Online method, device and equipment and mobile robot

Abstract

The invention provides an online method, device and equipment and a mobile robot, and relates to the technical field of mobile robotics.The method comprises the steps that mobile exploration is carried out based on an exploration route, and code band recognition is carried out in the mobile exploration process; if the code belt is identified, continuing to move along the code belt; and if the positioning code is identified in the process of moving along the code band, determining the current position in the map according to the positioning code. According to the scheme, mobile exploration is carried out by utilizing the exploration route, when the mobile robot moves to the code belt, the code belt can be recognized, and then the mobile robot can enter the line patrol mode and automatically move along the code belt until the positioning code is recognized, so that online is realized. According to the mode, the online process of the mobile robot is simplified, the mobile robot does not need to be manually and remotely controlled to move to the two-dimensional code any more, operation is simpler and more convenient, and the online efficiency of the mobile robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of mobile robots, and in particular to an online method, device, equipment and mobile robot. Background Art

[0002] With the rapid development of mobile robot related technologies in recent years, they are becoming more and more widely used in logistics, warehousing, factory production and other fields. Mobile robots rely on global positioning to perform tasks and feedback status. Without global positioning, they cannot work properly. Therefore, before mobile robots perform tasks, they need to obtain global positioning, which is usually called "going online".

[0003] In the prior art, a mobile robot is usually manually remotely controlled to a specific location, and the mobile robot achieves global positioning based on the specific location to go online.

[0004] However, in the existing online method, it is difficult to control the mobile robot to align with the specific position by manual operation, and repeated attempts are required, resulting in low online efficiency of the mobile robot. Summary of the invention

[0005] The present application provides an online method, device, equipment and mobile robot, which are used to solve the problem of low efficiency in the existing manual control of mobile robot online.

[0006] In a first aspect, an embodiment of the present application provides an online method, which is applied to a mobile robot, and the method includes:

[0007] Perform mobile exploration based on the exploration route and perform code band recognition during the mobile exploration process;

[0008] If a code band is identified, continue to move along the code band;

[0009] If a positioning code is identified during movement along the code strip, the current position in the map is determined based on the positioning code.

[0010] In a possible design of the first aspect, performing mobile exploration based on the exploration path includes:

[0011] Obtain information about detected surrounding obstacles;

[0012] Determining the exploration route based on the surrounding obstacle information;

[0013] Perform mobile exploration based on the exploration route;

[0014] and / or,

[0015] Get remote control instructions;

[0016] Perform mobile exploration based on the remote control command.

[0017] In another possible design of the first aspect, the moving along the code strip includes:

[0018] The code strip is moved along the code strip at a preset moving speed or based on a moving speed in a remote control instruction, and a deviation from the code strip when moving along the code strip is corrected.

[0019] In yet another possible design of the first aspect, the deviation includes a lateral deviation and / or an angular deviation between the mobile robot and the code tape.

[0020] In another possible design of the first aspect, a downward-looking lens is provided at the bottom of the mobile robot, and the code strip is provided on the ground where the mobile robot is located. When the mobile robot moves on the ground, the code strip is identified by the downward-looking lens.

[0021] In another possible design of the first aspect, determining the current position in the map according to the positioning code includes:

[0022] Reading the positioning information contained in the positioning code, the positioning information including the code band where the mobile robot is currently located and the forward distance on the code band;

[0023] Based on the positioning information, the position information of the mobile robot in a map is determined, and the map includes at least one code band and a topological point, and the code bands are connected by the topological point.

[0024] In another possible design of the first aspect, the present invention further includes:

[0025] Obtaining the location of the target point in the map;

[0026] Based on the position of the target point in the map and the position of the mobile robot in the map, a moving path is obtained, wherein the moving path includes code bands and topological points that need to be traversed in sequence from the position of the mobile robot in the map to the position of the target point in the map;

[0027] Based on the movement path, move to the target point.

[0028] In a second aspect, an embodiment of the present application provides an online device, including:

[0029] An exploration control module, used for performing mobile exploration based on the exploration route and performing code band recognition during the mobile exploration process;

[0030] A movement control module, for continuing to move along the code band if a code band is identified;

[0031] The position determination module is used to determine the current position in the map according to the positioning code if a positioning code is identified during the movement along the code strip.

[0032] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method as described above.

[0033] In a fourth aspect, an embodiment of the present application provides a mobile robot, comprising: a detection device and the above-mentioned electronic device, wherein the detection device is arranged at the bottom of the mobile robot; the detection device is used to identify the code band and / or the positioning code on the code band; the processor of the electronic device executes the computer execution instructions stored in the memory to implement the method as described above.

[0034] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the method as described above.

[0035] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0036] The online method, device, equipment and mobile robot provided in the embodiments of the present application use the exploration route for mobile exploration. When the mobile robot moves to the code belt, it can identify the code belt, and then the mobile robot can enter the line patrol mode and automatically move along the code belt until the positioning code is identified to achieve positioning. This method simplifies the online process of the mobile robot, and no longer requires manual remote control to move the mobile robot to the QR code. The operation is simpler and more convenient, and the online efficiency of the mobile robot is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings herein are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the description, are used to explain the principles of the present application;

[0038] Figure 1 A schematic diagram of a ring-shaped closed-loop topology map provided in an embodiment of the present application;

[0039] Figure 2 A flowchart of the online method provided in the embodiment of the present application;

[0040] Figure 3 A schematic diagram of the movement of the mobile robot provided in an embodiment of the present application;

[0041] Figure 4A schematic diagram of positioning information provided in an embodiment of the present application;

[0042] Figure 5 A schematic diagram of the autonomous exploration path of a mobile robot provided in an embodiment of the present application;

[0043] Figure 6 A schematic diagram of the overall process of autonomous exploration of a mobile robot provided in an embodiment of the present application;

[0044] Figure 7 A schematic diagram of a mobile robot provided in an embodiment of the present application moving along a code belt;

[0045] Figure 8 A schematic diagram of deviation provided for an embodiment of the present application;

[0046] Fig. 9 A schematic diagram of the remote control online process provided in the embodiment of the present application;

[0047] Fig.10 Schematic diagram of the automatic online process provided in the embodiment of the present application;

[0048] Fig.11 A schematic diagram of the structure of an online device provided in an embodiment of the present application;

[0049] Fig.12 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0050] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] Mobile robots are a type of machine that automatically performs work and has the ability to move and perform tasks autonomously. They are increasingly used in logistics, warehousing, factory production, etc. Mobile robots use sensors, navigation algorithms, and advanced control systems to perform tasks such as transporting goods. The introduction of mobile robots can greatly improve production efficiency. Mobile robots need to be navigated and controlled during operation, and the premise of navigation is to know the location information of the mobile robot in the map.

[0053] In practical applications, each mobile robot has a specific operating area. For example, the operating area can refer to: it needs to move on the topological edge in the topological map (each topological edge can be regarded as a code strip), so that each mobile robot can avoid confusion and collision, etc. At the same time, obstacles in the operating area can be cleared in advance to prevent obstacles from affecting the work progress of the mobile robot. For this reason, when each mobile robot is put online for the first time, a specific topological map needs to be input into each mobile robot to inform it that it should move on the topological edge of the topological map. At the same time, after inputting the specific topological map, the mobile robot needs to be moved to a certain position point of a topological edge of the topological map to complete the online operation. The mobile robot can realize autonomous navigation control and move on the topological map based on the position point when it goes online and the input target point. In the related art, the online process of the mobile robot is realized by manual operation: that is, the mobile robot is remotely controlled to a QR code that can be online (the QR code is set at a certain position point of a code strip (i.e., the above-mentioned topological edge)) through manual operation. The QR code can provide the mobile robot with the location information of its current location point, and the mobile robot can go online after recognizing the QR code. However, manual operation has the following problems: (1) It is difficult to manually control the mobile robot to move it to the QR code, especially for large robots such as omnidirectional transfer robots. The downward-looking camera used to identify the QR code is usually set at the bottom of the chassis and cannot be directly seen. Remote control operation requires repeated attempts. (2) Once the robot leaves the code belt, it needs to be manually controlled to go online, and it cannot automatically go online again.

[0054] In response to the above problems, the inventors found during research that since it is difficult to manually remotely control the downward-looking camera to the QR code to identify the QR code, a line patrol mode can be developed. In this mode, as long as the downward-looking camera sees the code tape, it will automatically move along the code tape. Because the QR code that can be used to go online is on the code tape, if you keep walking along the code tape, you will definitely be able to identify the QR code that can be used to go online and complete the online process. In this way, the embodiment of the present application provides an online method, which is mainly aimed at this method of using code tape navigation. When the code tape is seen, it automatically moves along the code tape, and when the QR code that can be used to go online is scanned, it automatically goes online, thereby simplifying the remote control online operation and realizing automatic online.

[0055] Exemplarily, the operation of a mobile robot in a ring line business scenario is taken as an example. Figure 1 A schematic diagram of a ring-shaped closed-loop topological map provided in an embodiment of the present application, such as Figure 1 As shown, it includes topological edges (such as topological edge ①-topological edge ⑩, each topological edge is equivalent to a code band), topological edge identifiers (such as Figure 1), topological points (e.g., topological point 1-topological point 10), and topological point identifiers (e.g., Figure 1 ). When the mobile robot is at topological point 3, the object can be placed on the mobile robot. Then the mobile robot carries the object and moves slowly along the topological edges ④-⑤-⑥ (i.e., the first assembly line). When it reaches topological point 7, the assembly is completed. Then, after the arc turns around, the mobile robot continues to carry the object and continues to assemble it again along the topological edges ⑨-⑩-① (i.e., the second assembly line); then it continues to assemble it along the topological edges (i.e. the third assembly line) completes three assemblies. When it reaches topological point 16, the entire assembly process is completed, and the assembled finished product is taken away from the mobile robot. Finally, the mobile robot will move to topological point 3 again for the next round of assembly.

[0056] Among them, when the mobile robot moves on the above topological map, on the one hand, it needs to keep moving on the topological edge of the topological map to prevent derailment. On the other hand, the mobile robot needs to perform forward positioning to determine how far it is from the target point. For this reason, the mobile robot needs to clearly know its position information in the topological map before moving, so as to realize autonomous navigation control and move to the target point.

[0057] The technical solution of the present application is described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0058] Figure 2 This is a flow chart of the online method provided in the embodiment of the present application. The method is applied to a mobile robot, taking the mobile robot as the execution subject as an example. Figure 2 As shown, the method comprises the following steps:

[0059] Step S201, performing mobile exploration based on the exploration route, and performing code band recognition during the mobile exploration process.

[0060] In this embodiment, in order to avoid hindering the movement of the mobile robot, the code tape can be pasted on the ground (in other embodiments, the code tape can also be pasted on a signboard, allowing the mobile robot to identify the code tape on the signboard, but the signboard usually needs to be installed in a certain position, and its installation position will interfere with the movement route of the mobile robot). Figure 1 The mobile robot can identify whether it keeps moving on the code belt through a detection device (such as a camera) (the detection device can be similarly understood as a human eye).

[0061] Among them, before the mobile robot conducts mobile exploration, it may be located on the code belt or at other locations around the code belt. For this reason, before the mobile robot conducts mobile exploration, the mobile robot will first start the detection device. If the detection device recognizes the code belt, it means that it is on the code belt. If the detection device does not recognize the code belt, it can then use the sensor with a wider detection range configured on the mobile robot (such as a wide-angle camera) to detect whether there is a code belt around. If the mobile robot detects the existence of a code belt around through the sensor, it can directly control itself to move toward the code belt so that the detection device can recognize the code belt (when the detection device can recognize the code belt, it indicates that the mobile robot is currently on the code belt). In addition, if the sensor does not detect the existence of a code belt around, the mobile robot can move freely, such as moving forward, backward, left, and right, and further search for the code belt through free movement.

[0062] In other implementations, for cost and practical application scenario considerations, the mobile robot may only be equipped with some obstacle perception sensors for obstacle avoidance, and will not be equipped with the above-mentioned wide-angle camera to detect whether there are code strips around. In this case, the mobile robot can only sense the surrounding obstacles based on the obstacle perception sensors, and then control its own movement based on the obstacle information. During the continuous movement process, the detection device may recognize the code strip.

[0063] In addition, the mobile robot can also be controlled by a remote control. That is, the staff can see in advance where the code tape is, and then send a remote control command to the mobile robot through the remote control. Based on the remote control command, the mobile robot controls itself to move in the direction of the code tape, so that the detection device can recognize the code tape.

[0064] Step S202: If a code band is identified, continue to move along the code band.

[0065] In this embodiment, the detection device configured on the mobile robot can be a camera. The camera can be arranged at the front end of the mobile robot, or at the bottom of the mobile robot.

[0066] In this embodiment, the code tape can be composed of a ribbon and a positioning code, and the ribbon can be laid on the above Figure 1 The topological edge area shown in the figure, and the positioning code can be set at any position of the ribbon, such as the above Figure 1At a certain topological point in the code strip (in other embodiments, the code strip may also only include the color strip, and then the positioning code may be set on the side of the color strip through a signboard, etc.). The color strip is a strip-shaped sticker with a characteristic color, which is pasted on the ground and is similar to a path. After the mobile robot moves and explores, the detection device recognizes the color strip, and the color strip can provide the relative posture deviation of the mobile robot. The mobile robot is controlled to rotate and move automatically. After correcting the relative posture deviation, the mobile robot can keep moving on the color strip.

[0067] For example, Figure 3 A schematic diagram of the movement of the mobile robot provided in the embodiment of the present application, such as Figure 3 As shown, the mobile robot can be controlled by the remote controller to move from position A to position B. When the mobile robot reaches position B, the detection device can identify the ribbon, but since there is an orientation deviation between the entire mobile robot and the ribbon, the mobile robot needs to be controlled to rotate so that it is aligned with the ribbon (i.e., rotated to position C), and then the remote controller can send a remote control command to move forward, and the mobile robot moves forward to position D based on the remote control command (a positioning code can be set at position D).

[0068] Step S203: If a positioning code is identified during the movement along the code strip, the current position in the map is determined according to the positioning code.

[0069] In this embodiment, the positioning code can be set at a certain position point on the code strip, and one or more positioning codes can be set on each code strip. For example, when the mobile robot moves along the code strip, it may run over certain positioning codes, causing stains or damage, which may cause the mobile robot to be unable to recognize them. For this reason, multiple positioning codes can be set on the code strip. Exemplarily, these positioning codes can be set adjacent to each other. Of course, in other embodiments, the positioning code can also be in the form of a signboard similar to that on the road. When the mobile robot passes a certain position point on the code strip, the mobile robot can identify the positioning code on the signboard through an upward lens, etc. Setting the positioning code on the signboard can prevent the mobile robot from running over it and ensure that the positioning code is clear and complete.

[0070] Exemplarily, the positioning code may be in the form of a two-dimensional code. For example, the positioning code is set on a code tape (the code tape is pasted on the ground). Since the mobile robot moves along the code tape, in order to facilitate the mobile robot to identify the positioning code, the above-mentioned detection device may be a downward-looking lens. For example, a downward-looking lens may be set on the chassis of the mobile robot, so as to avoid interference from other external obstacles.

[0071] The downward-looking camera can be set at the center of the chassis (which can be understood as the intersection of the central axis of the mobile robot and the chassis). Whether the downward-looking camera recognizes the code belt can be used to determine whether the mobile robot moves along the code belt, thereby controlling the mobile robot to move along the code belt. Since the mobile robot is in contact with the ground mainly through wheels, and the wheels are usually installed on both sides of the chassis of the mobile robot, the downward-looking camera is set at the center of the chassis. In this way, when the downward-looking camera does not recognize the code belt, the moving direction of the mobile robot can be corrected in time, so as to avoid the wheels of the mobile robot from rolling over the code belt and the positioning code on the code belt, and prevent the code belt and the positioning code from being rolled over and damaged, and unable to be recognized by the downward-looking camera.

[0072] In this embodiment, the positioning code on the code band can provide location information, which can specifically include which code band the positioning code is located in, the forward distance of the positioning code on the code band, etc. For example, reference can be made to the above Figure 1 , when the mobile robot is fixed on Figure 1 When moving on the ring topology map shown, the location information contained in the positioning code may be (id, t), where id represents the topology edge where it is located, and t represents the forward distance on the topology edge.

[0073] In other embodiments, the position information may also be in the form of two-dimensional coordinates. For example, a two-dimensional coordinate system may be constructed based on the movable area of ​​the mobile robot. In this case, the position information may include the point coordinates and the angle deviation from the code tape. Figure 4 A schematic diagram of positioning information provided in an embodiment of the present application, such as Figure 4 As shown in the figure, when the downward-looking lens of the mobile robot recognizes the positioning code set at the position point (x1, y1), the following position information can be obtained: (x1, y1, ). Among them, x1, y1 represent the coordinates of the mobile robot in the two-dimensional coordinate system, Indicates the angular deviation between the mobile robot and the code tape. Based on this angular deviation, the moving direction of the mobile robot can be corrected to make it move along the code tape.

[0074] The embodiment of the present application controls the mobile robot to conduct mobile exploration. When the mobile robot moves to the code belt, the downward-looking lens will recognize the code belt, and then the mobile robot can enter the line patrol mode and automatically move along the code belt until the QR code on the code belt is recognized to achieve positioning. This method simplifies the online process of the mobile robot, and no longer requires manual remote control to move the mobile robot to the QR code. The operation is simpler and more convenient, and the online efficiency of the mobile robot is improved.

[0075] Based on the above embodiments, in some embodiments, when the mobile robot performs mobile exploration, it can be divided into the following two modes:

[0076] Method 1: Get remote control commands for mobile exploration.

[0077] Method 2: Obtain the detected surrounding obstacle information; then determine the exploration route based on the surrounding obstacle information; and perform mobile exploration based on the exploration route.

[0078] For method 1, a remote controller can be configured for the mobile robot, and the remote controller includes a joystick. By controlling the joystick, remote control commands are sent to the mobile robot to control the moving speed and direction of the mobile robot, thereby realizing the mobile exploration of the mobile robot. Figure 3 For example, if the mobile robot is an omnidirectional chassis robot (an omnidirectional chassis robot can move forward, backward, left, and right, while a non-omnidirectional chassis robot can only move forward and backward), the staff can remotely control the mobile robot through the remote control rod. When the mobile robot does not recognize the code tape, the staff can freely remotely control the mobile robot by using the remote control rod to control the forward, backward, left, right, and in-situ movement of the mobile robot (for example, from Figure 3 When the downward camera of the mobile robot recognizes the code tape, the deviation between the mobile robot and the code tape can be obtained. At this time, the free remote control mode is switched to the remote control line patrol mode: the mobile robot automatically controls to eliminate the deviation between the mobile robot and the code tape based on the recognized color tape, and the forward and backward joystick values ​​correspond to the forward and backward speeds along the code tape (for example, from Figure 3 The remote control line patrol mode will make the mobile robot move along the code belt until it scans the QR code that can be used to go online and then automatically goes online (such as from Figure 3 State C changes to state D).

[0079] Among them, the manual remote control method of method 1 is relatively simple. Only one remote control is needed to control the mobile robot, with low cost investment. Moreover, since it is a manual remote control, the staff can always know the position of the code belt in advance by visual observation in actual application. In this way, the mobile robot can be remotely controlled to conduct mobile exploration in a targeted manner, so that the mobile robot can identify the code belt more quickly.

[0080] Regarding method 2: Compared with the manual remote control of method 1, in method 2, the mobile robot can autonomously conduct mobile exploration. Before the mobile robot conducts autonomous mobile exploration, it is necessary to configure an obstacle sensing device (such as a radar) on the mobile robot, and use the obstacle sensing device to sense the obstacles in the surroundings, and then plan the exploration route. Among them, when planning the exploration route, there can be multiple exploration routes, for example, including a backward exploration route L1, a forward exploration route L2, a left exploration route L3, and a right exploration route L4. A priority can be configured for each exploration route, and the mobile robot selects the corresponding exploration route for mobile exploration based on the priority.

[0081] For example, Figure 5 A schematic diagram of the autonomous exploration path of the mobile robot provided in the embodiment of the present application, such as Figure 5 As shown in the figure, the boxes and circles around the mobile robot represent the detected obstacles. The solid line represents the current position of the mobile robot, and the dotted line represents the position of the mobile robot corresponding to the planned maximum non-collision distance that can be moved forward, backward, left, and right (the maximum length of the exploration path in a certain direction can be set to prevent moving too far). The black dotted line represents the exploration path P 1 , P 2 , P 3 , P 4 , that is, exploring the code strip by moving forward, backward, left and right. Figure 5 The exploration method is only illustrative. In practical applications, it includes but is not limited to this four-way translation exploration method, and may also be a spiral diffusion path, etc.

[0082] Among them, after completing the exploration planning, the mobile robot begins to move and explore along the exploration path according to the exploration rules. Since the mobile robot has not yet obtained global positioning at this time, it can only obtain positioning information through odometer estimation, and it needs to avoid obstacles in real time during the movement to ensure safety.

[0083] in, Figure 6 The overall process of autonomous exploration of a mobile robot provided in the embodiment of the present application is shown as follows: Figure 6 As shown, the exploration route of the mobile robot can be: backward-forward-left-right exploration mode for exploration and movement. Among them, the backward exploration is mainly because the mobile robot generally moves forward, and may be out of the code band due to some reasons, so the probability of backward exploration to the code band is relatively high. Of course, in actual applications, the exploration route can be changed according to the actual situation and is not limited to the form described in this embodiment. First, the mobile robot moves backward and translates in the current posture A (such as Figure 6 ); when the code strip is still not found after moving to the position B, the mobile robot returns to the position A (as shown by arrow 2); then, the mobile robot starts to explore forward until the code strip is identified (as shown by arrow 1). Figure 6 Secondly, after obtaining the posture deviation between the mobile robot and the code belt by identifying the code belt information, the mobile robot is controlled to eliminate the posture deviation between the mobile robot and the code belt (as shown in the figure); Figure 6 Finally, the mobile robot is controlled to move along the code belt at a set speed until it scans the online QR code and completes the online process (as shown in Figure 4). Figure 6 Middle posture D to posture E, as indicated by arrow 5).

[0084] Among them, the automatic exploration and control method of method 2 can reduce human intervention and achieve full automation. If the mobile robot leaves the code belt while moving along the code belt, the mobile robot can automatically return to the code belt based on the automatic exploration function. There is no need to rely on human power to help it go online remotely, thereby ensuring the continuity of the mobile robot's operation.

[0085] The embodiment of the present application provides the above-mentioned two different mobile exploration modes (i.e., automatic exploration and manual remote control exploration), and can flexibly select different mobile exploration modes according to actual scene needs to control the mobile robot to perform mobile exploration, thereby improving the flexibility of the mobile robot.

[0086] Further, after the mobile robot identifies the code belt through mobile exploration, some embodiments are described below to describe how to control the mobile robot to keep moving on the code belt. The specific steps are as follows: move along the code belt according to a preset moving speed or based on the moving speed in the remote control command, and correct the deviation from the code belt when moving along the code belt.

[0087] Among them, it is necessary to further explain the automatic exploration method and the manual remote control exploration method in the above embodiments. The preset moving speed can be a fixed speed configured in the mobile robot in advance. After the mobile robot recognizes the code band through the automatic exploration method, the mobile robot directly moves along the code band at a fixed speed (i.e., the preset moving speed). When the mobile robot recognizes the code band through the manual remote control method, the mobile robot can move along the code band based on the moving speed input in the remote control command.

[0088] In addition, during the movement, there may be a posture deviation between the mobile robot and the code belt, which requires the mobile robot to automatically correct, such as controlling the posture deviation to tend to 0 to prevent the mobile robot from leaving the code belt.

[0089] Among them, moving along the code strip does not necessarily mean the above Figure 3 , Figure 5 and Figure 6 As shown in the figure, the code tape is pasted to the ground, and then the mobile robot moves on the code tape pasted to the ground. In other embodiments, a signboard can be set on the side of the moving path of the mobile robot, the code tape is pasted to the signboard, and then the mobile robot recognizes the code tape on the signboard and moves along the code tape. For example, Figure 7 A schematic diagram of a mobile robot moving along a code belt provided in an embodiment of the present application, such as Figure 7 As shown, the mobile robot can identify the code tape on the sign on the side of the path through a camera, and the code tape can provide it with a posture deviation so that the mobile robot keeps moving along the code tape direction based on the posture deviation.

[0090] Furthermore, in other embodiments, the deviation may include a lateral deviation and / or an angular deviation between the mobile robot and the code tape.

[0091] In which, continuing to take the example of a code strip set on the ground and a mobile robot identifying the code strip through a downward-looking lens at the center of the chassis, the lateral deviation can be used to characterize the deviation between the downward-looking lens and the center point of the identified code strip, and the angle deviation can be used to characterize the deviation between the current moving direction of the mobile robot and the direction of the code strip. Figure 8 The deviation diagram provided for the embodiment of the present application is as follows: Figure 8 As shown, represents the angular deviation, and △y represents the lateral deviation.

[0092] In this embodiment, when the mobile robot recognizes the code tape, the color tape on the code tape can provide relative posture information for the mobile robot. After the downward-looking lens recognizes the color tape, since the downward-looking lens is installed at the bottom of the mobile robot (for example, under the chassis), the lateral deviation and / or angular deviation between the chassis of the mobile robot and the code tape can be obtained.

[0093] Specifically, in some embodiments, the deviation between the code strip and the mobile robot can be identified by the following steps: using the position of the downward camera on the mobile robot as the coordinate origin, establishing the robot coordinate system; obtaining the coordinates of the center point of the code strip identified by the downward camera in the robot coordinate system; determining the lateral deviation between the mobile robot and the code strip based on the coordinates of the center point and the origin coordinates of the robot coordinate system. At the same time, determining the angle deviation based on the current moving direction of the mobile robot and the direction of the code strip.

[0094] The embodiment of the present application sets a positioning code on the code belt, so that the mobile robot can recognize the positioning code on the code belt pasted on the ground through the downward-looking lens in the process of moving along the code belt, and there is no need to manually control the mobile robot to move to the positioning code, thereby reducing the complexity of positioning code recognition. In addition, by setting a downward-looking lens at the bottom of the mobile robot (for example, the center of the chassis) and pasting the code belt to the ground, the code belt does not occupy the working space of the mobile robot and does not hinder the movement of the mobile robot in the working area. There are no obstacles between the downward-looking lens set on the chassis and the ground, which can avoid interference from obstacles, ensure that the downward-looking lens can recognize the code belt, and avoid missed recognition caused by obstacle interference.

[0095] After the mobile robot recognizes the positioning code, the following is an example of how to use the positioning code to enable the mobile robot to go online. Specifically, the following steps are included: reading the positioning information contained in the positioning code; based on the positioning information, determining the position information of the mobile robot in the map. The positioning information includes the code band where the mobile robot is currently located and the forward distance on the code band. The map includes at least one code band and topological points, and the code bands are connected by topological points.

[0096] In this embodiment, the mobile robot mainly moves on a pre-configured map (the map may be composed of several connected paths). Figure 1 The loop service topology map shown in the figure contains several topological edges (a code strip is pasted on each topological edge, which is equivalent to a path). Each topological edge is connected by a topological point. The code strip can be pasted on the topological edge. The mobile robot moves on the code strip to perform the corresponding task. Since the mobile robot has a fixed moving route, the positioning code can only contain the code strip identifier of the code strip and the forward distance of the code strip, so that it can be clear which path the mobile robot is on in the map and the forward distance on the path.

[0097] For example, a mobile robot is used in the above Figure 1 Taking the movement on the ring line service topology map as an example, the information contained in the positioning code is as follows:

[0098] 0001ST+0000

[0099] Among them, the first four digits "0001" are the topological point identification, and the last five digits "+0000" indicate the distance between the location of the positioning code and the topological center of the topological point ahead.

[0100] Among them, the positioning code can be set on the topological point. For the same topological point, multiple positioning codes can be pasted. For example, in some embodiments, the positioning code can be pasted on the topological point and on both sides of the topological point to improve the ability to resist rolling and contamination (as long as it is not completely contaminated, it can continue to be used). By pasting multiple positioning codes, even if one of the positioning codes is not recognized by the downward-looking lens of the mobile robot due to stains, etc., there will be other positioning codes for identification later. You only need to identify any one of them to know the current location information of the mobile robot.

[0101] For example, in other embodiments, a signboard can be set on the side of the topological point, and a positioning code in the form of a QR code can be pasted on the signboard. When the mobile robot passes the topological point, the positioning code is identified through the upward lens. Similarly, the positioning code can also include the above-mentioned location information. The positioning code in the form of a signboard is mainly for the convenience of the mobile robot to identify, and compared with setting it on the code belt, it can also avoid being crushed by the mobile robot, ensuring that the positioning code is complete and clear.

[0102] In the embodiment of the present application, the positioning information provided in the positioning code includes the code band and the forward distance on the code band, so that the position of the mobile robot in the map can be clearly determined, and since the positioning information is relative to the two-dimensional coordinates (x, y, The navigation calculation process involved in navigation based on the positioning information is simple, so that autonomous navigation of the mobile robot can be achieved without relying on the scheduling platform to perform navigation calculations and control the movement of the mobile robot.

[0103] Furthermore, based on the above embodiments, in other embodiments, after the mobile robot reads the positioning information provided by the positioning code, it can navigate through the following steps: obtain the position of the target point in the map; based on the position of the target point in the map and the position of the mobile robot in the map, obtain a moving path, the moving path including the code bands and topological points that need to be traversed in sequence from the position of the mobile robot in the map to the position of the target point in the map; based on the moving path, move to the target point.

[0104] In this embodiment, after the mobile robot completes positioning, its position can be represented by (id, t). Similarly, the position of the target point can be represented by (id1, t1). Among them, di represents the code band in which it is located, and t1 represents the forward distance in the code band in which it is located. Figure 1 , paste a code strip on each topological edge. If the mobile robot is on topological edge ②, and the forward distance on topological edge ② is s, the position of the mobile robot is expressed as (②, s). If the target point is located on topological edge ⑤, and the forward distance on topological edge ⑤ is s1, the position of the target point is expressed as (⑤, s1). In this way, based on the topological map, the mobile robot can know that the moving path is from topological edge ② to topological edge ⑤, and the required moving distance is L2-S+L3+L4+S1. Among them, L2, L3 and L4 represent the lengths of topological edge ②, topological edge ③ and topological edge ④ respectively.

[0105] In addition, during the movement, the mobile robot can adjust its own posture based on the posture deviation provided by the color strip on the code strip, so that it can keep moving on the code strip. At the same time, during the movement, since the mobile robot is positioned based on its own odometer, positioning codes can also be configured at other positions on the code strip. When the mobile robot reads the positioning code, it can correct the error of the odometer based on the positioning information in the positioning code, thereby ensuring the accuracy of positioning.

[0106] The embodiments of the present application can locate the mobile robot's own position in the map by utilizing the code band in the map and the forward distance on the code band. Furthermore, since the color band in the code band can provide lateral deviation and angular deviation to correct the posture of the mobile robot so that it keeps moving on the code band, the mobile robot can realize autonomous navigation control based on the code band in the map and the forward distance on the code band, and move to the target point without the need for complex navigation calculations, thereby improving the reliability of business operations and realizing the automation of the entire business operations.

[0107] The overall process of this solution is described below through a complete embodiment.

[0108] There are two main methods: (1) remote control and (2) automatic control.

[0109] For (1) remote access, Fig. 9 The remote control online process provided in the embodiment of the present application is shown as follows: Fig. 9 As shown, it includes the following steps: Step 90: Determine whether the code tape is recognized; Step 91: If not, the robot moves freely by remote control; Step 92: If yes, perform remote line patrol: control the movement by identifying the lateral deviation and angle deviation obtained by the code tape, eliminate the lateral deviation and angle deviation, and in addition, the remote control front and rear rods correspond to the forward and backward movement speed along the code tape. Step 93: Determine whether the online QR code is recognized. Step 94: Determine the global positioning of the robot according to the global information provided by the online QR code, and complete the online.

[0110] The remote control online process is mainly divided into three steps: free remote control (corresponding to no observation information), remote control line patrol (observation of code tape information), and autonomous online (observation of online QR code information). Among them, remote control line patrol may switch back to free remote control, such as the code tape is damaged and the code tape information cannot be detected. In addition, the above Figure 3 It also explains the process of remote online access. For details, please refer to the above Figure 3 Description.

[0111] For (2) automatic online, Fig.10 The automatic online process provided in the embodiment of the present application is shown as follows: Fig.10As shown, it includes the following steps: Step 1001: Acquire perceived obstacle information and plan a collision-free exploration path sequence based on the perceived information.

[0112] Since the robot has not yet obtained global positioning information, obstacles and exploration paths can only be expressed in the current robot system. In addition, the exploration path can be translation, rotation, arc, or other movement methods.

[0113] Step 1002: Select an exploration path according to the exploration rules and perform exploration movement control.

[0114] Since the robot has not yet obtained global positioning information, the robot's position can only be estimated by the odometer during the entire mobile control process. In addition, once the code band information is detected during the exploration movement, step 1004 is switched; otherwise, the exploration loop continues in step 1002.

[0115] Step 1003: The code band is identified. Step 1004: The code band is identified.

[0116] Step 1005: Line patrol control: The robot is controlled to move forward along the code tape at a set speed by identifying the lateral deviation and angle deviation obtained from the code tape to eliminate the deviation.

[0117] Among them, since the code tape information can provide the lateral deviation and angle deviation between the robot and the code tape, the robot can be controlled to move along the code tape, and the moving speed is obtained by setting in advance. During the mobile control process, it is constantly checked whether the online QR code is recognized. Once it is recognized, step Step 1007 is cut. In addition, since the line patrol control depends on the recognition of the code tape, it is also necessary to constantly check whether the code tape is recognized. Once the code tape is not recognized, it is necessary to return to step Step 1001 to re-explore planning control.

[0118] Step 1006: Identify the online QR code. Step 1007: Determine the global positioning of the robot based on the global information provided by the online QR code, and complete the online process. The online QR code information provides the global position of the robot, thereby completing the robot online process.

[0119] In addition, the above Figure 5 and Figure 6 It also explains the process of remote online access. For details, please refer to the above Figure 5 and Figure 6 Description.

[0120] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0121] Fig.11 This is a schematic diagram of the structure of the online device provided in the embodiment of the present application, and the online device can be integrated into a mobile robot. Fig.11 As shown, the online device 1100 includes a discovery control module 1110 , a movement control module 1120 , and a location determination module 1130 .

[0122] The exploration control module 1110 is used to perform mobile exploration based on the exploration route and identify the code strip during the mobile exploration process. The mobile control module 1120 is used to continue moving along the code strip if the code strip is identified. The position determination module 1130 is used to determine the current position in the map according to the positioning code if a positioning code is identified during the movement along the code strip.

[0123] Optionally, the exploration control module can be specifically used to: obtain detected surrounding obstacle information; determine an exploration route based on the surrounding obstacle information; perform mobile exploration based on the exploration route; and / or obtain remote control instructions; determine an exploration route and perform mobile exploration based on the remote control instructions.

[0124] Optionally, the movement control module may be specifically configured to: move along the code band at a preset movement speed or based on a movement speed in a remote control instruction, and correct a deviation from the code band when moving along the code band.

[0125] Optionally, the deviation includes a lateral deviation and / or an angular deviation between the mobile robot and the code tape.

[0126] Optionally, a downward-looking lens is provided at the bottom of the mobile robot, and a code belt is provided on the ground where the mobile robot is located. When the mobile robot moves on the ground, the code belt is identified by the downward-looking lens.

[0127] Optionally, at least one positioning code is set at a preset position on the code band, and correspondingly, the position determination module can be specifically used to: read the positioning information contained in the positioning code, the positioning information includes the code band where the mobile robot is currently located and the forward distance on the code band; based on the positioning information, determine the position information of the mobile robot in the map, the map includes at least one code band and topological points set on the code band, and the code bands are connected by topological points.

[0128] Optionally, it also includes a navigation control module for obtaining the position of the target point in the map; obtaining the moving path and the required moving distance based on the position of the target point in the map and the position of the mobile robot in the map; and moving to the target point based on the moving path and the required moving distance.

[0129] The device provided in the embodiment of the present application can be used to execute the method in the above embodiment. Its implementation principle and technical effect are similar and will not be repeated here.

[0130] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. For example, the exploration control module can be a separately established processing element, or it can be stored in the memory of the above device in the form of program code, and called and executed by a processing element of the above device. The implementation of other modules is similar. In addition, all or part of these modules can be integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0131] For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASIC), or one or more digital signal processors (DSP), or one or more field programmable gate arrays (FPGA), etc. For another example, when a module above is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processors that can call program codes.

[0132] Fig.12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig.12 As shown, the electronic device 1200 includes: at least one processor 1201 , a memory 1202 , a bus 1203 and a communication interface 1204 .

[0133] Wherein: the processor communication interface and the memory communicate with each other through the bus. The communication interface is used to communicate with other devices. The communication interface includes a communication interface for data transmission and a display interface or an operation interface for human-computer interaction. The processor is used to execute computer execution instructions stored in the memory, and specifically can execute the relevant steps in the method described in the above embodiment. The processor may be a central processing unit, or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement an embodiment of the present invention. The one or more processors included in the electronic device may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0134] The memory may include a high-speed RAM memory and may also include a non-volatile memory, such as at least one disk memory.

[0135] This embodiment also provides a mobile robot, which includes a detection device and the above-mentioned electronic device, the detection device is used to identify the code band and / or the positioning code on the code band; the processor of the electronic device executes the computer execution instructions stored in the memory to implement the above-mentioned method.

[0136] This embodiment also provides a computer-readable storage medium, in which computer instructions are stored. When at least one processor of an electronic device executes the computer instructions, the electronic device executes the methods provided in the above-mentioned various implementation modes.

[0137] This embodiment also provides a computer program product, which includes computer instructions stored in a readable storage medium. At least one processor of the electronic device can read the computer instructions from the readable storage medium, and at least one processor executes the computer instructions so that the electronic device implements the methods provided in the above various embodiments.

[0138] In the present application, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship; in the formula, the character " / " indicates that the previous and next associated objects are in a "division" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0139] It is to be understood that the various numerical numbers involved in the embodiments of the present application are only for the convenience of description and are not intended to limit the scope of the embodiments of the present application. In the embodiments of the present application, the size of the sequence number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for going online, characterized in that: Applied to a mobile robot, the method comprises: Perform mobile exploration based on the exploration route and perform code band recognition during the mobile exploration process; If a code band is identified, continue to move along the code band; If a positioning code is identified during movement along the code strip, the current position in the map is determined based on the positioning code.

2. The method according to claim 1, characterized in that: The mobile exploration based on the exploration path includes: Obtain information about detected surrounding obstacles; Determining the exploration route based on the surrounding obstacle information; Perform mobile exploration based on the exploration route; and / or, Get remote control instructions; Perform mobile exploration based on the remote control command.

3. The method according to claim 1, characterized in that The moving along the code strip comprises: The code strip is moved along the code strip at a preset moving speed or based on a moving speed in a remote control instruction, and a deviation from the code strip when moving along the code strip is corrected.

4. The method according to claim 3, characterized in that The deviation includes a lateral deviation and / or an angular deviation between the mobile robot and the code tape.

5. The method according to any one of claims 1 to 4, characterized in that A downward-looking lens is arranged at the bottom of the mobile robot, and the code belt is arranged on the ground where the mobile robot is located. When the mobile robot moves on the ground, the code belt is identified by the downward-looking lens.

6. The method according to any one of claims 1 to 4, characterized in that At least one positioning code is set at a preset position on the code strip, and determining the current position in the map according to the positioning code includes: Reading the positioning information contained in the positioning code, the positioning information including the code band where the mobile robot is currently located and the forward distance on the code band; Based on the positioning information, the position information of the mobile robot in a map is determined, and the map includes at least one code band and a topological point, and the code bands are connected by the topological point.

7. The method according to claim 6, characterized in that Also includes: Obtaining the location of the target point in the map; Based on the position of the target point in the map and the position of the mobile robot in the map, a moving path is acquired, wherein the moving path includes code bands and topological points that need to be traversed in sequence from the position of the mobile robot in the map to the position of the target point in the map; Based on the movement path, move to the target point.

8. An online device, characterized in that: include: An exploration control module, used for performing mobile exploration based on the exploration route and performing code band recognition during the mobile exploration process; A movement control module, for continuing to move along the code band if a code band is identified; The position determination module is used to determine the current position in the map according to the positioning code if a positioning code is identified during the movement along the code strip.

9. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 7.

10. A mobile robot, characterized in that: include: A detection device and the electronic device as claimed in claim 9, wherein the detection device is arranged at the bottom of the mobile robot; The detection device is used to identify the code strip and / or the positioning code on the code strip; The processor of the electronic device executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 7.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

12. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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