Control method and control device for autonomous mobile device, and autonomous mobile device

Abstract

The invention provides a control method and device of an autonomous mobile device and the autonomous mobile device.The control method of the autonomous mobile device comprises the steps that in the moving process of the autonomous mobile device, a first image and a second image are obtained through a camera device of the autonomous mobile device; wherein the content of the first image and the content of the second image are reference objects which move relative to the autonomous mobile device in the moving process of the autonomous mobile device, the generation time of the first image is a first moment, and the generation time of the second image is a second moment; determining a first speed of the autonomous mobile device from the first moment to the second moment according to the first image and the second image; determining a second speed of the autonomous mobile device from the first moment to the second moment according to a first wheel speed odometer of the autonomous mobile device at the first moment and a second wheel speed odometer of the autonomous mobile device at the second moment; and correcting a wheel speed odometer of the autonomous mobile device according to the first speed and the second speed.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous mobile devices, and in particular, to a control method, a control device, and an autonomous mobile device for an autonomous mobile device. Background Art

[0002] In the related art, an Automated Guided Vehicle (AGV) uses a wheel speed odometer to estimate the position of the AGV, and detects and corrects the slipping phenomenon of the automated guided vehicle through an Inertial Measurement Unit (IMU). However, during the driving process of the automated guided vehicle, if a slipping phenomenon occurs, due to the large acceleration fluctuation of the automated guided vehicle during the slipping process, using the acceleration of the IMU to correct the wheel speed odometer will cause a relatively large deviation, ultimately resulting in a large position deviation of the automated guided vehicle. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art.

[0004] For this reason, a first aspect of the present invention provides a control method for an autonomous mobile device.

[0005] A second aspect of the present invention provides a control device for an autonomous mobile device.

[0006] A third aspect of the present invention provides a control device for an autonomous mobile device.

[0007] A fourth aspect of the present invention provides an autonomous mobile device.

[0008] A fifth aspect of the present invention provides a readable storage medium.

[0009] The first aspect of the present invention provides a control method for an autonomous mobile device, including: during the movement of the autonomous mobile device, obtaining a first image and a second image through the imaging device of the autonomous mobile device; wherein, the content of the first image and the second image is a reference object that moves relative to the autonomous mobile device during the movement of the autonomous mobile device, the generation time of the first image is a first moment, and the generation time of the second image is a second moment; determining a first speed of the autonomous mobile device from the first moment to the second moment according to the first image and the second image; determining a second speed of the autonomous mobile device from the first moment to the second moment according to the first wheel speed odometer of the autonomous mobile device at the first moment and the second wheel speed odometer of the autonomous mobile device at the second moment; and correcting the wheel speed odometer of the autonomous mobile device according to the first speed and the second speed.

[0010] The control method of the autonomous mobile device provided by the present invention can be used to control the operation of the autonomous mobile device. Specifically, it can be used to correct the wheel speed odometer of the autonomous mobile device. Among them, the autonomous mobile device may include an Automated Guided Vehicle (AGV).

[0011] During the movement of the autonomous mobile device, first, the first image and the second image are obtained through the imaging device of the autonomous mobile device. Among them, the generation time of the first image is the first time, the generation time of the second image is the second time, and the first time is before the second time. At the same time, the contents of the first image and the second image are the objects that move relative to the autonomous mobile device during the movement of the autonomous mobile device. For example, the ground on which the autonomous mobile device is located. The imaging device of the autonomous mobile device is installed on the body of the autonomous mobile device and shoots towards the ground.

[0012] Further, according to the first image and the second image, the first speed of the autonomous mobile device during the process from the first time to the second time is determined. That is, the actual moving speed of the autonomous mobile device relative to the ground from the first time to the second time is determined through the contents shown in the first image and the second image.

[0013] Further, according to the first wheel speed odometer of the autonomous mobile device at the first time and the second wheel speed odometer of the autonomous mobile device at the second time, the second speed of the autonomous mobile device during the process from the first time to the second time is determined. That is, according to the wheel speed odometer recorded during the movement of the autonomous mobile device, the second speed of the autonomous mobile device from the first time to the second time is determined.

[0014] Further, the wheel speed odometer of the autonomous mobile device is corrected according to the first speed and the second speed.

[0015] It can be understood that the second speed recorded by the wheel speed odometer of the autonomous mobile device is based on the movement process of the wheels of the autonomous mobile device. The first speed determined according to the first image and the second image is determined according to the actual movement position of the autonomous mobile device. When the wheels of the autonomous mobile device slip, for example, when the wheels of the autonomous mobile device spin, the wheel speed odometer of the autonomous mobile device cannot reflect the actual movement distance of the autonomous mobile device. At this time, the wheel speed odometer recorded by the autonomous mobile device will deviate. Specifically, during the high-speed movement of the autonomous mobile device, if an emergency brake occurs, in this case, the speed output by the wheel speed odometer will quickly drop to 0, but the autonomous mobile device is actually sliding, and the true speed of the autonomous mobile device drops more slowly or is not 0. At this time, the wheel speed odometer of the autonomous mobile device will deviate. Or, when the autonomous mobile device is moving, it is in a state of spinning in place, for example, on a smooth section, the wheel speed odometer always outputs a speed, but the true speed of the autonomous mobile device is 0. At this time, the wheel speed odometer of the autonomous mobile device will also deviate.

[0016] Therefore, during the movement of the autonomous mobile device, by obtaining the first speed and the second speed, it can be determined whether the wheel speed odometer of the autonomous mobile device matches the actual movement distance of the autonomous mobile device. If the wheel speed odometer of the autonomous mobile device does not match the actual movement distance, the wheel speed odometer of the autonomous mobile device can be corrected according to the actual movement distance of the autonomous mobile device, that is, the wheel speed odometer of the autonomous mobile device is corrected according to the first speed and the second speed to ensure the accuracy of the wheel speed odometer of the autonomous mobile device.

[0017] The control method of the autonomous mobile device provided by the present invention obtains the first image at the first moment and the second image at the second moment through the imaging device of the autonomous mobile device during the movement of the autonomous mobile device, and then determines the first speed of the autonomous mobile device from the first moment to the second moment according to the first image and the second image. At the same time, the second speed of the autonomous mobile device from the first moment to the second moment is determined according to the first wheel speed odometer at the first moment and the second wheel speed odometer at the second moment, so as to determine whether there is a deviation in the wheel speed odometer of the autonomous mobile device according to the first speed and the second speed, and then the wheel speed odometer of the autonomous mobile device can be corrected according to the first speed and the second speed to ensure the accuracy of the wheel speed odometer of the autonomous mobile device during operation.

[0018] According to a second aspect of the present invention, a control device for an autonomous mobile device is provided, including: an acquisition unit configured to acquire a first image and a second image through an imaging device of the autonomous mobile device during the movement of the autonomous mobile device; wherein, the content of the first image and the second image is a reference object that moves relative to the autonomous mobile device during the movement of the autonomous mobile device, the generation time of the first image is a first time, and the generation time of the second image is a second time; a determination unit configured to determine a first speed of the autonomous mobile device from the first time to the second time according to the first image and the second image; and determine a second speed of the autonomous mobile device from the first time to the second time according to a first wheel speed odometer of the autonomous mobile device at the first time and a second wheel speed odometer of the autonomous mobile device at the second time; a correction unit configured to correct the wheel speed odometer of the autonomous mobile device according to the first speed and the second speed.

[0019] The control device for an autonomous mobile device provided by the present invention acquires a first image at a first time and a second image at a second time through an imaging device of the autonomous mobile device during the movement of the autonomous mobile device, and then determines a first speed of the autonomous mobile device from the first time to the second time according to the first image and the second image. At the same time, a second speed of the autonomous mobile device from the first time to the second time is determined according to a first wheel speed odometer at the first time and a second wheel speed odometer at the second time, so as to determine whether there is a deviation in the wheel speed odometer of the autonomous mobile device according to the first speed and the second speed, and further, the wheel speed odometer of the autonomous mobile device can be corrected according to the first speed and the second speed, ensuring the accuracy of the wheel speed odometer of the autonomous mobile device during operation.

[0020] According to a third aspect of the present invention, a control device for an autonomous mobile device is provided, including: a processor and a memory, the memory stores a program or instruction that can run on the processor, and when the program or instruction is executed by the processor, the steps of the control method for the autonomous mobile device provided in the first aspect are implemented.

[0021] The control device for an autonomous mobile device provided by the present invention includes a memory and a processor, and also includes a program or instruction stored on the memory. When the program or instruction is executed by the processor, the steps of the control method for the autonomous mobile device in the above first aspect can be implemented. Therefore, the control device for the autonomous mobile device has all the beneficial effects of the control method for the autonomous mobile device, which will not be elaborated here.

[0022] According to a fourth aspect of the present invention, an autonomous mobile device is provided, including the control device for an autonomous mobile device in the second aspect as described above, or the control device for an autonomous mobile device in the third aspect as described above.

[0023] The autonomous mobile device provided by the present invention includes the control device of the autonomous mobile device in the second aspect as described above, or the control device of the autonomous mobile device in the third aspect as described above. Therefore, the autonomous mobile device has all the beneficial effects of the control device of the autonomous mobile device in the second aspect as described above, or the control device of the autonomous mobile device in the third aspect as described above, which will not be elaborated here.

[0024] According to the fifth aspect of the present invention, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the control method of the autonomous mobile device in any one of the first aspects as described above are realized.

[0025] The readable storage medium provided by the present invention has a program or instruction stored thereon. Since when the program or instruction is executed by a processor, the steps of the control method of the autonomous mobile device in any one of the above technical solutions can be realized, this storage medium has all the beneficial effects of the above control method of the autonomous mobile device, which will not be elaborated here.

[0026] The additional aspects and advantages of the present invention will become obvious in the following description part, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

[0028] Figure 1 FIG. 1 shows one of the schematic flowcharts of the control method of the autonomous mobile device provided by the embodiment of the present invention;

[0029] Figure 2 FIG. 2 shows another schematic flowchart of the control method of the autonomous mobile device provided by the embodiment of the present invention;

[0030] Figure 3 FIG. 3 shows one of the schematic diagrams of the relationship between the speed output by the wheel speed odometer of the autonomous mobile device and the true speed in the embodiment of the present invention;

[0031] Figure 4 FIG. 4 shows another schematic diagram of the relationship between the speed output by the wheel speed odometer of the autonomous mobile device and the true speed in the embodiment of the present invention;

[0032] Figure 5 FIG. 5 shows the schematic flowchart of the control method of the autonomous mobile device provided by the embodiment of the present invention;

[0033] Figure 6 FIG. 6 shows the schematic diagrams of the first image and the second image in the embodiment of the present invention;

[0034] Figure 7The block diagram of the control device of the autonomous mobile device provided by the embodiment of the present invention is shown.

[0035] Among them, Figure 7 The corresponding relationship between the reference numerals and the component names in the figure is as follows:

[0036] 700 Control device of the autonomous mobile device, 702 Acquisition unit, 704 Determination unit, 706 Correction unit. Detailed implementation manners

[0037] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0038] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention may be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0039] Next, refer to Figures 1 to 7 to describe the control method, control device and autonomous mobile device of the autonomous mobile device provided according to some embodiments of the present invention.

[0040] As Figure 1 shown, according to an embodiment of the present invention, a control method of an autonomous mobile device is proposed, including:

[0041] S102, during the movement of the autonomous mobile device, obtain a first image and a second image through the imaging device of the autonomous mobile device;

[0042] Among them, the contents of the first image and the second image are reference objects that move relative to the autonomous mobile device during the movement of the autonomous mobile device. The generation time of the first image is the first moment, and the generation time of the second image is the second moment;

[0043] S104, determine the first speed of the autonomous mobile device from the first moment to the second moment according to the first image and the second image;

[0044] S106, determine the second speed of the autonomous mobile device from the first moment to the second moment according to the first wheel speed odometer of the autonomous mobile device at the first moment and the second wheel speed odometer at the second moment;

[0045] S108, correct the wheel speed odometer of the autonomous mobile device according to the first speed and the second speed.

[0046] The control method of the autonomous mobile device provided by the present invention can be used to control the operation of the autonomous mobile device. Specifically, it can be used to correct the wheel speed odometer of the autonomous mobile device. Among them, the autonomous mobile device may include an Automated Guided Vehicle (AGV).

[0047] As Figure 5 shown, during the movement of the autonomous mobile device, first, the first image and the second image are obtained through the imaging device of the autonomous mobile device. Among them, the generation time of the first image is the first moment, and the generation time of the second image is the second moment. The first moment is before the second moment. At the same time, the contents of the first image and the second image are the objects that move relative to the autonomous mobile device during the movement of the autonomous mobile device. For example, the ground on which the autonomous mobile device is located. The imaging device of the autonomous mobile device is installed on the body of the autonomous mobile device and faces the ground for shooting.

[0048] It should be noted that the imaging device of the autonomous mobile device can be used for recording during the operation of the autonomous mobile device. That is, the control method of the autonomous mobile device of the present invention utilizes the imaging device equipped on the autonomous mobile device to obtain the first image and the second image, and realizes the correction of the wheel speed odometer of the autonomous mobile device without increasing the cost of the autonomous mobile device.

[0049] Further, according to the first image and the second image, determine the first speed of the autonomous mobile device during the process from the first moment to the second moment. That is, through the contents shown in the first image and the second image, determine the actual moving speed of the autonomous mobile device relative to the ground from the first moment to the second moment.

[0050] Further, according to the first wheel speed odometer of the autonomous mobile device at the first moment and the second wheel speed odometer of the autonomous mobile device at the second moment, determine the second speed of the autonomous mobile device during the process from the first moment to the second moment. That is, according to the wheel speed odometer recorded during the movement of the autonomous mobile device, determine the second speed of the autonomous mobile device from the first moment to the second moment. Specifically, subtract the displacement of the wheel speed odometer at the first moment from the displacement of the wheel speed odometer at the second moment, and then divide by the time difference between the first moment and the second moment, which is the second speed.

[0051] Further, according to the first speed and the second speed, correct the wheel speed odometer of the autonomous mobile device.

[0052] It can be understood that the second speed recorded by the wheel speed odometer of the autonomous mobile device is based on the movement process of the wheels of the autonomous mobile device. The first speed determined according to the first image and the second image is determined according to the actual moving position of the autonomous mobile device. When the wheels of the autonomous mobile device slip, such as when the wheels of the autonomous mobile device spin, the wheel speed odometer of the autonomous mobile device cannot reflect the actual moving distance of the autonomous mobile device. At this time, there will be a deviation in the wheel speed odometer recorded by the autonomous mobile device. Specifically, as Figure 3 shown, during the high-speed movement of the autonomous mobile device, if an emergency brake occurs, in this case, the speed output by the wheel speed odometer will quickly drop to 0, but the autonomous mobile device is actually sliding, and the true speed of the autonomous mobile device drops more slowly or is not 0 as shown by the dashed line. At this time, there will be a deviation in the wheel speed odometer of the autonomous mobile device. Or, as Figure 4 shown, during the movement of the autonomous mobile device, it is in a state of spinning in place, such as on a smooth section, and the wheel speed odometer always outputs a speed, but the true speed of the autonomous mobile device is 0. At this time, there will also be a deviation in the wheel speed odometer of the autonomous mobile device.

[0053] Therefore, during the movement of the autonomous mobile device, by obtaining the first speed and the second speed, it can be determined whether the wheel speed odometer of the autonomous mobile device matches the actual moving distance of the autonomous mobile device. If the wheel speed odometer of the autonomous mobile device does not match the actual moving distance, the wheel speed odometer of the autonomous mobile device can be corrected according to the actual moving distance of the autonomous mobile device, that is, the wheel speed odometer of the autonomous mobile device is corrected according to the first speed and the second speed to ensure the accuracy of the wheel speed odometer of the autonomous mobile device.

[0054] The control method of the autonomous mobile device provided by the present invention obtains the first image at the first moment and the second image at the second moment through the imaging device of the autonomous mobile device during the movement of the autonomous mobile device, and then determines the first speed of the autonomous mobile device from the first moment to the second moment according to the first image and the second image. At the same time, the second speed of the autonomous mobile device from the first moment to the second moment is determined according to the first wheel speed odometer at the first moment and the second wheel speed odometer at the second moment, so as to determine whether there is a deviation in the wheel speed odometer of the autonomous mobile device according to the first speed and the second speed, and then the wheel speed odometer of the autonomous mobile device can be corrected according to the first speed and the second speed to ensure the accuracy of the wheel speed odometer of the autonomous mobile device during operation.

[0055] In some embodiments, optionally, determining a first speed of the autonomous mobile device from the first moment to the second moment according to the first image and the second image includes: obtaining a plurality of first feature points in the first image; wherein the number of the first feature points is greater than or equal to a preset number; obtaining a plurality of second feature points in the second image that match and correspond to the plurality of first feature points; and determining the first speed according to the positions of the plurality of first feature points in the first image and the positions of the plurality of second feature points in the second image.

[0056] In this embodiment, as Figure 6 shown, first, in the first image, a plurality of first feature points are obtained, and then a plurality of second feature points that match and correspond to the plurality of first feature points are obtained in the second image. Specifically, first, a certain number of first feature points are extracted in the first image, and then the position and corresponding descriptor of each first feature point are calculated. Further, according to the descriptors of the first feature points, the second feature points that match and correspond to the first feature points in the first image are found in the second image.

[0057] It can be understood that since the generation times of the first image and the second image are different, the same positions in the image contents of the first image and the second image are not the same in the two images. Therefore, by comparing the positions of the plurality of first feature points in the first image and the positions of the plurality of second feature points corresponding to the plurality of first feature points in the second image, the actual moving distance of the autonomous mobile device can be reflected. Further, by combining the first moment when the first image is generated and the second moment when the second image is generated, the first speed of the autonomous mobile device from the first moment to the second moment can be calculated.

[0058] It should be noted that the number of the first feature points needs to be greater than or equal to the preset number. Correspondingly, the number of the second feature points is the same as the number of the first feature points, so as to avoid deviation in the calculation of the first speed caused by unclear display of some of the first feature points or the second feature points, that is, to ensure the accuracy of the determination of the first speed.

[0059] In some embodiments, optionally, determining the first speed according to the positions of the plurality of first feature points in the first image and the positions of the plurality of second feature points in the second image includes: obtaining a plurality of first coordinates of the plurality of first feature points in the first image; obtaining a plurality of second coordinates of the plurality of second feature points in the second image; respectively converting the plurality of first coordinates and the plurality of second coordinates into a plurality of third coordinates and a plurality of fourth coordinates in the autonomous mobile device coordinate system of the autonomous mobile device; determining a translation matrix between the first image and the second image according to the third coordinates and the fourth coordinates; and determining the first speed according to the translation matrix and the time interval between the first moment and the second moment.

[0060] In this embodiment, first, the first coordinates of multiple first feature points in the first image and the multiple second coordinates of multiple second feature points in the second image can be obtained. Further, in order to unify the calculation scales between the first image and the second image and the autonomous mobile device, the multiple first coordinates and the multiple second coordinates can be respectively converted into multiple third coordinates and multiple fourth coordinates in the coordinate system of the autonomous mobile device of the autonomous mobile device.

[0061] Further, based on the third coordinates and the fourth coordinates, the moving distance of the autonomous mobile device from the first moment to the second moment can be calculated. Specifically, the translation matrix between the first image and the second image can be determined according to the third coordinates and the fourth coordinates. It should be noted that during the actual operation of the autonomous mobile device, it does not always move in a straight line in one direction. Therefore, by determining the translation matrix, the moving distances of the autonomous mobile device in the horizontal and vertical directions can be calculated.

[0062] Further, based on the translation matrix between the multiple first feature points and the multiple second feature points and the time interval between the first moment and the second moment, the first speed of the autonomous mobile device from the first moment to the second moment can be calculated. It can be understood that the translation matrix between the multiple first feature points and the multiple second feature points reflects the moving distances of the autonomous mobile device in the horizontal and vertical directions. Correspondingly, the first speed can also reflect the speeds of the autonomous mobile device in the horizontal and vertical directions.

[0063] In some embodiments, optionally, determining the translation matrix between the first image and the second image according to the third coordinates and the fourth coordinates includes: determining the rotation matrix between the multiple first feature points and the multiple second feature points according to the multiple third coordinates and the multiple fourth coordinates; determining the translation matrix according to the rotation matrix, the third coordinates, and the fourth coordinates.

[0064] In this embodiment, to determine the translation matrix between the first image and the second image, first, the rotation matrix between the first image and the second image can be determined according to the multiple third coordinates and the multiple fourth coordinates. By determining the rotation matrix, during the process of calculating the moving distance of the autonomous mobile device, the rotation angle of the autonomous mobile device during the movement can be referred to, so as to determine the moving distances of the autonomous mobile device in the horizontal and vertical directions.

[0065] Further, based on the rotation matrix, the third coordinates, and the fourth coordinates, the translation matrix between the first image and the second image can be determined.

[0066] Further, determining a rotation matrix between the first image and the second image according to multiple third coordinates and multiple fourth coordinates includes: obtaining a first average value of the multiple third coordinates; simplifying the multiple third coordinates according to the first average value to generate multiple fifth coordinates; obtaining a second average value of the multiple fourth coordinates; simplifying the multiple fourth coordinates according to the second average value to generate multiple sixth coordinates; determining a rotation angle of the autonomous mobile device according to the multiple fifth coordinates and the multiple sixth coordinates; and determining the rotation matrix according to the rotation angle.

[0067] Specifically, first, obtain a first average value of the multiple third coordinates and a second average value of the multiple fourth coordinates. Among them, the third coordinates and the fourth coordinates include the x value and the y value in the horizontal direction, and the z value in the vertical direction. Since the distance in the vertical direction remains unchanged during the process of the autonomous mobile device moving along the ground, when calculating the third coordinates and the fourth coordinates, the z value in the vertical direction can be ignored, and only the x value and the y value in the horizontal direction are considered.

[0068] Further, simplify the third coordinates and the fourth coordinates respectively according to the first average value and the second average value to generate multiple fifth coordinates and multiple sixth coordinates. By simplifying the third coordinates and the fourth coordinates, the computational amount of the numerical values can be reduced during the calculation process, and the calculation efficiency can be improved.

[0069] Exemplarily, the third coordinate is where i is an integer from 1 to n, and n is the number of the third coordinates. During the process of determining the first average value, the z value in the vertical direction can be ignored, that is, ignoring A i z , and only calculating the average value of A i x and A i y . Specifically:

[0070]

[0071] where is the first average value in the x direction of the third coordinates, is the first average value in the y direction of the third coordinates.

[0072] Further, determine the fifth coordinates according to the first average value. Specifically:

[0073]

[0074] where the fifth coordinate is

[0075] Correspondingly, in the same way as the calculation method of the fifth coordinates, the calculated sixth coordinates are

[0076] Further, according to the fifth coordinate and the sixth coordinate, the rotation angle of the autonomous mobile device can be calculated. Specifically, the rotation angle of the autonomous mobile device can be calculated according to the following formula:

[0077]

[0078] where θ is the rotation angle of the autonomous mobile device.

[0079] Finally, according to the rotation angle, the rotation matrix between the first image and the second image is determined. Exemplarily, the rotation matrix R is:

[0080]

[0081] Further, after determining the rotation matrix, the translation matrix between the first image and the second image can be determined according to the rotation matrix, the third coordinate, and the fourth coordinate. Specifically, the translation matrix ΔT is:

[0082]

[0083] where is the second average value in the x direction of the fourth coordinate, is the second average value in the y direction of the fourth coordinate. Δx is the moving distance of the autonomous mobile device in the x direction, and Δy is the moving distance of the autonomous mobile device in the y direction.

[0084]

[0085] The fourth coordinate is where i is an integer from 1 to n, and n is the number of the fourth coordinates. In the process of determining the second average value, the z value in the vertical direction can be ignored, that is, ignore and only calculate and the average value of.

[0086] Finally, according to the translation matrix and the time interval between the first moment and the second moment, the first speed can be determined. Specifically, the first speed V c is:

[0087]

[0088] where Δt is the time interval between the first moment and the second moment.

[0089] In some embodiments, optionally, converting multiple first coordinates and multiple second coordinates into multiple third coordinates and multiple fourth coordinates in the coordinate system of the autonomous mobile device of the autonomous mobile device respectively includes: obtaining the focal length of the imaging device; obtaining the first distance between the imaging device and the reference object; obtaining the center point coordinates of the center points of the first image and the second image; converting the multiple first coordinates into multiple seventh coordinates in the coordinate system of the imaging device according to the first coordinates, the focal length, the first distance, and the center point coordinates; converting the multiple second coordinates into multiple eighth coordinates in the coordinate system of the imaging device according to the second coordinates, the focal length, the first distance, and the center point coordinates; and converting the multiple seventh coordinates and multiple eighth coordinates into multiple third coordinates and multiple fourth coordinates respectively according to the relative position between the center point of the imaging device and the center point of the autonomous mobile device.

[0090] In this embodiment, in the process of converting the first coordinates and the second coordinates into the third coordinates and the fourth coordinates, the first coordinates and the second coordinates can be first converted into the seventh coordinates and the eighth coordinates in the coordinate system of the imaging device, and then the seventh coordinates and the eighth coordinates can be converted into the third coordinates and the fourth coordinates according to the relative pose between the center of the imaging device and the center of the autonomous mobile device body.

[0091] Specifically, first obtain the focal length of the imaging device. Among them, in the x direction and the y direction, the focal lengths of the imaging device are fx and fy respectively.

[0092] Furthermore, obtain the first distance between the imaging device and the reference object. Specifically, when the autonomous mobile device moves on the ground, the first distance is the distance between the imaging device and the ground.

[0093] Furthermore, obtain the center point coordinates of the center points of the first image and the second image. It can be understood that both the first image and the second image are taken by the imaging device of the autonomous mobile device according to the same shooting parameters. Therefore, the center point coordinates of the center points of the first image and the second image are the same.

[0094] Furthermore, convert the first coordinate system into the seventh coordinates in the coordinate system of the imaging device according to the focal length of the imaging device, the first distance, and the center point coordinates. Exemplarily, the coordinates of the first feature point are (u, v). In the x direction and the y direction, the focal lengths of the imaging device are fx and fy respectively. The first distance between the imaging device and the reference object is h. The center point coordinates of the center points of the first image and the second image are (cx, cy). Then the coordinates of the first feature point in the coordinate system of the imaging device are p(x, y, z), where x = h×(u–cx)÷fx, y = h×(v–cy)÷fy, and z = h.

[0095] According to an embodiment of the present invention, as Figure 2As shown, a control method for an autonomous mobile device is proposed, including:

[0096] S202, during the movement of the autonomous mobile device, obtain a first image and a second image through the imaging device of the autonomous mobile device;

[0097] S204, determine a first speed of the autonomous mobile device from the first moment to the second moment according to the first image and the second image;

[0098] S206, determine a second speed of the autonomous mobile device from the first moment to the second moment according to the first wheel speed odometer of the autonomous mobile device at the first moment and the second wheel speed odometer at the second moment;

[0099] S208, when the speed difference between the first speed and the second speed is greater than a preset value, correct the wheel speed odometer of the autonomous mobile device according to the translation matrix.

[0100] In this embodiment, the correction method for the wheel speed odometer of the autonomous mobile device can be determined according to the speed difference between the first speed and the second speed. Specifically, when the speed difference between the first speed and the second speed is greater than the preset value, it indicates that the deviation between the wheel speed odometer of the autonomous mobile device and the actual moving distance of the autonomous mobile device is relatively large. At this time, the wheel speed odometer of the autonomous mobile device can be corrected according to the translation matrix between the first image and the second image. That is, the wheel speed odometer of the autonomous mobile device is corrected according to the actual horizontal moving distance and the actual vertical moving distance of the autonomous mobile device, and the deviation of the wheel speed odometer of the autonomous mobile device is corrected to the correct wheel speed odometer.

[0101] Specifically, the speed difference can be set according to the actual operating conditions of the autonomous mobile device, such as specific parameters such as the smoothness of the ground where the autonomous mobile device is located.

[0102] According to the second aspect of the present invention, as Figure 7As shown, a control device 700 for an autonomous mobile device is proposed, including: an acquisition unit 702, configured to obtain a first image and a second image through an imaging device of the autonomous mobile device during the movement of the autonomous mobile device; wherein, the content of the first image and the second image is a reference object that moves relative to the autonomous mobile device during the movement of the autonomous mobile device, the generation time of the first image is the first time, and the generation time of the second image is the second time; a determination unit 704, configured to determine a first speed of the autonomous mobile device from the first time to the second time according to the first image and the second image; and determine a second speed of the autonomous mobile device from the first time to the second time according to a first wheel speed odometer of the autonomous mobile device at the first time and a second wheel speed odometer of the autonomous mobile device at the second time; a correction unit 706, configured to correct the wheel speed odometer of the autonomous mobile device according to the first speed and the second speed.

[0103] The control device 700 for the autonomous mobile device provided by the present invention obtains a first image at the first time and a second image at the second time through the imaging device of the autonomous mobile device during the movement of the autonomous mobile device, and then determines a first speed of the autonomous mobile device from the first time to the second time according to the first image and the second image. At the same time, a second speed of the autonomous mobile device from the first time to the second time is determined according to the first wheel speed odometer at the first time and the second wheel speed odometer at the second time, so as to determine whether there is a deviation in the wheel speed odometer of the autonomous mobile device according to the first speed and the second speed, and then the wheel speed odometer of the autonomous mobile device can be corrected according to the first speed and the second speed, ensuring the accuracy of the wheel speed odometer of the autonomous mobile device during operation.

[0104] Further, the determination unit 704 is specifically configured to: obtain a plurality of first feature points in the first image; wherein, the number of first feature points is greater than or equal to a preset number; obtain a plurality of second feature points corresponding to the plurality of first feature points in the second image; and determine the first speed according to the positions of the plurality of first feature points in the first image and the positions of the plurality of second feature points in the second image.

[0105] Further, the determination unit 704 is specifically further configured to: obtain a plurality of first coordinates of the plurality of first feature points in the first image; obtain a plurality of second coordinates of the plurality of second feature points in the second image; convert the plurality of first coordinates and the plurality of second coordinates into a plurality of third coordinates and a plurality of fourth coordinates in the autonomous mobile device coordinate system of the autonomous mobile device respectively; determine a translation matrix between the first image and the second image according to the third coordinates and the fourth coordinates; and determine the first speed according to the translation matrix and the time interval between the first time and the second time.

[0106] Further, the determining unit 704 is specifically further configured to: determine a rotation matrix between the first image point and the second image according to multiple third coordinates and multiple fourth coordinates; determine a translation matrix according to the rotation matrix, the third coordinates, and the fourth coordinates.

[0107] Further, the determining unit 704 is specifically further configured to: obtain a first average value of multiple third coordinates; simplify the multiple third coordinates according to the first average value to generate multiple fifth coordinates; obtain a second average value of multiple fourth coordinates; simplify the multiple fourth coordinates according to the second average value to generate multiple sixth coordinates; determine a rotation angle of the autonomous mobile device according to the multiple fifth coordinates and the multiple sixth coordinates; determine a rotation matrix according to the rotation angle.

[0108] Further, the determining unit 704 is specifically further configured to: obtain the focal length of the imaging device; obtain a first distance between the imaging device and the reference object; obtain the center point coordinates of the center points of the first image and the second image; convert the multiple first coordinates into multiple seventh coordinates in the imaging device coordinate system according to the first coordinates, the focal length, the first distance, and the center point coordinates; convert the multiple second coordinates into multiple eighth coordinates in the imaging device coordinate system according to the second coordinates, the focal length, the first distance, and the center point coordinates; convert the multiple seventh coordinates and the multiple eighth coordinates into multiple third coordinates and multiple fourth coordinates respectively according to the relative position between the center point of the imaging device and the center point of the autonomous mobile device.

[0109] Further, the correcting unit 706 is specifically configured to: correct the wheel speed odometer of the autonomous mobile device according to the translation matrix when the speed difference between the first speed and the second speed is greater than a preset value.

[0110] According to a third aspect of the present invention, a control device for an autonomous mobile device is provided, including: a processor and a memory, the memory stores a program or instruction that can run on the processor, and when the program or instruction is executed by the processor, the steps of the control method for the autonomous mobile device provided in the first aspect are implemented.

[0111] The control device for the autonomous mobile device provided by the present invention includes a memory and a processor, and also includes a program or instruction stored on the memory. When the program or instruction is executed by the processor, the steps of the control method for the autonomous mobile device in the above first aspect can be implemented. Therefore, the control device for the autonomous mobile device has all the beneficial effects of the control method for the autonomous mobile device, which will not be elaborated here.

[0112] According to a fourth aspect of the present invention, an autonomous mobile device is provided, including the control device for the autonomous mobile device in the second aspect as described above, or the control device for the autonomous mobile device in the third aspect as described above.

[0113] The autonomous mobile device provided by the present invention includes the control device of the autonomous mobile device in the second aspect as described above, or the control device of the autonomous mobile device in the third aspect as described above. Therefore, the autonomous mobile device has all the beneficial effects of the control device of the autonomous mobile device in the second aspect as described above, or the control device of the autonomous mobile device in the third aspect as described above, which will not be elaborated here.

[0114] According to the fifth aspect of the present invention, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the control method of the autonomous mobile device in any one of the first aspects as described above are realized.

[0115] The readable storage medium provided by the present invention stores a program or instruction. Since when the program or instruction is executed by a processor, it can realize the steps of the control method of the autonomous mobile device in any one of the above technical solutions, this storage medium has all the beneficial effects of the control method of the autonomous mobile device as described above, which will not be elaborated here.

[0116] Among them, the method can be implemented in various different ways according to specific features and / or example applications. For example, these methods can be implemented by a combination of hardware, firmware, and / or software. For example, in a hardware implementation, the processor can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, electronic devices, other device units for performing the above functions, and / or combinations thereof.

[0117] A computer-readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. A computer-readable storage medium can be an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above devices, but is not limited thereto. A non-exhaustive list of more specific examples of computer-readable storage media includes: portable computer floppy disks, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), static random access memories (SRAMs), portable compact disc read-only memories (CD-ROMs), digital versatile disks (DVDs), memory cards, floppy disks, encoding mechanical devices (such as punched cards or grooves with raised structures recording instructions), and any suitable combination of the above devices. The computer-readable storage medium used here should not be construed as a signal per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media, or electrical signals transmitted through wires, etc.

[0118] In the description of the present invention, the term "plurality" means two or more, unless otherwise clearly defined. The orientation or positional relationship indicated by terms such as "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention; terms such as "connection", "installation", "fixation", etc. should all be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0119] In the description of this specification, the descriptions of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0120] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, various changes and modifications can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A control method for an autonomous mobile device, characterized in that: include: During the movement of the autonomous mobile device, acquiring a first image and a second image by a camera device of the autonomous mobile device; The first image and the second image are reference objects that move relative to the autonomous mobile device during movement of the autonomous mobile device, the first image is generated at a first moment, and the second image is generated at a second moment; determining a first speed of the autonomous mobile device from the first moment to the second moment based on the first image and the second image; determining a second speed of the autonomous mobile device from the first moment to the second moment based on a first wheel speed odometer of the autonomous mobile device at the first moment and a second wheel speed odometer at the second moment; A wheel speed odometer of the autonomous mobile device is corrected according to the first speed and the second speed.

2. The control method according to claim 1, characterized in that: Determining a first speed of the autonomous mobile device from the first moment to the second moment based on the first image and the second image includes: Acquire a plurality of first feature points in the first image; Wherein, the number of the first feature points is greater than or equal to a preset number; Acquire a plurality of second feature points in the second image that match and correspond to the first feature points; The first speed is determined according to positions of the plurality of first feature points in the first image and positions of the plurality of second feature points in the second image.

3. The control method according to claim 2, characterized in that: The determining the first speed according to positions of the plurality of first feature points in the first image and positions of the plurality of second feature points in the second image includes: Acquire a plurality of first coordinates of a plurality of the first feature points in the first image; Acquire a plurality of second coordinates of a plurality of second feature points in the second image; converting the plurality of first coordinates and the plurality of second coordinates into a plurality of third coordinates and a plurality of fourth coordinates in an autonomous mobile device coordinate system of the autonomous mobile device, respectively; determining a translation matrix between the first image and the second image according to the third coordinate and the fourth coordinate; The first speed is determined according to the translation matrix and the interval between the first moment and the second moment.

4. The control method according to claim 3, characterized in that: The determining, according to the third coordinate and the fourth coordinate, a translation matrix between the first image and the second image includes: determining a rotation matrix between the first image and the second image based on the plurality of third coordinates and the plurality of fourth coordinates; The translation matrix is determined according to the rotation matrix, the third coordinate, and the fourth coordinate.

5. The control method according to claim 4, characterized in that: The determining, based on the plurality of third coordinates and the plurality of fourth coordinates, a rotation matrix between the first image and the second image, comprises: Obtaining a first average value of a plurality of the third coordinates; Simplifying the plurality of third coordinates according to the first average value to generate a plurality of fifth coordinates; Obtaining a second average value of the plurality of fourth coordinates; Simplifying the plurality of fourth coordinates according to the second average value to generate a plurality of sixth coordinates; determining a rotation angle of the autonomous mobile device based on the plurality of fifth coordinates and the plurality of sixth coordinates; The rotation matrix is determined according to the rotation angle.

6. The control method according to claim 3, characterized in that: The converting the plurality of first coordinates and the plurality of second coordinates into a plurality of third coordinates and a plurality of fourth coordinates in the autonomous mobile device coordinate system of the autonomous mobile device, respectively, comprises: Obtaining the focal length of the camera device; Acquiring a first distance between the camera device and the reference object; Obtaining center point coordinates of center points of the first image and the second image; converting the first coordinates into a plurality of seventh coordinates in a camera device coordinate system according to the first coordinates, the focal length, the first distance, and the center point coordinates; converting the second coordinates into a plurality of eighth coordinates in a camera device coordinate system according to the second coordinates, the focal length, the first distance, and the center point coordinates; The plurality of seventh coordinates and the plurality of eighth coordinates are converted into the plurality of third coordinates and the plurality of fourth coordinates respectively according to the relative posture between the camera device and the center point of the autonomous mobile device.

7. The control method according to claim 3, characterized in that: The correcting the wheel speed odometer of the autonomous mobile device according to the first speed and the second speed includes: When a speed difference between the first speed and the second speed is greater than a preset value, the wheel speed odometer of the autonomous mobile device is corrected according to the translation matrix.

8. A control device for an autonomous mobile device, characterized in that: include: An acquisition unit, configured to acquire a first image and a second image by using a camera device of the autonomous mobile device during movement of the autonomous mobile device; The first image and the second image are reference objects that move relative to the autonomous mobile device during movement of the autonomous mobile device, the first image is generated at a first moment, and the second image is generated at a second moment; a determining unit, configured to determine a first speed of the autonomous mobile device from the first moment to the second moment based on the first image and the second image; and determining a second speed of the autonomous mobile device from the first moment to the second moment based on a first wheel speed odometer of the autonomous mobile device at the first moment and a second wheel speed odometer at the second moment; A correction unit is used to correct the wheel speed odometer of the autonomous mobile device according to the first speed and the second speed.

9. A control device for an autonomous mobile device, characterized in that: include: A processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the control method of the autonomous mobile device according to any one of claims 1 to 7 are implemented.

10. An autonomous mobile device, characterized in that: include: The control device of the autonomous mobile device according to claim 8; or The control device for an autonomous mobile device according to claim 9.

11. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the control method of the autonomous mobile device according to any one of claims 1 to 7 are implemented.

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