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

Abstract

The invention relates to a docking control method, device and equipment of mobile equipment and a storage medium, and belongs to the technical field of automated guided vehicles, and the method comprises the following steps: responding to a set docking condition, and sending a local coordinate of the mobile equipment to a server, so that the server fuses the local coordinate to a global coordinate; controlling the mobile device to move according to the moving path indicated by the server; detecting operation information of the mobile equipment; and regulating and controlling the moving track of the mobile equipment according to the pose deviation value represented by the operation information.

Description

Technical Field

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

[0002] As Automated Guided Vehicles (AGVs) are widely used in the fields of logistics and warehousing, they have the functions of autonomous navigation and autonomous docking to transport materials to designated locations. At present, when docking, the existing AGVs merge the local coordinates into the global coordinates and move according to the target point of the global coordinates. However, the AGV may deviate when it moves to the target point, affecting the docking accuracy. Summary of the invention

[0003] One purpose of the embodiments of the present disclosure is to provide a new technical solution for docking control of a mobile device.

[0004] According to a first aspect of the present disclosure, a docking control method for a mobile device is provided, the method comprising:

[0005] In response to the set docking conditions, fusing the local coordinates of the mobile device into the global coordinates;

[0006] Controlling the mobile device to move according to the moving path indicated by the global coordinates;

[0007] Detecting operation information of the mobile device;

[0008] According to the posture deviation amount represented by the operation information, the movement trajectory of the mobile device is regulated.

[0009] Optionally, the mobile device is configured with an image acquisition device, and the image acquisition device is used to identify a set docking mark, so that the mobile device obtains a first distance deviation value and a first angle deviation value between the mobile device and the docking mark;

[0010] The docking condition includes that the first distance deviation value and the first angle deviation value are within a set range.

[0011] Optionally, the method further comprises:

[0012] When the first distance deviation value and the first angle deviation value are beyond a set range, controlling the mobile device to rotate in a set direction;

[0013] When the first angle deviation value is smaller than a set angle value, the position of the mobile device is adjusted according to the first distance deviation value until the first distance deviation value is smaller than a set distance value.

[0014] Optionally, the detecting the operation information of the mobile device includes:

[0015] detecting a moving speed of the mobile device;

[0016] Integrating the moving speed over a first time using an odometer configured for the mobile device to obtain a detected position of the mobile device at the first time;

[0017] A posture deviation between an expected position of the moving path at the first time and the detected position is determined and used as operation information.

[0018] Optionally, regulating the movement trajectory of the mobile device according to the posture deviation amount represented by the operation information includes:

[0019] When the posture deviation is less than a set threshold, performing posture compensation on the mobile device with a set first gain coefficient;

[0020] When the posture deviation is greater than or equal to a set threshold, the mobile device is posture compensated with a set second gain coefficient; wherein the first gain coefficient is less than the second gain coefficient.

[0021] Optionally, after regulating the movement trajectory of the mobile device, the method further includes:

[0022] When the moving distance of the mobile device at the second time is greater than the expected distance of the moving path at the second time, the mobile device is controlled to stop.

[0023] Optionally, after regulating the movement trajectory of the mobile device, the method further includes:

[0024] By means of an image acquisition device, a set station identification is identified, and station information about the station identification is obtained;

[0025] When the platform information meets the set verification condition, determining a second distance deviation value and a second angle deviation value between the mobile device and the platform identifier according to the platform information;

[0026] The posture of the mobile device is controlled according to the second distance deviation value and the second angle deviation value.

[0027] According to a second aspect of the present disclosure, there is also provided a docking control device for a mobile device, comprising:

[0028] A fusion module, configured to fuse the local coordinates of the mobile device into the global coordinates in response to a set docking condition;

[0029] A control module, used for controlling the mobile device to move according to the moving path indicated by the global coordinates;

[0030] A detection module, used to detect the operation information of the mobile device;

[0031] A control module is used to control the movement trajectory of the mobile device according to the posture deviation amount represented by the operation information.

[0032] According to a third aspect of the present disclosure, an electronic device is also provided, including a processor, wherein the processor is connected to a memory, and the memory is used to store a computer program; the processor is used to execute the computer program to implement the method described in the first aspect of the present disclosure.

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

[0034] One beneficial effect of the embodiments of the present disclosure is that the docking control method of the mobile device provided by the present invention can control the mobile device to move along a moving path by fusing the local coordinates of the mobile device into the global coordinates in the global coordinate system, and the mobile device can detect the operating information of the mobile device and control the moving trajectory of the mobile device according to the operating information to improve the docking accuracy of the mobile device and the platform.

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

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

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

[0038] Figure 2 is a block diagram of a docking control device for a mobile device according to an embodiment;

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

[0040] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0041] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0042] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0043] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0044] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0045] <Method Example>

[0046] Figure 1 The figure is a flowchart of a method for controlling docking of a mobile device according to an embodiment. The implementation subject is, for example, a mobile device that can be connected to a server for communication, and the mobile device is, for example, an automated guided vehicle (AGV).

[0047] like Figure 1 As shown, the docking control method of the mobile device of this embodiment may include the following steps S110 to S140:

[0048] Step S110 , in response to the set docking conditions, the local coordinates of the mobile device are sent to the server, so that the server merges the local coordinates into the global coordinates.

[0049] In the present application, the mobile device may be regarded as a volume object, which can move in its local coordinate system.

[0050] In the present application, the server can manage multiple mobile devices and multiple stations. Multiple stations are provided with docking identifiers, and the positions of the docking identifiers of the multiple stations can correspond to the coordinate points of the global coordinate system. For example, docking identifier 1 corresponds to station 1, and the position of the docking identifier 1 of station 1 corresponds to the coordinate point (5, 5) of the global coordinate system.

[0051] In this application, when a target point is indicated by the server, the mobile device can plan a path to move to the target point in a local coordinate system. When a target point indicated by the server corresponds to a docking position of a pickup station or a storage station, the mobile device can detect whether the mobile device meets the set docking conditions through the configured camera or radar. When the docking conditions are met, the mobile device sends the local coordinates to the server, and the server integrates the local coordinates into the global coordinate system to obtain the global coordinates of the mobile device in the global coordinate system.

[0052] In some embodiments, the mobile device is configured with an image acquisition device, which is used to identify a set docking identifier so that the mobile device obtains a first distance deviation value and a first angle deviation value between the mobile device and the docking identifier; the docking condition includes that the first distance deviation value and the first angle deviation value are within a set range.

[0053] In the present application, the image acquisition device is, for example, a radar or a camera, which is not limited here.

[0054] In the present application, the docking mark is, for example, a QR code mark, and the image acquisition device can recognize the image data of the docking mark and feed it back to the mobile device. The mobile device can obtain the coordinates [X1, Y1, T1] of the docking mark in the local coordinate system of the mobile device based on the image data, wherein the coordinates of the mobile device in the local coordinate system are the origin of the local coordinate system, that is, the first distance deviation value between the mobile device and the docking mark includes X1 in the X direction and Y1 in the Y direction, and the first angle deviation value between the mobile device and the docking mark is T1.

[0055] In some examples, when the docking identifier recognized by the image acquisition device is docking identifier 1, the coordinate point of docking identifier 1 in the global coordinate system is (5, 5, 0), and the coordinates of docking identifier 1 in the local coordinate system of the mobile device are [1, 0, 0]. Then, the global coordinates of the mobile device are (4, 5, 0), that is, the local coordinates of the mobile device can be converted into the global coordinates of the global coordinate system, that is, the local coordinates of the mobile device are integrated into the global coordinates.

[0056] In this embodiment, the first distance deviation value and the first angle deviation value are within a set range, which may be X1 less than 10 mm, Y1 less than 10 mm, and T1 less than 1°.

[0057] In other words, when the first distance deviation value and the first angle deviation value are within the set range, the server merges the local coordinates of the mobile device into the global coordinate system and obtains the global coordinates in the global coordinate system to improve the utilization efficiency of the server computing resources.

[0058] In some embodiments, the method further includes the following steps S210 and S220:

[0059] Step S210: When the first distance deviation value and the first angle deviation value are beyond a set range, the mobile device is controlled to rotate in a set direction.

[0060] In the present application, the set direction may be a rotation direction set for the mobile device, such as clockwise or counterclockwise. At the same time, the image acquisition device may detect a first angle deviation value between the mobile device and the docking mark.

[0061] Step S220, when the first angle deviation value is less than the set angle value, adjust the position of the mobile device according to the first distance deviation value until the first distance deviation value is less than the set distance value.

[0062] In the present application, the set angle value is, for example, 0.1°, 1° or 2°, etc., which is not limited here.

[0063] In the present application, when the first angle deviation value is less than the set angle value, the mobile device can control the mobile device to move in the X direction or the Y direction so that the values ​​of X1 and Y1 are both less than the set distance value, wherein the set distance value is, for example, 10 mm.

[0064] Step S120, controlling the mobile device to move according to the moving path indicated by the server.

[0065] In the present application, after the server merges the local coordinates of the mobile device into the global coordinates, it can indicate a moving path to the mobile device, which is used to control the mobile device to move from the coordinate position corresponding to the docking identifier to the coordinate position corresponding to the set station identifier.

[0066] In the present application, when the mobile device receives the moving path, the mobile device moves according to the moving path.

[0067] Step S130: detecting the operation information of the mobile device.

[0068] In some embodiments, step S130 may include the following steps S1301 to S1303:

[0069] Step S1301, detecting the moving speed of the mobile device.

[0070] In the present application, the wheel speed sensor configured for the mobile device can detect the moving speed of the mobile device.

[0071] Step S1302: integrating the moving speed at the first time through the odometer configured for the mobile device to obtain the detected position of the mobile device at the first time.

[0072] In the present application, the movement of the mobile device is for a certain period of time, that is, the movement of the mobile device continues until the first time, and the odometer configured for the mobile device is used to integrate the moving speed to obtain the moving distance of the mobile device at the first time, and then the detection position of the mobile device in the local coordinate system is obtained.

[0073] Step S1303, determining the posture deviation between the expected position and the detected position of the moving path at the first time, and using it as the operation information.

[0074] In the present application, the server pre-sets the expected position of the mobile device at the first time and feeds it back to the mobile device. The mobile device can use the angle difference and position difference between the expected position and the detected position as the posture deviation amount.

[0075] Step S140: regulating the movement trajectory of the mobile device according to the posture deviation amount represented by the operation information.

[0076] In some embodiments, step S140 may include the following steps S1401 and S1402:

[0077] Step S1401, when the posture deviation is less than a set threshold, the mobile device is subjected to posture compensation using a set first gain coefficient.

[0078] In the present application, the posture deviation includes the position deviation and the angle deviation, and the set threshold includes a first set threshold and a second set threshold. The posture deviation is less than the set threshold, that is, the position deviation is less than the first set threshold, and the angle deviation is less than the second set threshold. Among them, the first set threshold is, for example, 10 mm, and the second set threshold is, for example, 1°.

[0079] In the present application, when the posture deviation is less than the set threshold, the displacement Xx in the X direction, the displacement Yx in the Y direction and the angle adjustment Tx of the mobile device after PID modulation can be calculated according to the first gain coefficient corresponding to the set PID fine-tuning parameter group, so as to realize posture compensation of the mobile device.

[0080] Step S1402, when the posture deviation is greater than or equal to a set threshold, the mobile device is subjected to posture compensation using a set second gain coefficient; wherein the first gain coefficient is smaller than the second gain coefficient.

[0081] In the present application, when the posture deviation is less than the set threshold, the displacement Xx in the X direction, the displacement Yx in the Y direction and the angle adjustment Tx of the mobile device after PID modulation can be calculated according to the second gain coefficient corresponding to the set PID fast adjustment parameter group, so as to realize posture compensation of the mobile device.

[0082] In other words, by setting a larger second gain coefficient, when the posture deviation of the mobile device is large, the posture of the mobile device can be controlled with a larger displacement Xx, displacement Yx and angle adjustment Tx to achieve precise control of the mobile device.

[0083] In some embodiments, after step S140, the method further includes the following step S141:

[0084] Step S141, when the moving distance of the mobile device at the second time is greater than the expected distance of the moving path at the second time, control the mobile device to stop.

[0085] In the present application, the server pre-sets the expected position of the mobile device at the second time and feeds back to the mobile device, and the mobile device determines whether the expected distance is greater than the moving distance at the second time, and controls the mobile device to stop when the moving distance is greater than the expected distance. The second time is after the first time.

[0086] In other words, when the mobile device moves beyond the distance, controlling the mobile device to stop can effectively reduce the occurrence of collisions between the mobile device and the platform, and effectively improve the safety of the mobile device.

[0087] In some embodiments, after step S140, the method further includes the following steps S142 and S144:

[0088] Step S142: using an image acquisition device, identifying a set platform identifier and obtaining platform information about the platform identifier.

[0089] In the present application, the platform identification may be a QR code identification. After scanning the platform identification, the image acquisition device of the mobile device can obtain the platform ID of the platform identification, that is, the platform information.

[0090] Step S143: When the platform information meets the set verification condition, a second distance deviation value and a second angle deviation value between the mobile device and the platform identifier are determined according to the platform information.

[0091] In some examples, the server can feed back the station ID of the station to be docked to the mobile device while feeding back the moving path. When the station ID obtained by the station ID scanned by the mobile device is the same as the fed-back station ID, it can be considered that the station information meets the set verification condition. In addition, the mobile device can determine the second distance deviation value and the second angle deviation value between the mobile device and the station ID.

[0092] Step S144: Control the posture of the mobile device according to the second distance deviation value and the second angle deviation value.

[0093] In the present application, the mobile device first adjusts the angle between the mobile device and the platform logo according to the second angle deviation value, so that the second angle deviation value is less than 1°, and the mobile device then adjusts the relative position of the mobile device and the platform logo according to the second distance deviation value, so that the relative distance between the mobile device and the platform logo in the X direction is less than 10 mm, and the relative distance in the Y direction is less than 5 mm.

[0094] In other words, by setting the platform identification, the posture of the mobile device can be adjusted again to achieve accurate docking between the mobile device and the platform.

[0095] <Equipment Example 1>

[0096] Figure 2 FIG. 1 is a block diagram of a docking control device for a mobile device according to an embodiment. Figure 2 As shown, the docking control device 200 of the mobile device may include:

[0097] A fusion module 210, for fusing the local coordinates of the mobile device into the global coordinates in response to the set docking conditions;

[0098] A control module 220, used to control the mobile device to move according to the moving path indicated by the global coordinates;

[0099] A detection module 230, used to detect operation information of a mobile device;

[0100] The control module 240 is used to control the movement trajectory of the mobile device according to the posture deviation amount represented by the operation information.

[0101] Optionally, the docking control device 200 of the mobile device also includes an adjustment module, which is used to control the mobile device to rotate in a set direction when the first distance deviation value and the first angle deviation value are outside a set range; when the first angle deviation value is less than the set angle value, adjust the position of the mobile device according to the first distance deviation value until the first distance deviation value is less than the set distance value.

[0102] Optionally, the detection module 230 is also used to detect the moving speed of the mobile device; integrate the moving speed at a first time through the odometer configured for the mobile device to obtain the detection position of the mobile device at the first time; determine the posture deviation between the expected position and the detection position of the moving path at the first time, and use it as operation information.

[0103] Optionally, the control module 240 is also used to compensate the posture of the mobile device with a set first gain coefficient when the posture deviation is less than a set threshold; and to compensate the posture of the mobile device with a set second gain coefficient when the posture deviation is greater than or equal to the set threshold; wherein the first gain coefficient is less than the second gain coefficient.

[0104] Optionally, the docking control device 200 of the mobile device further includes a parking module, which is used to control the mobile device to park when the moving distance of the mobile device at the second time is greater than the expected distance of the moving path at the second time.

[0105] Optionally, the docking control device 200 of the mobile device also includes a verification module, which is used to identify a set platform identifier through an image acquisition device and obtain platform information about the platform identifier; when the platform information meets the set verification conditions, determine a second distance deviation value and a second angle deviation value between the mobile device and the platform identifier according to the platform information; and control the posture of the mobile device according to the second distance deviation value and the second angle deviation value.

[0106] The docking control device 200 of the mobile device may be a mobile device.

[0107] <Equipment Example 2>

[0108] Figure 3 is a schematic diagram of the hardware structure of an electronic device according to an embodiment.

[0109] like Figure 3 As shown, the electronic device 300 includes a processor 310 and a memory 320, wherein the memory 320 is used to store an executable computer program, and the processor 310 is used to execute a method such as any of the above method embodiments under the control of the computer program.

[0110] The electronic device 300 may be a mobile device.

[0111] Each module of the above-mentioned docking control device 200 for mobile equipment may be implemented by the processor 310 in this embodiment executing a computer program stored in the memory 320, or may be implemented by other structures, which are not limited here.

[0112] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0113] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0114] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0115] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0116] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0117] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0118] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0119] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0120] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A method for controlling docking of a mobile device, characterized in that: The method is executed by a mobile device, and the method includes: In response to the set docking conditions, sending the local coordinates of the mobile device to the server, so that the server merges the local coordinates into the global coordinates; Controlling the mobile device to move according to the moving path indicated by the server; Detecting operation information of the mobile device; According to the posture deviation amount represented by the operation information, the movement trajectory of the mobile device is regulated.

2. The method according to claim 1, characterized in that: The mobile device is configured with an image acquisition device, the image acquisition device is used to identify a set docking mark, so that the mobile device obtains a first distance deviation value and a first angle deviation value between the mobile device and the docking mark; The docking condition includes that the first distance deviation value and the first angle deviation value are within a set range.

3. The method according to claim 2, characterized in that The method further comprises: When the first distance deviation value and the first angle deviation value are beyond a set range, controlling the mobile device to rotate in a set direction; When the first angle deviation value is smaller than a set angle value, the position of the mobile device is adjusted according to the first distance deviation value until the first distance deviation value is smaller than a set distance value.

4. The method according to claim 1, characterized in that The detecting the operation information of the mobile device includes: detecting a moving speed of the mobile device; Integrating the moving speed over a first time using an odometer configured for the mobile device to obtain a detected position of the mobile device at the first time; A posture deviation between an expected position of the moving path at the first time and the detected position is determined and used as operation information.

5. The method according to claim 4, characterized in that The step of regulating the moving trajectory of the mobile device according to the posture deviation amount represented by the operation information includes: When the posture deviation is less than a set threshold, performing posture compensation on the mobile device with a set first gain coefficient; When the posture deviation is greater than or equal to a set threshold, posture compensation is performed on the mobile device with a set second gain coefficient; wherein the first gain coefficient is smaller than the second gain coefficient.

6. The method according to claim 5, characterized in that After regulating the moving trajectory of the mobile device, the method further includes: When the moving distance of the mobile device at the second time is greater than the expected distance of the moving path at the second time, the mobile device is controlled to stop.

7. The method according to claim 1, characterized in that After regulating the moving trajectory of the mobile device, the method further includes: By means of an image acquisition device, a set station identification is identified, and station information about the station identification is obtained; When the platform information meets the set verification condition, determining a second distance deviation value and a second angle deviation value between the mobile device and the platform identifier according to the platform information; The posture of the mobile device is controlled according to the second distance deviation value and the second angle deviation value.

8. A docking control device for a mobile device, characterized in that: include: A fusion module, configured to fuse the local coordinates of the mobile device into the global coordinates in response to a set docking condition; A control module, used for controlling the mobile device to move according to the moving path indicated by the global coordinates; A detection module, used to detect the operation information of the mobile device; A control module is used to control the movement trajectory of the mobile device according to the posture deviation amount represented by the operation information.

9. An electronic device, characterized in that: The method comprises a processor connected to a memory, wherein the memory is used to store a computer program; the processor is used to execute the computer program to implement the method according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that: The computer storage medium stores a computer-readable program, and the computer-readable program is executed by a processor to perform the steps of the method according to any one of claims 1 to 7.

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