectories of previous successful docking of the mobile device.

[0068] In some examples, as shown in Figure 2 The first position corresponds to point A2, the inclination angle is angle a2, the matching docking trajectory is trajectory L2, and the mobile device controls the mobile device to move according to trajectory L2.

[0069] In other words, the mobile device moves according to the corresponding docking trajectory matched by the inclination angle and the first position, thereby effectively improving the probability of successful docking of the mobile device and the shelf, and further improving the working efficiency of the mobile device.

[0070] In some embodiments, after the 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 path starting point of the docking path, taking the second position corresponding to the path starting point as a target point, controlling the mobile device to move, and obtaining a target position and a target angle of the mobile device.

[0072] In some examples, as shown inFigure 2 As shown in FIG. 6, the second position corresponds to point P1, the mobile device can move from the first position to the second position, when the mobile device moves towards 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] In step S320, the optimal trajectory in the docking path that matches the target position and the target angle is determined.

[0074] In some examples, as shown in FIG. 6, the target position corresponds to point A1, the target angle is angle a1, the matched optimal trajectory is trajectory L1, and the mobile device is controlled to move according to trajectory L1. Figure 2

[0075] In step S330, the mobile device is controlled 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 the target angle, which further effectively improves the probability of successful docking of the mobile device with the shelf, and thus improves the working efficiency of the mobile device.

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

[0078] In step S410, the third position of the mobile device after a set time length is detected.

[0079] In this application, when the mobile device moves according to the docking trajectory, the mobile device can determine the third position of the mobile device after a set time length through an odometer or an image acquisition device. The set time length can be pre-set, which is not limited herein.

[0080] In step S420, when the distance difference between the third position and the fourth position is less than or equal to a set threshold value, the mobile device is controlled to perform a set docking operation; wherein the fourth position is the expected position of the mobile device moving according to the docking path for a set time length.

[0081] In this 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 length, and thus 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 this application, the set threshold value can be 1 cm or 2 cm, etc., which is not limited herein.

[0083] ​In other words, when the mobile device can move along the docking path completely, the mobile device can dock with the rack to realize the function of carrying the materials on the rack when the mobile device reaches the path end point of the docking path.

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

[0085] In step S510, the first area of the first position in the positioning map is determined.

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

[0087] In this application, the mobile device can determine the first area of the first position of the mobile device in the positioning map through the odometer or the image acquisition device. For example, when the positioning map is a grid map, the first area can be one or more grids corresponding to the first position.

[0088] In step S520, the path start point of the docking path in the second area of the positioning map is determined through the first area and the position information.

[0089] In this application, when the first area where the mobile device is located and the position information of the mobile device and the path start point of the docking path are determined, the mobile device can determine the path start point of the docking path in the second area of the positioning map. For example, when the positioning map is a grid map, the second area can be one or more grids corresponding to the path start point of the docking path.

[0090] In step S530, the positioning map is updated according to the key frame of the reconstructed image.

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

[0092] In other words, by updating the positioning map through the reconstructed image, the situation that the mobile device is blocked by obstacles when moving along the planned path can be effectively reduced, and the working efficiency of the mobile device is further improved.

[0093] <Device Embodiment One>

[0094] Figure 3 is a principle block diagram of a docking device of a mobile device according to an embodiment. As shown in Figure 4 The docking device 300 of the mobile device can include:

[0095] The data obtaining module 310 is configured to obtain image data of the mobile device at the first position by using an image sampling device configured on the mobile device.

[0096] The image reconstructing module 320 is configured to control the mobile device to perform re-mapping at the first position when the distance between the obstacles formed by the surrounding objects of the mobile device reflected in the image data is within a first set range, and obtain a reconstructed image.

[0097] The information obtaining module 330 is configured 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 a position before the mobile device completes docking.

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

[0099] Optionally, the mobile control module 340 is further configured to determine 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, and the lateral direction of the mobile device is perpendicular to a forward direction of the mobile device; determine a docking track in the docking path that matches the first position and the inclination angle, and control the mobile device to move according to the docking track.

[0100] Optionally, the docking device 300 of the mobile device further comprises a track determining module configured to, when the position information indicates that the mobile device has not reached a path starting point of the docking path, take a second position corresponding to the path starting point as a target point, control the mobile device to move, and obtain a target position and a target angle of the mobile device; determine an optimal track in the docking path that matches the target position and the target angle; and control the mobile device to move according to the optimal track.

[0101] Optionally, the docking device 300 of the mobile device further comprises a position detecting module configured to detect a third position of the mobile device after a set time length; and control the mobile device to perform a set docking operation when a distance difference between the third position and a fourth position is less than or equal to a set threshold, wherein the fourth position is an expected position of the mobile device after moving for the set time length according to the docking path.

[0102] Optionally, the docking device 300 of the mobile device further comprises a map updating module configured to determine a first area of the first position in a positioning map; determine a path starting point of the docking path in a second area of the positioning map by using the first area and the position information; and update the positioning map according to key frames of the reconstructed image.

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

[0104] <Equipment Example 2>

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

[0106] like Figure 4 As shown, the electronic device 400 includes a processor 410 and a memory 420, the memory 420 for storing an executable computer program, and the processor 410 for executing methods as described in any of the above method embodiments under the control of the computer program.

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

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

[0109] This invention can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the invention.

[0110] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination of the foregoing. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0111] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0112] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computing / processing device, partly on the user's computing / processing device, as a stand-alone software package, partly on the user's computing / processing device and partly on a remote computing / processing device or entirely on the remote computing / processing device or server. In the latter scenario, the remote computing / processing device can be connected to the user's computing / processing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing / processing device, for example, through the Internet using an Internet Service Provider. In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0113] The computer readable program instructions can also be loaded onto a computing / processing device, other programmable data processing apparatus, or other device to cause a series of operations to be performed on the computing / processing device, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computing / processing device, other programmable apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0114] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include a non-transitory computer readable storage medium that can be a computer- readable storage medium having no data, programs, program modules, e.g., instructions for operation, or digital content stored thereon or therein for a short time or not at all. The computer readable storage medium can also have instructions stored thereon or therein which may

[0115] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0116] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0117] Having described various embodiments of the application, it is to be understood that the above description is meant to be illustrative only and 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 to be used in the description is intended to best explain the principles of the embodiments, the practical application, or technical improvement over the prior art, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the application is defined by the claims appended hereto.

Claims

1. A method of interfacing a mobile device, the method comprising: The method comprises: acquiring image data of the mobile device at a first position through an image sampling device configured by the mobile device; controlling the mobile device to perform re-mapping at the first position to obtain a reconstructed image when an obstacle distance formed by surrounding objects of the mobile device reflected by the image data is within a first set range; obtaining 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 of the mobile device for calibration 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, 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.

2. The method of claim 1, wherein, The determination of the docking track matched with the first position in the docking path and the control of the mobile device to move according to the docking track comprise: 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 an advancing direction of the mobile device; determining a docking track matched with the first position and the inclination angle in the docking path, and controlling the mobile device to move according to the docking track.

3. The method of claim 1, wherein, After the position information of the first position and the set docking path is obtained according to the reconstructed image, the method further comprises: when the position information indicates that the mobile device does not reach a path starting point of the docking path, taking a second position corresponding to the path starting point as a target point, controlling the mobile device to move, and obtaining a target position and a target angle of the mobile device; determining an optimal track matched with the target position and the target angle in the docking path; controlling the mobile device to move according to the optimal track.

4. The method of claim 1, wherein, After the determination of the docking track matched with the first position in the docking path and the control of the mobile device to move according to the docking track, the method further comprises: detecting a third position of the mobile device after a set time length; when a distance difference between the third position and a fourth position is less than or equal to a set threshold, controlling the mobile device to perform a set docking operation; wherein the fourth position is an expected position of the mobile device after moving for the set time length according to the docking path.

5. The method of claim 1, wherein, The mobile device moves through a stored positioning map; after the position information of the first position and the set docking path is obtained according to the reconstructed image, the method further comprises: determining a first area of the first position in the positioning map; determining a path starting point of the docking path in a second area of the positioning map through the first area and the position information; updating the positioning map according to a key frame 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 region, a midpoint of a first side of the rectangular region corresponds to a path starting point of the docking path, a midpoint of a second side of the rectangular region corresponds to a path ending point of the docking path, a first end point of the docking track is on the first side of the rectangular region, and a second end point of the docking track is on the second side of the rectangular region.

7. A docking device for a mobile device, the docking device comprising: The device comprises: a data acquisition module configured to acquire image data of the mobile device at a first position by an image sampling device configured to the mobile device; an image reconstruction module configured to control the mobile device to perform re-mapping at the first position to obtain a reconstructed image when an obstacle distance formed by surrounding objects of the mobile device reflected by the image data is within a first set range; an information obtaining module configured 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 a position before completing docking; a mobile control module configured to determine a docking track matched with the first position in the docking path when the position information indicates that the first position is in the docking path, and control the mobile device to move according to the docking track.

8. An electronic device, comprising: The device comprises a processor connected with a memory, the memory is used to store a computer program, and the processor is used to execute the computer program to realize the method according to any one of claims 1 to 6.

9. A mobile device, comprising: The docking device comprises the mobile device according to claim 7 or the electronic device according to 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 run by a processor to execute the steps of the method according to any one of claims 1 to 6.

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