Autonomous mobile device control method and device, and storage medium

Abstract

The embodiment of the invention provides an autonomous mobile device control method and device and a storage medium, and relates to the technical field of autonomous mobile devices. The method comprises the following steps: scanning a reflective sticker by responding to recognized or arriving at a preset recognition point, and obtaining the pose of the scanned reflective sticker; according to the scanned pose of the reflective stickers and the pose of the target reflective sticker, detecting whether a reflective sticker associated with the target reflective sticker exists in the scanned reflective stickers or not; if a reflective sticker associated with a target reflective sticker exists in the scanned reflective stickers, the pose of the autonomous moving device is calculated according to the pose of the target reflective sticker until the autonomous moving device reaches a target point corresponding to the target station, and the target point is predetermined according to the target reflective sticker; the problem that laser SLAM positioning cannot meet the high-precision requirement of an autonomous moving device on a tail end positioning part when the autonomous moving device is in butt joint with a station, and the problem that two-dimensional code positioning needs to replace a two-dimensional code regularly and is inconvenient to use can be solved.

Description

Technical Field

[0001] The present application relates to the technical field of autonomous mobile devices, and more specifically, to a method and device for controlling an autonomous mobile device, and a storage medium. Background Art

[0002] At present, the autonomous mobile device industry is developing rapidly. Autonomous mobile devices, such as autonomous mobile robots (AMR) or automated guided vehicles (AGV), have been involved in various aspects of industrial production. Autonomous mobile devices use their own sensors to achieve autonomous navigation in factories or specific environments. Positioning technology as a basic function is the key to achieving autonomous navigation.

[0003] In practical applications, the positioning technologies used by autonomous mobile devices may include but are not limited to QR code positioning and laser simultaneous localization and mapping (SLAM). QR code positioning is to identify the QR code deployed on the ground by a camera facing the ground, and calculate the position of the autonomous mobile device in the QR code map based on the position of the autonomous mobile device relative to the QR code and the position of the QR code in the QR code map. Laser SLAM positioning is to scan the environment in real time with a laser, and match it with the global grid map pre-established using SLAM technology to obtain the position of the autonomous mobile device in the global grid map.

[0004] The inventor found in the research that: QR code positioning requires laying a large number of QR codes on the ground, which has a high cost for transformation, and the QR codes deployed on the ground are easily contaminated during use and need to be replaced regularly, which is inconvenient to use. Laser SLAM positioning pre-scans the working environment of the autonomous mobile device and establishes a global grid map. However, when performing navigation tasks later, if there is a large difference between the environment when building the map and the environment in the actual working scene, it will cause serious problems such as positioning deviation or loss. Especially when the autonomous mobile device needs to dock with a workstation, laser SLAM positioning is limited by the map change rate, which will cause the terminal positioning part of the autonomous mobile device to have low positioning accuracy when docking with the workstation, and cannot meet the high-precision requirements of the terminal positioning part of the autonomous mobile device when docking with the workstation. Summary of the invention

[0005] The embodiments of the present application provide an autonomous mobile device control method and device, and a storage medium to solve the problem that laser SLAM positioning cannot meet the high-precision requirements of the terminal positioning part of the autonomous mobile device when docking with a workstation, and the problem that QR code positioning requires regular replacement of the QR code, causing inconvenience in use.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling an autonomous mobile device, the method comprising: in response to identifying or reaching a preset identification point, scanning a reflective sticker to obtain a posture of the scanned reflective sticker; based on the posture of the scanned reflective sticker and the posture of a target reflective sticker, detecting whether there is a reflective sticker associated with the target reflective sticker among the scanned reflective stickers, wherein the target reflective sticker is a reflective sticker on a target workstation for this docking and the posture of the target reflective sticker is predetermined; if there is a reflective sticker associated with the target reflective sticker among the scanned reflective stickers, calculating the posture of the autonomous mobile device based on the posture of the target reflective sticker until the autonomous mobile device reaches a target point corresponding to the target workstation, wherein the target point is predetermined based on the target reflective sticker.

[0007] In a second aspect, an embodiment of the present application provides an autonomous mobile device control device, the device comprising: an acquisition module, for scanning a reflective sticker in response to identifying or reaching a preset identification point, and acquiring the position and posture of the scanned reflective sticker; a detection module, for detecting whether there is a reflective sticker associated with the target reflective sticker among the scanned reflective stickers according to the position and posture of the scanned reflective sticker and the position and posture of the target reflective sticker, wherein the target reflective sticker is a reflective sticker on the target workstation of this docking and the position and posture of the target reflective sticker is predetermined; and a calculation module, for calculating the position and posture of the autonomous mobile device according to the position and posture of the target reflective sticker if there is a reflective sticker associated with the target reflective sticker among the scanned reflective stickers, until the autonomous mobile device reaches the target point corresponding to the target workstation, and the target point is predetermined according to the target reflective sticker. .

[0008] In a third aspect, an embodiment of the present application provides an autonomous mobile device, which includes: a memory and a processor, wherein an application is stored in the memory, and the application is used to execute the method provided by the embodiment of the present application when called by the processor.

[0009] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a program code stored thereon, wherein the program code is used to enable the processor to execute the method provided by the embodiment of the present application when called by the processor.

[0010] The autonomous mobile device control method, device, and storage medium provided in the embodiment of the present application use reflective stickers for terminal positioning. Since the reflective stickers are attached to the wall, they are rarely stained, which can solve the problem of the inconvenience caused by the need to regularly replace the QR code for QR code positioning. In addition, according to the position and posture of the scanned reflective stickers and the position and posture of the target reflective stickers, the scanned reflective stickers and the target reflective stickers on the target workstation predetermined for this docking are associated with each other. When it is detected that there are reflective stickers associated with the target reflective stickers among the scanned reflective stickers, the position and posture of the autonomous mobile device are calculated according to the position and posture of the target reflective stickers until the autonomous mobile device reaches the target point corresponding to the target workstation, so that the autonomous mobile device can be accurately controlled to move to the target point corresponding to the target workstation, and the autonomous mobile device can be accurately docked with the target workstation, which can solve the problem that laser SLAM positioning cannot meet the high-precision requirements of the terminal positioning part of the autonomous mobile device when docking with the workstation. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, not all embodiments. Based on the embodiments of the present application, all other embodiments and drawings obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0012] Figure 1 is a schematic diagram of a workstation provided by an exemplary embodiment of the present application;

[0013] Figure 2 is a schematic diagram of an operation scenario of an autonomous mobile device provided by an exemplary embodiment of the present application;

[0014] Figure 3 is a flow chart of a method for controlling an autonomous mobile device provided by an embodiment of the present application;

[0015] Figure 4 is a flow chart of a method for controlling an autonomous mobile device provided by another embodiment of the present application;

[0016] Figure 5 is a schematic diagram of two straight lines of target reflective tape provided by an exemplary embodiment of the present application;

[0017] Figure 6 is a structural block diagram of an autonomous mobile device control device provided by an embodiment of the present application;

[0018] Figure 7 It is a structural block diagram of an autonomous mobile device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0019] 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.

[0020] The autonomous mobile device control method in the embodiment of the present application can be applied to an autonomous mobile device control device or an autonomous mobile device, and the autonomous mobile device may include but is not limited to AMR or AGV. The autonomous mobile device is provided with a sensor, and the sensor may include but is not limited to a camera and a laser radar, etc., for sensing the surrounding environment of the autonomous mobile device. The autonomous mobile device has an odometer, and the odometer is used to calculate the current posture of the autonomous mobile device based on the posture of the autonomous mobile device at the previous moment (or the previous frame).

[0021] Reference Figure 1 , Figure 1 is a schematic diagram of a workstation provided by an exemplary embodiment of the present application. Reflective stickers are attached to the workstations in the actual operation scene of the autonomous mobile device. These reflective stickers are used to assist the autonomous mobile device in performing terminal positioning during the docking process with the workstation. Figure 1 As shown, each workstation docking with the autonomous mobile device can be arranged with two reflective stickers M1 and M2 of the same size, that is, the width D of the two reflective stickers M1 and M2 is the same, D can be the width of the cross section of the support column of the workstation, and the distance W between the two reflective stickers M1 and M2 can be the length of the workstation. The height H of the two reflective stickers M1 and M2 deployed on the workstation can be determined based on the laser radar on the autonomous mobile device. Figure 2 , Figure 2 It is a schematic diagram of an autonomous mobile device operation scene provided by an exemplary embodiment of the present application. Two reflective stickers M1 and M2 are located in the same scanning plane of the laser radar so that the laser radar can scan the reflective stickers M1 and M2. Those skilled in the art should understand that although the embodiment of the present application only uses two reflective stickers for description, in actual applications, multiple reflective stickers can be deployed on the same workstation according to needs, and the basic process of using multiple reflective stickers for terminal positioning remains roughly unchanged (refer to the autonomous mobile device control method), and the solution of using the basic process in this application to realize terminal positioning based on multiple reflective stickers should also fall within the scope of protection of this application.

[0022] See also Figure 3 , Figure 3 1 is a flow chart of an autonomous mobile device control method provided by an embodiment of the present application. The autonomous mobile device control method may include steps S110 to S130.

[0023] Step S110: In response to identifying or reaching a preset identification point, scanning the reflective sticker to obtain the scanned position and posture of the reflective sticker.

[0024] The preset identification point is used to trigger the autonomous mobile device to scan the reflective stickers in the environment. When planning the operation route of the autonomous mobile device, the preset identification point can be set on the operation route. If the autonomous mobile device identifies the preset identification point or reaches the preset identification point during the movement, the autonomous mobile device is triggered to scan the reflective stickers. The operation route can be predetermined according to the actual operation scene, or the operation route can be predetermined according to the global grid map or QR code map used when the autonomous mobile device is operating.

[0025] In some embodiments, the preset identification point has a posture, and the autonomous mobile device can obtain its own posture output by the odometer in real time during the movement, and calculate the difference between its own posture and the posture of the preset identification point. If the difference is less than the difference threshold, it is determined that the autonomous mobile device has reached the preset identification point. At this time, the autonomous mobile device starts scanning the reflective sticker, that is, starts the terminal positioning operation (steps S110 to S130). If the difference is greater than or equal to the preset difference, continue to calculate the difference. Among them, the difference threshold can be pre-set according to the requirements for terminal positioning accuracy. For example, the difference threshold can be zero.

[0026] In other embodiments, preset identification points can be deployed in the working scene, and the autonomous mobile device can use its own sensors to identify the preset identification points during movement. In response to identifying the preset identification points, the autonomous mobile device starts scanning the reflective stickers, that is, starts the end positioning operation (steps S110 to S130).

[0027] When the autonomous mobile device identifies or reaches the preset identification point, the autonomous mobile device can use its own laser radar to scan the reflective sticker. In an embodiment of the present application, the reflective sticker is located at a workstation in the actual working scene of the autonomous mobile device. After the laser radar emits a laser beam, a returned laser beam can be obtained, and each laser beam has laser intensity information. Since the laser intensity of the laser beam reflected back by the reflective sticker is usually high, an intensity threshold can be set to filter the returned laser beam, and the laser beam reflected back by the reflective sticker can be extracted from the returned laser beam, that is, the laser beam with a laser intensity higher than the intensity threshold in the returned laser beam can be extracted as the laser beam reflected back by the reflective sticker. Among them, the intensity threshold can be predetermined based on the reflective sticker actually deployed in the working scene. Different reflective stickers are made of different materials, and the laser intensity of the laser beam reflected by different reflective stickers is also different.

[0028] After obtaining the laser beam reflected by the reflective sticker, the laser beam reflected by the reflective sticker can be filtered, segmented and clustered in turn to divide the laser beams corresponding to different reflective stickers. Each reflective sticker corresponds to multiple laser beams, and each laser beam carries the position (coordinate) of the reflection point (called the point on the reflective sticker) when the reflective sticker reflects the laser beam. Based on the divided reflective stickers, a scanned reflective sticker list is generated, and the scanned reflective sticker list includes the scanned reflective stickers and their positions and positions. The position and position of the reflective sticker refers to the position and position of the center of the reflective sticker. For example, for each reflective sticker, the position and position of all points on the reflective sticker can be used to calculate the position and position of the center of the reflective sticker.

[0029] Among them, the filtering operation is to remove the edge diffraction points formed by the laser hitting the reflective sticker. In actual application, the points on the reflective sticker may include reflection points and edge diffraction points. The filtering operation can filter the edge diffraction points in the points on the reflective sticker, thereby eliminating the interference of the edge diffraction points on the positioning of the reflective sticker and improving the positioning accuracy of the reflective sticker. For example, the points on the reflective sticker can be filtered in a sliding window manner. Specifically, a sliding window can be used to check whether there are diffraction points in the window. If there are diffraction points in the window, the difference between the angle of the diffraction point relative to the radar and the angle of the adjacent point of the diffraction point relative to the laser radar will be very large. Therefore, an angle threshold can be set to filter the diffraction points. For example, for each point on the reflective sticker, if the difference between the angle of the point relative to the radar and the angle of the adjacent point of the point relative to the laser radar is greater than the angle threshold, the point is determined to be a diffraction point and removed. Subsequent segmentation operations and clustering operations are performed on the filtered points on the reflective sticker and the laser beams corresponding to the points on the reflective sticker.

[0030] The segmentation operation is to preliminarily divide the laser beams corresponding to different reflective stickers. Specifically, the segmentation operation uses the continuity of laser beam emission to divide the laser beams corresponding to different reflective stickers. If there is no high-intensity point (i.e., the laser intensity of the laser beam returning from this point on the reflective sticker is greater than the intensity threshold) returned by the continuous n (n is a preset number) beams emitted by the laser, the segmentation is determined.

[0031] The clustering operation is to further divide the laser beams corresponding to different reflective tapes. Specifically, the clustering operation can divide the laser beams corresponding to different reflective tapes according to the distance between two adjacent points on the reflective tape. For example, all points on the reflective tape can be clustered according to a preset distance, that is, the points on the reflective tape with a distance between two adjacent points less than the preset distance are clustered as points on the same reflective tape.

[0032] After obtaining the points on each reflective sticker, the pose of the center of each reflective sticker can be calculated according to the pose of each point on the reflective sticker as the pose of each reflective sticker. It should be noted that the pose of the points on the reflective sticker collected by the laser radar is the pose in the laser radar coordinate system, so the pose of the reflective sticker calculated according to the points on the reflective sticker is also the pose in the laser radar coordinate system, and the pose calculation of the autonomous mobile device uses the pose in the map coordinate system, so the pose of the autonomous mobile device in the map coordinate system (calculated by the odometer according to the pose of the autonomous mobile device at the last moment) and the laser radar external parameters can be obtained. According to the pose of the autonomous mobile device, the laser radar external parameters and the pose of the reflective sticker in the laser radar coordinate system, matrix operations are performed to obtain the pose of the reflective sticker in the map coordinate system. Among them, the laser radar external parameters refer to the pose of the laser radar relative to the autonomous mobile device (the center of the two wheels). It should be noted that in the embodiment of the present application, the autonomous mobile device uses the autonomous mobile device control method in the embodiment of the present application to locate the reflective sticker only after recognizing the preset identification point, but before recognizing the preset identification point, the autonomous mobile device can use QR code positioning or laser SLAM positioning. In the case where the autonomous mobile device uses QR code positioning, the map coordinate system can be the QR code map coordinate system. In the case where the autonomous mobile device uses laser SLAM positioning, the map coordinate system can be the coordinate system of the global grid map.

[0033] Step S120: According to the scanned reflective sticker posture and the target reflective sticker posture, detect whether there is a reflective sticker associated with the target reflective sticker among the scanned reflective stickers, wherein the target reflective sticker is the reflective sticker on the target workstation for this docking and the target reflective sticker posture is predetermined.

[0034] The position and posture of the target reflective sticker refers to the position and posture of the target reflective sticker in the map coordinate system.

[0035] The difference between the position and posture of each scanned reflective sticker in the map coordinate system and the position and posture of the target reflective sticker in the map coordinate system can be determined respectively; the reflective sticker with a difference value less than the preset difference value is determined as the reflective sticker associated with the target reflective sticker. Among them, the preset difference value can be set according to the actual demand for accuracy, and is not limited here. If it is detected based on the difference that there is a reflective sticker associated with the target reflective sticker among the scanned reflective stickers, the target reflective sticker can be regarded as a road sign, and the position and posture of the autonomous mobile device can be inferred by using the position and posture of the target reflective sticker in the map coordinates, that is, step S130 is executed. If it is detected based on the difference that there is no reflective sticker associated with the target reflective sticker among the scanned reflective stickers, the position and posture of the autonomous mobile device calculated by the odometer can be obtained as the current position and posture of the autonomous mobile device.

[0036] Step S130: If there is a reflective sticker associated with the target reflective sticker among the scanned reflective stickers, the posture of the autonomous mobile device is calculated according to the posture of the target reflective sticker until the autonomous mobile device reaches the target point corresponding to the target workstation, and the target point is predetermined according to the target reflective sticker.

[0037] The relative position of the reflective tape associated with the target reflective tape and the autonomous mobile device in the map coordinate system can be obtained; the position of the autonomous mobile device is calculated according to the relative position and the position of the target reflective tape in the map coordinate system until the autonomous mobile device reaches the target point corresponding to the target workstation, so that the autonomous mobile device can complete the precise docking with the target workstation, thereby improving the docking accuracy of the autonomous mobile device and the workstation.

[0038] Based on steps S110 to S130, reflective stickers are used for terminal positioning. Since the reflective stickers are attached to the wall, they are rarely stained, which can solve the problem of inconvenience caused by the need to regularly replace the QR code for QR code positioning. In addition, according to the position and posture of the scanned reflective stickers and the position and posture of the target reflective stickers, the scanned reflective stickers and the target reflective stickers on the target workstation predetermined for this docking are associated with each other. When it is detected that there are reflective stickers associated with the target reflective stickers among the scanned reflective stickers, the position and posture of the autonomous mobile device is calculated according to the position and posture of the target reflective stickers until the autonomous mobile device reaches the target point corresponding to the target workstation, so that the autonomous mobile device can be accurately controlled to move to the target point corresponding to the target workstation, and the autonomous mobile device can be accurately docked with the target workstation, which can solve the problem that laser SLAM positioning cannot meet the high-precision requirements of the terminal positioning part of the autonomous mobile device when docking with the workstation.

[0039] See also Figure 4 , Figure 4 FIG. 1 is a flow chart of a method for controlling an autonomous mobile device provided by another embodiment of the present application. Figure 4 As shown, before step S110, the autonomous mobile device control method may further include steps S210 to S240. It should be noted that steps S210 to S240 in this embodiment need to be executed before the autonomous mobile device actually operates. The autonomous mobile device may execute steps S210 to S240 during movement, or may execute steps S210 to S240 when it is stationary in front of the target workstation. Since some influencing factors are inevitably introduced during the movement of the autonomous mobile device, which may affect the accuracy of determining the posture of the target reflective tape, it is recommended to execute steps S210 to S240 when the autonomous mobile device is stationary, which can improve the accuracy of determining the posture of the target reflective tape and improve the accuracy of subsequent terminal positioning based on the reflective tape.

[0040] Step S210: Scan the reflective tape in front of the target workstation to obtain the laser beam reflected by the reflective tape.

[0041] Step S220: filtering, segmenting and clustering the laser beam reflected by the reflective tape to obtain the scanned reflective tape.

[0042] For the detailed description of step S210 and step S220, please refer to the relevant content in the aforementioned step S110, which will not be repeated here.

[0043] Step S230: determining a target reflective tape located at a target workstation from the scanned reflective tapes.

[0044] It is possible to detect whether the width of each scanned reflective tape meets the preset width. For example, for each scanned reflective tape, the width of the reflective tape can be calculated based on the points on the reflective tape. For example, the distance between the two points farthest apart in the width direction of the reflective tape is calculated as the width of the reflective tape. It is determined whether the calculated width of the reflective tape is equal to the preset width. If the calculated width of the reflective tape is equal to the preset width, it is determined that the width of the reflective tape meets the preset width. If the calculated width of the reflective tape is not equal to the preset width, it is determined that the width of the reflective tape does not meet the preset width. The preset width refers to the actual width of the reflective tape on the target workstation, such as Figure 1 D shown.

[0045] It is possible to detect whether the spacing between any two reflective stickers among the scanned reflective stickers meets a preset spacing. For example, for each two reflective stickers, the spacing between the two reflective stickers can be calculated based on the points on the two reflective stickers. For example, the distance between the two points on the two reflective stickers that are farthest apart in the width direction of the reflective stickers is calculated as the spacing between the two reflective stickers. It is determined whether the spacing between the two reflective stickers is equal to the preset spacing. If the spacing between the two reflective stickers is equal to the preset spacing, it is determined that the spacing between the two reflective stickers meets the preset spacing. If the spacing between the two reflective stickers is not equal to the preset spacing, it is determined that the spacing between the two reflective stickers does not meet the preset spacing. Among them, the preset spacing refers to the actual spacing between the reflective stickers on the target workstation, such as Figure 1 W shown.

[0046] Two reflective stickers whose spacing satisfies the preset spacing and whose widths satisfy the preset width may be determined as two target reflective stickers located on the target workstation.

[0047] Step S240: determining the position and posture of the target point and the target reflective sticker according to the point on the target reflective sticker.

[0048] For each target reflective sticker, the position of the center of the target reflective sticker is determined as the position of the target reflective sticker according to the position of the point on the target reflective sticker. The method of determining the position of the target reflective sticker is similar to the method of determining the position of the scanned reflective sticker in the map coordinate system in the above text. For details, please refer to the relevant content of determining the position of the scanned reflective sticker in the map coordinate system in the above text, which will not be repeated here.

[0049] After determining the position and posture of the target reflective sticker, the center of the two target reflective stickers can be determined according to the positions in the position and posture of the two target reflective stickers (such as Figure 1 C) as shown, for example, by calculating the average of the positions in the postures of the two target reflective tapes, the positions of the centers of the two target reflective tapes can be obtained. According to the positions of the centers of the two target reflective tapes and the preset offset, the position of the target point can be determined. For example, the centers of the two target reflective tapes can be moved away from the workstation by the preset offset along the direction of the line connecting the two target reflective tapes to obtain the position of the target point, so as to avoid collision between the autonomous mobile device and the workstation when docking with the workstation. Among them, the preset offset can be pre-set according to the actual docking accuracy of the workstation, and no specific limitation is made here.

[0050] The points on the two target reflective stickers can be input into the preset optimization equation, and the optimal solution of the preset optimization equation can be solved to obtain a straight line connecting the two target reflective stickers. The straight line is represented in polar coordinates, and the angle between the normal of the straight line and the polar axis of the polar coordinate system is determined as the posture of the target point. The posture and position of the target point form the position and orientation of the target point.

[0051] See also Figure 5 , Figure 5 is a schematic diagram of two straight lines of target reflective tape provided by an exemplary embodiment of the present application, such as Figure 5 As shown in the figure, the point on the reflective tape is output by the laser radar and represented in the form of polar coordinates (r, θ), where r represents the distance from the point on the reflective tape to the laser radar, and θ represents the angle of the point on the reflective tape output by the laser radar. The origin of the polar coordinate system is the laser radar, and the polar axis is the zero degree direction of the laser radar.

[0052] The preset optimization equation is:

[0053]

[0054] Where e is the error, n is the number of points located on the two target reflective stickers, and r i The distance from the i-th point on the two target reflective stickers to the laser radar (origin), θ i is the angle of the i-th point on the two target reflective stickers, p0 and p1 are the optimization parameters to be solved, and p0 and p1 are used to represent the straight line connecting the two target reflective stickers.

[0055] You can use the ceres optimization solver or other optimization solvers to solve the preset optimization equation and obtain the two optimal parameters p0 and p1 to minimize e. Figure 5 As shown, the two optimal parameters p0 and p1 are used to represent the straight line connecting the two target reflective stickers, where p0 represents the distance from the origin to the straight line, and p1 represents the angle between the normal of the straight line and the polar axis. Then p1 can be used as the posture of the target point.

[0056] It should be noted that if there is no error in the laser radar measurement or installation of the reflective tape, the points on the ideal straight line connecting the two target reflective tapes satisfy:

[0057] p0-r×cos(p1-θ)=0

[0058] Similarly, the points on the ideal straight line are represented by r and θ, r represents the distance from the point on the reflective tape to the origin, θ expresses the angle of the point, and a set of straight lines has two parameters, p0 and p1. P0 represents the distance from the origin to the straight line, and p1 represents the angle between the normal of the straight line and the polar axis. The obtained p1 value is the posture of the target point.

[0059] Based on steps S210 to S240, the posture of the target reflective tape on the target workstation and the posture of the target point can be calibrated in advance to ensure that the posture of the target reflective tape is accurate, thereby improving the accuracy of subsequent end-point positioning based on the target reflective tape. In addition, pre-calibrating the target point can facilitate the subsequent guidance of the autonomous mobile device to move to the target point and dock with the workstation, thereby improving the accuracy of the docking between the autonomous mobile device and the workstation.

[0060] See also Figure 6 , Figure 6 1 is a block diagram of an autonomous mobile device control device provided in an embodiment of the present application. The autonomous mobile device control device 100 can be applied to an autonomous mobile device. The autonomous mobile device control device 100 includes an acquisition module 110 , a detection module 120 , and a calculation module 130 .

[0061] The acquisition module 110 is used to scan the reflective sticker in response to identifying or reaching the preset identification point, and obtain the position and posture of the scanned reflective sticker. The specific working process of the acquisition module 110 can be found in the above step S110.

[0062] The detection module 120 is used to detect whether there is a reflective sticker associated with the target reflective sticker among the scanned reflective stickers according to the position and posture of the scanned reflective sticker and the position and posture of the target reflective sticker, wherein the target reflective sticker is the reflective sticker on the target workstation for this docking and the position and posture of the target reflective sticker is predetermined. For the specific working process of the detection module 120, please refer to the above step S120.

[0063] The calculation module 130 is used to calculate the position and posture of the autonomous mobile device according to the position and posture of the target reflective tape if there is a reflective tape associated with the target reflective tape among the scanned reflective tapes, until the autonomous mobile device reaches the target point corresponding to the target workstation, and the target point is predetermined according to the target reflective tape. The specific working process of the calculation module can be found in the above step S130.

[0064] In some embodiments, the autonomous mobile device control device 100 may further include a calibration module. The calibration module is used to scan the reflective tape in front of the target workstation to obtain the laser beam reflected by the reflective tape; filter, segment and cluster the laser beam to obtain the scanned reflective tape; determine the target reflective tape located on the target workstation from the scanned reflective tape; and determine the target point and the position and posture of the target reflective tape according to the point on the target reflective tape. For the specific working process of the calibration module, please refer to the above steps S210 to S240.

[0065] Those skilled in the art can clearly understand that the above device provided in the embodiment of the present application can implement the method provided in the embodiment of the present application. The specific working process of the above-described device and module can refer to the corresponding process of the method in the embodiment of the present application, which will not be repeated here.

[0066] In the embodiments provided in the present application, the coupling, direct coupling or communication connection between the modules shown or discussed may be indirect coupling or communication coupling through some interfaces, devices or modules, and may be electrical, mechanical or other forms, and the embodiments of the present application do not impose specific limitations on this.

[0067] In addition, each functional module in the embodiment of the present application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules.

[0068] See also Figure 7 , Figure 7 The autonomous mobile device 200 may include a memory 210 and a processor 220. The memory 210 stores an application program, which is configured to execute the method provided in the embodiment of the present application when called by the processor 220.

[0069] The processor 220 may include one or more processing cores. The processor 220 uses various interfaces and lines to connect various parts of the entire autonomous mobile device 200, and is used to run or execute instructions, programs, code sets or instruction sets stored in the memory 210, and call to run or execute data stored in the memory 210, perform various functions of the autonomous mobile device 200, and process data.

[0070] The processor 220 can be implemented in at least one of the following hardware forms: digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor 220 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor 220, but may be implemented separately through a communication chip.

[0071] The memory 210 may include a random access memory (RAM) or a read-only memory (ROM). The memory 210 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 210 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may store data created by the autonomous mobile device 200 during use, etc.

[0072] The embodiment of the present application also provides a computer-readable storage medium, on which a program code is stored. The program code is configured to execute the method provided by the embodiment of the present application when called by a processor.

[0073] The computer-readable storage medium may be an electronic memory such as a flash memory, an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a hard disk or a ROM.

[0074] In some embodiments, the computer readable storage medium includes a non-volatile computer readable medium (Non-Transitory Computer-Readable Storage Medium, referred to as Non-TCRSM). The computer readable storage medium has a storage space for the program code that executes any method step in the above method. These program codes can be read from or written into one or more computer program products. The program code can be compressed in an appropriate form.

[0075] 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling an autonomous mobile device, characterized in that: include: In response to identifying or reaching a preset identification point, scanning the reflective sticker and acquiring the position and posture of the scanned reflective sticker; According to the position and posture of the scanned reflective tape and the position and posture of the target reflective tape, detecting whether there is a reflective tape associated with the target reflective tape among the scanned reflective tapes, wherein the target reflective tape is the reflective tape on the target workstation for this docking and the position and posture of the target reflective tape is predetermined; If there is a reflective tape associated with the target reflective tape among the scanned reflective tapes, the posture of the autonomous mobile device is calculated according to the posture of the target reflective tape until the autonomous mobile device reaches the target point corresponding to the target workstation, and the target point is predetermined according to the target reflective tape.

2. The method according to claim 1, characterized in that The step of calculating the position and posture of the autonomous mobile device according to the position and posture of the target reflective sticker comprises: Obtaining the relative position and posture of the reflective sticker associated with the target reflective sticker and the autonomous mobile device; The current posture of the autonomous mobile device is calculated based on the relative posture and the posture of the target reflective sticker.

3. The method according to claim 2, characterized in that The method further comprises: If there is no reflective sticker associated with the target reflective sticker among the scanned reflective stickers, the position and posture of the autonomous mobile device calculated by the odometer is obtained as the current position and posture of the autonomous mobile device.

4. The method according to claim 1, characterized in that: The step of detecting whether there is a reflective sticker associated with the target reflective sticker among the scanned reflective stickers according to the scanned reflective stickers' posture and the target reflective stickers' posture comprises: Determine the difference between the position and posture of each scanned reflective sticker and the position and posture of the target reflective sticker; The reflective sticker with a difference value less than the preset difference value is determined as the reflective sticker associated with the target reflective sticker.

5. The method according to any one of claims 1 to 4, characterized in that: Before the step of scanning the reflective tape in response to identifying or reaching the preset identification point, the method further includes: Scan the reflective tape in front of the target workstation to obtain the laser beam reflected by the reflective tape; Filtering, segmenting and clustering the laser beam to obtain a scanned reflective sticker; Determining a target reflective sticker located on the target workstation from the scanned reflective stickers; According to the points on the target reflective tape, the target points and the position and posture of the target reflective tape are determined.

6. The method according to claim 5, characterized in that There are two target reflective stickers, and the step of determining the target point according to the points on the target reflective stickers includes: Input the points on the two target reflective stickers into a preset optimization equation; Solving the optimal solution of the preset optimization equation to obtain a straight line connecting the two target reflective stickers, wherein the straight line is represented in polar coordinate form; The angle between the normal line of the straight line and the polar axis of the polar coordinate system is determined as the posture of the target point.

7. The method according to claim 6, characterized in that The point on the reflective tape is represented in the form of polar coordinates (r, θ), where r represents the distance from the point on the reflective tape to the laser radar, and θ represents the angle of the point on the reflective tape output by the laser radar. The preset optimization equation is: Where, e is the error, n is the number of points located on the two target reflective stickers, and r i The distance from the i-th point on the two target reflective stickers to the laser radar, θ i is the angle of the i-th point on the two target reflective stickers, p0 and p1 are the optimization parameters to be solved, and p0 and p1 are used to represent the straight line.

8. The method according to claim 6, characterized in that The step of determining the position and posture of the target reflective tape according to the points on the target reflective tape also includes: For each target reflective sticker, the pose of the center of the target reflective sticker is determined as the pose of the target reflective sticker according to the pose of the point on the target reflective sticker.

9. The method according to claim 8, characterized in that The step of determining the target point according to the point on the target reflective sticker also includes: Determining the positions of the centers of the two target reflective stickers according to the positions in the postures of the two target reflective stickers; The position of the target point is determined according to the positions of the centers of the two target reflective tapes and a preset offset.

10. The method according to claim 5, characterized in that The step of determining the target reflective sticker located on the target workstation from the scanned reflective stickers comprises: Check whether the width of each scanned reflective tape meets the preset width; Detect whether the distance between two reflective stickers scanned meets the preset distance; Two reflective stickers whose spacing satisfies the preset spacing and whose widths satisfy the preset width are determined as two target reflective stickers located on the target workstation.

11. An autonomous mobile device control device, characterized in that: include: An acquisition module, configured to scan the reflective sticker in response to recognizing or reaching a preset recognition point, and acquire the position and posture of the scanned reflective sticker; A detection module, used for detecting whether there is a reflective tape associated with the target reflective tape among the scanned reflective tapes according to the scanned reflective tape posture and the target reflective tape posture, wherein the target reflective tape is the reflective tape on the target workstation for this docking and the target reflective tape posture is predetermined; The calculation module is used to calculate the posture of the autonomous mobile device according to the posture of the target reflective tape if there is a reflective tape associated with the target reflective tape among the scanned reflective tapes, until the autonomous mobile device reaches the target point corresponding to the target workstation, and the target point is predetermined according to the target reflective tape.

12. An autonomous mobile device, characterized in that: include: A memory and a processor, wherein an application is stored in the memory, and the application is used to execute the method according to any one of claims 1 to 10 when called by the processor.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program codes, and the program codes are used to execute the method according to any one of claims 1 to 10 when called by a processor.

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