A mobile robot laser navigation control method and system based on global vision

Abstract

The present invention belongs to the field of robot navigation technology, and discloses a mobile robot laser navigation control method and system based on global vision, including obtaining a global field of view, controlling the movement of a laser transmitter according to the global field of view and emitting a laser point on the ground, so that the laser point generates a path trajectory, recording and saving the path trajectory, and making the laser transmitter continuously move in a circular motion according to the path trajectory to emit the laser point; placing the mobile robot at any position of the path trajectory, so that the laser point scans the mobile robot, a camera above the mobile robot acquires an image of the laser point, analyzes the image of the laser point, detects the position of the laser point, establishes a vector relationship between the laser point and the center point of the mobile robot, and obtains the motion trajectory of the mobile robot. The present invention is applicable to a large-scale empty and signal-free environment where the environment cannot be modified, and improves the positioning accuracy of indoor mobile robot navigation.

Description

Technical Field

[0001] The present invention relates to the field of robot navigation technology, and in particular to a mobile robot laser navigation control method and system based on global vision. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the continuous development of science and technology, indoor mobile robots have gradually become an important tool in all walks of life, showing wide application potential in logistics warehousing, service industry and household cleaning. However, the complexity and variability of indoor environment make mobile robot navigation a key technology that limits its autonomous mobility function. In outdoor navigation, the global positioning system (GPS) is widely used, but in indoor environment, it faces the limitation of no GPS signal. Other conventional methods generally require environmental modification, including adding landmarks, burying magnetic nails or magnetic strips, setting up UWB communication equipment, etc., which are not suitable for some scenes where environmental modification is not allowed. In recent years, SLAM technology has emerged, which can measure the surrounding environment, detect obstacles and achieve real-time positioning without environmental modification. However, this technology has poor positioning accuracy when facing large-scale open indoor environments and cannot achieve autonomous movement. For scenes with large-scale open indoor environments where environmental modification is not allowed, existing methods cannot achieve positioning and autonomous navigation. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes a mobile robot laser navigation control method and system based on global vision. Under global vision, the laser navigation method is used to control the mobile robot to follow the trajectory. It is suitable for large-scale open and signal-free environments where the environment cannot be modified, and improves the positioning accuracy of indoor mobile robot navigation.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] In a first aspect, the present invention provides a mobile robot laser navigation control method based on global vision, comprising the following steps:

[0007] Acquire a global view of the indoor ground, control the movement of the laser transmitter according to the global view and emit laser points to the ground, so that the laser points emitted by the laser transmitter generate path trajectories, record and save the generated path trajectories, and make the laser transmitter continuously move in a circular motion and emit laser points according to the generated path trajectories;

[0008] The mobile robot is placed at any position of the path trajectory, so that the laser point emitted by the laser transmitter scans the mobile robot. The camera above the mobile robot obtains the image of the laser point, analyzes the image of the laser point, detects the position of the laser point, establishes the vector relationship between the laser point and the center point of the mobile robot, and obtains the motion trajectory of the mobile robot.

[0009] As an optional implementation, the laser transmitter is controlled to move and emit laser points to the ground according to the global field of view, specifically:

[0010] Identify the ground conditions based on the global field of view and manipulate the wireless joystick based on the ground conditions. The signal sending module inside the wireless joystick sends the signal to the signal receiving module inside the multi-degree-of-freedom gimbal. After receiving the signal, the signal receiving module controls the movement of the multi-degree-of-freedom gimbal, and then controls the movement of the laser transmitter fixed on the multi-degree-of-freedom gimbal and emits laser spots to the ground.

[0011] As an optional implementation, an encoder is installed on each rotating axis of the multi-degree-of-freedom gimbal, and the motion trajectory data of the multi-degree-of-freedom gimbal is collected by the encoder. The motion trajectory data is stored in a data storage device inside the multi-degree-of-freedom gimbal. The data storage device transmits the motion trajectory data to the first controller. The first controller extracts the motion trajectory data and sends motion instructions according to the motion trajectory data to control the multi-degree-of-freedom gimbal to cyclically execute the motion trajectory.

[0012] As an optional implementation, a method based on HSV color segmentation is used to perform image analysis of the laser point to detect the position of the laser point.

[0013] As an optional implementation, a vector relationship between the laser point and the center point of the mobile robot is established to obtain the motion trajectory of the mobile robot, specifically: laser point tracking control is performed on the mobile robot according to the discrete linear kinematics model of the mobile robot and the model predictive control method. The discrete linear kinematics model of the mobile robot is as follows:

[0014]

[0015] in,

[0016] T is the sampling time, K is the current iteration number, θ r is the desired heading angle.

[0017] As an optional implementation, the cost function of the model predictive control method is as follows:

[0018]

[0019] Among them, Np is the prediction time domain, N c is the control time domain, Y is the state variable matrix of the mobile robot in the prediction time domain, Y r is the reference variable matrix of the mobile robot in the prediction domain, Δu is the control input change matrix in the control domain, and Q and R are weight matrices.

[0020] In a second aspect, the present invention provides a mobile robot laser navigation control system based on global vision, comprising:

[0021] The trajectory generation module is configured to: obtain a global view of the indoor ground, control the movement of the laser transmitter according to the global view and emit laser points to the ground, so that the laser points emitted by the laser transmitter generate path trajectories, record and save the generated path trajectory, and make the laser transmitter continuously move in a loop and emit laser points according to the generated path trajectory;

[0022] The trajectory following module is configured as follows: placing the mobile robot at any position of the path trajectory, allowing the laser point emitted by the laser transmitter to scan the mobile robot, the camera above the mobile robot to obtain the image of the laser point, analyzing the image of the laser point, detecting the position of the laser point, establishing a vector relationship between the laser point and the center point of the mobile robot, and obtaining the motion trajectory of the mobile robot.

[0023] In a third aspect, the present invention provides an electronic device comprising a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein when the computer instructions are executed by the processor, the method described in the first aspect is performed.

[0024] In a fourth aspect, the present invention provides a computer-readable storage medium for storing computer instructions, wherein when the computer instructions are executed by a processor, the method described in the first aspect is performed.

[0025] In a fifth aspect, the present invention provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method described in the first aspect.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present disclosure proposes a mobile robot laser navigation control method and system based on global vision, which identifies the ground conditions according to the collected global field of view, controls the laser transmitter to emit laser points to the ground according to the ground conditions, and generates a path trajectory. The path trajectory can be recorded and generated cyclically, and the mobile robot is placed at any position of the generated path trajectory so that the laser point can illuminate the mobile robot. The camera carried by the mobile robot is covered with a semi-transparent black cloth. When the laser point illuminates the semi-transparent black cloth, the mobile robot is controlled and tracked by using a method combining an image analysis algorithm and a model predictive control, so that the present invention is suitable for large-scale open and signal-free environments where the environment cannot be modified, thereby improving the positioning and autonomous navigation accuracy of indoor mobile robots.

[0028] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0030] Figure 1 A flowchart of a mobile robot laser navigation control method based on global vision provided in Example 1 of the present invention;

[0031] Figure 2 A schematic diagram of the structure of a trajectory generation system provided in Example 2 of the present invention;

[0032] Figure 3 A schematic diagram of the structure of a trajectory following system provided in Example 2 of the present invention;

[0033] Figure 4 This is a schematic diagram of the structure of a mobile robot laser navigation control system based on global vision provided in Example 2 of the present invention.

[0034] Among them, 1. UAV; 2. Global camera; 3. First controller; 4. Multi-degree-of-freedom gimbal; 5. Laser transmitter; 6. Semi-transparent black cloth; 7. Camera; 8. Mobile robot; 9. Laser line; 10. Laser point; 11. Path trajectory; 12. Obstacle one; 13. Obstacle two. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0036] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0037] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "include" and "have" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0039] Example 1

[0040] like Figure 1 As shown, this embodiment provides a mobile robot laser navigation control method based on global vision, comprising the following steps:

[0041] S1. Obtain a global view of the indoor ground, control the movement of the laser transmitter according to the global view and emit laser points to the ground, so that the laser points emitted by the laser transmitter generate path trajectories, record and save the generated path trajectories, and make the laser transmitter continuously move in a circular motion and emit laser points according to the generated path trajectories;

[0042] S2. Place the mobile robot at any position of the path trajectory, so that the laser point emitted by the laser transmitter scans the mobile robot, and the camera above the mobile robot obtains the image of the laser point, analyzes the image of the laser point, detects the position of the laser point, establishes a vector relationship between the laser point and the center point of the mobile robot, and obtains the motion trajectory of the mobile robot.

[0043] The present invention discloses a mobile robot laser navigation control method based on global vision, which comprises two stages: first, a trajectory generation stage; and second, a trajectory following stage.

[0044] The first stage is the trajectory generation stage, which includes a drone 1, a global camera 2, a wireless joystick, a multi-degree-of-freedom gimbal 4, a first controller 3 and a laser transmitter 5. The global camera 2 is fixed on the drone 1, with the field of view facing downward; the multi-degree-of-freedom gimbal 4 is fixed on the drone 1, and the laser transmitter 5 is connected to the multi-degree-of-freedom gimbal 4; an encoder is installed on each rotation axis of the multi-degree-of-freedom gimbal 4; the multi-degree-of-freedom gimbal 4 contains a data storage device, which is connected to the first controller 3 through a data bus; the first controller 3 is fixed on the drone 1; the wireless joystick has a signal sending module inside for sending signals; the multi-degree-of-freedom gimbal 4 has a signal receiving module inside for receiving signals sent by the signal sending module. The specific steps are as follows:

[0045] Step 1, the global camera 2 can obtain the global view of the ground and transmit the obtained video to the PC in real time;

[0046] Step 2: observe the ground conditions according to the global view, and control the drone 1 to hover above the site at any position where the global view can be obtained, and there is no need to calibrate the global camera 2;

[0047] Step 3, the wireless joystick is controlled according to the ground conditions. The signal sending module inside the wireless joystick sends the signal to the signal receiving module inside the multi-degree-of-freedom gimbal 4. After receiving the signal, the signal receiving module controls the movement of the multi-degree-of-freedom gimbal 4, and then controls the movement of the laser transmitter 5;

[0048] Step 4: The laser transmitter 5 transmits a laser point 10 to the ground, and controls the movement of the laser transmitter 5 by manipulating the wireless joystick, so that the laser point 10 emitted by the laser transmitter 5 generates an arbitrary path trajectory 11.

[0049] Step 5: Record the motion trajectory data of the multi-degree-of-freedom gimbal 4 through the encoder. The specific process is as follows:

[0050] Step 51, in the process of manipulating the wireless joystick to control the movement of the multi-degree-of-freedom pan / tilt platform 4 in step 3, the encoder records the angle change of each degree of freedom of the multi-degree-of-freedom pan / tilt platform 4 in real time;

[0051] Step 52: A series of angle change information forms motion trajectory data of the multi-degree-of-freedom pan / tilt platform 4, and the read motion trajectory data of the multi-degree-of-freedom pan / tilt platform 4 is stored in a data storage device in a CSV file format (each line contains a timestamp and angle data of each axis);

[0052] Step 6, the first controller 3 extracts the motion trajectory data of the multi-degree-of-freedom pan-tilt head 4 in the data storage device, and sends motion instructions according to the motion trajectory data to control the cyclic motion trajectory of the multi-degree-of-freedom pan-tilt head 4, so that the laser emitter 5 will also continue to move in a circular motion, and the laser point 10 will irradiate the ground and generate a path trajectory 11.

[0053] The second stage is the trajectory following stage, which includes the mobile robot 8, the camera 7, and the semi-transparent black cloth 6. The mobile robot 8 can move in all directions; the camera 7 is fixed above the mobile robot 8, with the field of view facing upward; the semi-transparent black cloth 6 covers the camera 7. The specific steps are as follows:

[0054] Step 7, placing the mobile robot 8 at any position of the path trajectory 11 of step 6;

[0055] Step 8, the laser point 10 scans the mobile robot 8 and shines on the semi-transparent black cloth 6;

[0056] Step 9, the camera 7 acquires an image of the laser point. The acquired image is an RGB image, which includes a partial area of ​​the semi-transparent black cloth 6 and the laser point 10 emitted by the laser emitter 5 to the semi-transparent black cloth 6. The image is analyzed using a method based on HSV color segmentation to detect the position of the laser point 10. The specific method is as follows:

[0057] Step 91, image preprocessing: using Gaussian filtering or median filtering to remove noise in the image, and using a histogram equalization contrast enhancement algorithm to highlight the features of the laser point 10 in the image;

[0058] Step 92: Convert the image from the RGB color space to the HSV color space through color space conversion;

[0059] Step 93, color threshold segmentation: according to the color of the laser point 10, the hue range in the HSV color space is set, and the laser point 10 area in the image is extracted according to the hue range, and other areas outside the laser point 10 are removed, and the image is segmented into black and white parts to form a binary image, in which the laser point 10 is white and the background is black;

[0060] Step 94, establish a pixel coordinate system, the origin of the pixel coordinate system is the upper left corner of the image, the horizontal rightward is the x-axis, the vertical downward is the y-axis, the width of the image is W, and the height is H;

[0061] Step 95: Perform contour detection on the binary image obtained in step 93, detect the bounding box of the laser point 10, traverse the detected contour, use the cv2.moments() function to calculate the moment M of the contour, and calculate the geometric center coordinates of the laser point 10 based on the moment M, that is, the pixel coordinates (x r ,y r ), the pixel coordinates (x r ,y r ) as the tracking target:

[0062]

[0063] Where m00 is the area of ​​the contour, m10 is the weighted sum of the x-coordinates of all pixels, and m01 is the weighted sum of the y-coordinates of all pixels, with the weight being the intensity of each pixel.

[0064] Step 10: In the pixel coordinate system established in step 94, the pixel coordinates (x, y) of the center point of the image are regarded as the pixel coordinates of the center point of the mobile robot 8, and the pixel coordinates (x r ,y r ) establishes a vector relationship with the pixel coordinates (x, y) of the center point of the image, and calculates the desired heading angle θ of the mobile robot 8 r :

[0065]

[0066] Step 11: According to the discrete linear kinematics model of the mobile robot 8 and the model predictive control method, the mobile robot 8 is tracked by the laser point 10, and the state quantity is [x, y, θ] T , the control quantity is [v,ω] T , the reference quantity is [x r ,y r ,θ r ] T , where θ is the angle between the pixel coordinates (x, y) of the center point of the image and the pixel coordinate system, which is generally taken as 0. r is the desired heading angle of the mobile robot 8 obtained in step 10, v and v r is the mobile robot 8 speed, ω and ω r is the angular velocity of the mobile robot 8;

[0067] Step 111, the discretized linear kinematics model of the mobile robot 8 is as follows:

[0068]

[0069] in,

[0070] T is the sampling time, and K is the current iteration number.

[0071] Step 112: According to step 111, the cost function of the model predictive control method is as follows:

[0072]

[0073] Among them, N P is the prediction time domain, N c is the control time domain, Y is the state variable matrix of the mobile robot in the prediction time domain, Y ris the reference variable matrix of the mobile robot in the prediction domain, Δu is the control input change matrix in the control domain, and Q and R are weight matrices.

[0074] According to the above cost function, the control input changes Δu(k+1) and u(k) are obtained by finding the minimum value, and the velocity v and angular velocity ω acting on the mobile robot at the next moment are obtained, thereby realizing tracking control.

[0075] Example 2

[0076] This embodiment provides a mobile robot laser navigation control system based on global vision, including:

[0077] The trajectory generation module is configured to: obtain a global view of the indoor ground, control the movement of the laser transmitter according to the global view and emit laser points to the ground, so that the laser points emitted by the laser transmitter generate path trajectories, record and save the generated path trajectory, and make the laser transmitter continuously move in a loop and emit laser points according to the generated path trajectory;

[0078] The trajectory following module is configured as follows: placing the mobile robot at any position of the path trajectory, allowing the laser point emitted by the laser transmitter to scan the mobile robot, the camera above the mobile robot to obtain the image of the laser point, analyzing the image of the laser point, detecting the position of the laser point, establishing a vector relationship between the laser point and the center point of the mobile robot, and obtaining the motion trajectory of the mobile robot.

[0079] It should be noted that the above modules correspond to the steps described in Example 1, and the examples and application scenarios implemented by the above modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above Example 1. It should be noted that the above modules, as part of the system, can be executed in a computer system such as a set of computer executable instructions.

[0080] In further embodiments, there is also provided:

[0081] An electronic device includes a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein when the computer instructions are executed by the processor, the method described in Embodiment 1 is performed. For the sake of brevity, it will not be described in detail here.

[0082] It should be understood that in this embodiment, the processor may be a central processing unit CPU, and the processor may also be other general-purpose processors, digital signal processors DSP, application-specific integrated circuits ASIC, off-the-shelf programmable gate arrays FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0083] The memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0084] A computer-readable storage medium is used to store computer instructions, and when the computer instructions are executed by a processor, the method described in Example 1 is completed.

[0085] The method in Example 1 can be directly embodied as a hardware processor, or a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it is not described in detail here.

[0086] A computer program product includes a computer program, and when the computer program is executed by a processor, the method described in embodiment 1 is implemented.

[0087] The present invention also provides at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes computer executable instructions, such as instructions included in a program module, which are executed in a device on a real or virtual processor of the target to perform the process / method as described above. Typically, program modules include routines, programs, libraries, objects, classes, components, data structures, etc. that perform specific tasks or implement specific abstract data types. In various embodiments, the functions of program modules can be combined or divided between program modules as needed. Machine executable instructions for program modules can be executed in local or distributed devices. In distributed devices, program modules can be located in local and remote storage media.

[0088] The computer program code for implementing the method of the present invention can be written in one or more programming languages. These computer program codes can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the computer or other programmable data processing device, causes the function / operation specified in the flow chart and / or block diagram to be implemented. The program code can be executed completely on a computer, partially on a computer, as an independent software package, partially on a computer and partially on a remote computer or completely on a remote computer or server.

[0089] In the context of the present invention, computer program codes or related data may be carried by any appropriate carrier to enable a device, apparatus or processor to perform the various processes and operations described above. Examples of carriers include signals, computer readable media, and the like. Examples of signals may include electrical, optical, radio, acoustic or other forms of propagation signals, such as carrier waves, infrared signals, and the like.

[0090] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with this embodiment can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0091] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A mobile robot laser navigation control method based on global vision, characterized in that: The following steps are involved: Acquire a global view of the indoor ground, control the movement of the laser transmitter according to the global view and emit laser points to the ground, so that the laser points emitted by the laser transmitter generate path trajectories, record and save the generated path trajectories, and make the laser transmitter continuously move in a circular motion and emit laser points according to the generated path trajectories; The mobile robot is placed at any position of the path trajectory, so that the laser point emitted by the laser transmitter scans the mobile robot. The camera above the mobile robot obtains the image of the laser point, analyzes the image of the laser point, detects the position of the laser point, establishes the vector relationship between the laser point and the center point of the mobile robot, and obtains the motion trajectory of the mobile robot.

2. A mobile robot laser navigation control method based on global vision as claimed in claim 1, characterized in that: According to the global view, the laser transmitter is controlled to move and emit laser points on the ground. Specifically: Identify the ground conditions based on the global field of view and manipulate the wireless joystick based on the ground conditions. The signal sending module inside the wireless joystick sends the signal to the signal receiving module inside the multi-degree-of-freedom gimbal. After receiving the signal, the signal receiving module controls the movement of the multi-degree-of-freedom gimbal, and then controls the movement of the laser transmitter fixed on the multi-degree-of-freedom gimbal and emits laser spots to the ground.

3. A mobile robot laser navigation control method based on global vision as claimed in claim 2, characterized in that: An encoder is installed on each rotating axis of the multi-degree-of-freedom pan-tilt head. The encoder collects motion trajectory data of the multi-degree-of-freedom pan-tilt head and stores the motion trajectory data in a data storage device inside the multi-degree-of-freedom pan-tilt head. The data storage device transmits the motion trajectory data to the first controller. The first controller extracts the motion trajectory data and sends motion instructions according to the motion trajectory data to control the multi-degree-of-freedom pan-tilt head to cyclically execute the motion trajectory.

4. A mobile robot laser navigation control method based on global vision as claimed in claim 1, characterized in that: The HSV color segmentation method is used to analyze the laser point image and detect the laser point position.

5. The global vision-based mobile robot laser navigation control method according to claim 1, characterized in that: Establish the vector relationship between the laser point and the center point of the mobile robot to obtain the motion trajectory of the mobile robot, specifically: Laser point tracking control is performed on the mobile robot according to the mobile robot discrete linear kinematics model and the model predictive control method. The mobile robot discrete linear kinematics model is as follows: in, T is the sampling time, K is the current iteration number, θ r is the desired heading angle.

6. A global vision-based mobile robot laser navigation control method as claimed in claim 5, characterized in that: The cost function of the model predictive control method is as follows: Among them, N P is the prediction time domain, N c is the control time domain, Y is the state variable matrix of the mobile robot in the prediction time domain, Y r is the reference variable matrix of the mobile robot in the prediction domain, Δu is the control input change matrix in the control domain, and Q and R are weight matrices.

7. A mobile robot laser navigation control system based on global vision, characterized in that: include: The trajectory generation module is configured to: obtain a global view of the indoor ground, control the movement of the laser transmitter according to the global view and emit laser points to the ground, so that the laser points emitted by the laser transmitter generate path trajectories, record and save the generated path trajectory, and make the laser transmitter continuously move in a loop and emit laser points according to the generated path trajectory; The trajectory following module is configured as follows: placing the mobile robot at any position of the path trajectory, allowing the laser point emitted by the laser transmitter to scan the mobile robot, the camera above the mobile robot to obtain the image of the laser point, analyzing the image of the laser point, detecting the position of the laser point, establishing a vector relationship between the laser point and the center point of the mobile robot, and obtaining the motion trajectory of the mobile robot.

8. An electronic device, characterized in that: The method comprises a memory and a processor and computer instructions stored in the memory and executed on the processor, wherein when the computer instructions are executed by the processor, the method according to any one of claims 1 to 6 is completed.

9. A computer-readable storage medium, characterized in that: Used to store computer instructions, which, when executed by a processor, complete the method described in any one of claims 1 to 6.

10. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 6.

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