Line patrol control method and mobile robot

Abstract

The invention provides a line patrol control method and a mobile robot, and the method comprises the steps: obtaining a path sequence from the current position of the mobile robot to a target point, controlling the mobile robot to move to the target point according to the path sequence, the path sequence comprising at least one path, and each path being laid with a strip; under the condition that the mobile robot moves to a target path in the path sequence, the pose of the mobile robot is adjusted based on the strip recognized by the central lens, so that the orthographic projection of the central lens on the ground is located on the strip of the target path; and under the condition that the mobile robot moves to a non-target path in the path sequence, the pose of the mobile robot is adjusted based on the strips recognized by the at least two non-central lenses, so that orthographic projections of the at least two non-central lenses on the ground are located on the strips of the non-target path. According to the scheme, the condition that the mobile robot rolls the code belt in the moving process can be avoided.

Description

Technical Field

[0001] The present application relates to the technical field of mobile robots, and in particular to a line patrol control method and a mobile robot. Background Art

[0002] With the rapid development of mobile robot related technologies in recent years, they are becoming more and more widely used in logistics, warehousing, factory production, etc. Mobile robots need to be navigated and controlled during operation.

[0003] In the prior art, a code tape is usually laid on the ground, and then a camera that can identify the code tape is installed on the mobile robot. The mobile robot obtains its own position and forward positioning by identifying the code tape, thereby controlling itself to move along the code tape to achieve navigation.

[0004] However, in the existing method, since the mobile robot moves along the code tape, it is easy to run over the code tape during movement, causing damage and stains on the code tape. In this case, the mobile robot may not recognize the code tape, resulting in navigation failure. Summary of the invention

[0005] The present application provides a line patrol control method and a mobile robot, which are used to solve the problem that the existing mobile robot is prone to crushing code belts when using the robot center point for line patrol navigation.

[0006] In a first aspect, an embodiment of the present application provides a line patrol control method, which is applied to a mobile robot, wherein at least two driving units, at least two non-center lenses and at least one center lens are arranged at the bottom of the mobile robot, the center lens is located at the center position of the bottom, and the center lens and the at least two non-center lenses are on the same straight line, the driving unit is in contact with the ground and drives the mobile robot to move when driven, the center lens and the non-center lens are used to identify a strip laid on the ground, and the method includes:

[0007] Acquire a path sequence from the current position of the mobile robot to a target point, and control the mobile robot to move toward the target point according to the path sequence, wherein the path sequence includes at least one path and each path is paved with a strip;

[0008] When the mobile robot moves to the target path in the path sequence, based on the strip recognized by the central lens, the position and posture of the mobile robot is adjusted so that the orthographic projection of the central lens on the ground is located on the strip of the target path; wherein, when the orthographic projection of the central lens on the ground is located on the strip of the target path, there is a distance between the drive unit and the strip on the target path in the ground plane direction;

[0009] When the mobile robot moves to a non-target path in the path sequence, the posture of the mobile robot is adjusted based on the strips identified by the at least two non-center lenses so that the orthographic projections of the at least two non-center lenses on the ground are located on the strip of the non-target path, wherein when the orthographic projections of the at least two non-center lenses on the ground are located on the strip on the non-target path, there is a distance between the drive unit and the strip on the non-target path in the direction of the ground plane.

[0010] In a second aspect, an embodiment of the present application provides a mobile robot, comprising: at least two drive units, at least two non-center lenses, at least one center lens, and a processor, wherein the at least two drive units, the at least two non-center lenses, and the at least one center lens are arranged at the bottom of the mobile robot, the center lens is at the center position point of the bottom, and the center lens and the at least two non-center lenses are on the same straight line;

[0011] The driving unit is used to contact the ground and drive the mobile robot to move when being driven;

[0012] The at least one central lens and the at least two non-central lenses are used to identify a strip laid on the ground;

[0013] The processor is used to control the mobile robot to move along the strip on the ground according to the strips identified by the at least one central lens and the at least two non-central lenses.

[0014] The line patrol control method and mobile robot provided in the embodiments of the present application, by setting a non-center lens and a center lens at the bottom of the mobile robot, when the mobile robot moves on a target section, the center lens is used to patrol the line to avoid the driving unit of the mobile robot running over strips on the ground; when the mobile robot moves on a non-target path, two non-center lenses are used to patrol the line to avoid the driving unit of the mobile robot running over strips on the ground. In this way, the mobile robot can flexibly select different line patrol modes when moving on different paths, avoiding the problem of the driving unit running over strips in some complex sections. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings herein are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the description, are used to explain the principles of the present application;

[0016] Figure 1 A schematic diagram of a topological map provided for an embodiment of the present application;

[0017] Figure 2A ground schematic diagram of an arc U-turn provided in an embodiment of the present application;

[0018] Figure 3 A flow chart of a line patrol control method provided in an embodiment of the present application;

[0019] Figure 4A A schematic diagram of the chassis structure of a mobile robot provided in an embodiment of the present application;

[0020] Figure 4B A schematic diagram of the chassis structure of a mobile robot provided in another embodiment of the present application;

[0021] Figure 5 A simulation diagram of the rolling of the code belt provided in the embodiment of the present application;

[0022] Fig. 6A A schematic diagram of the chassis structure of a mobile robot provided in another embodiment of the present application;

[0023] Figure 6B A schematic diagram of the chassis structure of a mobile robot provided in another embodiment of the present application;

[0024] Figure 7 A schematic diagram of posture adjustment provided in an embodiment of the present application;

[0025] Figure 8 A schematic diagram of a two-dimensional coordinate system of a robot provided in an embodiment of the present application;

[0026] Fig. 9 A schematic diagram of the target point location provided in an embodiment of the present application;

[0027] Fig.10 A schematic diagram of the overall process of the line patrol control method provided in an embodiment of the present application;

[0028] Fig.11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0029] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0031] Mobile robots have the ability to move and perform tasks autonomously, and are increasingly used in logistics, warehousing, factory production, and other fields. In practical applications, each mobile robot has a specific operating area. For example, the operating area can refer to: according to the topological edges in the topological map (each topological edge corresponds to a path on the ground, and each path is paved with strips), the robot needs to keep moving along the ground strips. In related technologies, the recognition of strips mainly relies on the downward lens at the center of the mobile robot chassis. By recognizing the strips through the downward lens, the posture deviation and forward positioning of the mobile robot relative to the strips can be determined, so as to control the orthographic projection of the chassis center of the mobile robot on the ground to always be on the strips, thereby realizing the movement of the mobile robot along the strip direction. However, this will have the following problems: (1) Since the robot center patrols the line, that is, the control goal is to keep the orthographic projection of the chassis center of the mobile robot (that is, the location where the downward lens is installed) on the strips, and the drive unit is relatively far from the center of the chassis, it is inevitable that the wheels will run over the strips. When the strips are repeatedly run over and damaged, the downward lens will be unable to recognize them, which will cause the mobile robot to deviate from the path. (2) The deviation between the mobile robot and the strip is only identified by the downward-looking lens, which has low accuracy and large fluctuation frequency. The error is usually around ±0.5 degrees. For example, the angle deviation jumps back and forth within ±0.5 degrees. Therefore, frequent control adjustments are required to control the mobile robot to keep moving along the strip, which can easily cause the mobile robot to shake during movement and even cause safety accidents. (3) The mobile robot only relies on a downward-looking lens at the center of the chassis to identify the strip. The center of the chassis needs to be aligned with the positioning code of the strip to obtain accurate forward positioning, and the positioning robustness is not high. After the downward-looking lens observes the positioning code, when the forward positioning is corrected by the positioning code, if the forward distance is not enough for the braking distance, it is easy for the mobile robot to overshoot and run out of the target point.

[0032] Exemplarily, the operation of a mobile robot in a ring line business scenario is taken as an example. Figure 1 A schematic diagram of a topological map provided in an embodiment of the present application, such as Figure 1As shown, the topological map includes topological edges (e.g., topological edges ① to ⑩, each of which is equivalent to a path on the ground, and each path is paved with a strip, on which one or more strips can be pasted with positioning codes), topological edge identifiers (e.g. Figure 1 ), topological points (e.g., topological point 1-topological point 10), and topological point identifiers (e.g., Figure 1 The numbers without circles in the figure). When the mobile robot is at the position corresponding to topological point 1, the items can be placed on the mobile robot. Then the mobile robot carries the items and moves slowly along the strips on the ground along the topological edges ①-②-③-④-⑤-⑥ (the topological edges ①-②-③ involve arc turns, which may cause the wheels to run over the strips on the ground). When it reaches the position corresponding to topological point 7, the assembly is completed. After the mobile robot turns around, it continues to carry the items and continue the secondary assembly along the path corresponding to the topological edges ⑨-⑩-①.

[0033] Figure 2 The ground schematic diagram of the arc U-turn provided in the embodiment of the present application is as follows: Figure 2 As shown in the figure, in actual applications, since the robot center patrols the line and the drive unit is far away from the center of the chassis, when in some non-target paths (such as Figure 2 When the strip is repeatedly crushed and damaged, the downward-looking camera cannot recognize it, which causes the mobile robot to deviate from the path.

[0034] In response to the above problems, the inventors have made innovative improvements to the chassis of the mobile robot by adding multiple non-center lenses at specific positions on the bottom. When the mobile robot moves on a path that is easy to crush a strip, such as a curved U-turn, the orthographic projections of these newly added non-center lenses on the ground can be controlled to be located on the strip of the path. In this way, when the mobile robot moves on an curved U-turn, a certain distance is maintained between the drive unit and the strip to prevent the drive unit from crushing the strip.

[0035] The technical solution of the present application is described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0036] Figure 3A flow chart of a line patrol control method provided in an embodiment of the present application, which is applied to a mobile robot. Exemplarily, the mobile robot may be an omnidirectional mobile robot (usually the number of drive units is greater than or equal to 2, and the drive unit of the omnidirectional mobile robot may be a universal wheel, which enables the mobile robot to move directly in any direction without adjusting the chassis angle). For example, in real life, the wheels of a car are not universal wheels, which results in the vehicle being unable to move directly to the left or right side of the car without adjusting the chassis angle, while a mobile robot equipped with universal wheels can achieve movement to the left or right side.

[0037] For example, Figure 4A A schematic diagram of the chassis structure of a mobile robot provided in an embodiment of the present application is shown in FIG. Figure 4A As shown, two drive units (i.e., drive unit 41 and drive unit 42) are arranged on the chassis 40 of the mobile robot. The position point C is regarded as the center of the robot (i.e., the center position point of the bottom). During the movement of the mobile robot, the center of the robot is used as the coordinate origin to construct a chassis coordinate system (e.g., Figure 4A In the two-dimensional coordinate system xCy), the orthographic projection of the guide position point C on the ground is located on the strip of the path, so that the mobile robot can move along the strip on the ground.

[0038] in addition, Figure 4B A schematic diagram of a mobile robot chassis structure provided in another embodiment of the present application, Figure 4B and Figure 4A The difference is that Figure 4B The chassis of the mobile robot is provided with four drive units (i.e., drive unit 41, drive unit 42, drive unit 43, and drive unit 44). That is, in practical applications, the number of drive units of the mobile robot is not limited. Generally, the more drive units there are, the larger the area in contact with the ground, and the more likely it is to crush the strips. However, at the same time, it can also bring stability to the mobile robot and prevent the mobile robot from shaking when carrying goods.

[0039] Among them, because the mobile robot needs to be able to identify the strips during the movement, the continuity of the strips must be ensured. However, since the driving unit of the omnidirectional mobile robot is far from the center of the robot (for example, Figure 4A and Figure 4B Therefore, when the robot center is used for line patrol (i.e., the orthographic projection of the robot center on the ground is kept on the strip of the path during movement), it is easy to crush the strip on some special paths (such as arc U-turns).

[0040] The mobile robot has two different line patrol modes, including: mode (1) robot center line patrol and mode (2) dual-lens line patrol.

[0041] In order to facilitate understanding of the situation in which the mobile robot crushes the strip when patrolling the line at the center of the robot, method (1) is first explained. Figure 5 The strip rolling simulation diagram provided in the embodiment of the present application, in which it can be seen that in order to ensure that the center of the mobile robot (which can refer to Figure 5 The orthographic projection of the chassis center in the figure on the ground is located on the strip. When the mobile robot moves at the arc turn, the strip is severely crushed. If the strip is crushed and damaged, causing the mobile robot to be unable to recognize the strip for a long time, the mobile robot will be at risk of derailment.

[0042] Among them, the condition of rolling over the strip at the arc U-turn can be roughly determined by mathematical calculation. Through formula derivation, it can be known that if the driving unit of the mobile robot is to be guaranteed not to roll over the strip, the following inequality must be satisfied:

[0043]

[0044] R: The radius of curvature of the arc, which can be understood as the radius of the arc, and a straight line can be understood as an infinite radius.

[0045] d: The turning radius of the drive unit, that is, the radius of the circle corresponding to one rotation of the drive unit in place.

[0046] (x a ,y a ): drive unit external parameter, that is, installation position, (corresponding to x a >0,y a >0);

[0047] θ j : Allowable error of chassis angle control.

[0048] From the above analysis, we can know that: a The larger the value, the farther the front and rear drive units are from each other, and the easier it is to crush the strip; a The larger the distance between the left and right drive units, the less likely it is to crush the strip. That is, the longer the car is, the more it will crush the strip, and the wider it is, the less likely it will crush the strip. a =1450 mm, y a =400 mm, d = 200 mm, θ j =5 degrees) calculation: An arc with a radius of at least 16 meters can ensure that the strip is not crushed, and the actual site size is far from enough.

[0049] To this end, the present application embodiment improves the structure of the mobile robot. For example, the chassis of the original mobile robot is Figure 4A and Figure 4B For example, in the embodiment of the present application Figure 4A and Figure 4B Based on the chassis, multiple non-central downward-looking lenses are added. For example, Fig. 6A A schematic diagram of the chassis structure of a mobile robot provided in another embodiment of the present application is shown in FIG. Fig. 6A As shown, a driving unit 62 is arranged at the first position of the chassis 60 of the mobile robot, a first non-center lens is arranged at a position point A (which may be called the second position) which is a preset distance S1 away from the first position, and a center lens is arranged at a position point C (which may be called the third position).

[0050] In addition, in some other embodiments, the mobile robot has another fourth position, at which a driving unit 61 is disposed, and at a position point B (ie, the fifth position) separated from the fourth position by a preset distance S2, another non-center lens is disposed.

[0051] Exemplarily, at least one first driving unit (e.g. Fig. 6A The mobile robot is provided with at least one second driving unit (e.g. Fig. 6A A first non-central lens (eg Fig. 6A A first non-center lens is set at the middle position point A), and a second non-center lens (for example Fig. 6A A second non-center lens is set at position point B in the figure), and the first non-center lens, the second non-center lens and the center lens are on the same straight line.

[0052] In this embodiment, in order to prevent the drive unit from running over the code strip when the dual-lens line patrol function is used later, it is necessary to configure the distance between the first position and the second position to ensure that when the orthographic projection of the non-center lens at the second position is on the strip, the drive unit set at the first position will not run over the strip. Similarly, it is also necessary to configure the distance between the fourth position and the fifth position to ensure that when the orthographic projection of the non-center lens at the fifth position is on the strip, the drive unit set at the fourth position will not run over the strip.

[0053] For example, Figure 6B A schematic diagram of the chassis structure of a mobile robot provided in another embodiment of the present application is shown in FIG. Figure 6B As shown, the mobile robot includes four drive units, namely drive unit 61, drive unit 62, drive unit 63 and drive unit 64. Figure 6BIt can be seen that when there are multiple drive units, in order to prevent the drive units from running over the code strip when the dual-lens line patrol function is used later, it is necessary to further configure the distance between the non-center lens set at the second position and the position points where the drive units 62 and 63 are located, so as to ensure that when the orthographic projection of the non-center lens at the second position is on the strip, the two drive units will not run over the strip. Similarly, it is also necessary to further configure the distance between the non-center lens set at the fifth position and the position points where the drive units 61 and 64 are located, so as to ensure that when the orthographic projection of the non-center lens at the fifth position is on the strip, the two drive units will not run over the strip.

[0054] In which, taking the central lens at the bottom center position point C as an example, the central lens and the non-central lens can be on the same straight line. Further, when the mobile robot moves on a straight path, the extension direction of the straight line can be the moving direction of the mobile robot.

[0055] Through the above Fig. 6A and Figure 6B From the example, we can see that there is no correlation between the number of drive units and the number of non-center lenses, but the position of each drive unit should be associated with the position of at least one non-center lens. This association setting facilitates the subsequent control of the mobile robot to prevent its drive unit from running over the strip, which will be explained in detail later.

[0056] In this embodiment, continue to refer to the above Fig. 6A and Figure 6B , a downward-looking lens, namely the center lens, can be set at position point C.

[0057] Among them, continue to refer to the above Fig. 6A and Figure 6B Although the center lens and the non-center lens are respectively set at various positions of the chassis of the mobile robot, it is still necessary to further provide a logic algorithm to control the mobile robot to prevent the driving unit of the mobile robot from running over the strip and ensure that the mobile robot can move along the strip. Figure 3 , the logical algorithm is Figure 3 The provided line patrol control method includes the following steps:

[0058] Step S301, obtaining a path sequence from the current position of the mobile robot to the target point, and controlling the mobile robot to move toward the target point according to the path sequence.

[0059] The path sequence includes at least one path and each path is paved with a strip.

[0060] In this embodiment, it has been mentioned above that in actual applications each mobile robot has a specific operating area, that is, a topology map can be pre-configured for the mobile robot to inform the mobile robot that it can only move along the path corresponding to the topology map.

[0061] Among them, the target point can be sent to the mobile robot by the scheduling platform, and the mobile robot automatically plans a reasonable path sequence based on its own position in the topological map and the position of the target point in the topological map.

[0062] The mobile robot can obtain its own position in the topological map through the markers in the surrounding environment. Figure 1 Taking the topological map in as an example, when the mobile robot is currently at the position corresponding to topological point 1 in the topological map, a marker can be set at the position corresponding to topological point 1. The mobile robot can detect the marker through the sensor to clearly know its position in the topological map. If the target point is topological point 5, the path sequence includes the paths corresponding to topological edge ①, topological edge ②, topological edge ③ and topological edge ④ in sequence.

[0063] In this embodiment, when the mobile robot moves toward the target point, it needs to keep moving along the path in the path sequence to avoid deviation. Among them, whether the mobile robot itself moves along the strip on the path can be determined by whether the central lens and the non-central lens on the mobile robot recognize the strip. For example, if the central lens and the non-central lens do not recognize the strip, then the mobile robot itself deviates from the path. In other words, if the positive projection of the non-central lens or the central lens on the ground is located on the strip on the path, then it can be determined that the mobile robot itself moves along the strip on the path.

[0064] In this embodiment, continue to refer to the above Fig. 6A Assuming that a path is a straight line with a width of W and a length of L, the size of the strip is also a width of W and a length of L, so that it is just attached to the path, so that the mobile robot can identify the strip when driving along the path. Among them, a positioning code can be set on the strip, so that the strip can be called a code strip.

[0065] Step S302, when the mobile robot moves to the target path in the path sequence, based on the strip recognized by the central lens, the posture of the mobile robot is adjusted so that the orthographic projection of the central lens on the ground is located on the strip of the target path.

[0066] Step S303, when the mobile robot moves to a non-target path in the path sequence, based on the strips identified by at least two non-center lenses, adjust the posture of the mobile robot so that the orthographic projections of the at least two non-center lenses on the ground are located on the strip of the non-target path.

[0067] When the orthographic projection of the central lens is in the strip of the target path, there is a distance between the driving unit and the strip on the target path in the direction of the ground plane.

[0068] When the orthographic projections of at least two non-central lenses on the ground are located on a strip on the non-target path, there is a distance between the driving unit and the strip on the non-target path in the ground plane direction.

[0069] In this embodiment, the strip identified by the central lens or the non-central lens can be used to control and adjust the posture of the mobile robot so that the posture deviation between the mobile robot and the strip is as close to 0 as possible, so that the mobile robot can move along the strip laid on the path until it reaches the target point.

[0070] For example, taking the center lens of a mobile robot as an example, the posture of the mobile robot can be adjusted by control so that the orthographic projection of the center lens on the ground is located on the strip of the path, so that the posture deviation between the mobile robot and the strip is as close to zero as possible.

[0071] In this embodiment, before receiving the target point, the mobile robot can first be moved by remote control so that the non-center lens and / or the center lens can recognize the strip. Alternatively, the mobile robot automatically explores the strip until the non-center lens and / or the center lens recognize the strip. After the non-center lens and / or the center lens recognizes the strip, the posture of the mobile robot can be adjusted so that the posture deviation between it and the strip is as close to 0 as possible, so that it is easy to control the mobile robot to keep moving along the strip.

[0072] In this embodiment, since strips are laid on the path, it is assumed that the orthographic projection of the central lens on the ground is located on the strip of the path as a reference standard. The mobile robot moves along the path. If a strip on a certain path is crushed by the mobile robot, then the path can be regarded as a non-target path, and if it will not be crushed by the mobile robot, then these paths can be regarded as target paths.

[0073] For example, refer to the above Figure 5 , the mobile robot follows the above-mentioned method (1) the robot center patrols the line, and when moving on the path, at some places where the arc turns (such as Figure 5 The path corresponding to the topological edges ② and ③ in the figure is prone to the driver unit contacting the strip, that is, rolling over the strip. Figure 5 The paths corresponding to the topological edges ② and ③ in are regarded as non-target paths, and the paths other than the non-target paths are regarded as target paths.

[0074] For example, the mobile robot can be informed in advance which paths in the path sequence are target paths and which paths are non-target paths in combination with the strip rolling situation in the actual application scenario. The mobile robot can also be determined as the target path or non-target path by using the prompt information recognized by the non-center lens and / or the center lens during the movement of the mobile robot.

[0075] In this embodiment, it has been mentioned above that there are two different line patrol modes, namely mode (1) robot center line patrol and mode (2) dual-lens line patrol. Both of these line patrol modes can ensure that the mobile robot moves along the path, but the reference standards used by these two line patrol modes are different.

[0076] Among them, the robot center line patrol method (1) uses the orthographic projection of the mobile robot's center lens on the ground as the reference standard on the target path strip. However, when the mobile robot is controlled by the robot center line patrol method (1), on non-target paths (such as Figure 5 When the robot moves along the path corresponding to the topological edges ② and ③ in the figure, the driving unit may easily run over the strip. Therefore, it is necessary to use method (2) of dual-lens line patrol to control the mobile robot.

[0077] Specifically, the method (2) of dual-lens line patrol refers to controlling the mobile robot by using the orthographic projections of at least two non-central lenses on the ground on a strip of the path as a reference standard.

[0078] In this embodiment, when the mobile robot moves to a non-target path, mode (2) of dual-lens line patrol is used to control the deviation between the mobile robot and the target posture (that is, when the mobile robot is in the target posture, the orthographic projections of at least two non-center lenses on the ground are on the strip) to tend to 0 through the strips identified by at least two non-center lenses, thereby enabling the mobile robot to move along the strip laid on the non-target path.

[0079] For example, continue to refer to Fig. 6A , taking the robot two-dimensional coordinate system xcy as an example, when the projection of the non-center lens at position point B of the mobile robot on the ground is on a non-target path, the drive unit 61 will not contact the strip, thereby avoiding rolling over the strip. Similarly, when the projection of the non-center lens at position point A at a distance s1 from the drive unit 62 along the y-axis direction of the vertical coordinate is on a non-target path, the drive unit 62 will not contact the strip, thereby avoiding rolling over the strip.

[0080] In an embodiment of the present application, a non-center lens and a center lens are arranged at the bottom of the mobile robot. When the mobile robot moves on a target section, the center lens is used to patrol the line to prevent the driving unit of the mobile robot from running over strips on the ground. When the mobile robot moves on a non-target path, two non-center lenses are used to patrol the line to prevent the driving unit of the mobile robot from running over strips on the ground. In this way, the mobile robot can flexibly choose different patrol modes when moving on different paths, avoiding the problem of the driving unit running over strips in some complex sections.

[0081] In some embodiments, when the mobile robot moves, the position and posture of the mobile robot is adjusted so that the orthographic projection of the center lens on the ground is located on the strip of the target path, which can be specifically achieved by the following method:

[0082] Step 11: Based on the strip recognized by the central lens, obtain the lateral distance deviation between the orthographic projection of the central lens and the strip in the direction of the ground plane and the angular deviation between the moving direction of the mobile robot and the strip in the direction of the ground plane;

[0083] Step 12: Adjust the position and posture of the mobile robot until the lateral distance deviation and the angle deviation meet the first preset condition.

[0084] For example, Figure 7 The posture adjustment diagram provided in the embodiment of the present application is as follows: Figure 7 As shown, by establishing the robot's two-dimensional coordinate system xCy, with position point C as the position of the central lens of the mobile robot, there is a lateral distance deviation k and an angle deviation between position point C and the strip.

[0085] Among them, by adjusting the lateral distance deviation k and the angle deviation If it approaches zero, the orthographic projection of the center lens at position point C on the ground will be on the strip, thereby achieving the adjustment of the position and posture of the mobile robot.

[0086] It should be noted that the lateral distance deviation k and the angle deviation It can be calculated autonomously by the mobile robot. For example, the mobile robot can determine the angle deviation based on its own moving direction and the strip direction. For another example, the mobile robot can determine the lateral distance deviation k between the current position point C and the strip through the strip recognized by the central lens.

[0087] For example, refer to the above Figure 6BA non-center lens is set at the position point A of the mobile robot, and another non-center lens is set at the position point B of the mobile robot. The posture of the mobile robot can be adjusted and controlled by using the front and rear non-center lenses, which can effectively prevent the four drive units 61, 62, 63, and 64 from crushing the strip.

[0088] In addition, although the number of center lenses is not limited, in order to improve the efficiency of posture adjustment and reduce the amount of data processing, the number of center lenses is controlled to one as much as possible, which can maximize the efficiency of posture adjustment and save costs. At the same time, the location where the center lens is installed is used as the positioning point of the mobile robot itself, which can facilitate the positioning of the mobile robot (because the upper platform display, peripheral interaction, etc. usually use a certain location point to locate the mobile robot, and using multiple location points for positioning is prone to inaccuracy).

[0089] In this embodiment, when the mobile robot moves toward the target point, the non-target path accounts for a relatively small proportion of the entire path sequence, and the mobile robot moves along the target path most of the time. Among them, considering that when the mobile robot moves on the non-target path, it is necessary to ensure that the orthographic projection of each non-center lens on the ground is located on the strip of the non-target path, which may make the orthographic projection of the center lens on the ground unable to be on the strip of the non-target path. The mobile robot relies on the position of the center lens as a positioning reference point. When the mobile robot interacts with the outside, it is necessary to ensure that the orthographic projection of the center lens on the ground is on the strip of the path. Therefore, if method (2) is used for a long time to control the movement of the mobile robot, it is not convenient for environmental implementation and interaction with the upper layer.

[0090] Therefore, when the mobile robot moves on the target path, it can return to the normal line patrol control mode, that is, mode (1) robot center line patrol. Mode (1) robot center line patrol only uses one center lens, and ensures that the orthographic projection of the center lens on the ground is on the strip of the target path. The posture control is relatively simple, and the position of the center lens is used as the positioning reference point of the mobile robot, which is convenient for positioning the mobile robot and ensures the positioning accuracy.

[0091] In this embodiment, moving along the strip means moving the robot to a certain position (eg Fig. 6A or Figure 6B Position point A, position point B and position point C in the strip are used as reference points. During the movement of the mobile robot, the positive projection of the reference point is always on the strip, that is, movement along the strip is achieved.

[0092] Among them, Fig. 6A or Figure 6BAs shown in the figure, the robot two-dimensional coordinate system xCy can be established to two-dimensionalize the environment where the mobile robot is located. Fig. 6A or Figure 6B In the example, we can see whether the reference point on the mobile robot is on the strip. Fig. 6A For example, when the mobile robot keeps the position point C on the chassis on the strip during the movement, it means that the mobile robot moves along the strip on the target path.

[0093] In some embodiments, when the mobile robot moves along a non-target path, adjusting the position and posture of the mobile robot can be specifically achieved by the following method:

[0094] Step 21: According to the strips identified by each non-center lens, obtain the lateral distance deviation between the orthographic projection of each non-center lens and the strip in the ground plane direction and the angular deviation between the moving direction of the mobile robot and the strip in the ground plane direction.

[0095] Step 22: Adjust the position and posture of the mobile robot until the lateral distance deviation and angle deviation of each non-center lens meet the second preset condition.

[0096] In this embodiment, the same can be referred to above Figure 7 The difference between the control center lens and the orthographic projection on the strip is that the number of non-center lenses is relatively larger, so it is necessary to obtain the lateral distance deviation k between each non-center lens and the strip and the above-mentioned angle deviation Then the lateral distance deviation k and the above angle deviation Adjust towards zero or as close to zero as possible.

[0097] Exemplarily, the second preset condition may be a set value. When the lateral distance deviation and the angle deviation are less than or equal to the set value, the orthographic projection of the non-center lens is adjusted to be exactly on the strip.

[0098] The embodiment of the present application adds a non-center lens that is positionally associated with the drive unit at the bottom of the mobile robot. When the mobile robot moves along the target path, the normal center lens line patrol method is used to adjust the lateral distance deviation between the center lens's orthographic projection and the strip in the ground plane direction and the angle deviation between the mobile robot's moving direction and the strip in the ground plane direction, so as to ensure that the mobile robot moves accurately along the strip on the target path when the center lens is patrolling the line. When the mobile robot moves along a non-target path, the strip can be identified by the newly added non-center lens, and the lateral distance deviation and angle deviation of each non-center lens can be adjusted, so that the mobile robot can accurately move along the strip on the non-target path when the dual-lens line patrol is used.

[0099] In other embodiments, continue to refer to the above Fig. 6A and Figure 6B The strip can be a color strip or a code strip. The color strip is a strip-shaped sticker with a characteristic color and is pasted on the ground. After the non-center lens or the center lens recognizes it, the lateral deviation and angle deviation from the color strip can be obtained, thereby guiding the mobile robot to move along the color strip with a certain reference point of itself. This navigation method is also called "line patrol".

[0100] In addition, a positioning code may be laid on the strip (a strip with a positioning code is called a code strip). Figure 1 A positioning code can be laid at the position corresponding to each topological point on the map. When the non-central lens or central lens on the mobile robot recognizes the positioning code, it can determine its own position in the topological map.

[0101] In this embodiment, in order to facilitate the line patrol of the mobile robot, positioning codes can be set respectively at the starting point of entering the non-target path and the ending point of leaving the non-target path. When the non-center lens or the center lens recognizes the positioning code, it can be determined that the mobile robot is about to move to the non-target path or is about to leave the non-target path, thereby realizing automatic switching of the line patrol mode (i.e., dual-lens line patrol and robot center line patrol).

[0102] Among them, along the current moving direction of the mobile robot, the positions of the non-center lens and the center lens are relative. For example, if the non-center lens is upstream of the moving direction of the mobile robot and the center lens is downstream of the moving direction of the mobile robot, then during the movement of the mobile robot, the non-center lens will first identify the positioning code. In this way, the mobile robot can determine its own position using the positioning code identified by the non-center lens, that is, compared with using the center lens to identify the positioning code for positioning, the non-center lens can identify the positioning code first, so it can be positioned in advance.

[0103] Among them, the positioning code can be in the form of a QR code. In other embodiments, the positioning code can also be in the form of a signboard, erected on the side of the ribbon. The specific method to be adopted can be determined in combination with the setting positions of the non-center lens and the center lens on the mobile robot. For example, considering that there may be interference such as occlusion in the external environment, the non-center lens and the center lens can be set on the chassis of the mobile robot, then the positioning code can be set on the ribbon laid on the ground, so that the non-center lens and the center lens can recognize the positioning code during the movement of the mobile robot.

[0104] Among them, because the mobile robot will use method (2) dual-lens line patrol to control the mobile robot when it is on a non-target path (that is, adjust the posture of the mobile robot when it moves until the orthographic projection of the non-center lens on the mobile robot is located on the strip on the non-target path), it is necessary to set a fixed "U-turn" task to ensure that the center lens can recognize the strip.

[0105] The embodiment of the present application can realize automatic positioning of the mobile robot by setting the positioning code, understand the path it is on, and thus determine whether to use method (1) robot center line patrol or method (2) dual-lens line patrol to control the movement of the mobile robot. Method (2) can prevent the drive unit from running over the strip, while method (1) can restore the mobile robot to a normal navigation control state, using the position of its own center lens as a reference point, which is convenient for self-positioning and interaction with other peripherals, thereby improving the flexibility of controlling the mobile robot.

[0106] Further, based on the above embodiments, in some embodiments, when the mobile robot moves along the target path, the central lens can identify the strip. In addition to the central lens being able to identify the strip, the non-central lens may also be able to identify the strip. At this time, based on the strip identified by the central lens and the strip identified by the non-central lens, the angular deviation between the moving direction of the mobile robot and the strip in the direction of the ground plane can be obtained.

[0107] Specifically, in this embodiment, it has been mentioned above that when the strip is a color strip, the non-center lens and / or the center lens can obtain the lateral deviation and angle deviation between the chassis of the mobile robot and the color strip after identifying it. In practical applications, there is an error in the angle deviation between the chassis of the mobile robot and the color strip obtained after the color strip is identified by the downward-looking lens. The downward-looking lens recognizes that the angle deviation θ of the color strip fluctuates by about ±0.5 degrees, that is, it jumps back and forth by 0.5 degrees, affecting the angular positioning stability of the mobile robot when adjusting its posture.

[0108] In this embodiment, the position (x, y, θ) is used to represent the color ribbon information recognized by the non-center lens and / or the center, where (x, y) represents the coordinates of the center of the color ribbon segment recognized by the non-center lens and / or the center in the robot's two-dimensional coordinate system, and θ represents the angle of the recognized color ribbon segment in the robot's two-dimensional coordinate system.

[0109] For example, Figure 8 A schematic diagram of a two-dimensional coordinate system of a robot provided in an embodiment of the present application, such as Figure 8As shown, it is assumed that a central lens is set at position C of the robot chassis, and a non-central lens is set at position A and position B respectively. When each lens captures the image of the ribbon on the path, it captures a part of the ribbon segment. The center of the ribbon segment captured by the non-central lens at position A is represented by the ribbon center a, the center of the ribbon segment captured by the non-central lens at position B is represented by the ribbon center b, and the center of the ribbon segment captured by the central lens at position C is represented by the ribbon center c. The corresponding positions of a, b, and c are represented by (x a ,y a ,θ a )、(x b ,y b ,θ b )、(x c ,y c ,θ c ). The angle deviation can be corrected by using the angle between the straight line formed by the center points of the two ribbons, i.e., the center point of the first ribbon and the center point of the second ribbon, and the mobile robot in the direction of the ground plane.

[0110] Specifically, the error value of the angle deviation between the mobile robot and the strip can be reduced in the following two different ways to obtain the accurate angle deviation.

[0111] Method A: When the mobile robot moves to the target path, when both the central lens and the non-central lens can identify the strips, the first strip center point of the strip identified by the central lens and the second strip center point of the strip identified by the non-central lens can be obtained, and then the angle deviation can be corrected according to the angle between the straight line formed by the first strip center point and the second strip center point and the mobile robot in the direction of the ground plane.

[0112] For example, refer to the above Figure 8 , the center point of the first strip can be Figure 8 The center of the color band in c, the center of the second band can be Figure 8 The center of the ribbon is a. Then based on the above Figure 8 The robot two-dimensional coordinate system shown in the figure obtains the first coordinate of the center of the first strip in the two-dimensional coordinate system and the second coordinate of the center of the second strip in the two-dimensional coordinate system, and finally calculates the slope value of the vector formed by the first coordinate and the second coordinate to correct the angular deviation between the moving direction of the mobile robot and the direction of the strip on the ground plane.

[0113] For method A, Figure 8In the figure, a mobile robot including a front drive unit and a rear drive unit is taken as an example. A non-center lens is set at a preset distance in the y-axis direction of the front drive unit, and another non-center lens is set at a preset distance in the y-axis direction of the rear drive unit. When the mobile robot moves along the target path, on the basis that the center lens at the position point C can identify the strip, if there is at least one non-center lens that can identify the strip, then the vector to correct the above angle deviation.

[0114]

[0115] Among them, through the vector The angle deviation can be corrected by an angle of about ±0.5 degrees, which can be improved by more than an order of magnitude compared to the aforementioned angle deviation θ with a fluctuation of about ±0.5 degrees, thereby improving the stability of the mobile robot's operation.

[0116] Method B: When the mobile robot moves to the target path, when both non-center lenses recognize strips, the third strip center point of the strip recognized by the first non-center lens and the fourth strip center point of the strip recognized by the second non-center lens can be obtained; then, the angle deviation is corrected according to the angle between the straight line formed by the third strip center point and the fourth strip center point and the moving direction of the mobile robot in the direction of the ground plane.

[0117] Specifically, based on the above Figure 8 The robot two-dimensional coordinate system shown in is used to obtain the coordinates of the center points of the third strip and the fourth strip in the two-dimensional coordinate system, and finally the slope value of the vector formed by the two coordinates is calculated to correct the angle deviation.

[0118] For method B, in practical applications, since the size of the omnidirectional mobile robot is relatively large, if a non-central lens (e.g. Figure 8 In the figure, the straight-line distance between the two non-center lenses is far. If we use the prior information (including the positioning information and topological map based on the position point C of the mobile robot) to determine the position of the robot installed at the center of the lens, the distance between the two non-center lenses is far. Figure 8 The non-center lens at position A and position B in the figure is on the same straight line as the center lens installed at position C (most of the working area of ​​the mobile robot is a straight path, and the implementation accuracy of the strip on the straight path is relatively high). If the line connecting the center points of the strips identified by the two non-center lenses is used to correct the above-mentioned angle deviation, the calculation accuracy of the angle deviation can be greatly improved, the angle fluctuation when adjusting the position and posture of the mobile robot can be reduced, and the stability of the mobile robot when adjusting the position and posture can be improved.

[0119] refer to Figure 8The robot's two-dimensional coordinate system xCy shown in the figure is represented by a vector The angle of the correction angle deviation is expressed as With y a ,y b Fluctuation 1 mm, x a -x b = 3000 mm, the angle fluctuation is Compared with the aforementioned angular deviation θ with a fluctuation of about ±0.5 degrees, it is improved by more than an order of magnitude, thereby improving the stability of the mobile robot's operation.

[0120] The embodiment of the present application utilizes two non-center lenses, or a non-center lens and a center lens to identify a strip, to correct the angular deviation of the mobile robot when it moves along the strip, reduce the error, and thus improve the control accuracy of the mobile robot, while avoiding frequent shaking of the mobile robot, improving its stability, and ensuring its stable operation.

[0121] In other embodiments, the mobile robot needs to be positioned in the process of moving to the target point to determine its own position so as to control the moving speed based on the distance between itself and the target point. Among them, since a positioning code can be set on the strip, when the center lens and / or the non-center lens recognizes the positioning code, the current position of the mobile robot can be obtained based on the positioning code.

[0122] In addition, the mobile robot itself is equipped with an odometer, and its odometer information can determine the position of the mobile robot and / or the posture deviation between the mobile robot and the strip. During the movement process, if the center lens and the non-center lens fail to recognize the positioning code on the strip, then based on the odometer information of the mobile robot during the movement, the position point of the center lens of the mobile robot can be used as the positioning point of the mobile robot to obtain the current position of the mobile robot and / or the posture deviation between the mobile robot and the strip. Among them, the posture deviation includes angle deviation and / or lateral deviation. Among them, the current position of the mobile robot includes the path of the mobile robot in the path sequence and the forward distance on the path.

[0123] In this embodiment, since the mobile robot is usually large in size, in order to improve positioning accuracy, the position of the central lens of the mobile robot in the topological map is used as the current position of the mobile robot to achieve positioning of the mobile robot.

[0124] The reason why the mobile robot is not positioned using a non-central lens is that there may be multiple non-central lenses, and each non-central lens is constrained by the drive unit. Figure 6BThe middle driving unit includes a front driving unit (i.e., driving unit 62 and driving unit 63) and a rear driving unit (i.e., driving unit 61 and driving unit 64). Figure 6B The position point A and the position point B in the figure need to be spaced apart from the front drive unit and the rear drive unit by a preset distance respectively and be in a preset direction. Their positions are limited, making it inconvenient to accurately describe the position of the mobile robot.

[0125] Furthermore, in other embodiments, when the center lens of the mobile robot is used as the positioning reference point of the mobile robot to position the mobile robot, when the first non-center lens recognizes the positioning code on the strip, the mobile robot can also correct the current position of the mobile robot according to the positioning code.

[0126] In this embodiment, this is mainly to take into account that some non-center lenses (such as the first non-center lens) may be in the front, and the center lens can recognize the positioning code on the strip in advance. In this way, the first non-center lens can locate the position of the first non-center lens in the topological map based on the recognized positioning code, and then combine the installation external parameters between the center lens and the first non-center lens (which can refer to the spacing distance between the first non-center lens and the center lens on the chassis along the moving direction), the position of the center lens in the topological map can be calculated in advance to achieve the positioning of the mobile robot.

[0127] In some practical application scenarios, by using the positioning information determined by the first non-center lens based on the recognized positioning code in advance, the mobile robot can be controlled to slow down in time to prevent the mobile robot from overshooting due to insufficient distance between the mobile robot and the target point and insufficient time to slow down.

[0128] For example, continue to refer to the above Fig. 6A or Figure 6B A non-center lens is set at point A in front of point C where the center lens is located and at point B behind point C. In this way, no matter the mobile robot moves forward or backward, the non-center lens at point A or point B can always recognize the positioning code in advance of the center lens.

[0129] In this embodiment, the positioning code may be a site code or a milestone code. The site code may be set at the site (e.g. Figure 1When the center lens and / or the non-center lens scan the site code, it is possible to know which site is currently located and how far the site is from the target point. The milestone code can be set N meters before reaching the site, or N meters before reaching the target point. After the center lens and / or the non-center lens scans the milestone code, it is possible to know the distance between the location of the milestone code and the site or between the location of the milestone code and the target point.

[0130] The purpose of setting the positioning code is that the odometer has errors in counting. The farther the mobile robot moves, the greater the error. Therefore, it is necessary to periodically scan the positioning code through the center lens and / or non-center lens to obtain the correct positioning information to correct the error of the odometer. This can eliminate the accumulated error of the odometer and improve the robustness of forward positioning.

[0131] In the embodiment of the present application, a positioning code is configured on the strip, and the positioning code is observed in advance by the first non-center lens in front. The positioning information provided by the positioning code can be used to correct the positioning error of the odometer in advance, thereby improving the positioning robustness. Moreover, after the first non-center lens in front observes the positioning code in advance and corrects the positioning error of the odometer, the distance between the mobile robot and the target point can be calculated in advance, and the mobile robot can be controlled to decelerate in time to prevent the mobile robot from overshooting due to insufficient distance between the mobile robot and the target point and insufficient time to decelerate.

[0132] In other embodiments, the target path is a straight path, the non-target path is a curved path, and the target point is located on the straight path.

[0133] In the present embodiment, this is mainly because the upper platform display, peripheral interaction, etc. are all based on the positioning posture of the center position point at the bottom of the mobile robot (i.e., the position point where the center lens is installed). As mentioned above, when the mobile robot is using the non-target path (2) dual-lens patrol line, it cannot ensure that the positive projection of the center lens is on the strip of the non-target path. Therefore, when the target point is on the non-target path, the mobile robot moves to the target point, which is equivalent to completing the task. The mobile robot may stop. At this time, since the positive projection of the center lens is not on the strip of the non-target path, the center lens may not recognize the strip, and the positioning requirements cannot be met, and positioning cannot be achieved. This will result in the next time the mobile robot is assigned a task, the mobile robot will not be able to know its own position and will not be able to continue to perform the task.

[0134] Therefore, during the movement of the mobile robot, after passing the non-target path through the dual-lens line patrol mode (2), it is necessary to switch back to the robot center line patrol mode (1). Fig. 9The target point location diagram provided in the embodiment of the present application is as follows: Fig. 9 As shown, circle A represents the first non-center lens at the front of the mobile robot chassis, circle C represents the center lens at the center point of the mobile robot chassis, and circle B represents another non-center lens at the rear of the mobile robot chassis. i Represents a topological point. If the target point is sent to T 3 , it will be like Fig. 9 As shown on the left side of the figure, although the two non-center lenses can recognize the strip, the orthographic projection of the center lens is not on the strip (i.e., the strip cannot be recognized), so the one-dimensional positioning of the mobile robot cannot be accurately obtained, resulting in the mobile robot being mistakenly identified as derailed and unable to perform subsequent tasks. Therefore, the target point needs to be sent to Fig. 9 The target point T shown on the right 4 After the task is completed, switch to normal mode (1) Robot center line patrol.

[0135] In addition, the initial state of the dual-lens patrol line also needs to ensure that the orthographic projections of the front and rear two non-center lenses are on the strip, otherwise the posture deviation cannot be obtained. Specifically, a fixed "U-turn" task can be designed to meet the conditions of the dual-lens patrol line. Among them, the orthographic projections of the front and rear two non-center lenses are controlled on the strip by calculating the virtual target posture (when the center position of the robot is at this posture, the orthographic projections of the front and rear two non-center lenses are on the strip), thereby obtaining the deviation between the current posture and the virtual target posture to further adjust the current posture of the mobile robot.

[0136] The embodiment of the present application limits the position of the target point, thereby preventing the mobile robot from staying on the target path after reaching the target point and being unable to locate the position of the center lens, thereby improving the reliability of the mobile robot so that after each task is completed and reaches the target point, the mobile robot can know its own position when the next task starts and continue to perform the task.

[0137] The entire process of this application is described in detail below through a complete embodiment.

[0138] Fig.10 The overall flow chart of the line patrol control method provided in the embodiment of the present application is as follows: Fig.10As shown, it includes the following steps: Step S1001, receiving instructions from the platform and planning a path sequence from the current position to the target position. Step S1002, obtaining the positioning code and strips recognized by the three lenses. Step S1003, whether to start the front and rear dual-lens line patrol. Step S1004, switching the path according to the last positioning and planned path sequence, and determining the topological edge ID of the center position point of the robot chassis. Step S1005, the center lens recognizes the positioning code. Step S1006, the center lens recognizes the strip. Step S1007, obtaining the one-dimensional positioning (id, t) of the center position point of the robot chassis, the lateral deviation △y and the angular deviation △θ with the color tape or code tape according to the odometer calculation. Step S1008, determining the one-dimensional positioning (id, t) of the center position point of the robot chassis and the lateral deviation △y and the angular deviation △θ with the color tape / code tape. Step S1009, determine the lateral deviation △y and angular deviation △θ of the center position of the robot chassis from the color tape / code tape based on the identified strip, and calculate the one-dimensional position (id, t) of the center position of the robot chassis based on the odometer. Step S1010, meet the angle correction conditions of the front and rear lenses. Step S1011, the front / rear lens scans the positioning code. Step S1012, correct the forward positioning. Step S1013, correct the angle deviation. Step S1014, control the robot center to move along the color tape / code tape based on the one-dimensional positioning (id, t), lateral deviation △y and angular deviation △θ of the center position of the robot chassis. Step S1015, determine whether the target position has been reached. Step S1016, control the front and rear lenses' orthographic projections to be on the color tape or code tape based on the color tape and code tape identified by the front and rear lenses to control the mobile robot to move forward.

[0139] In this embodiment, for step S1003 and step S1016, it is determined whether the front and rear dual-lens line patrol needs to meet the start and end position restrictions (see above). Figure 8 After starting the front and rear dual-lens line patrol, the mobile robot's mobile control is decoupled into forward speed control, lateral deviation and angle deviation control. The mobile speed is obtained through speed planning. At the same time, the posture deviation between the robot's current posture and the virtual target posture is obtained by constructing a virtual target posture (if the robot center is in this posture, the orthographic projection of the front and rear non-center lenses will be on the strip), and the robot's lateral deviation and angle deviation are controlled, so that the mobile robot can move along the strip on the non-target path.

[0140] In this embodiment, for steps S1010 and S1013, if the front and rear lens angle deviation correction conditions are met, Figure 8 The description of the angle correction is performed to improve the error accuracy of the angle deviation.

[0141] In this embodiment, for step S1011 and step S1012, if the first non-center lens in front / the non-center lens in the back detects the positioning code, that is, accurate forward positioning information is obtained, the forward positioning information of the center point of the robot chassis can be obtained by combining the installation external parameters between the non-center lens and the center lens, thereby correcting the forward positioning of the robot and eliminating the odometer estimation error.

[0142] The line patrol navigation control solution provided in the embodiment of the present application solves the problem of the omnidirectional mobile robot crushing the strip when patrolling the line through the front and rear dual-lens line patrol mode. At the same time, the strips identified by the first non-center lens in the front / the non-center lens in the rear can be used to correct the angle deviation, thereby improving the control accuracy and stability. Finally, the positioning code identified by the first non-center lens in the front / the non-center lens in the rear can be used to correct the forward positioning information and improve the positioning robustness.

[0143] Fig.11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig.11 As shown, the electronic device 1100 includes: at least one processor 1101, a memory 1102, a bus 1103 and a communication interface 1104. Among them: the processor 1101, the communication interface 1104 and the memory 1102 communicate with each other through the bus 203. The communication interface is used to communicate with other devices. The communication interface includes a communication interface for data transmission and a display interface or an operation interface for human-computer interaction.

[0144] The processor is used to execute the computer-executable instructions stored in the memory, and specifically can execute the relevant steps in the method described in the above embodiment. The processor may be a central processing unit, or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention. The one or more processors included in the electronic device may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs. The memory may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

[0145] An embodiment of the present application also provides a mobile robot, which includes at least two driving units, at least two non-center lenses, at least one center lens and a processor.

[0146] Among them, at least two driving units, at least two non-center lenses and at least one center lens are arranged at the bottom of the mobile robot, the center lens is at the center position point of the bottom, and the center lens and at least two non-center lenses are in the same straight line; the driving unit is used to contact the ground and drive the mobile robot to move when driven; at least one center lens and at least two non-center lenses are used to identify strips laid on the ground.

[0147] The processor is used to control the mobile robot to move along a strip on the ground according to the strips identified by at least one central lens and at least two non-central lenses.

[0148] Optionally, if the mobile robot includes a front drive unit and a rear drive unit, a non-center lens is arranged at a preset distance from the preset direction of the first position where the front drive unit is located, and another non-center lens is arranged at a preset distance from the preset direction of the first position where the rear drive unit is located.

[0149] This embodiment further provides a computer-readable storage medium, in which computer instructions are stored. When at least one processor of an electronic device executes the computer instructions, the electronic device executes the navigation control methods provided by the various embodiments described above.

[0150] This embodiment also provides a computer program product, which includes computer instructions. The computer instructions are stored in a readable storage medium. At least one processor of an electronic device can read the computer instructions from the readable storage medium, and at least one processor executes the computer instructions so that the electronic device implements the navigation control method provided by the various embodiments described above.

[0151] In the present application, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship; in the formula, the character " / " indicates that the previous and next associated objects are in a "division" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0152] It is to be understood that the various numerical numbers involved in the embodiments of the present application are only for the convenience of description and are not intended to limit the scope of the embodiments of the present application. In the embodiments of the present application, the size of the sequence number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A line patrol control method, characterized in that: Applied to a mobile robot, the mobile robot is provided with at least two driving units, at least two non-center lenses and at least one center lens at the bottom, the center lens is located at the center position of the bottom, and the center lens and the at least two non-center lenses are located on the same straight line, the driving unit is in contact with the ground and drives the mobile robot to move when driven, the center lens and the non-center lens are used to identify a strip laid on the ground, and the method comprises: Acquire a path sequence from the current position of the mobile robot to a target point, and control the mobile robot to move toward the target point according to the path sequence, wherein the path sequence includes at least one path and each path is paved with a strip; When the mobile robot moves to the target path in the path sequence, based on the strip recognized by the central lens, the position and posture of the mobile robot is adjusted so that the orthographic projection of the central lens on the ground is located on the strip of the target path; wherein, when the orthographic projection of the central lens on the ground is located on the strip of the target path, there is a distance between the drive unit and the strip on the target path in the ground plane direction; When the mobile robot moves to a non-target path in the path sequence, the posture of the mobile robot is adjusted based on the strips identified by the at least two non-center lenses so that the orthographic projections of the at least two non-center lenses on the ground are located on the strip of the non-target path, wherein when the orthographic projections of the at least two non-center lenses on the ground are located on the strip on the non-target path, there is a distance between the drive unit and the strip on the non-target path in the direction of the ground plane.

2. The method according to claim 1, characterized in that: The strip laid on the target path includes at least one target location point, and a positioning code is set at the target location point. The method further includes: Acquire the positioning code recognized by the central lens and / or the non-central lens; The current position of the mobile robot is determined according to the positioning code.

3. The method according to claim 1, characterized in that The step of adjusting the posture of the mobile robot when it moves based on the strip recognized by the central lens includes: Based on the strip identified by the central lens, obtaining a lateral distance deviation between the orthographic projection of the central lens and the strip in the direction of the ground plane and an angular deviation between the moving direction of the mobile robot and the strip in the direction of the ground plane; The posture of the mobile robot is adjusted until the lateral distance deviation and the angle deviation meet a first preset condition.

4. The method according to claim 1, characterized in that: The step of adjusting the posture of the mobile robot when it moves based on the strips identified by the at least two non-center lenses includes: According to the strips identified by each non-central lens, obtaining a lateral distance deviation between the orthographic projection of each non-central lens and the strip in the direction of the ground plane and an angular deviation between the moving direction of the mobile robot and the strip in the direction of the ground plane; The posture of the mobile robot is adjusted until the lateral distance deviation and the angle deviation of each non-center lens meet a second preset condition.

5. The method according to claim 3, characterized in that: The method further comprises: When the mobile robot moves to the target path, obtaining a first strip center point of the strip identified by the central lens and a second strip center point of the strip identified by the at least one non-central lens; The angle deviation is corrected according to the angle between the straight line formed by the center point of the first strip and the center point of the second strip and the mobile robot in the direction of the ground plane.

6. The method according to claim 3, characterized in that At least one first driving unit is arranged at the front end of the bottom of the mobile robot, and at least one second driving unit is arranged at the rear end of the bottom of the mobile robot. A first non-center lens is arranged on one side of the first driving unit, and a second non-center lens is arranged on one side of the second driving unit. The first non-center lens, the second non-center lens and the center lens are in the same straight line.

7. The method according to claim 6, characterized in that The method further comprises: When the mobile robot moves to the target path, obtaining a third strip center point of the strip identified by the first non-center lens and a fourth strip center point of the strip identified by the second non-center lens; The angle deviation is corrected according to the angle between the straight line formed by the center point of the third strip and the center point of the fourth strip and the moving direction of the mobile robot in the direction of the ground plane.

8. The method according to any one of claims 1 to 7, characterized in that Also includes: When neither the central lens nor the non-central lens recognizes the positioning code on the strip, obtaining counting data of the odometer of the mobile robot; The current position of the mobile robot is determined according to the preset initial position of the mobile robot and the counting data.

9. The method according to claim 6, characterized in that Also includes: When the first non-center lens recognizes the positioning code on the strip, the current position of the mobile robot is corrected according to the positioning code.

10. The method according to any one of claims 1 to 7, characterized in that The target path is a straight path, the non-target path is a curved path, and the target point is located on the straight path.

11. A mobile robot, characterized in that: include: At least two drive units, at least two non-center lenses, at least one center lens and a processor, wherein the at least two drive units, the at least two non-center lenses and the at least one center lens are arranged at the bottom of the mobile robot, the center lens is at the center position point of the bottom, and the center lens and the at least two non-center lenses are on the same straight line; The driving unit is used to contact the ground and drive the mobile robot to move when being driven; The at least one central lens and the at least two non-central lenses are used to identify a strip laid on the ground; The processor is used to control the mobile robot to move along the strip on the ground according to the strips identified by the at least one central lens and the at least two non-central lenses.

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