Mobile robot docking method and device and electronic equipment

Abstract

The invention relates to a divisional application of an invention patent application which is submitted on March 22, 2022 and has an application number of 202210289113.2 and an invention name of'a mobile robot docking method, a mobile robot docking device and electronic equipment '. The invention provides a mobile robot docking method and device and electronic equipment, a mobile robot docking station comprises a marker, the marker comprises a first area and a second area, and the reflective rate of the second area is lower than that of the first area. The method comprises the following steps: obtaining a point cloud image formed by point clouds scanned by a laser radar on a mobile robot; determining a first point set reflecting the first area in the point cloud image based on the light intensity of each point in the point cloud image; determining a second point set reflecting a second area from the point cloud picture according to the first point set, and determining a current relative position of the marker relative to the mobile robot according to the second point set; and the mobile robot is driven to be in butt joint with the station according to the current relative position, and therefore accurate butt joint of the mobile robot and the station is achieved.

Description

[0001] This application is a divisional application of the invention patent application filed on March 22, 2022, with application number 202210289113.2 and invention title "A Mobile Robot Docking Method, Device and Electronic Equipment". Technical Field

[0002] This application relates to the field of robotics technology, and in particular to a method, apparatus and electronic device for docking mobile robots. Background Technology

[0003] With the continuous development of robotics technology, mobile robots are being used in an increasing number of scenarios. In these scenarios, mobile robots need to interact with workstations. For example, in warehousing, mobile robots need to interact with docking stations to unload goods from shelves. Another example is that mobile robots need to interact with charging stations to enable automatic charging.

[0004] Therefore, how to drive robots to accurately dock with workstations has become an urgent problem to be solved. Summary of the Invention

[0005] In view of this, this application provides a mobile robot docking method, device and electronic device to achieve precise docking between the driven robot and the workstation.

[0006] Specifically, this application is implemented through the following technical solution: According to a first aspect of this application, a method for docking a mobile robot is provided, wherein the workstation docked with the mobile robot includes a marker, the marker comprising a first region and a second region, wherein the reflectivity of the second region is lower than that of the first region, the method comprising: Obtain a point cloud map formed by the point cloud scanned by the lidar deployed on the mobile robot in this scanning cycle; Based on the light intensity of each point in the obtained point cloud image, determine whether there is a first point set in the point cloud image, the first point set being used to indicate the first region of the marker; If a first set of points exists in the point cloud, a second set of points is determined from the point cloud based on the determined first set of points, and the current relative position of the marker with respect to the mobile robot is determined based on the second set of points; wherein, the second set of points is used to indicate a second region of the marker; The mobile robot is driven to dock with the workstation based on the determined current relative position.

[0007] Optionally, the method further includes: If the first point set does not exist in the point cloud map, the current relative position of the marker relative to the mobile robot is determined based on the relative position of the marker relative to the mobile robot determined in the most recent scan cycle and the mileage parameter of the mobile robot from the most recent scan cycle to the current scan cycle. The mobile robot is driven to dock with the workstation based on the determined current relative position.

[0008] Optionally, there are two first regions, with a second region between the two first regions; The step of determining whether a first set of points exists in the point cloud image based on the light intensity of each point in the obtained point cloud image includes: Detect whether there are multiple target point sets in the point cloud map; wherein, each target point set includes: multiple target points that are consecutively located on the point cloud map and have light intensity higher than a preset threshold, and the number of target points in the target point set is higher than a preset number threshold; If it does not exist, then it is determined that the first point set does not exist in the point cloud map; If it exists, the multiple target point sets are divided into at least one target point set group, and based on the divided target point set group, it is determined whether a first point set exists in the point cloud map; wherein, each target point set group includes two target point sets that are adjacent in position on the point cloud map.

[0009] Optionally, determining whether a first point set exists in the point cloud map based on the divided target point set group includes: Detect whether there exists a first target point set that satisfies a preset condition in at least one divided target point set group; If it exists, then it is determined that the first point set exists in the point cloud map, and the two target point sets in the first target point set group are determined as the first point set; If it does not exist, then it is determined that the first point set does not exist in the point cloud map; The preset conditions include: the distance between two target point sets in the target point set group is within a first preset distance range, and the straight line formed by the points between the two target point sets meets the preset straightness requirements; the first preset distance range matches the distance between the two first regions on the marker.

[0010] Optionally, determining the second point set from the point cloud based on the determined first point set includes: On the point cloud map, points located between the two first point sets are grouped into a second point set.

[0011] Optionally, the current relative position is represented by the current distance between the mobile robot and the marker, and the current deviation angle between the mobile robot and the marker; Determining the relative position of the marker with respect to the mobile robot based on the second point set includes: The center position of the second set of points is determined based on the coordinates of the second set of points, and the current distance between the mobile robot and the marker is determined based on the coordinates of the center position. The angle between the perpendicular line formed by the points in the second set of points and the direction of travel of the mobile robot is determined as the current deviation angle between the mobile robot and the marker.

[0012] Optionally, the current relative position is represented by the current distance between the mobile robot and the marker, and the current deviation angle between the mobile robot and the marker; The process of driving the mobile robot to dock with the workstation based on the determined current relative position includes: If the current distance meets the second preset distance range and the current deviation angle meets the preset angle range, then the mobile robot is triggered to dock with the workstation. If the current distance does not meet the second preset distance range, and / or the current deviation angle does not meet the preset angle range, then based on the difference between the current distance and the specified distance value in the second preset distance range, and the difference between the current deviation angle and the specified angle value in the preset angle range, the motion parameters of the mobile robot are adjusted, and the mobile robot is driven to move with the adjusted motion parameters.

[0013] Optionally, the relative position is represented by the distance between the mobile robot and the marker, and the deviation angle between the mobile robot and the marker; The mileage parameters include the distance traveled by the mobile robot from the most recent scan cycle to the current scan cycle, and the angle of modification of the mobile robot's movement direction from the most recent scan cycle to the current scan cycle; Determining the current relative position of the marker relative to the mobile robot based on the relative position of the marker relative to the mobile robot determined in the most recent scan cycle, and the mileage parameters of the mobile robot from the most recent scan cycle to the current scan cycle, includes: The current distance between the mobile robot and the marker is determined based on the distance between the mobile robot and the marker as determined in the most recent scan cycle, and the distance traveled by the mobile robot from the most recent scan cycle to the current scan cycle. Based on the deviation angle between the mobile robot and the marker determined in the most recent scan cycle, and the modification angle of the mobile robot's movement direction from the most recent scan cycle to the current scan cycle, the current deviation angle between the mobile robot and the marker is determined.

[0014] Optionally, the marker is rectangular, and the two first areas and the second area included in the marker are both rectangular; The first region is symmetrically arranged on both sides of the second region; The material constituting the first area is a reflective material, and the material constituting the second area is a matte material.

[0015] According to a second aspect of this application, a mobile robot docking device is provided, wherein the workstation docked with the mobile robot includes a marker, the marker comprising a first region and a second region, the second region having a lower reflectivity than the first region, the device comprising: The acquisition unit is used to acquire a point cloud map formed by the point cloud obtained by the lidar deployed on the mobile robot in the current scanning cycle. The first determining unit is used to determine whether a first point set exists in the point cloud map based on the light intensity of each point in the obtained point cloud map, wherein the first point set is used to indicate a first region of the marker. The second determining unit is configured to, if a first set of points exists in the point cloud, determine a second set of points from the point cloud based on the determined first set of points, and determine the current relative position of the marker relative to the mobile robot based on the second set of points; wherein the second set of points is used to indicate a second region of the marker; The docking unit is used to drive the mobile robot to dock with the workstation based on the determined current relative position.

[0016] According to a third aspect of this application, an electronic device is provided, the electronic device including a readable storage medium and a processor; The readable storage medium is used to store machine-executable instructions; The processor is configured to read the machine-executable instructions on the readable storage medium and execute the instructions to implement the above-described mobile robot docking method.

[0017] As described above, in this application, markers are set up at the workstation. The mobile robot discovers the markers and locates them using a deployed LiDAR (i.e., determines the relative position of the markers with respect to the mobile robot). The relative position of the markers with respect to the mobile robot guides the mobile robot to dock with the workstation. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of a marker structure shown in an exemplary embodiment of this application; Figure 2 This is a schematic diagram illustrating a scenario of mobile robot docking, as shown in an exemplary embodiment of this application; Figure 3 This is a flowchart illustrating a mobile robot docking method according to an exemplary embodiment of this application; Figure 4 This application illustrates a robot top view and point cloud diagram according to an exemplary embodiment; Figure 5 This is another mobile robot and point cloud map illustrated in an exemplary embodiment of this application; Figure 6 This is another mobile robot and point cloud map illustrated in an exemplary embodiment of this application; Figure 7 This is a hardware structure diagram of an electronic device illustrated in an exemplary embodiment of this application; Figure 8 This is a block diagram illustrating a mobile robot docking device according to an exemplary embodiment of this application. Detailed Implementation

[0019] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0020] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0021] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0022] This application aims to propose a robot docking method. In this application, a marker is set at the workstation. The mobile robot discovers the marker and locates it using a deployed LiDAR (i.e., determines the relative position of the marker with respect to the mobile robot). The relative position of the marker with respect to the mobile robot guides the mobile robot to dock with the workstation.

[0023] The technical solution provided in this application will be described in detail below from two aspects: the docking method of markers and mobile robots.

[0024] 1. Markers In this application, a marker is provided at the workstation. The marker has at least one first area and one second area. The reflectivity of the first area is higher than that of the second area.

[0025] For example, the first area could be made of reflective material, and the second area could be made of matte material. Matte material can be a material with a certain degree of roughness, such as frosted material. Dark colors, such as black, are recommended for matte material.

[0026] In one alternative implementation, such as Figure 1 As shown, the marker has two first areas and one second area, with the second area positioned between the two first areas. For example, the two first areas can be symmetrically positioned on either side of the second area, with both first areas having the same shape and size. This is merely an illustrative example of the positional relationship between the first and second areas and is not intended to impose any specific limitations.

[0027] It should be noted that in practical applications, the dimensions of each area of ​​the sign can be customized, for example, such as... Figure 1 As shown, the width b of the second region can be set to 280mm, and the width c of the first region can be set to 60mm. This is just an example and is not specifically limited.

[0028] The height of the marker above the ground (i.e. Figure 2 The distance (a) in the figure can be matched with the height of the laser plane of the LiDAR deployed on the mobile robot above the ground to ensure that the light emitted by the LiDAR can illuminate the marker. The height of the marker above the ground can be increased accordingly based on the laser level and the undulation of the ground.

[0029] Furthermore, the first and second areas need to be on the same plane, and both surfaces of the first and second areas should be smooth. The second area, in particular, is crucial; if its surface has bumps or depressions, it may prevent the marker from being located accurately.

[0030] When installing markers, ensure that the height of the markers matches the height of the laser emitting surface of the lidar deployed on the mobile robot, so that the laser can hit the markers.

[0031] It should be noted that: The reason for setting up the first and second regions is: If the marker is made of only highly reflective material, although the highly reflective material is easy to detect by lidar, it is also difficult to accurately locate the marker due to the excessive reflectivity of the material, that is, it is not easy to accurately determine the positional deviation between the marker and the mobile robot.

[0032] In order to achieve accurate positioning of the marker, in this application, the marker includes at least one first region and a second region. The reflectivity of the second region is lower than that of the first region. The high reflectivity of the first region is used to detect the marker, and the low reflectivity of the second region is used to accurately position the marker.

[0033] 2. Mobile robot docking methods See Figure 3 , Figure 3 This is a flowchart illustrating a mobile robot docking method according to an exemplary embodiment of this application. This method can be applied to electronic devices, such as servers or mobile robots. This is merely an illustrative example of an electronic device and is not specifically limited thereto. The method may include the following steps: Step 301: The electronic device obtains the point cloud map formed by the point cloud scanned by the lidar deployed on the mobile robot in this scanning cycle.

[0034] The mobile robot described in this application refers to a mobile robot, which may include: AGV (Automatic Guided Vehicle, also known as mobile robot), industrial robot, consumer mobile robot, entertainment mobile robot, drone, etc. This is only an example of a mobile robot and is not specifically limited to it.

[0035] The aforementioned workstation refers to an object that can dock with a mobile robot. For example, the workstation could be a docking station, where the mobile robot docks with the docking station to unload the goods from the shelf. Alternatively, the workstation could be a charging station, where the mobile robot docks with the charging station to charge. This is merely an illustrative example of a workstation and is not intended to impose any specific limitations.

[0036] In practice, the lidar deployed on the mobile robot will periodically perform laser scans.

[0037] Specifically, at the beginning of each scanning cycle, the lidar emits a laser beam. Then, the lidar rotates by a certain angle and emits another laser beam, completing the laser scan for that cycle by continuously rotating and emitting lasers. After emitting a laser beam, the lidar also receives the laser beams reflected back from the object. The information carried by a single reflected laser beam is called a point, and the information carried by multiple reflected laser beams is called a point cloud.

[0038] In other words, a point in a point cloud is a collection of information carried by a reflected laser beam. For example, a point corresponding to a reflected laser beam carries information such as the coordinates of the object reflecting the laser beam in the robot's polar coordinate system, and the intensity of the laser beam. This is just an example of the information carried by a point and is not specifically limited to it.

[0039] In this application, after the electronic device acquires the points scanned by the LiDAR deployed on the mobile robot in the current scanning cycle, the electronic device can convert the coordinates of each point in the polar coordinate system to the coordinates in the Cartesian coordinate system, and then form a point cloud map based on the coordinates of each point in the Cartesian coordinate system.

[0040] For example, such as Figure 4 As shown, Figure 4 Figure (a) is a top view of the mobile robot, in which a Cartesian coordinate system is established with the center of the mobile robot as the origin, the direction of the mobile robot's movement as the x-axis, and the direction perpendicular to the direction of the mobile robot's movement as the y-axis.

[0041] Figure 4 Figure (b) in the figure is a point cloud map obtained by lidar scanning.

[0042] The lidar deployed on the mobile robot continuously rotates its angle and emits lasers at the beginning of the current scanning cycle. When the laser hits a workstation marker or other object, it is emitted. The mobile robot receives multiple reflected laser beams and treats the information carried by each laser beam (such as the coordinates of the object in the polar coordinate system (a coordinate system established with the mobile robot as the origin) and the light intensity) as a point, forming a point cloud.

[0043] Then, the electronic device transforms the coordinates of each point into, for example, Figure 4 (a) shows a Cartesian coordinate system, and a point cloud is generated based on the transformed coordinate information of each point. The generated point cloud is as follows: Figure 4 As shown in (b).

[0044] Step 302: Based on the light intensity of each point in the obtained point cloud image, determine whether there is a first point set in the point cloud image, the first point set being used to indicate the first region of the marker.

[0045] In one alternative implementation, when there are two first regions on the aforementioned marker and the second region is located between the two first regions, step 302 can be implemented using the following steps 3021 to 3023.

[0046] Step 3021: Detect whether there are multiple target point sets in the point cloud map; wherein, each target point set includes: multiple target points that are continuously located on the point cloud map and have light intensity higher than a preset threshold, and the number of target points in the target point set is higher than a preset number threshold.

[0047] It should be noted that the preset quantity threshold can be determined by the width of the first area on the marker. The larger the width, the larger the preset quantity threshold, and the smaller the width, the smaller the preset quantity threshold.

[0048] For example, Figure 4 The three circles shown in Figure (b) represent three target point sets. The light intensity of the points in each circle is higher than a preset threshold, and the positions of the points in the circle are continuous. Furthermore, the number of target points in each of the three target point sets exceeds the preset threshold.

[0049] In step 3021, the electronic device can sequentially acquire each point on the point cloud map in a preset order, detect whether the light intensity of the point is greater than a preset threshold, and mark the point as a reflective point if the light intensity of the point is greater than the preset threshold.

[0050] If the light intensity at a point is less than or equal to a preset threshold, then determine whether the preceding point is a reflective point. If the preceding point is not a reflective point, continue acquiring the next point and performing the same operation. If the preceding point is a reflective point, then acquire the consecutive reflective points preceding that point, and then check whether the number of acquired reflective points is greater than a preset threshold. If the number of acquired reflective points is greater than the preset threshold, then combine these acquired reflective points into a target point set.

[0051] For example, such as Figure 5 As shown, the electronic device can acquire each point on the point cloud map in a counter-clockwise order.

[0052] For example, obtain in counter-clockwise order Figure 5 The first point on the right is taken as the first point obtained in a counter-clockwise order. Since the light intensity of the first point is less than the preset threshold and there are no reflective points in front of the first point, the second point is obtained in a counter-clockwise order (i.e., Figure 5 The second point on the right), since the light intensity at the second point is less than the preset threshold and there are no reflective points in front of the second point, we continue to obtain the third point in a counter-clockwise order (i.e., Figure 5The third point on the right is marked as a reflective point because its light intensity exceeds a preset threshold. Then, the fourth point is obtained in a counter-clockwise order (i.e.,...). Figure 5 The fourth point on the right is marked as a reflective point because its light intensity exceeds a preset threshold. Then, the fifth point (i.e., the one on the right) is obtained in a counter-clockwise order. Figure 5 The fifth point on the right is marked as a reflective point because its light intensity exceeds a preset threshold. Then, the electronic device acquires the sixth point (i.e.,...) in a counter-clockwise order. Figure 5 The sixth point on the right), since the light intensity of the sixth point is less than the preset threshold, and the points before the sixth point are reflective points, the consecutive reflective points before the sixth point (i.e., the third point, the fourth point, and the fifth point) are obtained.

[0053] Assuming the preset threshold is 2, since the number of consecutive reflective points obtained before the sixth point is greater than 2, these reflective points (i.e. the third, fourth and fifth points) are grouped into a target point set.

[0054] It should be noted that in practical applications, mobile robots often encounter highly reflective objects in their operating environment, such as metal objects. When both workstation markers and metal objects are detected by the LiDAR, the point cloud image obtained by the LiDAR will contain multiple sets of target points with light intensity exceeding a preset threshold and consecutive positions. Therefore, this application will result in multiple target point sets.

[0055] Step 3022: If there are no multiple target point sets in the point cloud map, then it is determined that there is no first point set in the point cloud map.

[0056] Since there are two first regions on the marker in this embodiment, there must be at least two target point sets in the point cloud map. If there is no target point set in the point cloud map, or if there is only one target point set in the point cloud map, it means that there is no first point set representing the first region of the marker in the point cloud map.

[0057] Step 3023: If there are multiple target point sets in the point cloud map, the multiple target point sets are divided into at least one target point set group, and based on the divided target point set group, it is determined whether there is a first point set in the point cloud map; wherein, each target point set group includes two target point sets that are adjacent in position on the point cloud map.

[0058] It should be noted that when there are multiple target point sets in the point cloud map, it is necessary to further determine whether these target point sets reflect other reflective objects in the mobile robot environment or the first area of ​​the marker. Therefore, further judgment of the target point sets is required.

[0059] In implementation, the electronic device can divide multiple target point sets into at least one target point set group, wherein each target point set group includes two target point sets that are adjacent in position on the point cloud map.

[0060] Adjacent target point sets refer to two target point sets that are close to each other. The two target point sets may not be connected, but may be separated by a distance. However, there are no other target point sets between the two target point sets.

[0061] For example, electronic devices can group two sets of target points that are adjacent in location into a target point set group.

[0062] Suppose that the target point set found from the point cloud map is as follows: Figure 4 As shown in Figure (b), since target point set 1 and target point set 2 are adjacent, target point set 1 and target point set 2 are grouped into one target point set group. Since target point set 2 and target point set 3 are adjacent, target point set 2 and target point set 3 are grouped into another target point set group. This forms two target point set groups.

[0063] Then, the electronic device can determine whether a first point set exists in the point cloud map based on at least one group of target points.

[0064] The following steps A1 to A3 will provide a detailed explanation of "the electronic device can determine whether a first point set exists in the point cloud map based on at least one group of target points".

[0065] Step A1: The electronic device detects whether there is a first target point set that meets the preset conditions in at least one target point set group.

[0066] Step A2: If there is a first target point set that meets the preset conditions in at least one target point set group, the electronic device can determine that the first point set used to indicate the first area of ​​the marker has been identified from the point cloud map, and determine the two target point sets in the first target point set group as the first point set.

[0067] Step A3: If there is no first target point set group that meets the preset conditions in at least one of the divided target point set groups, the electronic device determines that there is no first point set in the point cloud map.

[0068] The preset conditions include: the distance between two target point sets in the target point set group is within a first preset distance range, and the straight line formed by the points between the two target point sets meets the preset straightness requirements.

[0069] The first preset distance range is determined by the distance between the two first regions of the marker. For example, the first preset distance range is composed of the width of the second region plus a preset error.

[0070] It should be noted that the preset conditions are designed to distinguish the point set group consisting of the point sets corresponding to the two first regions of the marker from a large number of target point sets. Therefore, the preset conditions are set based on the relevant characteristics of the first region of the marker.

[0071] Specifically, firstly, since a second region is located between the two first regions of the marker, there is a distance between the two first regions. Therefore, the preset conditions stipulate that the distance between two adjacent target point sets is within a first preset distance range (i.e., the distance between two adjacent target point sets should match the distance between the first regions of the marker). Secondly, since the second region has low reflectivity, the points used to indicate the second region will form a straight line that meets the preset straightness requirement in the Cartesian coordinate system. Therefore, the above conditions also include "the straight line formed by the points between the two target point sets meets the preset straightness requirement".

[0072] In implementation, for each target point set, the electronic device can detect whether the target point set meets a preset condition. If the target point set does not meet the preset condition, the target point set is determined to be the first target point set, and the two target point sets in the first target point set are respectively used as the first point sets.

[0073] If none of the target point sets meet the preset conditions, it indicates that the first point set does not exist in the point cloud map.

[0074] The following is still in the format of Figure 4 The example shown in Figure (b) will be used as an example for illustration.

[0075] Assumption Figure 4 The point cloud shown in Figure (b) contains two target point sets, namely target point set 1 and target point set 2.

[0076] Target point set group 1 includes: target point set 1 and target point set 2.

[0077] Target point set group 2 includes: target point set 2 and target point set 3.

[0078] Since the distance between target point set 1 and target point set 2 is within the first preset distance range, and the straight line formed by the points between target point set 1 and target point set 2 meets the preset straightness requirements, target point set 1 is determined as the first target point set, and target point set 1 and target point set 2 are respectively determined as the first point sets used to reflect the first area of ​​the marker.

[0079] Since the distance between target point set 2 and target point set 3 is not within the first preset distance range, target point set 2 is not the first target point set.

[0080] Step 303: If a first set of points exists in the point cloud map, the electronic device determines a second set of points from the point cloud map based on the determined first set of points, and determines the current relative position of the marker with respect to the mobile robot based on the second set of points; wherein, the second set of points is used to indicate a second region of the marker.

[0081] Step 303 will be explained in detail below through steps 3031 to 3032.

[0082] Step 3031: If a first point set exists in the point cloud map, the electronic device determines a second point set from the point cloud map based on the determined first point set.

[0083] In implementation, if a first set of points exists in the point cloud map, the electronic device is positioned between two first set of points to form a second set of points.

[0084] like Figure 4 As shown in Figure (b), assuming both target point set 1 and target point set 2 are first point sets, then the points between target point set 1 and target point set 2 form a second point set. For example, the points between the lower boundary of target point set 2 and the upper boundary of target point set 1 form the second point set, i.e. Figure 4 The points enclosed by the dashed box shown in (b) form the second set of points.

[0085] Step 3032: Determine the current relative position of the marker with respect to the mobile robot based on the second point set.

[0086] In this embodiment of the application, the current relative position of the marker with respect to the mobile robot can be represented by the current distance between the mobile robot and the marker, and the current deviation angle between the mobile robot and the marker. Of course, in practical applications, it can also be represented by the difference between the coordinates of the marker and the coordinates of the robot. This is just an example of the current relative position and is not specifically limited to it.

[0087] The following example, "the current relative position is represented by the current distance between the mobile robot and the marker, and the current deviation angle between the mobile robot and the marker," will be used to explain step 3032 in detail.

[0088] 1) Determine the current distance between the mobile robot and the marker. It should be noted that the "current distance between the mobile robot and the marker" mentioned in this application may refer to the straight-line distance between the mobile robot and the marker, or it may refer to the distance between the mobile robot and the marker at the horizontal coordinate and the distance between the mobile robot and the marker at the vertical coordinate in the robot coordinate system.

[0089] In implementation, the electronic device can determine the center position of the second set of points based on the coordinates of the second set of points, and determine the current distance between the mobile robot and the marker based on the coordinates of the center position.

[0090] In one alternative implementation, the electronic device can calculate the average of the x-coordinates of all points in the second point set, and then calculate the average of the y-coordinates of all points in the second point set. The electronic device can then use the position corresponding to the (average x-coordinates and average y-coordinates) as the center position of the second point set.

[0091] Then, when the current distance between the mobile robot and the marker is the distance between the mobile robot and the marker in the robot coordinate system, the electronic device can use the x-coordinate of the center position of the second point set as the current distance between the mobile robot and the marker along the x-coordinate direction, and use the y-coordinate of the center position of the second point set as the current distance between the mobile robot and the marker along the y-coordinate direction.

[0092] For example, suppose the second set of points includes n points, and the coordinates of the n points are: (x1, y1), (x2, y2), ..., (x... n ,y n If ), then the coordinates of the center position of the second point set are (X,Y).

[0093] in, ; .

[0094] At this moment, the current distance between the mobile robot and the marker along the horizontal axis is X, and the current distance between the mobile robot and the marker along the vertical axis is Y.

[0095] Of course, in practical applications, the current distance between the mobile robot and the marker can also refer to the straight-line distance between them. In this case, the electronic device calculates the distance between the center of the second point set and the origin based on the horizontal and vertical coordinates of the center of the second point set, and uses this distance as the current distance between the mobile robot and the marker.

[0096] For example, suppose the second set of points includes n points, and the coordinates of the n points are: (x1, y1), (x2, y2), ..., (x... n ,y n If ), then the coordinates of the center position of the second point set are (X,Y).

[0097] in, ; .

[0098] Furthermore, assuming the current distance between the mobile robot and the marker is d, then . Of course, in practical applications, the electronic device can also use the position of the midpoint of the second set of points as the center position, and determine the current distance between the mobile robot and the marker based on the coordinates of the center position. This is merely an example of determining the current distance and is not specifically limited thereto.

[0099] 2) Determine the current deviation angle between the mobile robot and the marker. In implementation, the electronic device can determine the angle between the perpendicular line formed by the points in the second set of points and the direction of travel of the mobile robot on the plane containing the line, as the current deviation angle between the mobile robot and the marker.

[0100] For example, such as Figure 6 As shown, assuming Figure 6 The rectangle in the image represents a mobile robot. Figure 6 A coordinate system is established with the mobile robot as the origin, the direction of the mobile robot's movement as the x-axis, and the perpendicular direction of the direction of the mobile robot's movement as the y-axis.

[0101] Figure 6 The straight line in the middle is the straight line formed by the points in the second set of points. Figure 6 In this context, angle θ is the angle between the perpendicular line formed by the second set of points and the direction of motion of the mobile robot. This angle θ is the current deviation angle between the mobile robot and the marker.

[0102] Step 304: The electronic device drives the mobile robot to dock with the workstation based on the determined current relative position.

[0103] The following example, “the current relative position is represented by the current distance between the mobile robot and the marker, and the current deviation angle between the mobile robot and the marker,” will be used to explain step 304 in detail.

[0104] In implementation, the electronic device can detect whether the calculated current distance meets the preset distance range, and whether the calculated current deviation angle meets the preset angle range.

[0105] If the current distance meets the second preset distance range and the current deviation angle meets the preset angle range, then the mobile robot is triggered to dock with the workstation.

[0106] If the current distance does not meet the second preset distance range, and / or the current deviation angle does not meet the preset angle range, then based on the difference between the current distance and the specified distance value in the second preset distance range, and the difference between the current deviation angle and the specified angle value in the preset angle range, the motion parameters of the mobile robot are adjusted, and the mobile robot is driven to move with the adjusted motion parameters.

[0107] It should be noted that when the current distance between the mobile robot and the marker is the distance between the mobile robot and the marker in the robot coordinate system (horizontal and vertical coordinates), the second preset distance range also includes the second preset horizontal coordinate distance range and the second preset vertical coordinate distance range.

[0108] When detecting the current distance, the electronic device can detect whether the current distance between the mobile robot and the marker along the horizontal axis is within the range of the second preset horizontal axis distance, and whether the current distance between the mobile robot and the marker along the vertical axis is within the range of the second preset vertical axis distance.

[0109] The aforementioned motion parameters may include the direction of motion of the mobile robot, etc. This is only an example of motion parameters and is not specifically limited to them.

[0110] The specified distance value can be the midpoint of a second preset distance range. For example, when the second preset distance range includes a second preset horizontal coordinate distance range and a second preset vertical coordinate distance range, the specified distance value includes: the specified distance value of the horizontal coordinate and the specified distance value of the vertical coordinate.

[0111] Assuming the second preset horizontal coordinate distance range is 0.49m-0.51m, then the specified horizontal coordinate distance value is 0.5m. Assuming the second preset vertical coordinate distance range is 0.48m-0.50m, then the specified vertical coordinate distance value is 0.49m.

[0112] The specified angle value can be the midpoint of a preset angle range. For example, if the preset angle range is -0.5° to 0.5°, then the specified angle value is 0°.

[0113] The following example illustrates this. Assume the preset second horizontal coordinate distance range is 0.49m-0.51m, and the specified horizontal coordinate distance value is 0.5m. The preset second vertical coordinate distance range is 0.48m-0.50m, and the specified vertical coordinate distance value is 0.49m. The preset angle range is -0.5° to 0.5°, and the specified angle value is 0°. If the current distance between the mobile robot and the marker along the horizontal axis is within 0.49m-0.51m and the current distance between the mobile robot and the marker along the vertical axis is within 0.48m-0.50m, and the deviation angle between the mobile robot and the marker is within [-0.5°, 0.5°], then the docking of the mobile robot with the workstation is triggered.

[0114] If the current distance between the mobile robot and the marker along the horizontal axis is not within 0.49m-0.51m, and / or the current distance between the mobile robot and the marker along the vertical axis is not within 0.48m-0.50m, and / or the deviation angle between the mobile robot and the marker is not within [-0.5°, 0.5°], the electronic device can calculate the distance difference between the current distance between the mobile robot and the marker along the horizontal axis and the specified distance value (i.e., 0.5m), the distance difference between the current distance between the mobile robot and the marker along the vertical axis and the specified distance value (i.e., 0.49m), and the angle difference between the current deviation angle and the specified angle value (i.e., 0°), and adjust the movement direction of the mobile robot according to the distance difference along the horizontal axis, the distance difference along the vertical axis, and the angle difference.

[0115] For example, based on the differences in the angle of the mobile robot, the direction of movement of the mobile robot can be adjusted so that the deviation angle between the mobile robot and the marker gets closer and closer to 0°.

[0116] Furthermore, in this embodiment of the application, if the first point set does not exist in the point cloud map, the current relative position of the marker relative to the mobile robot is determined based on the relative position of the marker relative to the mobile robot determined in the most recent scanning cycle and the mileage parameter of the mobile robot from the most recent scanning cycle to the current scanning cycle. Then, the electronic device can drive the mobile robot to dock with the workstation based on the determined current relative position.

[0117] The relative position is represented by the distance between the mobile robot and the marker, and the deviation angle between the mobile robot and the marker. Of course, it can also be represented in other ways, such as the difference between the horizontal and vertical coordinates of the mobile robot and the marker. No specific limitation is made here.

[0118] The aforementioned mileage parameter is composed of the distance traveled by the mobile robot from the most recent scan cycle to the current scan cycle, and the angle of change in the direction of movement of the mobile robot from the most recent scan cycle to the current scan cycle. Of course, it can also be expressed in other ways, such as the change in the mobile robot along the x-direction and the change along the y-direction from the most recent scan cycle to the current scan cycle. This is just an example of how the mileage parameter is represented, and it is not specifically limited.

[0119] The following examples illustrate this in detail: "The relative position is represented by the distance between the mobile robot and the marker, and the deviation angle between the mobile robot and the marker," and "The mileage parameter is composed of the distance traveled by the mobile robot from the most recent scan cycle to the current scan cycle, and the angle of modification of the mobile robot's movement direction from the most recent scan cycle to the current scan cycle."

[0120] In implementation, the electronic device can determine the current distance between the mobile robot and the marker based on the distance between the mobile robot and the marker determined in the most recent scan cycle, and the distance traveled by the mobile robot from the most recent scan cycle to the current scan cycle.

[0121] The electronic device determines the current deviation angle between the mobile robot and the marker based on the deviation angle between the mobile robot and the marker determined in the most recent scan cycle, and the modification angle of the mobile robot's movement direction from the most recent scan cycle to the current scan cycle.

[0122] For example, assuming that the distance difference between the mobile robot and the marker determined in the most recent scan cycle is 5m along the horizontal axis and 4m along the vertical axis, and the distance traveled by the mobile robot from the most recent scan cycle to the current scan cycle is 1m along the horizontal axis and 0.5m along the vertical axis, then the current distance between the mobile robot and the marker along the horizontal axis is 4m and the current distance along the vertical axis is 3.5m.

[0123] Assuming the deviation angle between the mobile robot and the marker determined in the most recent scan cycle is 30°, and the modification angle of the mobile robot's movement direction from the most recent scan cycle to the current scan cycle is a 3° leftward rotation, then the current deviation angle between the mobile robot and the marker is 27°.

[0124] As can be seen from the above description, in this application, a marker is set at the workstation. The mobile robot discovers the marker and locates it using a deployed LiDAR (i.e., determines the relative position of the marker with respect to the mobile robot). The relative position of the marker with respect to the mobile robot guides the mobile robot to dock with the workstation.

[0125] Furthermore, in this application, the mobile robot identifies a first set of points used to indicate a first region based on the light intensity of points in a point cloud image scanned by a lidar, thereby discovering a marker. Then, the mobile robot uses the first set of points to determine a second set of points used to indicate a second region, and uses the second set of points to calculate the relative position of the marker with respect to the mobile robot, thereby achieving marker localization.

[0126] Therefore, it can be seen that this application utilizes the high reflectivity of the first region of the marker to achieve marker detection, and utilizes the low reflectivity of the second region of the marker to achieve accurate marker positioning.

[0127] See Figure 7 , Figure 7 This is a hardware structure diagram of an electronic device illustrated in an exemplary embodiment of this application.

[0128] The electronic device includes a communication interface 701, a processor 702, a machine-readable storage medium 703, and a bus 704; wherein the communication interface 701, the processor 702, and the machine-readable storage medium 703 communicate with each other via the bus 704. The processor 702 can execute the mobile robot docking method described above by reading and executing machine-executable instructions corresponding to the mobile robot docking control logic in the machine-readable storage medium 703.

[0129] The machine-readable storage medium 703 mentioned herein can be any electronic, magnetic, optical, or other physical storage device that can contain or store information, such as executable instructions, data, etc. For example, the machine-readable storage medium can be volatile memory, non-volatile memory, or similar storage media. Specifically, the machine-readable storage medium 703 can be RAM (Random Access Memory), flash memory, storage drives (such as hard disk drives), solid-state drives, any type of storage disk (such as optical discs, DVDs, etc.), or similar storage media, or combinations thereof.

[0130] See Figure 8 , Figure 8 This is a block diagram illustrating a mobile robot docking device according to an exemplary embodiment of this application.

[0131] The workstation that interfaces with the mobile robot includes a marker, which comprises a first area and a second area, wherein the reflectivity of the second area is lower than that of the first area. The device includes: The acquisition unit 801 is used to acquire a point cloud map formed by the point cloud obtained by the lidar deployed on the mobile robot in the current scanning cycle. The first determining unit 802 is used to determine whether a first point set exists in the point cloud map based on the light intensity of each point in the obtained point cloud map, wherein the first point set is used to indicate the first region of the marker. The second determining unit 803 is configured to, if a first set of points exists in the point cloud, determine a second set of points from the point cloud based on the determined first set of points, and determine the current relative position of the marker relative to the mobile robot based on the second set of points; wherein the second set of points is used to indicate a second region of the marker; The docking unit 804 is used to drive the mobile robot to dock with the workstation based on the determined current relative position.

[0132] Optionally, the second determining unit 803 is further configured to determine the current relative position of the marker relative to the mobile robot based on the relative position of the marker relative to the mobile robot determined in the most recent scanning cycle and the mileage parameter of the mobile robot from the most recent scanning cycle to the current scanning cycle if the first point set does not exist in the point cloud map. The docking unit 804 is also used to drive the mobile robot to dock with the workstation based on the determined current relative position.

[0133] Optionally, there are two first regions, with a second region between the two first regions; The first determining unit 802, when determining whether a first point set exists in the point cloud based on the light intensity of each point in the obtained point cloud, is used to detect whether multiple target point sets exist in the point cloud; wherein, each target point set includes: multiple target points that are consecutively located on the point cloud and have a light intensity higher than a preset threshold, and the number of target points in the target point set is higher than a preset number threshold; if it does not exist, it is determined that the first point set does not exist in the point cloud; if it exists, the multiple target point sets are divided into at least one target point set group, and based on the divided target point set group, it is determined whether the first point set exists in the point cloud; wherein, each target point set group includes two target point sets that are adjacent in position on the point cloud.

[0134] Optionally, the first determining unit 802, when determining whether a first point set exists in the point cloud based on the divided target point set groups, is used to detect whether a first target point set group that meets preset conditions exists in at least one divided target point set group; if it exists, it is determined that the first point set exists in the point cloud, and two target point sets in the first target point set group are determined as the first point set; if it does not exist, it is determined that the first point set does not exist in the point cloud; wherein, the preset conditions include: the distance between two target point sets in the target point set group is within a first preset distance range, and the straight line formed by the points between the two target point sets meets a preset straightness requirement; the first preset distance range matches the distance between two first regions on the marker.

[0135] Optionally, the second determining unit 803, when determining the second point set from the point cloud based on the determined first point set, is used to form a second point set on the point cloud by combining points located between two first point sets.

[0136] Optionally, the current relative position is represented by the current distance between the mobile robot and the marker, and the current deviation angle between the mobile robot and the marker; The second determining unit 803, when determining the relative position of the marker relative to the mobile robot based on the second set of points, is used to determine the center position of the second set of points based on the coordinates of the points in the second set of points, and to determine the current distance between the mobile robot and the marker based on the coordinates of the center position; and to determine the angle between the perpendicular line formed by the points in the second set of points and the direction of travel of the mobile robot as the current deviation angle between the mobile robot and the marker.

[0137] Optionally, the current relative position is represented by the current distance between the mobile robot and the marker, and the current deviation angle between the mobile robot and the marker; The docking unit 804, when driving the mobile robot to dock with the workstation based on the determined current relative position, is configured to: trigger the docking of the mobile robot with the workstation if the current distance meets the second preset distance range and the current deviation angle meets the preset angle range; and adjust the motion parameters of the mobile robot based on the difference between the current distance and a specified distance value in the second preset distance range, and the difference between the current deviation angle and a specified angle value in the preset angle range, and drive the mobile robot to move with the adjusted motion parameters.

[0138] Optionally, the relative position is represented by the distance between the mobile robot and the marker, and the deviation angle between the mobile robot and the marker; The mileage parameters include the distance traveled by the mobile robot from the most recent scan cycle to the current scan cycle, and the angle of modification of the mobile robot's movement direction from the most recent scan cycle to the current scan cycle; The second determining unit 803, when determining the current relative position of the marker relative to the mobile robot based on the relative position of the marker relative to the mobile robot determined in the most recent scanning cycle and the travel distance of the mobile robot from the most recent scanning cycle to the current scanning cycle, is used to determine the current distance between the mobile robot and the marker based on the distance between the mobile robot and the marker determined in the most recent scanning cycle and the travel distance of the mobile robot from the most recent scanning cycle to the current scanning cycle; and to determine the current deviation angle between the mobile robot and the marker based on the deviation angle between the mobile robot and the marker determined in the most recent scanning cycle and the modification angle of the mobile robot's movement direction from the most recent scanning cycle to the current scanning cycle.

[0139] Optionally, the marker is rectangular, and the two first areas and the second area included in the marker are both rectangular; The first region is symmetrically arranged on both sides of the second region; The material constituting the first area is a reflective material, and the material constituting the second area is a matte material; The height of the marker above the ground is matched with the height of the laser plane of the lidar deployed on the mobile robot above the ground.

[0140] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0141] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0142] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for docking a mobile robot, characterized in that, The workstation that interfaces with the mobile robot includes a marker, which comprises a first area and a second area, wherein the reflectivity of the second area is lower than that of the first area. The method includes: The marker is detected based on the high reflectivity of the first region. The marker is positioned to determine its current relative position with respect to the mobile robot. The positioning of the marker is based on the low reflectivity of the second region. Based on the current relative position of the marker to the mobile robot, guide the mobile robot to dock with the workstation.

2. The method according to claim 1, characterized in that, The discovery of the marker includes: Based on the light intensity of points in the point cloud map, a first set of points is identified to indicate a first region, and the landmark is found using the first set of points, wherein the point cloud map is obtained by scanning with a lidar deployed on the mobile robot.

3. The method according to claim 2, characterized in that, The method further includes: If the first point set does not exist in the point cloud map, the current relative position of the marker relative to the mobile robot is determined based on the relative position of the marker relative to the mobile robot determined in the most recent scan cycle and the mileage parameter of the mobile robot from the most recent scan cycle to the current scan cycle. The mobile robot is driven to dock with the workstation based on the determined current relative position.

4. The method according to claim 3, characterized in that, The relative position is represented by the distance between the mobile robot and the marker, and the deviation angle between the mobile robot and the marker; The mileage parameters include the distance traveled by the mobile robot from the most recent scan cycle to the current scan cycle, and the angle of modification of the mobile robot's movement direction from the most recent scan cycle to the current scan cycle; Determining the current relative position of the marker relative to the mobile robot based on the relative position of the marker relative to the mobile robot determined in the most recent scan cycle and the mileage parameters of the mobile robot from the most recent scan cycle to the current scan cycle includes: The current distance between the mobile robot and the marker is determined based on the distance between the mobile robot and the marker as determined in the most recent scan cycle, and the distance traveled by the mobile robot from the most recent scan cycle to the current scan cycle. Based on the deviation angle between the mobile robot and the marker determined in the most recent scan cycle, and the modification angle of the mobile robot's movement direction from the most recent scan cycle to the current scan cycle, the current deviation angle between the mobile robot and the marker is determined.

5. The method according to claim 2, characterized in that, There are two first regions, and a second region is set between the two first regions; The identification of a first set of points for indicating a first region based on the light intensity of points in the point cloud image includes: Detect whether there are multiple target point sets in the point cloud map; wherein, each target point set includes: multiple target points that are consecutively located on the point cloud map and have light intensity higher than a preset threshold, and the number of target points in the target point set is higher than a preset number threshold; If it does not exist, then it is determined that the first point set does not exist in the point cloud map; If it exists, the multiple target point sets are divided into at least one target point set group, and based on the divided target point set group, it is determined whether a first point set exists in the point cloud map; wherein, each target point set group includes two target point sets that are adjacent in position on the point cloud map.

6. The method according to claim 5, characterized in that, The step of determining whether a first point set exists in the point cloud map based on the divided target point set group includes: Detect whether there exists a first target point set that satisfies a preset condition in at least one divided target point set group; If it exists, then it is determined that the first point set exists in the point cloud map, and the two target point sets in the first target point set group are determined as the first point set; If it does not exist, then it is determined that the first point set does not exist in the point cloud map; The preset conditions include: the distance between two target point sets in the target point set group is within a first preset distance range, and the straight line formed by the points between the two target point sets meets the preset straightness requirements; the first preset distance range matches the distance between the two first regions on the marker.

7. The method according to claim 2, characterized in that, The process of locating the marker includes: A second set of points is determined using the first set of points to indicate the second region, and the current relative position of the marker with respect to the mobile robot is calculated using the second set of points.

8. The method according to claim 7, characterized in that, The step of determining the second point set for indicating the second region using the first point set includes: On the point cloud map, points located between the two first point sets are grouped into a second point set.

9. The method according to claim 7, characterized in that, The current relative position is represented by the current distance between the mobile robot and the marker, and the current deviation angle between the mobile robot and the marker; The step of calculating the current relative position of the marker with respect to the mobile robot using the second set of points includes: The center position of the second set of points is determined based on the coordinates of the second set of points, and the current distance between the mobile robot and the marker is determined based on the coordinates of the center position; and / or, The angle between the perpendicular line formed by the points in the second set of points and the direction of travel of the mobile robot is determined as the current deviation angle between the mobile robot and the marker.

10. The method according to claim 2, characterized in that, The current relative position is represented by the current distance between the mobile robot and the marker, and the current deviation angle between the mobile robot and the marker; The step of guiding the mobile robot to dock with the workstation based on the current relative position of the marker with respect to the mobile robot includes: If the current distance meets the second preset distance range and the current deviation angle meets the preset angle range, then the mobile robot is triggered to dock with the workstation. If the current distance does not meet the second preset distance range, and / or the current deviation angle does not meet the preset angle range, then based on the difference between the current distance and the specified distance value in the second preset distance range, and the difference between the current deviation angle and the specified angle value in the preset angle range, the motion parameters of the mobile robot are adjusted, and the mobile robot is driven to move with the adjusted motion parameters.

11. The method according to claim 1, characterized in that, The height of the marker above the ground corresponds to the height of the laser emitting surface of the lidar deployed on the mobile robot.

12. The method according to claim 1, characterized in that, The first region and the second region are on the same plane.

13. The method according to claim 1, characterized in that, The marker comprises two first regions, and the two first regions have the same shape and / or size.

14. The method according to claim 1, characterized in that, The surfaces of the first region and / or the second region are smooth.

15. The method according to claim 1, characterized in that, The marker is rectangular, and both the first and second regions included in the marker are rectangular; and / or, The first region is symmetrically arranged on both sides of the second region; and / or, The material constituting the first area is a reflective material, and the material constituting the second area is a matte material.

16. A mobile robot docking device, characterized in that, The workstation that interfaces with the mobile robot includes a marker, which comprises a first area and a second area, wherein the reflectivity of the second area is lower than that of the first area. The device includes: The detection unit is used to detect the marker, and the detection of the marker is based on the high reflectivity of the first region. A positioning unit is used to position the marker to determine its current relative position with respect to the mobile robot. The positioning of the marker is based on the low reflectivity of the second region. The docking unit is used to guide the mobile robot to dock with the workstation based on the current relative position of the marker relative to the mobile robot.

17. An electronic device, characterized in that, The electronic device includes a readable storage medium and a processor; The readable storage medium is used to store machine-executable instructions; The processor is configured to read the machine-executable instructions on the readable storage medium and execute the instructions to implement the steps of the method according to any one of claims 1-15.

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