Mobile carrier and positioning method for mobile carrier

Abstract

The invention discloses a mobile carrier and a positioning method for the mobile carrier. In the positioning method, a difference between a first distance and a second distance is determined. The first distance is a detection result based on the first detection signal, and the second distance is a detection result based on the second detection signal. And determining an advancing route according to the difference between the first distance and the second distance. The moving carrier moves according to the advancing route. Therefore, accurate positioning can be realized.

Description

Technical Field

[0001] The present invention relates to autonomous mobile control, and in particular to a mobile vehicle and a positioning method for the mobile vehicle. Background Art

[0002] Currently, self-driving car systems use three-dimensional (3D) simultaneous localization and mapping (SLAM) or track systems to achieve autonomous movement. Some self-driving car systems also use cameras to identify markers for secondary positioning and docking operations, so as to reach the charging station or other designated locations. However, the images captured by the camera are easily distorted by the ambient light, which can cause positioning or docking failures. Summary of the invention

[0003] The present invention provides a mobile vehicle and a positioning method for the mobile vehicle, which can improve the success rate of positioning.

[0004] The positioning method for a mobile vehicle of an embodiment of the present invention includes (but is not limited to) the following steps: determining a difference between a first distance and a second distance. The first distance is based on a detection result of a first detection signal, and the second distance is based on a detection result of a second detection signal. Determining a travel route based on the difference between the first distance and the second distance. The mobile vehicle moves according to the travel route.

[0005] The mobile vehicle of the embodiment of the present invention includes a mobile mechanism, a distance detector, a memory and a processor. The distance detector sends a first detection signal and a second detection signal. The first detection signal and the second detection signal are sent along different transmission paths. The memory stores program code. The processor is coupled to the mobile mechanism, the distance detector and the memory. The processor loads the program code to execute: determine the difference between the first distance and the second distance, and determine the route of travel based on the difference between the first distance and the second distance. The first distance is based on the detection result of the first detection signal, and the second distance is based on the detection result of the second detection signal. The mobile mechanism moves according to the route of travel.

[0006] Based on the above, the mobile vehicle and the positioning method for the mobile vehicle of the embodiment of the present invention can send out two detection signals, and determine the route of the mobile mechanism according to the difference between the distances detected by the two detection signals. In this way, the light source can be prevented from affecting the detection result, and the accuracy of positioning and docking can be improved.

[0007] In order to make the above features and advantages of the present invention more clearly understood, embodiments are given below with reference to the accompanying drawings for detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a block diagram of components of a mobile vehicle according to an embodiment of the present invention;

[0009] Figure 2A and Figure 2B is a schematic diagram of a distance measurement operation according to an embodiment of the present invention;

[0010] Figure 3 is a flow chart of a positioning method according to an embodiment of the present invention;

[0011] Figure 4 is a schematic diagram of distance comparison according to an embodiment of the present invention;

[0012] Figure 5A and Figure 5B is a schematic diagram illustrating comparison and movement routes according to an embodiment of the present invention;

[0013] Figure 6 is a flow chart of identifying auxiliary objects according to an embodiment of the present invention;

[0014] Fig. 7A is a schematic diagram illustrating endpoint distances according to an embodiment of the present invention;

[0015] Figure 7B is a schematic diagram illustrating the selection of a turning point according to an embodiment of the present invention;

[0016] Figure 7C is a schematic diagram illustrating determination of auxiliary pointing lines according to an embodiment of the present invention;

[0017] Fig.7D is a schematic diagram illustrating determination of an angle between two auxiliary pointing lines according to an embodiment of the present invention;

[0018] Fig. 7E is a schematic diagram illustrating determination of auxiliary representative lines according to an embodiment of the present invention;

[0019] Figure 8 is a flow chart of a docking operation according to an embodiment of the present invention;

[0020] Fig. 9 is a schematic diagram illustrating an alignment auxiliary representative line according to an embodiment of the present invention;

[0021] Fig. 10A is a schematic diagram illustrating setting a task trigger distance according to an embodiment of the present invention;

[0022] Fig. 10B is a schematic diagram illustrating a charging stand and an auxiliary object according to an embodiment of the present invention;

[0023] Fig. 10C is a schematic diagram of a mobile vehicle according to an embodiment of the present invention;

[0024] Fig. 10DFIG. 4 is a schematic diagram illustrating setting a task trigger distance according to another embodiment of the present invention.

[0025] Explanation of symbols

[0026] 10: Mobile Vehicle

[0027] 11: Mobile mechanism

[0028] 12: Distance detector

[0029] 13: Memory

[0030] 14: Processor

[0031] DS: Detection Signal

[0032] DR: Detection Range

[0033] O: Object

[0034] DL: Detection point

[0035] S310~S320, S601~S611, S801~S814: Steps

[0036] DS1: First detection signal

[0037] DS2: Second detection signal

[0038] θ1, θ2: Angle

[0039] D1: First distance

[0040] D2: Second distance

[0041] AO: Auxiliary Objects

[0042] t1~t3: time point

[0043] D3: The third distance

[0044] CP: Turning Point

[0045] OP1, OP2: Outermost points

[0046] OPL:Connect

[0047] d2, d3, d7, d8: distance

[0048] AL1, AL2: Auxiliary pointing lines

[0049] V1, V2: vector

[0050] θ: Angle

[0051] RL: auxiliary representative line

[0052] JL: Spacing

[0053] R: Shelves

[0054] CB: Charging cradle

[0055] P1: Connector

[0056] P2: Pole

[0057] 15: Display

[0058] DT1, DT2: Trigger distance DETAILED DESCRIPTION

[0059] Figure 1 is a block diagram of components of a mobile vehicle 10 according to an embodiment of the present invention. Figure 1 The mobile vehicle 10 includes (but is not limited to) a moving mechanism 11, a distance detector 12, a memory 13, and a processor 14. The mobile vehicle 10 may be an automated guided vehicle (AGV), an autonomous mobile robot (AMR), an unmanned / computer-driven vehicle, a sweeping robot, or other movable devices.

[0060] The moving mechanism 11 may include a power unit (eg, a motor or an engine), a transmission system (eg, a transmission shaft or a transmission shaft), and driving wheels (eg, wheels or tracks).

[0061] The wheel can be a general round wheel, a universal wheel, or any other form of wheel. The crawler track can also be any form of crawler track. In some embodiments, the mobile mechanism 11 can also be a combination of wheels and crawler tracks. The function of the mobile mechanism 11 is to achieve the purpose of changing position or moving under the drive of a power unit (e.g., a motor or an engine) that controls the movement of the wheel or crawler track.

[0062] The distance detector 12 may be a LiDAR, a radar, a Time of Flight (ToF) sensor, or other sensors for distance measurement. In one embodiment, the distance detector 12 sends out one or more detection signals. Depending on different distance measurement technologies, the detection signal may be a radio signal, an optical signal, or an infrared light signal. In one embodiment, the detection result of the detection signal may be used to calculate the distance of an (external) object or environment. For example, the detection signal is emitted from the distance detector 12 and then reflected by an object, and the distance detector 12 or the processor 14 may estimate the distance based on the time interval between the arrival time of the reflected echo signal and the emission time of the detection signal. However, the estimation of the distance is not limited thereto.

[0063] In one embodiment, a plurality of detection signals are sent along different transmission paths. Figure 2A and Figure 2Bis a schematic diagram of a distance measurement operation according to an embodiment of the present invention. Figure 2A , the distance detector 12 can send out a plurality of detection signals DS at different angles. That is, the transmission paths of these detection signals DS are radial. Within the detection range DR of the detection signal DS (for example, 1 meter, 1.5 meters or 2 meters, but it may be different due to the capability of the distance detector 12), if the detection signal DS reaches the object O, a (hypothetical) detection point DL is formed and reflected by the object O to form an echo signal (that is, the detection signal DS reflected by the object O). Each detection point DL corresponds to a position where a detection signal DS is projected onto the object O.

[0064] In another embodiment, the distance detector 12 sends out a plurality of detection signals DS in a matrix form, that is, the transmission paths of the detection signals DS are parallel to each other, but the transmission paths may not overlap.

[0065] The memory 13 may be any type of fixed or removable random access memory (RAM), read only memory (ROM), flash memory, hard disk drive (HDD), solid-state drive (SSD) or similar element. In one embodiment, the memory 13 is used to store program code, software modules, configurations, data or files (e.g., depth values, height values, or operation values), and will be described in detail in subsequent embodiments.

[0066] The processor 14 is coupled to the mobile mechanism 11, the distance detector 12 and the memory 13. The processor 14 can be a central processing unit (CPU), a graphics processing unit (GPU), or other programmable general-purpose or special-purpose microprocessors (Microprocessors), digital signal processors (Digital Signal Processors, DSPs), programmable controllers, field programmable gate arrays (Field Programmable Gate Array, FPGAs), application-specific integrated circuits (Application-Specific Integrated Circuit, ASICs), neural network accelerators or other similar components or combinations of the above components. In one embodiment, the processor 14 is used to execute all or part of the operations of the mobile vehicle 10, and can load and execute various program codes, software modules, files and data stored in the memory 13.

[0067] Hereinafter, the method described in the embodiment of the present invention will be described in conjunction with various mechanisms, components and modules in the mobile vehicle 10. Each process of the method can be adjusted according to the implementation situation, and is not limited thereto.

[0068] Figure 3 is a flow chart of a positioning method according to an embodiment of the present invention. Figure 3 , the processor 14 determines the difference between the first distance and the second distance (step S310). Figure 4 is a schematic diagram of distance comparison according to an embodiment of the present invention. Figure 4 , the first detection signal DS1 and the second detection signal DS2 are sent along different transmission paths. Figure 4 Take the radial emission of detection signals as an example. The first detection signal DS1 and the second detection signal DS2 are emitted at different angles. Taking the perpendicular midline of the body of the mobile vehicle 10 (as shown by the dotted line in the figure) as a reference, the distance detector 12 emits the first detection signal DS1 (biased to the left of the figure) toward the angle θ1, and emits the second detection signal DS2 (biased to the right of the figure) toward the angle θ2. Angle θ1 may be equal to angle θ2, for example, 5 degrees, 8 degrees or 10 degrees, but is not limited to this. The first distance D1 is based on the detection result of the first detection signal DS1, and the second distance D2 is based on the detection result of the second detection signal DS2. The detection result is, for example, the round-trip time of the detection signal. The difference between the first distance D1 and the second distance D2 can be obtained by calculating the difference between the first distance D1 and the second distance D2.

[0069] Please refer to Figure 3 The processor 14 determines a travel route according to the difference between the first distance and the second distance (step S320). Specifically, the travel route is used to instruct the movement of the mobile mechanism 11 of the mobile vehicle 10. For example, the processor 14 can generate a control instruction according to the determined travel path, so that the mobile mechanism 11 can move forward, backward, rotate, accelerate, decelerate and / or stop according to the control instruction.

[0070] It is worth noting that the embodiment of the present invention uses external auxiliary objects to guide the direction and target position. Figure 4 As shown, in a top view, the auxiliary object AO is in an inverted V shape. This inverted V shape is formed, for example, by two upright rectangular plates (forming two line segments in a top view), and one side of the two rectangular plates is connected to each other (forming a turning point in a top view). The material of the auxiliary object AO can be selected to be suitable for detecting the normal reflection of the signal. For example, plastic or metal, but not limited to this. The V-shaped notch can be used to indicate the direction and target position. It should be noted that in other embodiments, the shape of the auxiliary object AO in a top view may also be a symmetrical W, a trapezoid, or other symmetrical shapes formed by connecting multiple straight lines.

[0071] In one embodiment, the auxiliary object AO is a symmetrical shape. Figure 4 As shown, if there is no difference between the first distance D1 and the second distance D2, it means that the distance detector 12 is facing the center position of the auxiliary object AO (for example, the intersection of the endpoints of the two line segments in a top view, i.e., the turning point). On the contrary, if there is a difference between the first distance D1 and the second distance D2, it means that the distance detector 12 is not facing the center position of the auxiliary object AO, and the direction of the mobile vehicle 10 may need to be further changed. That is, turn / rotate.

[0072] In one embodiment, the processor 14 may define a difference tolerance value in consideration of the error of the distance detector 12. For example, 1, 3 or 5 centimeters. In response to the difference between the first distance D1 and the second distance D2 not being less than the difference tolerance value, the processor 14 may determine that the route includes a turning route. The turning route may be a rotation in place or a combination of rotation and forward / backward movement. In other words, the processor 14 may generate a control instruction based on the turning route, and the mobile mechanism 11 may rotate in place or rotate and move according to the control instruction. On the other hand, in response to the difference between the first distance D1 and the second distance D2 being less than the difference tolerance value, the processor 14 may determine that the route does not include a turning route or prohibits the generation of a turning route. At this time, the route may be to stop or to go straight forward / backward.

[0073] For example, Figure 5A and Figure 5B is a schematic diagram illustrating comparison and movement routes according to an embodiment of the present invention. Figure 5A , at time point t1, the first distance D1 is greater than the second distance D2. The processor 14 determines that the turning route j1 includes rotating clockwise or to the right by a specific angle (for example, 3 or 5 degrees) and moving forward, and arrives at the position shown at time point t2. In the figure, since the first detection signal corresponding to the first distance D1 is located below the second detection signal corresponding to the second distance D2, rotating clockwise or to the right helps to reduce the difference between the first distance D1 and the second distance D2. Similarly, if the first distance D1 is less than the second distance D2, the turning route may include rotating counterclockwise or to the left by a specific angle (for example, 3 or 5 degrees) and moving forward. At time point t2, the first distance D1 is still greater than the second distance D2. The processor 14 determines that the turning route j2 includes rotating clockwise or to the right by a specific angle and moving forward, and arrives at the position shown at time point t3. At time point t3, the first distance D1 is equal to the second distance D2. The processor 14 determines that the moving mechanism 11 can stop. Please refer to Figure 5B , Figure 5B For moving the vehicle 10 Figure 5A The continuous change of the position at three time points t1~t3.

[0074] It is worth noting that although the auxiliary object AO is composed of multiple straight line segments (for example, Figure 5A However, in some application scenarios, the distance detector 12 and the auxiliary object AO are too close to each other and the section near the turning point CP of the straight line segment (i.e., the intersection of the endpoints of the two straight line segments) may be misjudged as an arc. In this case, based on the symmetry of the shape of the auxiliary object AO in a top view, the direction of the mobile vehicle 10 relative to the auxiliary object AO can be determined according to the difference between the two distances detected by the two detection signals.

[0075] The aforementioned positioning method can be applied to a task of the mobile vehicle 10. One of the purposes of this task is to move the mobile vehicle 10 to the front of the auxiliary object AO, such as a charging task, a transport task or a reconnaissance task, but not limited thereto.

[0076] In one embodiment, the processor 14 can identify the auxiliary object according to a plurality of third detection signals, and these third detection signals are sent along different transmission paths. Figure 2A As shown, a plurality of detection signals DS (ie, third detection signals) are projected onto the object O, and the positions of the detection points DL or the distances between the detection points DL and the mobile vehicle 10 can be used to determine whether the object O is an auxiliary object.

[0077] Figure 6 is a flow chart of identifying auxiliary objects according to an embodiment of the present invention. Figure 6 The processor 14 obtains the detection data of the distance detector 12 and filters the detection data (step S601). The detection data includes a plurality of third detection signals (such as Figure 2A The initial detection point (such as Figure 2A The processor 14 may store the initial detection points within a set distance in the detection data. The set distance may be, for example, 2 meters, 3 meters, or other values, and may be changed according to the mission characteristics or the capability of the distance detector 12. The processor 14 may ignore or delete the initial detection points and their distance / depth outside the set distance in the detection data.

[0078] The processor 14 may determine whether the number of initial detection points retained in step S601 reaches a threshold value (step S602 ). The threshold value may be 30, 40 or 50, for example, and may vary depending on the task characteristics or the capability of the distance detector 12 .

[0079] In response to the number of retained initial detection points not reaching the number threshold, the task ends or returns to step S601. In response to the number of retained initial detection points reaching or exceeding the number threshold, the processor 14 may group the multiple initial detection points (step S603). Initial detection points with similar distances form a group. The detection points used for subsequent identification (i.e., part or all of the initial detection points) belong to the same group, and the distance between any detection point in the same group and other detection points in other groups is greater than a reference distance. For example, the processor 14 may define a reference distance (e.g., 1, 5, or 10 mm) based on the size of the auxiliary object (e.g., the maximum length when viewed from above), and the distance between any two detection points in the same group is less than the reference distance. If the distance between a detection point and another detection point is greater than the reference distance, the two detection points belong to different groups. In some embodiments, the processor 14 may group the initial detection points by using a clustering algorithm such as K-means, K-Nearest-Neighbors (KNN), hierarchical clustering or other clustering algorithms. The detection points in a group may be considered to have detected an object, such as an auxiliary object, an obstacle or a wall.

[0080] In one embodiment, the processor 14 may determine a scanning shape based on the plurality of detection points corresponding to the third detection signals, and identify the auxiliary object based on the comparison result of the scanning shape and the auxiliary object. A plurality of detection points in a group corresponds to an object. By comparing the shape formed by connecting the detection points (i.e., the scanning shape) with the shape of the auxiliary object, it can be determined whether the object corresponding to the group is an auxiliary object. The scanning shape may be defined by the distance of the detection points, the angle of the connecting lines, or other geometric characteristics. The comparison result may be whether the distance, angle, or number matches the shape of the auxiliary object.

[0081] The processor 14 may determine whether the distance between two outermost points in a group satisfies a distance threshold (step S604 ). Fig. 7A is a schematic diagram illustrating the endpoint distance according to an embodiment of the present invention. Fig. 7A, the two outermost points OP1 and OP2 are the two detection points DL that are farthest apart in a group. The outermost points OP1 and OP2 are respectively located at the left and right ends of the auxiliary object AO. That is, the detection points DL located at the outermost sides. The processor 14 can define a distance threshold value according to the size of the auxiliary object AO (for example, the maximum length when viewed from above), and the third distance D3 between the two outermost points OP1 and OP2 in the scan shape is equal to the distance threshold value or the difference with the distance threshold value is within the allowable range. That is, the auxiliary object AO is detected based on these detection points DL. For example, the actual distance between the two outermost points of the auxiliary object AO when viewed from above is 10 centimeters, and the distance threshold value is 8.5 to 15 centimeters. If the third distance D3 is not equal to the distance threshold value or the difference with the distance threshold value is not within the allowable range, the multiple detection points in this group do not correspond to the auxiliary object AO (that is, other objects).

[0082] In response to the third distance D3 not meeting the distance threshold, the task ends or returns to step S601. In response to the third distance D3 meeting the distance threshold, the processor 14 may identify turning points of the detection points in the group (step S605). Figure 7B is a schematic diagram illustrating the selection of a turning point according to an embodiment of the present invention. Figure 7B The processor 14 may use the one of the plurality of detection points DL that is farthest from a line OPL between two outermost points OP1 and OP2 of the detection points DL as the turning point CP. For example, the processor 14 calculates the straight-line distance or the shortest distance from each detection point DL to the line OPL.

[0083] In one embodiment, if Figure 7B As shown, the processor 14 regards the largest straight-line distance from each detection point DL to the connection line OPL as the turning point CP. Since the distance d7 from the detection point CP to the connection line OPL is greater than the distances from other detection points DL to OPL (e.g., distances d2, d3, or d8), the processor 14 regards the detection point CP as the turning point. The processor 14 can split the line into two segments based on the turning point CP. Figure 7B Those detection points DL on the left side of the turning point CP form a line segment, and those detection points DL on the right side of the turning point CP form another line segment.

[0084] Please refer to Figure 6 The processor 14 may determine two auxiliary direction lines according to the determined turning point (step S606). Figure 7C is a schematic diagram illustrating the determination of auxiliary directional lines AL1 and AL2 according to an embodiment of the present invention. Figure 7C, the auxiliary pointing lines AL1 and AL2 are imaginary lines extending from the turning point CP along the detection points DL on both sides of the turning point CP. Due to the symmetry of the auxiliary object AO in a top view, the two auxiliary pointing lines AL1 and AL2 correspond to the following respectively: Figure 7B The line segments formed by the detection points DL on the left side of the turning point CP and Figure 7B In one embodiment, the processor 14 can determine that the line connecting the plurality of detection points DL is one of the two auxiliary pointing lines AL1 and AL2 by linear regression. Thus, the two auxiliary pointing lines AL1 and AL2 in the scanning shape corresponding to the detection point CL can be identified.

[0085] Therefore, the processor 14 can identify the turning point CP between the two auxiliary directional lines AL1 and AL2 according to the positions of the plurality of detection points DL, as described in step S605. In addition, the turning point CP is located at the intersection of the endpoints of the two auxiliary directional lines AL1 and AL2.

[0086] Please refer to Figure 6 , the processor 14 may determine the angle between the two auxiliary pointing lines AL1 and AL2 (step S607 ). Fig.7D is a schematic diagram illustrating how to determine the angle θ between two auxiliary pointing lines AL1 and AL2 according to an embodiment of the present invention. Fig.7D , Figure 7C The two auxiliary pointing lines AL1 and AL2 correspond to vectors V1 and V2, respectively. For example, the processor 14 can generate vectors V1 and V2 according to the two end points of any set of detection points DL on the left and right sides of the turning point CP. The processor 14 can determine the angle θ between the two vectors V1 and V2 through a cross product, for example, and use it as the angle θ between the two auxiliary pointing lines AL1 and AL2.

[0087] Please refer to Figure 6 , the processor 14 determines whether the scan shape corresponding to the detection point meets the geometric conditions of the shape of the auxiliary object (step S608). In one embodiment, the processor 14 can identify two auxiliary pointing lines in the scan shape (as described in step S606). The processor 14 determines whether the number of auxiliary pointing lines in this group meets the number of line segments in the shape of the auxiliary object (i.e., the comparison result of the scan shape and the auxiliary object). Figure 7C For example, check whether there are two auxiliary pointing lines. That is, the number of those line segments in the shape of the auxiliary object is two.

[0088] In one embodiment, the processor 14 may compare the lengths of the two auxiliary pointing lines in the scanned shape with the lengths of the two line segments in the shape of the auxiliary object. The processor 14 may determine whether the lengths of the two auxiliary pointing lines are equal to the lengths of the two line segments in the shape of the auxiliary object (i.e., the comparison result of the scanned shape and the auxiliary object).

[0089] In one embodiment, the processor 14 may compare the angle between the two auxiliary pointing lines in the scanned shape with the angle between the two line segments in the shape of the auxiliary object. The processor 14 may determine whether the angle between the two auxiliary pointing lines is equal to the angle between the two line segments in the shape of the auxiliary object (i.e., the comparison result of the scanned shape and the auxiliary object).

[0090] Please refer to Figure 6 , the processor 14 may determine whether the conditional score meets the target score (step S609). If the comparison result of the above-mentioned number of line segments, the length of the line segments and the angle is consistent with the shape of the auxiliary object, the target score is increased by one point. The processor 14 may define the target score as 3 points. That is, the auxiliary object can only be determined to be recognized if the comparison results of the above-mentioned number, length and angle are all consistent with the shape of the auxiliary object.

[0091] It should be noted that the identification of the aforementioned auxiliary objects is based on Fig. 7A The inverted V-shaped auxiliary object AO is shown as an example. However, the shape recognition of other auxiliary objects with different shapes in a top view can still be changed according to actual needs. For example, the inverted W shape includes four line segments.

[0092] Please refer to Figure 6 , the processor 14 may determine the auxiliary representative line according to the shape of the auxiliary object (step S610). Fig. 7E is a schematic diagram illustrating how to determine the auxiliary representative line RL according to an embodiment of the present invention. Fig. 7E , the processor 14 may determine that the auxiliary representative line RL extends from the turning point CP in the shape of the auxiliary object AO. The shape of the auxiliary object AO includes two line segments (i.e., corresponding to the auxiliary directional lines AL1 and AL2), the turning point CP is located at the intersection of the endpoints of the two line segments, and the auxiliary representative line RL is the symmetry axis of the shape of the auxiliary object. For example, the processor 14 determines the angle of the gap in the shape of the auxiliary object AO in a top view based on the angle determined in step S607, and corresponds the direction of the half of the angle of the gap to the direction of the auxiliary representative line RL, thereby defining the auxiliary representative line RL. The auxiliary directional lines AL1 and AL2 are symmetrical on the left and right based on the auxiliary representative line RL.

[0093] Please refer to Figure 6If multiple auxiliary objects can be identified in a detection data, the processor 14 can further select the auxiliary representative line (step S611 ). For example, the processor 14 selects the auxiliary representative line corresponding to the auxiliary object closest to the mobile vehicle 10 .

[0094] Figure 8 is a flowchart of a docking operation according to an embodiment of the present invention. Figure 8 The processor 14 determines whether an auxiliary object is recognized (step S801). Figures 6 to 7E The description is not repeated here. In response to the auxiliary object not being recognized, the processor 14 may control the mobile mechanism 11 to rotate to the left (step S802). Then, the processor 14 determines whether the auxiliary object is recognized in the direction during or after the rotation (step S803). In response to the auxiliary object not being recognized, the processor 14 may control the mobile mechanism 11 to rotate to the right (step S804). Then, the processor 14 determines whether the auxiliary object is recognized in the direction during or after the rotation (step S805). In response to the auxiliary object not being recognized, the processor 14 may end the task and report the task failure (step S814). For example, a warning message is provided through a display, a speaker, or a communication transceiver. It should be noted that the aforementioned step S801 to step S805 of searching for objects by turning right first and then turning left is only for example description, and the embodiment of the present invention does not limit the process of moving / turning of the mobile mechanism 11 in the searching object method.

[0095] In response to identifying the auxiliary object, the processor 14 may determine the auxiliary representative line (step S806). The determination of the auxiliary representative line may refer to steps S610 and Fig. 7E The description will not be repeated here.

[0096] Next, the processor 14 may determine a travel route according to the distance between the representative position of the mobile vehicle 10 and the auxiliary representative line. Fig. 9 is a schematic diagram illustrating alignment auxiliary representative lines according to an embodiment of the present invention. Fig. 9 , the representative position RP of the mobile vehicle 10 can be the center point of the mobile vehicle 10 (but it can also be the center of gravity or any position on its body). This auxiliary representative line RL is used to indicate the docking direction. That is, the indicator line that indicates the direction of the mobile vehicle 10 is aligned. In addition, the route at this time is further used to reduce the spacing JL. The smaller the spacing JL, the closer the representative position of the mobile vehicle 10 is to the auxiliary representative line. The larger the spacing JL, the farther the representative position of the mobile vehicle 10 is from the auxiliary representative line.

[0097] Specifically, the processor 14 can determine whether the distance between the representative position of the mobile vehicle 10 and the auxiliary representative line is within the tolerance error (step S807). The processor 14 can define this tolerance error based on the capability or error of the distance detector 12. For example, if the distance between the mobile vehicle 10 and the turning point of the auxiliary object AO is 80 cm, the tolerance error is 5 cm. In response to the fact that the distance between the representative position of the mobile vehicle 10 and the auxiliary representative line is not within the tolerance error, the processor 14 can determine the route to be a route toward the auxiliary representative line so that the distance between the representative position of the mobile vehicle 10 and the auxiliary representative line is within the tolerance error (step S808). The route may include turning, moving forward, moving backward, or a combination thereof.

[0098] In response to the fact that the distance between the representative position of the mobile carrier 10 and the auxiliary representative line is within the tolerance error, the processor 14 can continue to track the auxiliary object and control the mobile mechanism 11 to approach the auxiliary object (step S809). For example, go straight, but not limited to this. It should be noted that step S809 can confirm that the first positioning is completed (that is, the distance between the representative position and the auxiliary representative line is within the allowable error). However, the current position of the mobile carrier 10 may not yet meet the docking requirements. The docking requirement can be that the distance with the auxiliary object reaches the docking distance. The processor 14 can determine whether the mobile carrier 10 has reached the docking distance (step S810). That is, determine whether the distance between the mobile carrier 10 and the auxiliary object is equal to or less than the docking distance. The processor 14 can define this docking distance based on the shape and / or size of the auxiliary object. For example, the docking distance is 25, 35 or 50 centimeters.

[0099] In response to the mobile vehicle 10 reaching the docking distance, the processor 14 may perform docking correction (step S811). Figures 3 to 5B The description of the above is omitted here. That is, the orientation of the mobile carrier 10 is corrected based on the distance reflected by the two detection signals, so that the orientation of the mobile carrier 10 is aligned with the turning point of the two line segments of the auxiliary representative line or the auxiliary object in a top view. In response to the mobile carrier 10 not reaching the docking distance, the processor 14 can continue to track the auxiliary object (return to step S819). The secondary positioning can be achieved through repeated tracking and distance confirmation from step S809 to step S811, and the docking requirements are met accordingly.

[0100] If there is movement during the docking correction process, the processor 14 can continuously determine whether the mobile carrier 10 has reached another docking distance (step S812). This other docking distance is shorter than the docking distance used in step S810. For example, 6, 8 or 10 centimeters. The docking operation can be completed by aligning the direction of the mobile carrier 10 with the turning point of the two line segments in a top view of the auxiliary representative line or the auxiliary object and reaching this other docking distance. In addition, the processor 14 can report the completion of the task. For example, a prompt message is provided through a display, a speaker or a communication transceiver.

[0101] In one embodiment, the processor 14 may set the task trigger distance according to an application scenario. The influencing factors in the application scenario may be the size of the mobile vehicle 10, the size of the external object and / or the surrounding environment.

[0102] For example, Fig. 10A A schematic diagram of setting a task trigger distance DT1 according to an embodiment of the present invention is shown. Fig. 10A , assuming that the auxiliary object AO is located under the shelf R. The bottom area of ​​the shelf R is 100 cm×100 cm. The trigger distance DT1 may be a specific distance from the shelf R, for example, 10, 20 or 25 cm, but not limited thereto.

[0103] In some application scenarios, Fig. 10B is a schematic diagram illustrating a charging base CB and an auxiliary object AO according to an embodiment of the present invention. Fig. 10B The charging base CB is provided with an auxiliary object AO and a connector P1. The body of the charging base CB is recessed to form a V-shaped auxiliary object AO. Fig. 10C is a schematic diagram of a mobile vehicle 10 according to an embodiment of the present invention. Fig. 10B and Fig. 10C The mobile vehicle 10 is provided with a pole piece P2 for connection with the connector P1. When performing a charging task, the mobile vehicle 10 can identify the auxiliary object AO to dock with the charging base CB. After docking, the pole piece P2 contacts the connector P1. The charging base CB can charge the mobile vehicle 10.

[0104] In some embodiments, the mobile vehicle 10 further includes a display 15 (e.g., LCD, LED display, or OLED display). Depending on different application scenarios (e.g., food delivery, disinfection, reception, or advertising), the display 15 can display table numbers, delivery content, advertising videos, guide information, or other visual content.

[0105] For example, Fig. 10D is a schematic diagram illustrating setting a task trigger distance DT2 according to another embodiment of the present invention. Fig. 10D , the width of the auxiliary object AO is 50 cm. The trigger distance DT2 of the task may be a specific distance from the auxiliary object AO, for example, 10, 20 or 25 cm, but not limited thereto.

[0106] In summary, in the mobile carrier and the docking method for the mobile carrier of the embodiment of the present invention, the direction and distance are confirmed by the geometric features scanned by the distance detector, and the movement and / or rotation of the mobile mechanism are controlled accordingly, so that accurate positioning and docking can be achieved.

[0107] Although the present invention is disclosed in conjunction with the above embodiments, they are not intended to limit the present invention. Any ordinary technician in the technical field may make slight changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the definition of the attached claims.

Claims

1. A positioning method, applicable to a mobile vehicle, comprising: determining a difference between a first distance and a second distance, wherein the first distance is based on a detection result of the first detection signal and the second distance is based on a detection result of the second detection signal; and A travel route is determined according to the difference between the first distance and the second distance, wherein the mobile vehicle moves according to the travel route.

2. The positioning method as claimed in claim 1, wherein the step of determining the travel route according to the difference between the first distance and the second distance comprises: In response to the difference not being less than the difference tolerance value, determining that the travel route includes a turning route; as well as In response to the difference being less than the difference tolerance value, it is determined that the travel route does not include the turning route.

3. The positioning method according to claim 1, further comprising: The travel route is determined according to the distance between the representative position of the mobile vehicle and the auxiliary representative line, wherein the auxiliary representative line is used to indicate the docking direction, and the travel route is further used to reduce the distance.

4. The positioning method according to claim 3, further comprising: identifying the auxiliary object according to a plurality of third detection signals, wherein the third detection signals are emitted along different transmission paths; as well as The auxiliary representative line is determined according to the shape of the auxiliary object.

5. The positioning method as claimed in claim 4, wherein the step of identifying the auxiliary object according to the third detection signals comprises: determining a scanning shape according to a plurality of detection points corresponding to the third detection signals, wherein the detection points correspond to positions where the third detection signals are projected onto the auxiliary object; and The auxiliary object is identified according to a comparison result between the scanned shape and the auxiliary object.

6. The positioning method as claimed in claim 5, wherein the step of identifying the auxiliary object according to the comparison result between the scanned shape and the auxiliary object comprises: identifying two auxiliary pointing lines in the scan shape; comparing the lengths of the two auxiliary pointing lines in the scanning shape with the lengths of two line segments in the shape of the auxiliary object; and The angle between the two auxiliary pointing lines in the scanning shape and the angle between the two line segments in the shape of the auxiliary object are compared.

7. The positioning method of claim 6, wherein identifying the two auxiliary pointing lines in the scanning shape comprises: identifying a turning point between the two auxiliary pointing lines according to the positions of the detection points, wherein the turning point is located at the intersection of the endpoints of the two auxiliary pointing lines; and The two auxiliary directional lines are determined according to the turning point.

8. The positioning method as claimed in claim 7, wherein the step of identifying the turning point comprises: The one of the detection points that is farthest from the line connecting the two outermost points of the detection points is taken as the turning point.

9. The positioning method according to claim 5, further comprising: A plurality of initial detection points are grouped, wherein the initial detection points correspond to positions where the third detection signals are projected onto the auxiliary object, the detection points belong to the same group, and a distance between any detection point in the same group and other detection points in other groups is greater than a reference distance.

10. The positioning method as claimed in claim 4, wherein the step of determining the auxiliary representative line according to the shape of the auxiliary object comprises: The auxiliary representative line is determined to extend from a turning point in the shape of the auxiliary object, wherein the shape includes two line segments, the turning point is located at the intersection of the endpoints of the two line segments, and the auxiliary representative line is a symmetry axis of the shape of the auxiliary object.

11. A mobile vehicle, comprising: Mobile mechanism; A distance detector sends a first detection signal and a second detection signal; Memory, storing program codes; as well as A processor is coupled to the moving mechanism, the distance detector and the memory, and is loaded with the program code to execute: determining a difference between a first distance and a second distance, wherein the first distance is based on a detection result of the first detection signal and the second distance is based on a detection result of the second detection signal; and A travel route is determined according to the difference between the first distance and the second distance, wherein the moving mechanism moves according to the travel route.

12. The mobile vehicle of claim 11, wherein the processor further executes: In response to the difference not being less than the difference tolerance value, determining that the travel route includes a turning route; and In response to the difference being less than the difference tolerance value, it is determined that the travel route does not include the turning route.

13. The mobile vehicle of claim 11, wherein the processor further executes: The travel route is determined according to the distance between the representative position of the mobile vehicle and the auxiliary representative line, wherein the auxiliary representative line is used to indicate the docking direction, and the travel route is further used to reduce the distance.

14. The mobile vehicle of claim 13, wherein the processor further executes: identifying the auxiliary object according to a plurality of third detection signals, wherein the third detection signals are emitted along different transmission paths; and The auxiliary representative line is determined according to the shape of the auxiliary object.

15. The mobile vehicle of claim 14, wherein the processor further executes: determining a scanning shape according to a plurality of detection points corresponding to the third detection signals, wherein the detection points correspond to positions where the third detection signals are projected onto the auxiliary object; and The auxiliary object is identified according to a comparison result between the scanned shape and the auxiliary object.

16. The mobile vehicle of claim 15, wherein the processor further executes: identifying two auxiliary pointing lines in the scan shape; comparing the lengths of the two auxiliary pointing lines in the scanning shape with the lengths of two line segments in the shape of the auxiliary object; and The angle between the two auxiliary pointing lines in the scanning shape and the angle between the two line segments in the shape of the auxiliary object are compared.

17. The mobile vehicle of claim 16, wherein the processor further executes: identifying a turning point between the two auxiliary pointing lines according to the positions of the detection points, wherein the turning point is located at the intersection of the endpoints of the two auxiliary pointing lines; and The two auxiliary directional lines are determined according to the turning point.

18. The mobile vehicle of claim 17, wherein the processor further executes: The one of the detection points that is farthest from the line connecting the two outermost points of the detection points is taken as the turning point.

19. The mobile vehicle of claim 15, wherein the processor further executes: A plurality of initial detection points are grouped, wherein the initial detection points correspond to positions where the third detection signals are projected onto the auxiliary object, the detection points belong to the same group, and a distance between any detection point in the same group and other detection points in other groups is greater than a reference distance.

20. The mobile vehicle of claim 14, wherein the processor further executes: The auxiliary representative line is determined to extend from a turning point in the shape of the auxiliary object, wherein the shape includes two line segments, the turning point is located at the intersection of the endpoints of the two line segments, and the auxiliary representative line is a symmetry axis of the shape of the auxiliary object.

Images