Mobile robot positioning method and device

Abstract

The invention provides a mobile robot positioning method and device, and the method comprises the steps: determining whether the center of a mobile robot is aligned with the center of a two-dimensional code or not and whether a vehicle body of the mobile robot is inclined or not according to a captured image captured by a two-dimensional code information capturing device, and any one captured image comprises a whole two-dimensional code image; under the condition that the center of the mobile robot is not aligned with the center of the two-dimensional code, controlling the mobile robot to move according to the distance between the center of the mobile robot and the center of the two-dimensional code so as to meet the requirement that the center of the mobile robot is aligned with the center of the two-dimensional code; and under the condition that the vehicle body of the mobile robot is inclined, the steering angle of the mobile robot is adjusted, so that the axis of the mobile robot is aligned with the axis of the two-dimensional code. According to the invention, the problem of inaccurate positioning precision of the mobile robot in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a mobile robot positioning method, a mobile robot positioning device, a computer-readable storage medium, and an electronic device. Background Art

[0002] Mobile robots, including AGV (Automated Guided Vehicle), are widely used in industrial production, logistics and warehousing. They are unmanned transport vehicles that can automatically travel along a predetermined path to complete tasks such as material handling and cargo transportation. Their positioning accuracy is crucial to the performance of the entire system. Higher positioning accuracy is conducive to avoiding collisions, precise docking, reducing error accumulation, improving flexibility, etc., and higher positioning accuracy is conducive to subsequent path optimization.

[0003] Currently, mobile robots rely on odometers and gyroscopes for motion control. However, this solution has limitations in accuracy and cannot meet the needs of high-precision positioning. As a result, the mobile robot may be inaccurately positioned or frequently deviate from the established path during operation. Summary of the invention

[0004] The main purpose of the present application is to provide a mobile robot positioning method, a mobile robot positioning device, a computer-readable storage medium and an electronic device, so as to at least solve the problem of inaccurate positioning accuracy of the mobile robot in the related art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a mobile robot positioning method is provided, wherein the mobile robot travels along a pre-planned QR code path, and a QR code information collector is installed at the center of the body of the mobile robot, comprising: determining whether the center of the mobile robot is aligned with the center of the QR code and determining whether the body of the mobile robot is tilted according to a captured image captured by the QR code information collector, wherein any of the captured images includes the entire QR code image; when the center of the mobile robot is not aligned with the center of the QR code, controlling the movement of the mobile robot according to the distance between the center of the mobile robot and the center of the QR code to satisfy the alignment of the center of the mobile robot with the center of the QR code; when the body of the mobile robot is tilted, adjusting the steering angle of the mobile robot so that the axis of the mobile robot is aligned with the axis of the QR code.

[0006] Optionally, determining whether the center of the mobile robot is aligned with the center of the QR code includes: obtaining the center of the entire QR code image in the captured image and the center of the captured image; determining whether the center of the captured image coincides with the center of the entire QR code image in the captured image, and if they coincide, determining that the center of the mobile robot is aligned with the center of the QR code; and if they do not coincide, determining that the center of the mobile robot is not aligned with the center of the QR code.

[0007] Optionally, before controlling the movement of the mobile robot according to the distance between the center of the mobile robot and the center of the QR code to satisfy the alignment of the center of the mobile robot with the center of the QR code, the method also includes: determining the pixel-level distance between the center of the mobile robot and the center of the QR code in the pixel coordinate system according to the pixel-level coordinates of the center of the mobile robot and the pixel coordinates of the center of the QR code; obtaining the transformation matrix between the world coordinate system and the pixel coordinate system; and determining the physical distance between the center of the mobile robot and the center of the QR code according to the transformation matrix and the pixel-level distance.

[0008] Optionally, determining whether the body of the mobile robot is tilted according to the captured image includes: obtaining a line connecting the center of the entire two-dimensional code image in the captured image and the center of the captured image; obtaining an angle between the line and a preset direction, wherein the preset direction is aligned with the axis of the two-dimensional code; and determining that the body of the mobile robot is tilted when the angle is greater than the preset angle.

[0009] Optionally, when the body of the mobile robot is tilted, the steering angle of the mobile robot is adjusted so that the axis of the mobile robot is aligned with the axis of the QR code, including: when the body of the mobile robot is tilted, the steering angle of the mobile robot is adjusted by angle A, wherein A=K_turn×B, K_turn represents the proportional coefficient, and B represents the angle between the connecting line and the preset direction.

[0010] Optionally, the method further includes: adjusting the speed of the mobile robot while adjusting the steering angle of the mobile robot, wherein the speed adjustment amount is V, V=max_speed-K_speed×abs(B), max_speed represents the maximum speed of the mobile robot, and K_speed represents the proportional coefficient.

[0011] Optionally, the method further comprises: when the pre-adjustment amount of the steering angle of the mobile robot is greater than the upper limit value of the adjustment angle, setting the adjustment amount of the steering angle of the mobile robot to the upper limit value of the adjustment angle.

[0012] According to another aspect of the present application, a mobile robot positioning device is provided, wherein the mobile robot travels along a pre-planned QR code path, and a QR code information collector is installed at the center of the mobile robot body, comprising: a determination unit, for determining whether the center of the mobile robot is aligned with the center of the QR code and whether the body of the mobile robot is tilted according to a captured image captured by the QR code information collector, wherein any of the captured images includes the entire QR code image; a control unit, for controlling the movement of the mobile robot according to the distance between the center of the mobile robot and the center of the QR code to satisfy the alignment of the center of the mobile robot with the center of the QR code when the center of the mobile robot is not aligned with the center of the QR code; and an adjustment unit, for adjusting the steering angle of the mobile robot so that the axis of the mobile robot is aligned with the axis of the QR code when the body of the mobile robot is tilted.

[0013] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the mobile robot positioning methods described above.

[0014] According to another aspect of the present application, an electronic device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for executing any one of the mobile robot positioning methods described above.

[0015] The technical solution of the present application determines whether the center of the mobile robot is aligned with the center of the QR code and whether the body of the mobile robot is tilted based on the captured image captured by the QR code information capturer. Any captured image includes the entire QR code image. When the center of the mobile robot is not aligned with the center of the QR code, the movement of the mobile robot is controlled according to the distance between the center of the mobile robot and the center of the QR code to ensure that the center of the mobile robot is aligned with the center of the QR code. When the body of the mobile robot is tilted, the steering angle of the mobile robot is adjusted so that the axis of the mobile robot is aligned with the axis of the QR code. A QR code-assisted technology is applied to achieve further correction of the positioning of the mobile robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 It is a hardware structure block diagram of a mobile terminal of a mobile robot positioning method according to an embodiment of the present invention;

[0018] Figure 2 is a flow chart of a mobile robot positioning method according to an embodiment of the present application;

[0019] Figure 3 is a flow chart of another mobile robot positioning method according to an embodiment of the present application;

[0020] Figure 4 is a schematic diagram of a mobile robot positioning device according to an embodiment of the present application.

[0021] The above drawings include the following reference numerals:

[0022] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] In order to enable those skilled in the art to better understand the solution of the present application, 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 only 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 should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" 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.

[0026] As introduced in the background technology, the positioning accuracy of the mobile robot in the prior art is inaccurate. To solve the above problem, the embodiments of the present application provide a mobile robot positioning method, a mobile robot positioning device, a computer-readable storage medium and an electronic device.

[0027] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0028] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal of a mobile robot positioning method according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0029] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the mobile robot positioning method in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0030] In this embodiment, a mobile robot positioning method running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0031] Figure 2 is a flow chart of a mobile robot positioning method according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0032] Step S201, based on the captured image captured by the two-dimensional code information capture device, determine whether the center of the mobile robot is aligned with the center of the two-dimensional code and whether the body of the mobile robot is tilted, and any captured image includes the entire two-dimensional code image.

[0033] As mentioned above, the alignment of the center of the mobile robot with the center of the QR code indicates that the center of the mobile robot coincides with the center of the QR code.

[0034] Specifically, determining whether the center of the mobile robot is aligned with the center of the QR code and whether the body is tilted can help the robot accurately identify its own position and direction. If the center of the mobile robot is not aligned with the center of the QR code or the body is tilted, it may cause inaccurate positioning of the robot, thereby affecting its navigation and task execution. By capturing the QR code image and determining whether the center of the mobile robot is aligned with the center of the QR code, the robot can perform self-positioning and calibration, and improve its navigation accuracy. Determining whether the body is tilted can also help the robot remain stable during movement and avoid instability caused by tilt, ensuring that the robot can accurately identify its own position and direction, thereby effectively completing the task.

[0035] Step S202, when the center of the mobile robot is not aligned with the center of the QR code, the mobile robot is controlled to move according to the distance between the center of the mobile robot and the center of the QR code to ensure that the center of the mobile robot is aligned with the center of the QR code.

[0036] Specifically, by measuring the distance between the center of the mobile robot and the center of the QR code, precise alignment of the QR code can be achieved, thereby improving the accuracy and efficiency of the robot in performing tasks. It can help the mobile robot to accurately locate and identify the QR code, thereby achieving effective control and operation of the QR code, and can be effectively applied to various scenarios that require the mobile robot to be aligned with the target object.

[0037] Step S203, when the body of the mobile robot is tilted, adjust the steering angle of the mobile robot so that the axis of the mobile robot is aligned with the axis of the QR code.

[0038] Specifically, adjusting the steering angle of the mobile robot so that the axis of the mobile robot is aligned with the axis of the QR code can help the mobile robot read and identify the QR code more accurately, thereby achieving more accurate positioning and navigation. By aligning the axis, the reading error can be reduced, and the positioning accuracy of the robot can be improved, ensuring that the robot can accurately reach the target position, improving the positioning accuracy and navigation accuracy of the mobile robot, thereby improving the robot's work efficiency and reliability.

[0039] Through this embodiment, the relative position relationship between the mobile robot and the QR code in the captured image is utilized to achieve alignment between the center of the mobile robot and the center of the QR code and to ensure that the vehicle body is not tilted, thereby ensuring that the mobile robot can accurately identify and locate the target object when performing tasks, improving the accuracy and stability of positioning, and ensuring that the mobile robot can move according to a predetermined path and direction. By adjusting the position and posture of the mobile robot in real time, positioning errors and deviations from the target can be effectively avoided, thereby improving the navigation accuracy and efficiency of the mobile robot, and applying a QR code-assisted technology to achieve further correction of the positioning of the mobile robot.

[0040] Specifically, the above-mentioned QR code information collector is a device or sensor used to identify and capture QR code information. It is usually equipped on a mobile robot. During preliminary preparation, the code reader is placed in the center of the vehicle body, and its direction is in a straight line with the positive direction of the front of the vehicle. The position information is obtained by scanning the QR code in the surrounding environment, thereby realizing the positioning and navigation of the robot. The QR code can be scanned by an optical sensor or camera, and the captured information is transmitted to the robot's control system. The robot can determine the position based on the scanned QR code information, as well as the map information of the surrounding environment, thereby achieving more accurate positioning and navigation.

[0041] During the specific implementation process, determining whether the center of the mobile robot is aligned with the center of the QR code can be achieved through the following steps: obtaining the center of the entire QR code image in the captured image and the center of the captured image; determining whether the center of the captured image coincides with the center of the entire QR code image in the captured image, and if they coincide, determining that the center of the mobile robot is aligned with the center of the QR code; and if they do not coincide, determining that the center of the mobile robot is not aligned with the center of the QR code.

[0042] In this scheme, by comparing the positions of the center in the captured image and the center of the QR code image, it is possible to determine whether the center of the mobile robot is aligned with the center of the QR code, thereby adjusting the position of the robot to achieve alignment, improving the positioning accuracy of the mobile robot when performing tasks, and ensuring that the robot can accurately identify and operate the target represented by the QR code.

[0043] Figure 3 is a flow chart of another mobile robot positioning method according to an embodiment of the present application, such as Figure 3 As shown, turn on the code reader to obtain information and determine whether the QR code information is successfully read. If the QR code information is read, obtain the pixel deviation, that is, the distance difference between the AGV (Automated Guided Vehicle) center (that is, the center of the captured image) and the QR code center in pixels. By analyzing the actual distance corresponding to each pixel point, determine the deviation distance between the QR code center and the AGV center, where the world coordinate system is the world physical coordinate, and the pixel deviation and distance deviation are provided in the camera.

[0044] Specifically, AGV (Automated Guided Vehicle) is an automated guided vehicle used for autonomous movement and task execution. It is usually equipped with sensors and navigation systems. It can drive autonomously according to pre-set paths and tasks, avoid obstacles and complete tasks such as cargo handling. It can obtain the location information of AGV through different positioning technologies, and perform path planning and navigation control according to task requirements. It can achieve efficient material handling and task execution by constantly interacting and updating with the environment.

[0045] During the specific implementation process, before the movement of the mobile robot is controlled according to the distance between the center of the mobile robot and the center of the QR code to satisfy the alignment of the center of the mobile robot with the center of the QR code, the above method also includes the following steps: determining the pixel-level distance between the center of the mobile robot and the center of the QR code in the pixel coordinate system according to the pixel-level coordinates of the center of the mobile robot and the pixel coordinates of the center of the QR code; obtaining the transformation matrix between the world coordinate system and the pixel coordinate system; determining the physical distance between the center of the mobile robot and the center of the QR code according to the transformation matrix and the pixel-level distance.

[0046] In this scheme, the actual distance (i.e., physical distance) between the center of the mobile robot and the center of the QR code is accurately determined through the calculation of pixel-level coordinates and transformation matrices, so that the movement of the mobile robot is controlled to achieve alignment. This can improve the positioning precision and accuracy of the mobile robot, thereby more effectively realizing the interaction and collaboration between the mobile robot and the QR code.

[0047] Specifically, the method for obtaining the absolute position is: Puv = KTPw, where Pw is the world coordinate system, T is the external parameter between the camera system and the world system, that is, the camera external parameter, and K is the external parameter from the normalized camera system to the pixel coordinate system, that is, the camera internal parameter. The conversion between the image coordinate system and the pixel coordinate system is: Among them, uv is the pixel coordinate system, convert the world coordinate system to the pixel coordinate system:

[0048]

[0049] Among them, X w Y w Z w is the world coordinate system, describing the camera position, f is the camera focal length, is the camera internal parameter, is the camera extrinsic parameter.

[0050] In the specific implementation process, determining whether the body of the mobile robot is tilted based on the captured image can be achieved through the following steps: obtaining a line connecting the center of the entire QR code image in the captured image and the center of the captured image; obtaining an angle between the line and a preset direction, wherein the preset direction is aligned with the axis of the QR code; and determining that the body of the mobile robot is tilted when the angle is greater than the preset angle.

[0051] Specifically, the preset direction may be selected as the positive direction of the X-axis or the positive direction of the Y-axis. When the preset direction is the positive direction of the X-axis, the axis of the QR code is selected as the horizontal axis; when the preset direction is the positive direction of the Y-axis, the axis of the QR code is selected as the longitudinal axis.

[0052] This solution can help the mobile robot determine whether the vehicle body is tilted, thereby helping it to locate its own position more accurately. By analyzing the angle between the line connecting the center of the captured QR code image and the center of the captured image and the preset direction, the mobile robot can determine whether it is tilted, thereby adjusting the vehicle body posture in time to ensure stable movement and precise positioning, improve the positioning accuracy and stability of the mobile robot, and thus complete various tasks more effectively.

[0053] Specifically, after obtaining the actual deviation between the AGV and the QR code through decoding by the code reader, the body posture of the AGV can be further determined. After obtaining the actual distance deviation, the AGV is controlled to move to the center of the QR code. Then, the angle problem is considered. According to the actual deviation distance and the orientation of the AGV itself, the deviation angle can be calculated. The specific steps are as follows:

[0054] 1. The actual deviation distance obtained by the code reader can be used to determine whether the AGV has deviated from the center of the QR code. According to the size of the deviation distance, the distance difference between the AGV and the QR code can be determined, thereby determining whether the AGV is in front, behind or to the side of the QR code;

[0055] 2. According to the orientation of the AGV itself, the relative angle between the AGV and the QR code can be determined. According to the actual deviation distance and the orientation of the AGV itself, the deviation angle can be calculated, that is, the angle that the AGV needs to adjust, the deviation value of the AGV from the x-axis of the center point of the QR code, and the deviation value of the AGV from the y-axis of the center point of the QR code captured by the camera, in order to align with the QR code. The calculation of the deviation angle can be achieved using trigonometric functions, such as That is, the distance from the camera to the midpoint of the QR code is y, and the vertical distance is x. The deviation angle is obtained by y and x. The preset angle is equal to 0 in an ideal situation. It can be set to a smaller range in actual control. According to the actual deviation distance and the orientation of the AGV itself, the horizontal deviation and vertical deviation between the AGV and the QR code can be calculated.

[0056] 3. The inverse tangent function can be used to calculate the deviation angle. According to the positive and negative values ​​and size of the deviation angle, it can be determined whether the AGV needs to turn left or right, and the angle required to turn. By calculating the deviation angle, the AGV can make corresponding adjustments based on the actual deviation distance and its own orientation to align the AGV with the QR code.

[0057] During the specific implementation process, when the body of the mobile robot is tilted, the steering angle of the mobile robot is adjusted so that the axis of the mobile robot is aligned with the axis of the QR code. This can be achieved through the following steps: when the body of the mobile robot is tilted, the steering angle of the mobile robot is adjusted by angle A, where A=K_turn×B, K_turn represents the proportional coefficient, and B represents the angle between the connecting line and the preset direction.

[0058] This solution can help the mobile robot to locate the position of the QR code more accurately when the vehicle body is tilted. By adjusting the steering angle so that the axis of the mobile robot is aligned with the axis of the QR code, it can ensure that the mobile robot is facing the correct direction during the forward movement, thereby improving the accuracy and stability of positioning. Through the calculation of the proportional coefficient and the angle, the steering angle can be adjusted more flexibly to adapt to the degree of vehicle body tilt in different situations, thereby improving the adaptability and robustness of positioning. It can effectively solve the problem of low positioning accuracy of the mobile robot when the vehicle body is tilted, and improve the navigation and positioning capabilities of the mobile robot.

[0059] Specifically, the code for steering angle calculation is as follows:

[0060] steering_angle=K_turn*error_angle;

[0061] Among them, error_angle is the angular deviation between the current position of the AGV and the target position (such as the center of the QR code) (in this article, it is equivalent to the angle between the line connecting the center of the entire QR code image and the center of the captured image and the preset direction), and K_turn is a proportional coefficient used to adjust the sensitivity of the steering response. A larger K_turn value will make the AGV more sensitive to angle deviations and the steering angle will also change more.

[0062] During the specific implementation process, the above method also includes the following steps: adjusting the speed of the mobile robot while adjusting the steering angle of the mobile robot, wherein the speed adjustment amount is V, V=max_speed-K_speed×abs(B), max_speed represents the maximum speed of the mobile robot, and K_speed represents the proportional coefficient.

[0063] In this scheme, adjusting the steering angle and speed of the mobile robot can help the robot reach the target position more efficiently. By adjusting the speed according to the deviation between the current position and the target position, the robot can slow down when approaching the target, thereby reducing the error and stopping near the target position more accurately. According to the setting of the proportional coefficient K_speed, the amplitude of the speed adjustment can be controlled to make the robot movement smoother and more stable, improve the robot's positioning accuracy and movement efficiency, while reducing energy consumption during movement and improving the overall performance of the robot.

[0064] Specifically, the AGV's driving speed is calculated and the speed adjustment scheme is as follows:

[0065] speed=max_speed-K_speed*abs(error_angle);

[0066] Among them, max_speed is the maximum speed of the AGV. By subtracting the product of the proportional coefficient K_speed and the absolute value of the angular deviation error_angle, the speed of the AGV can be reduced when it deviates from the target position. abs(error_angle) returns the absolute value of error_angle to ensure that both positive and negative deviations will lead to a reduction in speed to ensure that the AGV is more stable when adjusting its posture. When error_angle is large, the speed of the AGV will slow down, which helps to reduce the overreaction that may occur when adjusting the posture.

[0067] In a specific implementation process, the above method further includes the following steps: when the pre-adjustment amount of the steering angle of the mobile robot is greater than the upper limit of the adjustment angle, the adjustment amount of the steering angle of the mobile robot is set to the upper limit of the adjustment angle.

[0068] In this scheme, setting the adjustment amount of the steering angle of the mobile robot to the upper limit value of the adjustment angle can prevent the robot from over-adjusting due to excessive pre-adjustment, thereby ensuring that the robot can track the target position more accurately during positioning, which can improve the positioning accuracy of the robot, reduce positioning errors, and improve positioning efficiency. By limiting the upper limit value of the adjustment angle, it can also prevent the robot from generating excessive steering angles during the adjustment process, reduce energy consumption and mechanical wear of the robot during steering, extend the service life of the robot, and effectively improve the positioning performance and stability of the mobile robot.

[0069] Specifically, the steering angle is limited to prevent the AGV from oversteering. The code for steering angle limitation is as follows:

[0070] if(steering_angle>max_steering_angle)

[0071] steering_angle=max_steering_angle;

[0072] else if(steering_angle<-max_steering_angle)

[0073] steering_angle=-max_steering_angle;

[0074] Among them, max_steering_angle is the upper limit of the AGV steering angle. If the calculated steering angle steering_angle exceeds max_steering_angle, steering_angle will be forced to be set to max_steering_angle. If steering_angle is lower than -max_steering_angle (that is, the angle of steering in the opposite direction is too large), it will be set to -max_steering_angle. This can ensure that the AGV will not lose control due to excessive steering angle when adjusting its posture.

[0075] Through the technical solution provided by the above-mentioned embodiments of the present invention, the strategy and algorithm for adjusting the posture according to the deviation angle are used to adjust the steering angle and speed of the automatic guided vehicle (AGV) to ensure that the AGV can accurately position and adjust its posture. Based on the angular deviation between the AGV and the target position, the steering angle is adjusted and its maximum value is limited. At the same time, the speed is adjusted according to the deviation to achieve more accurate and stable positioning and posture adjustment. This control strategy is generally used in robot navigation and other automated vehicle control, which helps to improve the overall performance and safety of the system.

[0076] As can be seen from the above, in an embodiment of the present invention, a method for AGV to rely on a barcode reader for auxiliary positioning is provided, the positioning accuracy of the AGV is improved through an artificially set two-dimensional code, its vehicle state is corrected, and the steering and speed of the AGV are controlled by angles and positive and negative values, wherein there is only one two-dimensional code with the same serial number on a map, for example, 08002000, the first four digits 0800 represent the x value, and the last four digits 2000 represent the y value. The barcode reader is used to read the two-dimensional code on the road surface, and the two-dimensional code information is used for more accurate positioning to improve the accuracy. At the same time, the barcode reader is used to analyze the information of the two-dimensional code to correct the vehicle posture to ensure the subsequent normal movement of the AGV.

[0077] That is, the technical solution provided by the embodiment of the present invention comprehensively considers various factors and uses visual recognition technology instead of the code reader to obtain the information of the AGV and the QR code. Through sensors such as cameras or lidars, the position and posture information of the QR code in the image can be obtained, which solves the problem that the AGV relies on the odometer and gyroscope for movement, resulting in the accuracy failing to meet the required requirements, inaccurate positioning and frequent deviations.

[0078] The embodiment of the present application also provides a mobile robot positioning device. It should be noted that the mobile robot positioning device of the embodiment of the present application can be used to execute the method for mobile robot positioning provided by the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0079] The following is an introduction to the mobile robot positioning device provided in the embodiments of the present application.

[0080] Figure 4 Schematic diagram of a mobile robot positioning device according to an embodiment of the present application. Figure 4 As shown, the device includes: a determination unit 401, a control unit 402 and an adjustment unit 403.

[0081] The determination unit 401 is used to determine whether the center of the mobile robot is aligned with the center of the QR code and whether the body of the mobile robot is tilted according to the captured image captured by the QR code information capturer. Any captured image includes the entire QR code image.

[0082] The control unit 402 is used to control the movement of the mobile robot according to the distance between the center of the mobile robot and the center of the QR code to ensure that the center of the mobile robot is aligned with the center of the QR code when the center of the mobile robot is not aligned with the center of the QR code.

[0083] The adjustment unit 403 is used to adjust the steering angle of the mobile robot so that the axis of the mobile robot is aligned with the axis of the QR code when the body of the mobile robot is tilted.

[0084] Through this embodiment, the relative position relationship between the mobile robot and the QR code in the captured image is utilized to achieve alignment between the center of the mobile robot and the center of the QR code and to ensure that the vehicle body is not tilted, thereby ensuring that the mobile robot can accurately identify and locate the target object when performing tasks, improving the accuracy and stability of positioning, and ensuring that the mobile robot can move according to a predetermined path and direction. By adjusting the position and posture of the mobile robot in real time, positioning errors and deviations from the target can be effectively avoided, thereby improving the navigation accuracy and efficiency of the mobile robot, and applying a QR code-assisted technology to achieve further correction of the positioning of the mobile robot.

[0085] During the specific implementation process, the determination unit includes a first acquisition module and a first determination module. The first acquisition module is used to obtain the center of the entire two-dimensional code image in the captured image and the center of the captured image; the first determination module is used to determine whether the center of the captured image coincides with the center of the entire two-dimensional code image in the captured image, and if they coincide, determine that the center of the mobile robot is aligned with the center of the two-dimensional code; if they do not coincide, determine that the center of the mobile robot is not aligned with the center of the two-dimensional code.

[0086] In this scheme, by comparing the positions of the center in the captured image and the center of the QR code image, it is possible to determine whether the center of the mobile robot is aligned with the center of the QR code, thereby adjusting the position of the robot to achieve alignment, improving the positioning accuracy of the mobile robot when performing tasks, and ensuring that the robot can accurately identify and operate the target represented by the QR code.

[0087] During the specific implementation process, the above method also includes a second determination unit, an acquisition unit and a third determination unit. The second determination unit is used to control the movement of the mobile robot according to the distance between the center of the mobile robot and the center of the QR code to satisfy the alignment of the center of the mobile robot with the center of the QR code before determining the pixel-level distance between the center of the mobile robot and the center of the QR code in the pixel coordinate system according to the pixel-level coordinates of the center of the mobile robot and the pixel coordinates of the center of the QR code; the acquisition unit is used to obtain the transformation matrix between the world coordinate system and the pixel coordinate system; the third determination unit is used to determine the physical distance between the center of the mobile robot and the center of the QR code according to the transformation matrix and the pixel-level distance.

[0088] In this scheme, the actual distance (i.e., physical distance) between the center of the mobile robot and the center of the QR code is accurately determined through the calculation of pixel-level coordinates and transformation matrices, so that the movement of the mobile robot is controlled to achieve alignment. This can improve the positioning precision and accuracy of the mobile robot, thereby more effectively realizing the interaction and collaboration between the mobile robot and the QR code.

[0089] During the specific implementation process, the determination unit includes a second acquisition module, a third acquisition module and a second determination module. The second acquisition module is used to obtain the line connecting the center of the entire two-dimensional code image in the captured image and the center of the captured image; the third acquisition module is used to obtain the angle between the line and a preset direction, wherein the preset direction is aligned with the axis of the two-dimensional code; the second determination module is used to determine the inclination of the mobile robot's body when the angle is greater than the preset angle.

[0090] This solution can help the mobile robot determine whether the vehicle body is tilted, thereby helping it to locate its own position more accurately. By analyzing the angle between the line connecting the center of the captured QR code image and the center of the captured image and the preset direction, the mobile robot can determine whether it is tilted, thereby adjusting the vehicle body posture in time to ensure stable movement and precise positioning, improve the positioning accuracy and stability of the mobile robot, and thus complete various tasks more effectively.

[0091] During the specific implementation process, the adjustment unit includes an adjustment module, which is used to adjust the steering angle of the mobile robot by an angle A when the body of the mobile robot is tilted, wherein A=K_turn×B, K_turn represents the proportional coefficient, and B represents the angle between the connecting line and the preset direction.

[0092] This solution can help the mobile robot to locate the position of the QR code more accurately when the vehicle body is tilted. By adjusting the steering angle so that the axis of the mobile robot is aligned with the axis of the QR code, it can ensure that the mobile robot is facing the correct direction during the forward movement, thereby improving the accuracy and stability of positioning. Through the calculation of the proportional coefficient and the angle, the steering angle can be adjusted more flexibly to adapt to the degree of vehicle body tilt in different situations, thereby improving the adaptability and robustness of positioning. It can effectively solve the problem of low positioning accuracy of the mobile robot when the vehicle body is tilted, and improve the navigation and positioning capabilities of the mobile robot.

[0093] During the specific implementation process, the above method also includes a second adjustment unit, which is used to adjust the speed of the mobile robot while adjusting the steering angle of the mobile robot, wherein the speed adjustment amount is V, V=max_speed-K_speed×abs(B), max_speed represents the maximum speed of the mobile robot, and K_speed represents the proportional coefficient.

[0094] In this scheme, adjusting the steering angle and speed of the mobile robot can help the robot reach the target position more efficiently. By adjusting the speed according to the deviation between the current position and the target position, the robot can slow down when approaching the target, thereby reducing the error and stopping near the target position more accurately. According to the setting of the proportional coefficient K_speed, the amplitude of the speed adjustment can be controlled to make the robot movement smoother and more stable, improve the robot's positioning accuracy and movement efficiency, while reducing energy consumption during movement and improving the overall performance of the robot.

[0095] In a specific implementation process, the method further includes a setting unit, which is used to set the adjustment amount of the steering angle of the mobile robot to the upper limit value of the adjustment angle when the pre-adjustment amount of the steering angle of the mobile robot is greater than the upper limit value of the adjustment angle.

[0096] In this scheme, setting the adjustment amount of the steering angle of the mobile robot to the upper limit value of the adjustment angle can prevent the robot from over-adjusting due to excessive pre-adjustment, thereby ensuring that the robot can track the target position more accurately during positioning, which can improve the positioning accuracy of the robot, reduce positioning errors, and improve positioning efficiency. By limiting the upper limit value of the adjustment angle, it can also prevent the robot from generating excessive steering angles during the adjustment process, reduce energy consumption and mechanical wear of the robot during steering, extend the service life of the robot, and effectively improve the positioning performance and stability of the mobile robot.

[0097] The mobile robot positioning device includes a processor and a memory. The determination unit, control unit and adjustment unit are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0098] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of inaccurate positioning accuracy of the mobile robot in the related art can be solved by adjusting the kernel parameters.

[0099] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0100] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, a device where the computer-readable storage medium is located is controlled to execute a mobile robot positioning method.

[0101] Specifically, the mobile robot positioning method includes:

[0102] Step S201, based on the captured image captured by the two-dimensional code information capture device, determine whether the center of the mobile robot is aligned with the center of the two-dimensional code and whether the body of the mobile robot is tilted, and any captured image includes the entire two-dimensional code image.

[0103] Specifically, determining whether the center of the mobile robot is aligned with the center of the QR code and whether the body is tilted can help the robot accurately identify its own position and direction. If the center of the mobile robot is not aligned with the center of the QR code or the body is tilted, it may cause inaccurate positioning of the robot, thereby affecting its navigation and task execution. By capturing the QR code image and determining whether the center of the mobile robot is aligned with the center of the QR code, the robot can perform self-positioning and calibration, and improve its navigation accuracy. Determining whether the body is tilted can also help the robot remain stable during movement and avoid instability caused by tilt, ensuring that the robot can accurately identify its own position and direction, thereby effectively completing the task.

[0104] Step S202, when the center of the mobile robot is not aligned with the center of the QR code, the mobile robot is controlled to move according to the distance between the center of the mobile robot and the center of the QR code to ensure that the center of the mobile robot is aligned with the center of the QR code.

[0105] Specifically, by measuring the distance between the center of the mobile robot and the center of the QR code, precise alignment of the QR code can be achieved, thereby improving the accuracy and efficiency of the robot in performing tasks. It can help the mobile robot to accurately locate and identify the QR code, thereby achieving effective control and operation of the QR code, and can be effectively applied to various scenarios that require the mobile robot to be aligned with the target object.

[0106] Step S203, when the body of the mobile robot is tilted, adjust the steering angle of the mobile robot so that the axis of the mobile robot is aligned with the axis of the QR code.

[0107] Specifically, adjusting the steering angle of the mobile robot so that the axis of the mobile robot is aligned with the axis of the QR code can help the mobile robot read and identify the QR code more accurately, thereby achieving more accurate positioning and navigation. By aligning the axis, the reading error can be reduced, and the positioning accuracy of the robot can be improved, ensuring that the robot can accurately reach the target position, improving the positioning accuracy and navigation accuracy of the mobile robot, thereby improving the robot's work efficiency and reliability.

[0108] Optionally, determining whether the center of the mobile robot is aligned with the center of the QR code includes: obtaining the center of the entire QR code image in the captured image and the center of the captured image; determining whether the center of the captured image coincides with the center of the entire QR code image in the captured image, and determining that the center of the mobile robot is aligned with the center of the QR code if they coincide, and determining that the center of the mobile robot is not aligned with the center of the QR code if they do not coincide.

[0109] Optionally, before controlling the movement of the mobile robot according to the distance between the center of the mobile robot and the center of the QR code to satisfy the alignment of the center of the mobile robot with the center of the QR code, the method also includes: determining the pixel-level distance between the center of the mobile robot and the center of the QR code in the pixel coordinate system according to the pixel-level coordinates of the center of the mobile robot and the pixel coordinates of the center of the QR code; obtaining the transformation matrix between the world coordinate system and the pixel coordinate system; and determining the physical distance between the center of the mobile robot and the center of the QR code according to the transformation matrix and the pixel-level distance.

[0110] Optionally, determining whether the body of the mobile robot is tilted is based on the captured image, including: obtaining a line connecting the center of the entire QR code image in the captured image and the center of the captured image; obtaining an angle between the line and a preset direction, wherein the preset direction is aligned with the axis of the QR code; and determining that the body of the mobile robot is tilted when the angle is greater than the preset angle.

[0111] Optionally, when the body of the mobile robot is tilted, the steering angle of the mobile robot is adjusted so that the axis of the mobile robot is aligned with the axis of the QR code, including: when the body of the mobile robot is tilted, the steering angle of the mobile robot is adjusted by angle A, wherein A=K_turn×B, K_turn represents the proportional coefficient, and B represents the angle between the connecting line and the preset direction.

[0112] Optionally, the method further includes: adjusting the speed of the mobile robot while adjusting the steering angle of the mobile robot, wherein the speed adjustment amount is V, V=max_speed-K_speed×abs(B), max_speed represents the maximum speed of the mobile robot, and K_speed represents the proportional coefficient.

[0113] Optionally, the method further includes: when the pre-adjustment amount of the steering angle of the mobile robot is greater than the upper limit value of the adjustment angle, setting the adjustment amount of the steering angle of the mobile robot to the upper limit value of the adjustment angle.

[0114] An embodiment of the present invention provides a processor, which is used to run a program, wherein the program executes a mobile robot positioning method when running.

[0115] The embodiment of the present invention provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor, and the processor implements a mobile robot positioning method when executing the program. The device in this article can be a server, a PC, a PAD, a mobile phone, etc.

[0116] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that is initialized with at least the following method steps: determining whether the center of the mobile robot is aligned with the center of the QR code and determining whether the body of the mobile robot is tilted based on a captured image captured by a QR code information capture device, and any captured image includes the entire QR code image; when the center of the mobile robot is not aligned with the center of the QR code, controlling the movement of the mobile robot based on the distance between the center of the mobile robot and the center of the QR code to ensure that the center of the mobile robot is aligned with the center of the QR code; when the body of the mobile robot is tilted, adjusting the steering angle of the mobile robot so that the axis of the mobile robot is aligned with the axis of the QR code.

[0117] Optionally, determining whether the center of the mobile robot is aligned with the center of the QR code includes: obtaining the center of the entire QR code image in the captured image and the center of the captured image; determining whether the center of the captured image coincides with the center of the entire QR code image in the captured image, and determining that the center of the mobile robot is aligned with the center of the QR code if they coincide, and determining that the center of the mobile robot is not aligned with the center of the QR code if they do not coincide.

[0118] Optionally, before controlling the movement of the mobile robot according to the distance between the center of the mobile robot and the center of the QR code to satisfy the alignment of the center of the mobile robot with the center of the QR code, the method also includes: determining the pixel-level distance between the center of the mobile robot and the center of the QR code in the pixel coordinate system according to the pixel-level coordinates of the center of the mobile robot and the pixel coordinates of the center of the QR code; obtaining the transformation matrix between the world coordinate system and the pixel coordinate system; and determining the physical distance between the center of the mobile robot and the center of the QR code according to the transformation matrix and the pixel-level distance.

[0119] Optionally, determining whether the body of the mobile robot is tilted is based on the captured image, including: obtaining a line connecting the center of the entire QR code image in the captured image and the center of the captured image; obtaining an angle between the line and a preset direction, wherein the preset direction is aligned with the axis of the QR code; and determining that the body of the mobile robot is tilted when the angle is greater than the preset angle.

[0120] Optionally, when the body of the mobile robot is tilted, the steering angle of the mobile robot is adjusted so that the axis of the mobile robot is aligned with the axis of the QR code, including: when the body of the mobile robot is tilted, the steering angle of the mobile robot is adjusted by angle A, wherein A=K_turn×B, K_turn represents the proportional coefficient, and B represents the angle between the connecting line and the preset direction.

[0121] Optionally, the method further includes: adjusting the speed of the mobile robot while adjusting the steering angle of the mobile robot, wherein the speed adjustment amount is V, V=max_speed-K_speed×abs(B), max_speed represents the maximum speed of the mobile robot, and K_speed represents the proportional coefficient.

[0122] Optionally, the method further includes: when the pre-adjustment amount of the steering angle of the mobile robot is greater than the upper limit value of the adjustment angle, setting the adjustment amount of the steering angle of the mobile robot to the upper limit value of the adjustment angle.

[0123] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0124] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0125] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0126] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0127] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0128] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0129] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0130] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0131] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0132] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A mobile robot positioning method, characterized in that: The mobile robot travels along a pre-planned two-dimensional code path, and a two-dimensional code information collector is installed at the center of the body of the mobile robot, including: Determining whether the center of the mobile robot is aligned with the center of the QR code and whether the body of the mobile robot is tilted according to the captured image captured by the QR code information capturer, wherein any of the captured images includes the entire QR code image; When the center of the mobile robot is not aligned with the center of the two-dimensional code, controlling the mobile robot to move according to the distance between the center of the mobile robot and the center of the two-dimensional code to ensure that the center of the mobile robot is aligned with the center of the two-dimensional code; When the body of the mobile robot is tilted, the steering angle of the mobile robot is adjusted so that the axis of the mobile robot is aligned with the axis of the two-dimensional code.

2. The method according to claim 1, characterized in that Determining whether the center of the mobile robot is aligned with the center of the QR code includes: Acquire the center of the entire two-dimensional code image in the captured image and the center of the captured image; Determine whether the center of the captured image coincides with the center of the entire two-dimensional code image in the captured image, and if so, determine that the center of the mobile robot is aligned with the center of the two-dimensional code; if not, determine that the center of the mobile robot is not aligned with the center of the two-dimensional code.

3. The method according to claim 2, characterized in that Before controlling the movement of the mobile robot according to the distance between the center of the mobile robot and the center of the two-dimensional code to meet the alignment of the center of the mobile robot with the center of the two-dimensional code, the method further includes: Determine the pixel-level distance between the center of the mobile robot and the center of the two-dimensional code in a pixel coordinate system according to the pixel-level coordinates of the center of the mobile robot and the pixel coordinates of the center of the two-dimensional code; Get the transformation matrix between the world coordinate system and the pixel coordinate system; The physical distance between the center of the mobile robot and the center of the two-dimensional code is determined according to the transformation matrix and the pixel-level distance.

4. The method according to claim 2, characterized in that: Determining whether the body of the mobile robot is tilted according to the captured image includes: Obtaining a line connecting the center of the entire two-dimensional code image in the captured image and the center of the captured image; Obtaining an angle between the connecting line and a preset direction, wherein the preset direction is aligned with an axis of the QR code; When the angle is greater than a preset angle, it is determined that the body of the mobile robot is tilted.

5. The method according to claim 4, characterized in that When the body of the mobile robot is tilted, adjusting the steering angle of the mobile robot so that the axis of the mobile robot is aligned with the axis of the two-dimensional code includes: When the body of the mobile robot is tilted, the steering angle of the mobile robot is adjusted by an angle A. Wherein, A=K_turn×B, K_turn represents a proportionality coefficient, and B represents an angle between the connecting line and a preset direction.

6. The method according to claim 5, characterized in that The method further comprises: adjusting the speed of the mobile robot while adjusting the steering angle of the mobile robot, The speed adjustment amount is V, V=max_speed-K_speed×abs(B), max_speed represents the maximum speed of the mobile robot, and K_speed represents the proportional coefficient.

7. The method according to claim 1, characterized in that The method further comprises: When the pre-adjustment amount of the steering angle of the mobile robot is greater than the upper limit of the adjustment angle, the adjustment amount of the steering angle of the mobile robot is set to the upper limit of the adjustment angle.

8. A mobile robot positioning device, characterized in that: The mobile robot travels along a pre-planned two-dimensional code path, and a two-dimensional code information collector is installed at the center of the body of the mobile robot, including: a determination unit, configured to determine whether the center of the mobile robot is aligned with the center of the two-dimensional code and whether the body of the mobile robot is tilted according to a captured image captured by the two-dimensional code information capturer, wherein any of the captured images includes an entire two-dimensional code image; A control unit, configured to control the movement of the mobile robot to ensure that the center of the mobile robot is aligned with the center of the two-dimensional code according to the distance between the center of the mobile robot and the center of the two-dimensional code when the center of the mobile robot is not aligned with the center of the two-dimensional code; The adjustment unit is used to adjust the steering angle of the mobile robot so that the axis of the mobile robot is aligned with the axis of the two-dimensional code when the body of the mobile robot is tilted.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the mobile robot positioning method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for executing the mobile robot positioning method described in any one of claims 1 to 7.

Images