Method and apparatus for adjusting the trajectory of an autonomous mobile device

Abstract

The present invention relates to a method and apparatus for adjusting the trajectory of an autonomous mobile device, the method being applied to an autonomous mobile device, the autonomous mobile device being provided with at least one first UWB module, the first UWB module including a Bluetooth unit and a UWB chip, and the method comprising: receiving first distance measurement trigger information transmitted from a target obstacle object based on the Bluetooth unit of the first UWB module, wherein the target obstacle object is provided with at least one second UWB module (202); transmitting a first distance measurement request to the target obstacle object by the UWB chip of the first UWB module based on the first distance measurement trigger information (204); acquiring first distance measurement information returned by the target obstacle object based on the first distance measurement request (206); determining the current position information of the target obstacle object based on the first distance measurement information (208); and adjusting the movement trajectory of the autonomous mobile device based on the current position information (210).

Description

Technical Field

[0001] Cross-reference to Related Applications This application claims the priority of a Chinese patent application with the patent application number 202310190038.9, filed on February 23, 2023, and all of its content is incorporated herein by reference.

[0002] The present disclosure relates to the field of device control technology, particularly to a method for adjusting the trajectory of an autonomous mobile device. The present disclosure also relates to a device for adjusting the trajectory of an autonomous mobile device, a system for adjusting the trajectory of an autonomous mobile device, a computing device, and a computer-readable storage medium.

Background Art

[0003] With the continuous development of science and technology, the research and development of mobile robots have also been making increasing progress. When a mobile robot operates in an environment where people and robots coexist, due to dead spots or shielding of sensors, people may suddenly enter the operating path of the mobile robot, which may cause the mobile robot to be unable to respond in a timely manner, and in extreme cases, may even cause personal accidents.

Summary of the Invention

[0004] Embodiments of the present disclosure provide a method for adjusting the trajectory of an autonomous mobile device. The present disclosure also relates to a device for adjusting the trajectory of an autonomous mobile device, a system for adjusting the trajectory of an autonomous mobile device, a computing device, and a computer-readable storage medium.

[0005] According to some embodiments of the present disclosure, a method for adjusting the trajectory of an autonomous mobile device is provided, which is applied to an autonomous mobile device, wherein the autonomous mobile device is provided with at least one first UWB module, the first UWB module including a Bluetooth unit and a UWB chip, and the method includes: receiving first distance trigger information transmitted from a target obstacle object based on the Bluetooth unit of the first UWB module, wherein the target obstacle object is provided with at least one second UWB module; transmitting a first distance request to the target obstacle object by the UWB chip of the first UWB module based on the first distance trigger information; obtaining first distance information returned by the target obstacle object based on the first distance request; determining the current position information of the target obstacle object based on the first distance information; and adjusting the trajectory of the autonomous mobile device based on the current position information.

[0006] According to some embodiments of the present disclosure, a method for adjusting the trajectory of an autonomous mobile device applied to a target obstacle object is provided, wherein the target obstacle object is provided with at least one second UWB module, the second UWB module includes a Bluetooth unit and a UWB chip, and the method includes: broadcasting first distance trigger information based on the Bluetooth unit of the second UWB module; determining first distance information based on the first distance request when a first distance request returned by the autonomous mobile device based on the first distance trigger information is received, wherein the autonomous mobile device is provided with at least one first UWB module; and transmitting the first distance information to the autonomous mobile device so that the autonomous mobile device adjusts the trajectory of the autonomous mobile device based on the first distance information.

[0007] According to some embodiments of the present disclosure, a method for adjusting the trajectory of an autonomous mobile device applied to a UWB base station is provided, the UWB base station being provided with at least one fifth UWB module, the at least one fifth UWB module including a Bluetooth unit and a UWB chip, the method comprising: receiving a device ranging request transmitted from an autonomous mobile device and an object ranging request transmitted from a target obstacle object; determining device position information of the autonomous mobile device based on the device ranging request and determining object position information of the target obstacle object based on the object ranging request; calculating the distance between the autonomous mobile device and the target obstacle object based on the device position information and the object position information, and generating adjustment information to adjust the trajectory of the autonomous mobile device based on the distance.

[0008] According to some embodiments of the present disclosure, a trajectory adjustment system for an autonomous mobile device is provided, the trajectory adjustment system comprising an autonomous mobile device and a target obstacle object, wherein the autonomous mobile device is provided with at least one first UWB module, the target obstacle object is provided with at least one second UWB module, the at least one first UWB module is in monitor mode, the at least one first UWB module transmits a first distance measurement request based on first distance measurement trigger information received in monitor mode, the at least one second UWB module is in announcer mode, broadcasts the first distance measurement trigger information when the at least one second UWB module is in announcer mode, and both the at least one first UWB module and the at least one second UWB module comprise a Bluetooth unit and a UWB chip. The target fault object is configured to output first distance measurement trigger information based on the Bluetooth unit of the second UWB module. The autonomous mobile device is configured to receive first distance measurement trigger information transmitted from the target obstacle object based on the Bluetooth unit of the first UWB module, and to transmit a first distance measurement request to the target obstacle object via the UWB chip of the first UWB module based on the first distance measurement trigger information. The target obstacle object is further configured to transmit first distance measurement information to the autonomous mobile device based on the first distance measurement request. The autonomous mobile device is further configured to determine the current position information of a target obstacle object based on the first distance measurement information, and to adjust the movement trajectory of the autonomous mobile device based on the current position information.

[0009] According to some embodiments of the present disclosure, a trajectory adjustment device for an autonomous mobile device is provided, the device comprising: a receiving module configured to receive first distance measurement trigger information transmitted from a target obstacle object based on the Bluetooth unit of a first UWB module, wherein the target obstacle object is provided with at least one second UWB module; a transmitting module configured to transmit a first distance measurement request to the target obstacle object by the UWB chip of the first UWB module based on the first distance measurement trigger information; an acquiring module configured to acquire first distance measurement information returned by the target obstacle object based on the first distance measurement request; a determining module configured to determine the current position information of the target obstacle object based on the first distance measurement information; and an adjustment module configured to adjust the trajectory of an autonomous mobile device based on the current position information.

[0010] According to some embodiments of the present disclosure, a trajectory adjustment device for an autonomous mobile device is provided, the device including: a broadcast module configured to broadcast first distance measurement trigger information based on the Bluetooth unit of a second UWB module; a determination module configured to determine first distance measurement information based on the first distance measurement request when a first distance measurement request returned by the autonomous mobile device based on the first distance measurement trigger information is received, wherein the autonomous mobile device is provided with at least one first UWB module; and a transmission module configured to transmit the first distance measurement information to the autonomous mobile device so that the autonomous mobile device adjusts the trajectory of the autonomous mobile device based on the first distance measurement information.

[0011] According to some embodiments of the present disclosure, a computing device is provided which includes memory, a processor, and computer instructions stored in the memory and operable by the processor, wherein when the processor executes the computer instructions, steps of a method for adjusting the trajectory of the autonomous mobile device are realized.

[0012] According to some embodiments of the present disclosure, a computer-readable storage medium is provided in which computer instructions are stored, and when these computer instructions are executed by a processor, steps of a method for adjusting the trajectory of the autonomous mobile device are realized.

[0013] The trajectory adjustment method for an autonomous mobile device provided in this disclosure is used to establish a communication connection between the autonomous mobile device and the target obstacle object, to receive first distance measurement trigger information transmitted from a target obstacle object, to generate a first distance measurement request based on the first distance measurement trigger information, to receive first distance measurement information returned by the target obstacle object based on the first distance measurement request, to calculate the distance between the target obstacle object and the autonomous mobile device, to determine the current position information of the target obstacle object based on the first distance measurement information, and to determine the movement trajectory of the autonomous mobile device based on the current position information, thereby avoiding collisions. [Brief explanation of the drawing]

[0014] [Figure 1] This is a schematic diagram of a scenario for a trajectory adjustment method for an autonomous mobile device provided by some embodiments of this disclosure. [Figure 2A] This is a flowchart of a trajectory adjustment method for an autonomous mobile device, as applied to an autonomous mobile device provided in some embodiments of this disclosure. [Figure 2B] This is a schematic diagram for calculating current distance information provided by some embodiments of this disclosure. [Figure 2C] This is a schematic diagram showing the application of distance thresholds provided by some embodiments of this disclosure. [Figure 2D] This is a schematic diagram for determining whether or not speed adjustment is necessary for an AMR provided by some embodiments of this disclosure. [Figure 3A] This is a flowchart of a trajectory adjustment method for an autonomous mobile device applied to a target obstacle object provided in some embodiments of this disclosure. [Figure 3B] This is a schematic diagram illustrating the processing of multiple target obstacle objects and multiple autonomous mobile devices provided by some embodiments of this disclosure. [Figure 4A] This is a schematic diagram of a receiver for a trajectory adjustment system for an autonomous mobile device provided by some embodiments of this disclosure. [Figure 4B] It is a schematic diagram of the processing of a failed autonomous mobile device provided by some embodiments of the present disclosure. [Figure 4C] It is a schematic diagram of a scenario for monitoring a UWB module provided by some embodiments of the present disclosure. [Figure 4D] It is a schematic diagram of another scenario for monitoring a UWB module provided by some embodiments of the present disclosure. [Figure 5] It is a schematic configuration diagram of a trajectory adjustment device for an autonomous mobile device applied to an autonomous mobile device provided by some embodiments of the present disclosure. [Figure 6] It is a schematic configuration diagram of a trajectory adjustment device for an autonomous mobile device applied to a target failure object provided by some embodiments of the present disclosure. [Figure 7] It is a flowchart of a trajectory adjustment method applied to a UWB base station provided by some embodiments of the present disclosure. [Figure 8] It is a block diagram of the configuration of a computing device provided by some embodiments of the present disclosure.

Embodiments for Carrying out the Invention

[0015] To facilitate a complete understanding of the present disclosure, many specific details are described in the following description. However, the present disclosure can be implemented in many other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the spirit of the present disclosure. Therefore, the present disclosure is not limited to the specific embodiments disclosed below.

[0016] The terms used in one or more embodiments of the present disclosure are merely for the purpose of describing specific embodiments and are not intended to limit one or more embodiments of the present application. The singular forms "a", "the", and "said" used in one or more embodiments of the present disclosure and the appended claims are also intended to include the plural form unless the context clearly dictates otherwise. Note that the term "and / or" used in one or more embodiments of the present disclosure refers to any combination or all possible combinations of one or more related listed items.

[0017] In one or more embodiments of the present disclosure, terms such as first, second, etc. may be used to describe various information, but it should be understood that this information should not be limited to these terms. These terms are merely used to distinguish the same type of information. For example, unless departing from one or more embodiments of the present disclosure, the first can be called the second, and similarly, the second can also be called the first. Depending on the context, the word "if" used in this specification can be interpreted as "when" or "in the case of" or "responding to a decision".

[0018] First, interpret the terms related to one or more embodiments of the present disclosure.

[0019] Ultra Wide Band (UWB) is a wireless carrier communication technology. It does not use a sine wave carrier, but utilizes a narrow pulse of a non-sine wave to transmit data, so the range of the occupied frequency band is very wide.

[0020] An Autonomous Mobile Robot (AMR) is used to transport carriers and / or containers in an automated warehouse system to complete operations from cargo warehousing, picking, packing to transportation.

[0021] Angle-of-Arrival (AOA) ranging: Angle-of-Arrival (AOA) ranging algorithms are typical ranging-based ranging algorithms that use a specific hardware device to detect the direction of arrival of the transmitting node signal, calculate the relative bearing or angle between the receiving node and the anchor node, and then calculate the position of the unknown node using triangulation or other methods.

[0022] Time of Flight Measurement (TOF) ranging: UWB's TOF ranging technology primarily uses the time it takes for signals to travel back and forth between two asynchronous transceivers to measure the distance between nodes.

[0023] TWR ranging positioning: The UWB TWR (Two-Way ranging) positioning algorithm uses the round-trip time of flight (TOF) between the tag and the base station to calculate the distance from the tag to the base station, and finally calculates the tag's position using a triangulation algorithm.

[0024] Time Difference of Arrival (TDOA) ranging positioning: The positioning algorithm determines position by measuring the difference in transmission time between two different base stations and a tag.

[0025] When AMRs operate in environments where humans and robots coexist, people may suddenly enter the AMR's path due to sensor blind spots or obstructions. This can prevent the AMR from responding in a timely manner (e.g., by making an emergency stop), and in extreme cases, could even lead to personal injury. Furthermore, if an AMR malfunctions and cannot report it to the system, the system will not know the AMR's exact location, and nearby AMRs will not be able to detect the location of the malfunctioning AMR, leading to a situation where the system cannot make a decision and causing congestion in the warehouse system.

[0026] To solve the above problems, this disclosure provides a method for equipping the robot with multiple first UWB modules and having the moving object carry second UWB modules. By facilitating information interaction between the first UWB modules on the robot and the second UWB modules on the moving object, a ranging function can be realized. Because multiple UWB modules can detect each other over a relatively wide range, the AMR has sufficient time to park or avoid obstacles, thereby avoiding collisions or congestion with the moving object.

[0027] This disclosure provides a method for adjusting the trajectory of an autonomous mobile device, and further details regarding the trajectory adjustment device for an autonomous mobile device, a computing device, and a computer-readable storage medium will be described sequentially in the following embodiments.

[0028] Figure 1 shows a schematic diagram of a scenario for a trajectory adjustment method for an autonomous mobile device provided by some embodiments of the present disclosure, taking as an example a warehouse system that includes AMR1, AMR2 and a moving object (which may also be called a target obstacle object), as shown in Figure 1.

[0029] As shown in Figure 1, the moving object is a worker carrying a UWB module in announcer mode, and this UWB module in announcer mode continuously broadcasts Bluetooth information (line 1). AMR1 and AMR2, that is, each robot, have UWB modules in monitor mode at the front and rear of each robot. When the UWB module operating in monitor mode receives the Bluetooth information broadcast by the announcer and successfully completes the handshake, the monitor-mode UWB module sends a first distance measurement request (line 2) to the announcer-mode UWB module. Furthermore, the announcer-mode UWB module spontaneously sends distance measurement information (line 3) to the monitor-mode UWB module, and the monitor-mode UWB module calculates the distance between the AMR and the person based on the distance measurement information, determines the person's position, and thereby adjusts the robot's movement to avoid collisions. In the following embodiment, the UWB module in monitor mode in the AMR is referred to as the first UWB module, and the UWB module in announcer mode in the target fault object is referred to as the second UWB module.

[0030] This disclosure provides a method used by an autonomous mobile device to receive first distance measurement trigger information transmitted from a target obstacle object, generate a first distance measurement request based on the first distance measurement trigger information, establish a communication connection between the target obstacle object and the autonomous mobile device, receive first distance measurement information returned by the target obstacle object based on the first distance measurement request, calculate the distance between the target obstacle object and the autonomous mobile device, determine the current position information of the target obstacle object based on the first distance measurement information, and determine the movement trajectory of the autonomous mobile device based on the current position information, thereby avoiding collisions.

[0031] Figure 2A shows a flowchart of a trajectory adjustment method for an autonomous mobile device provided by some embodiments of the present disclosure, the method being applied to an autonomous mobile device which is provided with at least one first UWB module, the first UWB module including a Bluetooth unit and a UWB chip. As shown in Figure 2, the trajectory adjustment method for the autonomous mobile device includes the following steps 202 to 210.

[0032] In step 202, the first ranging trigger information transmitted from the target fault object is received based on the Bluetooth unit of the first UWB module.

[0033] Exemplary, the target obstacle object is provided with at least one second UWB module. That is, both the autonomous mobile device and the target obstacle object of this disclosure are provided with a UWB module. Both the first and second UWB modules include a Bluetooth unit and a UWB chip, the Bluetooth unit enabling information communication between the target obstacle object and the autonomous mobile device, and the UWB chip is used to calculate the distance between the target obstacle object and the autonomous mobile device, and further to determine the location information of the target obstacle object.

[0034] In some embodiments, the autonomous mobile device may be a transport robot, a container robot, or a cleaning robot, and is not limited thereto.

[0035] The UWB module may operate in announcer mode or monitor mode. When the UWB module is in announcer mode, its Bluetooth unit can broadcast first distance measurement trigger information to its vicinity (e.g., within a preset distance range), thereby enabling a communication link between this UWB module and other UWB modules within a preset distance. When the UWB module is in monitor mode, it can receive first distance measurement trigger information broadcast by other UWB modules (e.g., a UWB module installed on a target obstacle object), generate a first distance measurement request based on the received first distance measurement trigger information, and send the first distance measurement request to the target obstacle object with which it has established a communication link.

[0036] In some embodiments, the UWB module may operate only in monitor mode, or may operate only in monitor mode, or may operate in announcer mode for a certain period of time and in monitor mode for another certain period of time, and the embodiments of this disclosure are not limited thereto. The operating mode of the UWB module can be configured by software so that it can switch between announcer mode and monitor mode.

[0037] The following describes the functions of the first UWB module when it operates in different operating modes, using the example that the first UWB module in an autonomous mobile device may operate in monitor mode or announcer mode.

[0038] For example, when the autonomous mobile device is operating normally, the first UWB module of the autonomous mobile device can be set to monitor mode. When the first UWB module of the autonomous mobile device is in monitor mode, it can receive first distance measurement trigger information transmitted from a target obstacle object via the Bluetooth unit in the first UWB module, and can be triggered to send a first distance measurement request. This first distance measurement trigger information refers to information that triggers an object to generate a first distance measurement request, and the target obstacle object refers to an object whose distance from the autonomous mobile device is less than a preset distance, and the target obstacle object may be a mobile robot, worker, or other mobile object.

[0039] For example, if an autonomous mobile device fails, the first UWB module of the autonomous mobile device can be switched to announcer mode. When the first UWB module is in announcer mode, the Bluetooth unit of the first UWB module of the autonomous mobile device broadcasts distance measurement trigger information externally, allowing other UWB modules to receive this distance measurement trigger information and perform distance measurement, thereby avoiding collisions with the failed autonomous mobile device. In other words, if an autonomous mobile device fails, the autonomous mobile device can be designated as a target fault object, and distance measurement trigger information can be broadcast by this autonomous mobile device.

[0040] In some embodiments, if the target obstacle object is a worker, the worker can enter the warehouse system wearing work clothes (e.g., safety work clothes) equipped with a second UWB module, the second UWB module in the work clothes being in announcer mode and broadcasting first distance measurement trigger information into space. If the first UWB module in an autonomous mobile device (e.g., a transport robot) is in monitor mode, and the transport robot moves according to a preset movement trajectory, when the distance between the transport robot and the worker wearing the work clothes reaches the Bluetooth communication range, the first UWB module in the transport robot can receive the first distance measurement trigger information broadcast by the second UWB module in the work clothes. Upon receiving the first distance measurement trigger information, a first distance measurement request to the target obstacle object is generated based on the first distance measurement trigger information.

[0041] In step 204, the UWB chip of the first UWB module transmits a first distance measurement request to the target fault object based on the first distance measurement trigger information.

[0042] For example, after receiving first distance measurement trigger information, the Bluetooth unit of the first UWB module triggers the UWB chip of the first UWB module to generate a first distance measurement request based on the first distance measurement trigger information.

[0043] The UWB chip is a dedicated integrated chip with the functionality to send and receive UWB messages. The first distance measurement request refers to a timestamped request message sent by the UWB chip, and the data is processed by the processor in the Bluetooth unit. In practical applications, the first distance measurement request includes time information that generates the first distance measurement request and is used to calculate the distance between a subsequent autonomous mobile device and a target obstacle object.

[0044] In some embodiments, a UWB chip in a first UWB module of a transport robot generates a first distance measurement request based on first distance measurement trigger information and transmits the generated first distance measurement request to a second UWB module of a work suit. Based on the first distance measurement trigger information and the UWB chip of the first UWB module, a first distance measurement request is sent to a target obstacle object, thereby triggering a distance measurement task between the autonomous mobile device and the target obstacle object based on the subsequent first distance measurement request.

[0045] In step 206, the first distance measurement information returned by the target fault object based on the first distance measurement request is obtained.

[0046] For example, after a second UWB module of a target obstacle object receives a first distance measurement request, it may generate first distance measurement information based on the first distance measurement request, which includes the time information when the target obstacle object received the first distance measurement request and the time information when the second UWB module of the target obstacle object generated the first distance measurement information, and is used to calculate the distance between the target obstacle object and the autonomous mobile device.

[0047] In some embodiments, a first UWB module of a transport robot can receive first distance measurement information returned by a second UWB module of a work suit based on a first distance measurement request. The first distance measurement information is used to calculate the distance between a target obstacle object and an autonomous mobile device based on subsequent first distance measurement information.

[0048] In step 208, the current position information of the target obstacle object is determined based on the first distance measurement information.

[0049] For example, after determining the first distance measurement information, the distance between the target obstacle object and the autonomous mobile device can be determined based on the first distance measurement information, and further, the current position information of the target obstacle object can be determined, where the current position information refers to the position information of the target obstacle object relative to the autonomous mobile device.

[0050] In some embodiments, the step of determining the current position information of a target obstacle object based on first distance measurement information may include the steps of calculating current distance information between the autonomous mobile device and the target obstacle object based on the first distance measurement information, and determining the current position information of the target obstacle object based on preset trajectory information of the autonomous mobile device and the current distance information.

[0051] Current distance information refers to the distance between the autonomous mobile device and the target obstacle object calculated and obtained at the current time. For example, the distance between the autonomous mobile device and the target obstacle object is 2 meters. Pre-set trajectory information refers to the trajectory information pre-set for the autonomous mobile device. For example, trajectory information for moving from shelf 1 to shelf 2 is set for a transport robot. Current position information refers to the position information of the target obstacle object relative to the autonomous mobile device at the current time. For example, the current position information may be whether the target obstacle object is on the trajectory of the autonomous mobile device, whether it is on the trajectory of the autonomous mobile device, or the actual coordinate information of the target obstacle object.

[0052] For example, current distance information can be calculated using distance measurement methods such as TOF (Time-of-Flight) positioning, TWR (Tower Wave) positioning, and TDOA (Tower-to-Air) positioning. Furthermore, the solution disclosed herein acquires the distance between the autonomous mobile device and the target obstacle object in real time, i.e., acquires current distance information in real time, thereby enabling timely detection of situations where the distance between the autonomous mobile device and the target obstacle object is relatively close, and further allows for timely adjustment of the autonomous mobile device's movement to avoid collisions.

[0053] In some embodiments, the first UWB module of the transport robot acquires first distance measurement information, calculates current distance information between itself and the second UWB module of the work suit based on the first distance measurement information, and determines that the target obstacle object is on the transport robot's movement trajectory based on the current distance information and preset trajectory information.

[0054] In some embodiments, the step of calculating current distance information between an autonomous mobile device and a target obstacle object based on first distance measurement information may include: analyzing the first distance measurement request to determine a first time when the autonomous mobile device generated the first distance measurement request; analyzing the first distance measurement information to determine a second time when the target obstacle object received the first distance measurement request and a third time when it returned the first distance measurement information; determining a fourth time when the first distance measurement information was received; determining an optical wave transmission delay based on the first, second, third, and fourth times; and calculating current distance information based on a preset optical wave transmission speed and optical wave transmission delay.

[0055] The first time refers to the time when the first UWB module of the autonomous mobile device generates the first distance measurement request, the second time refers to the time when the target obstacle object receives the first distance measurement request, the third time refers to the time when the target obstacle object transmits the first distance measurement information, and the fourth time refers to the time when the first UWB module of the autonomous mobile device receives the first distance measurement information.

[0056] In some embodiments, as shown in Figure 2B, a first UWB module in monitor mode in a transport robot detects Bluetooth information transmitted from a second UWB module in announcer mode, generates a UWB distance measurement request (i.e., a first distance measurement request), records the time t1 at which the UWB distance measurement request was generated, embeds it in message 1, and transmits it to the second UWB module in announcer mode. The second UWB module in announcer mode receives message 1, i.e., the UWB distance measurement request, obtains t1, and receives the UWB distance measurement request. The second UWB module in announcer mode can record t2, embed t2 and t3 into message 2, and transmit it to the first UWB module in monitor mode at time t3. The first UWB module in monitor mode receives message 2 at time t4, and four points in time, t1, t2, t3 and t4, can be obtained. The delay t in the transmission of the optical wave is determined, and based on t1+t+t3-t2+t=t4, t=((t4-t1)-(t3-t2)) / 2 is further derived, and current distance information is calculated based on the transmission delay and the transmission speed of the optical wave.

[0057] Furthermore, the time scale of the autonomous mobile device and the time scale of the target obstacle object may differ (for example, a frequency offset may exist). Therefore, timestamps t1 and t4 are assigned based on the time scale of the autonomous mobile device, and timestamps t2 and t3 are assigned based on the time scale of the target obstacle object. Thus, by calculating the delay in light wave transmission using the first, second, third, and fourth timestamps, it is possible to ensure that the calculated delay is relatively accurate, thereby improving the accuracy of the current distance information.

[0058] In some embodiments, the direction in which the target obstacle object is located can be further determined in order to further improve the accuracy of the positional information of the target obstacle object. Exemplaryly, the autonomous mobile device may include an antenna array, and the steps may further include: calculating current distance information between the autonomous mobile device and the target obstacle object based on first ranging information; determining distance information between each antenna and the target obstacle object based on first ranging trigger information received by each antenna in the antenna array; calculating angular information between the autonomous mobile device and the target obstacle object based on the phase difference between the antennas and each distance information; and determining the direction of the target obstacle object relative to the autonomous mobile device based on the angular information and each distance information.

[0059] Two or more single antennas operating at the same frequency are fed and spatially arranged as required to form an antenna array. Each antenna in the antenna array receives first ranging trigger information transmitted by a target obstacle object, the distance between the antenna and the target obstacle object refers to the distance from the target obstacle object transmitting the first ranging trigger information to the antenna of the autonomous mobile device, the phase difference refers to the difference between the phases of two periodically changing physical quantities, the physical quantity of this disclosure is the first ranging trigger information transmitted from the target obstacle object, i.e., an electrical signal, and the angle information between the autonomous mobile device and the target obstacle object refers to the angle corresponding to the connecting line between the target obstacle object and each antenna.

[0060] In some embodiments, the autonomous mobile device is fitted with a UWB antenna array and employs AOA (Angle of Arrival) technology to obtain the orientation of the target obstacle object relative to the robot, and further obtain relatively accurate positional information of the target obstacle object. By determining relatively accurate current distance information, i.e., determining the distance between the target obstacle object and the autonomous mobile device with relative accuracy, collisions can be avoided by facilitating the adjustment of the autonomous mobile device's movement trajectory based on subsequent current distance information.

[0061] In step 210, the movement trajectory of the autonomous mobile device is adjusted based on the current location information.

[0062] The movement trajectory includes movement position information and movement speed information, where movement position information refers to the movement position of the autonomous mobile device and movement speed information refers to the movement speed of the autonomous mobile device. In the embodiments of this disclosure, when adjusting the movement trajectory of the autonomous mobile device based on the current position information, the movement speed and / or position of the autonomous mobile device can be adjusted.

[0063] For example, after determining the current location of a target obstacle object, it is possible to determine whether or not the movement trajectory of the autonomous mobile device needs to be adjusted based on the current location, thereby avoiding collisions.

[0064] In some embodiments, the step of adjusting the movement trajectory of an autonomous mobile device based on current location information is: The steps include determining a pre-set movement trajectory for an autonomous mobile device, If the current distance information is below a distance threshold, the step is to determine whether the current location information overlaps with a pre-set movement trajectory. If there is no overlap, the steps include calculating a first velocity value based on the decreasing velocity value and a preset velocity value, and controlling the autonomous mobile device to move based on the first velocity value, wherein the first velocity value is greater than 0. If there is an overlap, the step of determining the direction of the movement trajectory of the autonomous mobile device and determining whether the current position information and the movement trajectory direction coincide, and if they coincide, adjusting the movement speed of the autonomous mobile device to 0, and if they do not coincide, calculating a second speed value based on an increasing speed value and a preset speed value, and controlling the autonomous mobile device to move based on the second speed value.

[0065] A pre-configured movement trajectory refers to information such as the movement route and speed pre-configured for the autonomous mobile device. The distance threshold refers to a pre-configured value used to determine whether or not the autonomous mobile device's movement trajectory needs to be adjusted. If the current distance information is below the distance threshold, it indicates that the distance between the autonomous mobile device and the target obstacle object is short, and the autonomous mobile device's pre-configured movement trajectory needs to be adjusted.

[0066] The decreasing speed value refers to the speed value obtained by subtracting the decreasing speed value from a preset speed value. For example, if it is determined that the distance between the autonomous mobile device and the target obstacle object is too small, the speed can be adjusted from 5 km / h to 3 km / h based on a decreasing speed value of 2. The increasing speed value refers to the speed value obtained by increasing the speed value from a preset speed value. For example, the speed can be adjusted from 5 km / h to 8 km / h based on an increasing speed value of 3. In actual applications, the increasing speed value may be 0. The first speed value refers to the speed value obtained by subtracting the decreasing speed value from a preset speed value, and the second speed value refers to the speed value obtained by adding the increasing speed to a preset speed value.

[0067] For example, as shown in Figure 2C, there are moving transport robots 1, 2, 3, and 4 near the worker. When the worker approaches a transport robot and reaches a certain distance threshold, the UWB module in the transport robot can monitor Bluetooth information. If it determines that a person is approaching and there is a possibility of danger, it will spontaneously send a distance measurement task to the worker's UWB module. If the distance measurement confirms that the distance to the worker meets the alarm distance threshold, it will notify the driver to begin controlling the motor to decelerate to a safe speed and continue operation, and will begin monitoring the distance value to the worker in real time. If the distance value gradually decreases and meets the stop distance threshold, it will notify the driver to begin controlling the motor to decelerate to a stationary state. If the distance value gradually increases and exceeds the alarm distance threshold, it will notify the driver to begin accelerating to return to normal speed. As shown in Figure 2C, transport robots 1 and 2 are stopped, transport robot 3 is moving slowly at a low speed, and transport robot 4 is operating normally.

[0068] In some embodiments, the autonomous mobile device may be provided with two first UWB modules, or three or more first UWB modules, which will enable the determination of accurate positional information in response to target obstacles, and the embodiments of this disclosure do not limit the number of first UWB modules provided in the autonomous mobile device.

[0069] If an autonomous mobile device is equipped with multiple first UWB modules, all of these first UWB modules may operate in monitor mode, or some of the first UWB modules may operate in monitor mode and some of the first UWB modules may operate in announcer mode.

[0070] In some embodiments, a transport robot is equipped with three first UWB modules, all of which are in monitor mode. These three first UWB modules enable more reliable distance measurement and more accurate positioning, allowing the transport robot to determine the specific location information of the person carrying the second UWB module, enabling more accurate speed control and further improving efficiency.

[0071] For example, as shown in Figure 2D, for AMR1, although the distance measurement determined that it was within the stopping distance, the precise location of the personnel was determined, and AMR1 determined that the personnel were not in the route of travel, so it could pass at a low speed. For AMR2, although the distance measurement determined that it was within the stopping distance, the precise location of the personnel was determined, and AMR2 determined that the personnel were in the route of travel, so it had to slow down and stop. For AMR3, although the distance measurement determined that it was within the stopping distance, the precise location of the personnel was determined, and AMR3 determined that the personnel were behind the route of travel and would not affect the operation, so it was possible to increase the speed corresponding to AMR3 and accelerate to move away.

[0072] In practical applications, the deceleration and acceleration values ​​can be set based on current distance information. That is, the deceleration and acceleration values ​​can be adjusted based on real-time changing current distance information, thereby avoiding collisions caused by speeds that are too fast or too slow.

[0073] Furthermore, the current distance information changes in real time as the target obstacle object and the autonomous mobile device move. Therefore, if it is detected that the current distance information is greater than a preset threshold, the autonomous mobile device can be controlled again based on a preset velocity value, that is, the original operating speed of the autonomous mobile device can be restored, and the normal operation of the autonomous mobile device can be ensured.

[0074] The trajectory adjustment method for an autonomous mobile device provided in this disclosure includes equipping the autonomous mobile device with at least one first UWB module so that it can receive first distance measurement trigger information transmitted from a target obstacle object, generate a first distance measurement request based on the first distance measurement trigger information and use it to establish a communication connection between the target obstacle object and the autonomous mobile device, receive first distance measurement information returned by the target obstacle object based on the first distance measurement request and use it to calculate the distance between the target obstacle object and the autonomous mobile device, determine the current position information of the target obstacle object based on the first distance measurement information, and determine the movement trajectory of the autonomous mobile device based on the current position information, thereby avoiding collisions.

[0075] Figure 3A shows a flowchart of a trajectory adjustment method for an autonomous mobile device provided by some embodiments of the present disclosure, the method being applied to a target obstacle object, the target obstacle object being provided with at least one second UWB module, the second UWB module including a Bluetooth unit and a UWB chip. As shown in Figure 3A, this trajectory adjustment method for an autonomous mobile device includes the following steps 302 to 306.

[0076] In step 302, the first distance measurement trigger information is broadcast based on the Bluetooth unit of the second UWB module.

[0077] For example, the target obstacle object is equipped with a second UWB module, and the second UWB module is in announcer mode, which allows the Bluetooth unit of the second UWB module to broadcast the first distance measurement trigger information. In other words, the Bluetooth unit of the second UWB module can broadcast the first distance measurement trigger information only when the second UWB module of the target obstacle object is in announcer mode.

[0078] In step 304, if a first distance measurement request is received by the autonomous mobile device based on the first distance measurement trigger information, the first distance measurement information is determined based on the first distance measurement request.

[0079] For example, a second UWB module installed on a target obstacle object can receive a first distance measurement request returned by an autonomous mobile device based on first distance measurement trigger information transmitted by the target obstacle object, and the UWB chip in the second UWB module generates first distance measurement information based on the first distance measurement request.

[0080] In step 306, the first distance measurement information is transmitted to the autonomous mobile device so that the autonomous mobile device adjusts its movement trajectory based on the first distance measurement information.

[0081] For example, a second UWB module of the target obstacle object transmits first distance measurement information to the autonomous mobile device, which can then calculate the current distance information between itself and the target obstacle object based on the first distance measurement information. Furthermore, it can determine its current position information based on the current distance information, thereby determining how to adjust the autonomous mobile device's movement trajectory based on its current position information.

[0082] In practical applications, the operating space may include multiple autonomous mobile devices and multiple target obstacle objects, and the method of this disclosure is applicable to this situation, namely, one autonomous mobile device can simultaneously acquire information on multiple target obstacle objects, and one target obstacle object can simultaneously acquire information on multiple autonomous mobile devices.

[0083] As shown in Figure 3B, both worker 1 and worker 2 are wearing work clothes that include a UWB module (i.e., a second UWB module), and the UWB module on the work clothes is set to announcer mode, and the UWB modules on robots 1 and 2 (i.e., the first UWB module) are set to monitor mode. When the distance between the worker and the robot reaches a distance at which the Bluetooth unit can communicate, worker 1 can receive data transmitted by the UWB modules of robots 1 and 2, thereby enabling trajectory adjustment of robots 1 and 2 relative to worker 1. Similarly, worker 2 can receive data transmitted by the UWB modules of robots 1 and 2, thereby enabling trajectory adjustment of robots 1 and 2 relative to worker 2.

[0084] The trajectory adjustment method for an autonomous mobile device provided in this disclosure involves equipping a target obstacle object with a second UWB module, setting the second UWB module to announcer mode, thereby enabling the target obstacle object to continuously broadcast first distance measurement trigger information externally, allowing the autonomous mobile device to monitor the position of the target obstacle object in real time, thereby enabling it to adjust its own speed and position in a timely manner and avoid collisions.

[0085] Figure 4A shows a schematic configuration diagram of a trajectory adjustment system for an autonomous mobile device provided by one embodiment of the present disclosure, the trajectory adjustment system 400 includes an autonomous mobile device 402 and a target obstacle object 404, the autonomous mobile device is provided with a first UWB module and the target obstacle object 404 is provided with a second UWB module, the first UWB module is in monitor mode and the second UWB module is in announcer mode, and both the first and second UWB modules include a Bluetooth unit and a UWB chip.

[0086] The target fault object 404 is configured to output first ranging trigger information based on the Bluetooth unit of the second UWB module.

[0087] The autonomous mobile device 402 is configured to receive first distance measurement trigger information transmitted from the target fault object based on the Bluetooth unit of the first UWB module, and to transmit a first distance measurement request to the target fault object via the UWB chip of the first UWB module based on the first distance measurement trigger information.

[0088] The target obstacle object 404 is further configured to transmit first distance measurement information to the autonomous mobile device based on the first distance measurement request.

[0089] The autonomous mobile device 402 is further configured to determine the current position information of the target obstacle object based on the first distance measurement information, and to adjust the movement trajectory of the autonomous mobile device based on the current position information.

[0090] In practical applications, autonomous mobile devices may malfunction and be unable to move normally according to a pre-set trajectory. Therefore, if device malfunction information is detected, the monitor mode of the first UWB module is adjusted to announcer mode, and ranging trigger information for the autonomous mobile device is output based on the Bluetooth unit of the first UWB module. In other words, if the autonomous mobile device malfunctions, the malfunctioning autonomous mobile device can be designated as a target obstacle object, and other robots can avoid colliding with this malfunctioning autonomous mobile device.

[0091] If the trajectory adjustment system further includes a target autonomous mobile device to ensure that the movement of other autonomous mobile devices is not affected by the malfunctioning mobile device, the target autonomous mobile device is configured to receive fault distance trigger information transmitted by an autonomous mobile device (i.e., the malfunctioning autonomous mobile device), send a fault distance request to the autonomous mobile device based on the fault distance trigger information, determine the fault location information of the autonomous mobile device based on the current distance information returned by the autonomous mobile device based on the fault distance request, report the fault location information, and obtain obstacle avoidance trajectory information.

[0092] Fault location information refers to the location of an autonomous mobile device that has experienced a malfunction. After a target autonomous mobile device detects the malfunctioning device, it reports the fault location information to the server and obtains a new travel route. This helps to avoid congestion caused by the malfunctioning device and the impact on the operation of devices that are not malfunctioning.

[0093] As shown in Figure 4B, after a robot malfunctions, the robot's first UWB module switches to announcer mode, and the first UWB module periodically transmits Bluetooth broadcasts externally, allowing nearby robots to detect distance information. Through interaction with the Bluetooth information, AMR1 can determine that the object type of the target obstacle object is a robot, and when it approaches the malfunctioning AMR, it stops, spontaneously reports the location of the malfunctioning AMR, and spontaneously requests a new path, thereby achieving obstacle avoidance. In other words, AMR1 moves according to a pre-set original path, and when it detects a malfunctioning AMR along the way, AMR1 stops moving, reports the malfunction location information to the server, requests a new path, and after the server sends the new path to AMR1, AMR1 moves towards the destination based on the new path.

[0094] By switching the UWB module of the malfunctioning autonomous mobile device to announcer mode, the malfunctioning autonomous mobile device was made to exist in space as an obstacle object, thus avoiding collisions with other autonomous mobile devices.

[0095] The trajectory adjustment system for autonomous mobile devices of this disclosure improves the flexibility of distance measurement by providing UWB modules on the target obstacle object and the autonomous mobile object. Specifically, the UWB modules do not need to be provided in space as fixed anchor points, and the position of the target obstacle object is calculated by the UWB modules, thereby avoiding the need to individually deploy data centers and saving processing costs.

[0096] To avoid the problem of distance measurement failing due to a UWB module failure, the disclosure further provides for multiple detection UWB modules at fixed locations in the warehouse system, which allows for monitoring of the UWB modules in the autonomous mobile device and / or the UWB modules in the target fault object to determine whether or not an abnormality has occurred in the UWB modules in the autonomous mobile device and / or the UWB modules in the target fault object.

[0097] In some embodiments, the trajectory adjustment system described above may include, in addition to the autonomous mobile device and target obstacle object, a plurality of detection UWB modules, which are installed at fixed positions in the warehouse system and can detect a first UWB module in the autonomous mobile device and / or a fourth UWB module in the target obstacle object.

[0098] Exemplary, multiple detection UWB modules can be uniformly distributed at fixed locations within a warehouse system. In some embodiments, these detection modules can be uniformly distributed across the top of the warehouse system, and / or across multiple charging stations within the warehouse system. The embodiments of this disclosure do not limit the placement of the multiple detection UWB modules, and the following embodiments illustrate, as an example, that the multiple detection UWB modules are located on the top (which may also be called the ceiling) of the warehouse system. As shown in Figure 4C, one detection UWB module can be provided every 10 meters on the top of the warehouse system, and the embodiments of this disclosure do not limit the distance between two adjacent UWB modules.

[0099] In some embodiments, multiple detection UWB modules in a warehouse system are in announcer mode, while a first UWB module in an autonomous mobile device and a fourth UWB module in a target fault object are in monitor mode.

[0100] Exemplary, the trajectory adjustment method described above may further include: the autonomous mobile device receiving second distance measurement trigger information transmitted from a target detection UWB module based on the Bluetooth unit of a first UWB module; the autonomous mobile device transmitting a second distance measurement request to the target detection UWB module via the UWB chip of the first UWB module based on the second distance measurement trigger information; and acquiring second distance measurement information returned by the target detection UWB module based on the second distance measurement request, and determining the distance between the autonomous mobile device and the target detection UWB module based on the second distance measurement information.

[0101] For example, as shown in Figure 4C, if the AMR includes a first UWB module (UWB1 shown in Figure 4C) in two monitor modes, UWB1 in monitor mode in AMR2 can determine the distance between the autonomous mobile device and the target detection UWB module by communicating with the target detection UWB module communication at the top of the warehouse system. At the same time, UWB1 in monitor mode in AMR2 can also determine the distance between the autonomous mobile device and the worker by communicating with a second UWB module (UWB2 shown in Figure 4C) worn by the worker in announcer mode.

[0102] In some embodiments, the second range-measuring trigger information broadcast by the target detection UWB module at the top of the warehouse system and the first range-measuring trigger information broadcast by the UWB module worn by the worker may each include identifier information, which is used to indicate which angle the range-measuring trigger information was broadcast by. This allows the AMR to determine, when receiving different range-measuring trigger information, whether the range-measuring trigger information was transmitted from the UWB module located at the top of the warehouse system or from the UWB module worn by the worker.

[0103] In some other embodiments, the Media Access Control Address (MAC) of the second distance measurement information transmitted from the target detection UWB module at the top of the warehouse system and the first distance measurement information transmitted from the UWB module worn by the worker are different, so the AMR can also determine whether different distance measurement information was transmitted from the UWB module at the top of the warehouse system or from the UWB worn by the worker.

[0104] In some embodiments, a UWB module in monitor mode in an AMR can detect a second ranging trigger information broadcast by a target detection UWB module on top of the warehouse system at fixed time intervals, the target detection UWB module on top of the warehouse system can continuously broadcast the second ranging trigger information, and can also broadcast a second ranging trigger information for each second ranging trigger information.

[0105] If the distance between the autonomous mobile device and the target detection UWB module is within a first distance threshold range, it is determined that the first UWB module installed on the autonomous mobile device is functioning correctly. If the distance between the autonomous mobile device and the target detection UWB module is outside the first distance threshold range, or if the autonomous mobile device has not received the second distance measurement trigger information transmitted from the target detection UWB module, it is determined that the first UWB module installed on the autonomous mobile device and / or the target detection UWB module is malfunctioning, and the system controls the autonomous mobile device to stop moving.

[0106] For example, the first distance threshold range is related to parameters such as the height of the AMR, the installation height of the detection UWB module (e.g., ceiling height), and the distance between two adjacent detection UWB modules.

[0107] For example, as shown in Figure 4C, if the UWB1 of AMR2 determines that the distance between AMR2 and the target detection UWB module on the ceiling (e.g., the top of the warehouse system) is not within a first threshold range, or if the UWB1 of AMR has not received the second ranging trigger information transmitted from the target detection UWB module on the ceiling, it is determined that the UWB1 in AMR and / or the target detection UWB module on the ceiling are malfunctioning, and the robot stops moving. If the UWB1 of AMR2 determines that the distance between AMR2 and the worker is too close, it controls AMR2 to slow down or stop moving.

[0108] Exemplary, the target detection UWB module described above may be a detection UWB module among a plurality of detection UWB modules that can communicate with the first UWB module of the autonomous mobile device. In some embodiments, there may be one or more target detection UWB modules communicating with the first UWB module of the autonomous mobile device, and the embodiments of this disclosure do not limit the number of target detection UWB modules, and the number of target detection UWB modules is related to the installation distance between the plurality of detection UWB modules.

[0109] If there are multiple target detection UWB modules communicating with the first UWB module of the autonomous mobile device, it is possible to further determine whether or not an abnormality has occurred in the first UWB module by checking whether the distance between each target detection UWB module and the first UWB module is within a first distance threshold range. For example, if the distance between the first UWB module of the autonomous mobile device and target detection UWB module 1 is not within the first distance threshold range, but the distance between the first UWB module of the autonomous mobile device and target detection UWB module 2 is within the first distance threshold range, it can be further determined that the first UWB module of the autonomous mobile device is normal and an abnormality has occurred in target detection UWB module 1.

[0110] In some embodiments, the target fault object may be provided with at least one second UWB module in addition to at least one fourth UWB module, and this fourth UWB module may be in monitor mode and may communicate with the second UWB module in the target fault object, or with a detection UWB module provided on top of the warehouse system. The communication procedures between the fourth UWB module in the target fault object and the second UWB module in the target fault object, and the communication procedures between the fourth UWB module in the target fault object and the target detection UWB module provided on top of the warehouse system will be described below in conjunction with Figure 4C.

[0111] Illustratively, the trajectory adjustment method described above may further include the steps of: receiving a fourth distance measurement trigger information transmitted from a target detection UWB module based on the Bluetooth unit of the fourth UWB module; the fourth UWB module transmitting a fourth distance measurement request to the target detection UWB module via the UWB chip of the fourth UWB module based on the fourth distance measurement trigger information; and acquiring the fourth distance measurement information returned by the target detection UWB module based on the fourth distance measurement request, and determining the distance between the target obstacle object and the target detection UWB module based on the fourth distance measurement information. Note that the fourth distance measurement trigger information transmitted from the target detection UWB module and the second distance measurement trigger information may be the same.

[0112] If the distance between the target fault object and the target detection UWB module is within the third distance threshold range, it is determined that the fourth UWB module installed on the target fault object is functioning correctly. If the distance between the target fault object and the target detection UWB module is outside the third distance threshold range, or if the fourth UWB module has not received the fourth distance measurement trigger information transmitted from the target detection UWB module, it is determined that the fourth UWB module installed on the target fault object is malfunctioning and / or the target detection UWB module is malfunctioning, and alarm information is output.

[0113] For example, the third distance threshold range is related to parameters such as the height of the target fault object, the installation height of the detection UWB module (e.g., ceiling height), and the distance between two adjacent detection UWB modules.

[0114] For example, as shown in Figure 4C, the safety suit worn by the worker may be equipped with a second UWB module in announcer mode (UWB2 shown in Figure 4C) and a fourth UWB module in monitor mode (UWB4 shown in Figure 4C). The UWB4 in monitor mode can determine the distance between the worker and the ceiling by communicating with the target detection UWB module in announcer mode. If the distance between the UWB4 worn by the worker and the target detection UWB module is outside the third distance threshold range, or if the UWB4 has not received the fourth distance measurement trigger information broadcast by the target detection UWB module, it is determined that the safety suit worn by the worker or the target detection UWB module on the ceiling may be malfunctioning. If it is determined that the safety suit is not working properly or may be malfunctioning, an alarm can be triggered by the illumination of a light, sound, or vibration to notify the worker that the safety suit needs to be replaced. To ensure the safe operation of the warehouse system, the robot control system can be proactively notified to trigger an emergency shutdown of the system, further ensuring the safety of personnel by stopping all operations.

[0115] Exemplary, the target detection UWB module described above may be a detection UWB module among a plurality of detection UWB modules that can communicate with a fourth UWB module of the target fault object. In some embodiments, there may be one or more target detection UWB modules that communicate with the fourth UWB module of the target fault object, and the embodiments of this disclosure do not limit the number of target detection UWB modules, the number of target detection UWB modules is related to the installation distance between the plurality of detection UWB modules.

[0116] If there are multiple target detection UWB modules communicating with the fourth UWB module of the target fault object, it is possible to further determine whether or not an abnormality has occurred in the fourth UWB module by checking whether the distance between each target detection UWB module and the fourth UWB module is within the third distance threshold range. For example, if the distance between the fourth UWB module of the target fault object and target detection UWB module 1 is not within the third distance threshold range, but the distance between the fourth UWB module of the target fault object and target detection UWB module 2 is within the third distance threshold range, it can be determined that the fourth UWB module of the target fault object is normal and an abnormality has occurred in target detection UWB module 1.

[0117] Illustratively, the above trajectory adjustment method may further include the steps of: broadcasting fifth distance measurement trigger information based on the Bluetooth unit of the second UWB module of the target obstacle object; receiving fifth distance measurement trigger information based on the Bluetooth unit of the fourth UWB module of the target obstacle object; the fourth UWB module transmitting a fifth distance measurement request to the second UWB module via its UWB chip based on the second distance measurement trigger information; determining fifth distance measurement information based on the fifth distance measurement request and transmitting the fifth distance measurement information to the fourth UWB module when the second UWB module has received the fifth distance measurement request; and the fourth UWB module determining the distance between the fourth UWB module and the second UWB module at the target obstacle object based on the fifth distance measurement information. Note that the fifth distance measurement trigger information transmitted from the second UWB module of the target obstacle object and the first distance measurement trigger information may be the same.

[0118] If the distance between the fourth UWB module and the second UWB module in the target fault object is within the fourth distance threshold range, it is determined that the fourth UWB module installed in the target fault object is normal. If the distance between the fourth UWB module and the second UWB module in the target fault object is outside the fourth distance threshold range, or if the fourth UWB module has not received the fifth distance measurement trigger information transmitted from the second UWB module, it is determined that the fourth UWB module and / or the second UWB module installed in the target fault object are abnormal, and alarm information is output.

[0119] For example, the fourth distance threshold range relates to parameters such as the design distance between the fourth UWB module and the second UWB module in the safety workwear, and the production process.

[0120] For example, as shown in Figure 4C, if a safety suit worn by a worker is equipped with a second UWB module in announcer mode (UWB2 shown in Figure 4C) and a fourth UWB module in monitor mode (UWB4 shown in Figure 4C), UWB4 in monitor mode can communicate with UWB2 in announcer mode to determine the distance between UWB2 and UWB4. If the distance between UWB2 and UWB4 worn by the worker is outside the fourth distance threshold range, or if UWB4 has not received the fifth distance measurement trigger information broadcast by UWB2, it is determined that the safety suit worn by the worker is abnormal, and an alarm is triggered by the illumination of a light, sound, or vibration to notify the worker that the safety suit needs to be replaced. To ensure the safe operation of the warehouse system, it is also possible to proactively notify the robot control system to trigger an emergency shutdown of the system, and furthermore, the safety of personnel can be ensured by stopping all operations.

[0121] To avoid the problem of distance measurement failing due to a UWB module failure, multiple detection UWB modules may be provided at fixed locations in the warehouse system, or at least one third UWB module in announcer mode may be provided in the autonomous mobile device, and the autonomous mobile device can be monitored by the third UWB module in announcer mode communicating with the first UWB module in monitor mode.

[0122] In some embodiments, the autonomous mobile device may be provided with at least one third UWB module in addition to at least one first UWB module, the third UWB module being in announcer mode and capable of broadcasting a third distance measurement trigger information.

[0123] Exemplary, the trajectory adjustment method described above may further include: broadcasting third distance measurement trigger information based on the Bluetooth unit of a third UWB module; receiving third distance measurement trigger information based on the Bluetooth unit of a first UWB module; transmitting a third distance measurement request to the third UWB module via the UWB chip of the first UWB module based on the third distance measurement trigger information; if the third UWB module receives the third distance measurement request, determining third distance measurement information based on the third distance measurement request and transmitting the third distance measurement information to the first UWB module; and the first UWB module determining the distance between the first UWB module and the third UWB module in the autonomous mobile device based on the third distance measurement information.

[0124] If the distance between the first UWB module and the third UWB module in the autonomous mobile device is within the second distance threshold range, it is determined that the first UWB module installed in the autonomous mobile device is functioning correctly. If the distance between the first UWB module and the third UWB module in the autonomous mobile device is outside the second distance threshold range, or if the first UWB module has not received the third distance measurement trigger information transmitted from the third UWB module, it is determined that the first UWB module and / or the third UWB module installed in the autonomous mobile device are malfunctioning, and the system controls the autonomous mobile device to stop moving.

[0125] For example, the second distance threshold range relates to parameters such as the design distance between the first and third UWB modules in an autonomous mobile device, and the production process.

[0126] For example, as shown in Figure 4D, if the AMR is equipped with a third UWB module in announcer mode (UWB3 shown in Figure 4C) and two first UWB modules in monitor mode (UWB1 shown in Figure 4C), the distance between UWB1 and UWB3 can be determined by UWB1 in monitor mode communicating with UWB3 in announcer mode. If the distance between UWB1 and UWB3 in the AMR is outside the second distance threshold range, or if UWB1 has not received the third distance measurement trigger information broadcast by UWB3, the AMR determines that UWB1 and / or UWB3 are abnormal, and the AMR stops moving. In addition to the communication between UWB1 and UWB3 of the AMR, UWB1 of the AMR can also communicate with UWB2, which is in announcer mode and worn by the worker, to determine the distance between the AMR and the worker. If the distance between the AMR and the worker is short, the AMR can slow down or stop moving.

[0127] Furthermore, as shown in Figure 4D, for example, the safety suit worn by the worker can be equipped with a second UWB module in announcer mode (UWB2 shown in Figure 4D) and a fourth UWB module in monitor mode (UWB4 shown in Figure 4D). UWB4 can communicate with UWB2 to determine the distance between UWB2 and UWB4. If it is determined that the distance between UWB2 and UWB4 is outside the fourth distance threshold range, or that UWB4 has not received the fifth distance measurement trigger information broadcast by UWB2, it is determined that the safety suit worn by the worker is abnormal, and an alarm is triggered by the illumination of a light, sound, or vibration to notify the worker that the safety suit needs to be replaced. To ensure the safe operation of the warehouse system, it is also possible to spontaneously notify the robot control system to trigger an emergency shutdown of the system, and furthermore, the safety of personnel can be ensured by stopping all operations.

[0128] Corresponding to embodiments of the above-described method, the Disclosure further provides embodiments of an autonomous mobile device trajectory adjustment device applicable to an autonomous mobile device, and Figure 5 shows a schematic configuration diagram of an autonomous mobile device trajectory adjustment device applicable to an autonomous mobile device provided by some embodiments of the Disclosure. As shown in Figure 5, this device is A receiving module 502 configured to receive first ranging trigger information transmitted from a target fault object based on the Bluetooth unit of a first UWB module, wherein the receiving module 502 is provided with at least one second UWB module on the target fault object, A transmitting module 504 is configured to send a first distance measurement request to a target fault object by the UWB chip of a first UWB module based on first distance measurement trigger information, An acquisition module 506 is configured to acquire first distance measurement information returned by a target fault object based on a first distance measurement request, A determination module 508 is configured to determine the current position information of a target obstacle object based on first distance measurement information, The system includes an adjustment module 510 configured to adjust the movement trajectory of an autonomous mobile device based on its current location information.

[0129] In some embodiments, the determination module 508 is configured to further calculate current distance information between the autonomous mobile device and the target obstacle object based on the first distance measurement information, and to determine the current position information of the target obstacle object based on the preset trajectory information of the autonomous mobile device and the current distance information.

[0130] In some embodiments, the decision module 508 is configured to further analyze the first distance measurement request to determine a first time when the autonomous mobile device generated the first distance measurement request, analyze the first distance measurement information to determine a second time when the target obstacle object received the first distance measurement request and a third time when it returned the first distance measurement information, determine a fourth time when the first distance measurement information was received, determine an optical wave transmission delay based on the first, second, third, and fourth times, and calculate the current distance information based on a preset optical wave transmission speed and the optical wave transmission delay.

[0131] In some embodiments, the determination module 508 is configured to further determine distance information between each antenna and a target obstacle object based on first ranging trigger information received by each antenna in the antenna array, calculate angle information between the autonomous mobile device and the target obstacle object based on the phase difference between the antennas and the distance information, and determine the orientation of the target obstacle object relative to the autonomous mobile device based on the angle information and the distance information.

[0132] In some embodiments, the adjustment module 510 further determines a preset movement trajectory of the autonomous mobile device, determines whether the current position information overlaps with the preset movement trajectory if the current distance information is below a distance threshold, calculates a first speed value based on the decreasing speed value and the preset speed value if they do not overlap, and controls the autonomous mobile device based on the first speed value. If the first speed value is greater than 0 and they overlap, determines the direction of the movement trajectory of the autonomous mobile device, determines whether the current position information and the movement trajectory direction coincide, adjusts the movement speed adjustment of the autonomous mobile device to 0 if they coincide, and calculates a second speed value based on the increasing speed value and the preset speed value if they do not coincide, and controls the autonomous mobile device based on the second speed value.

[0133] In some embodiments, the decreasing rate value and the increasing rate value are set based on the current distance information.

[0134] In some embodiments, the above apparatus further includes a control module configured to control the autonomous mobile device based on a preset velocity value when the current distance information is greater than a preset threshold.

[0135] In some embodiments, a first UWB module of an autonomous mobile device is in monitor mode and is configured to send a first ranging request based on first ranging trigger information received in monitor mode.

[0136] In some embodiments, the device further includes a switching module which, if the autonomous mobile device fails, switches the monitor mode of the first UWB module to announcer mode, and the first UWB module is configured to broadcast fault ranging trigger information when in announcer mode.

[0137] In some embodiments, the receiving module 502 is further configured to receive second ranging trigger information transmitted from the target detection UWB module based on the Bluetooth unit of the first UWB module, and the warehouse system is provided with a plurality of detection UWB modules, each of which is provided at a plurality of fixed positions in the warehouse system, and the plurality of detection UWB modules includes a target detection UWB module.

[0138] The transmitting module 504 is further configured to transmit a second ranging request to the target detection UWB module via the UWB chip of the first UWB module based on the second ranging trigger information.

[0139] The acquisition module 506 is further configured to acquire second distance measurement information returned by the target detection UWB module based on a second distance measurement request.

[0140] The decision module 508 further determines the distance between the autonomous mobile device and the target detection UWB module based on the second distance measurement information. If the distance between the autonomous mobile device and the target detection UWB module is within a first distance threshold, it determines that the first UWB module installed on the autonomous mobile device is functioning correctly. If the distance between the autonomous mobile device and the target detection UWB module is outside the range of the first distance threshold, it determines that the first UWB module installed on the autonomous mobile device and / or the target detection UWB module is malfunctioning, and is configured to control the autonomous mobile device to stop moving.

[0141] In some embodiments, the decision module 508 is further configured to determine that the first UWB module and / or the target detection UWB module are malfunctioning if the first UWB module has not received the second ranging trigger information transmitted from the target detection UWB module, and to control the autonomous mobile device to stop moving.

[0142] In some embodiments, multiple detection UWB modules are uniformly distributed on the top of the warehouse system, and / or multiple detection UWB modules are uniformly distributed at multiple charging stations of the warehouse system.

[0143] In some embodiments, the target detection UWB module is in announcer mode, and the first UWB module is in monitor mode.

[0144] In some embodiments, the autonomous mobile device is provided with at least one third UWB module, and the device further includes a broadcast module, which is configured to broadcast third ranging trigger information based on the Bluetooth unit of the third UWB module.

[0145] The receiving module 502 is further configured to receive third ranging trigger information based on the Bluetooth unit of the first UWB module.

[0146] The transmitting module 504 is further configured to transmit a third distance measurement request to the third UWB module via the UWB chip of the first UWB module based on the third distance measurement trigger information.

[0147] The decision module 508 further determines third distance information based on the third distance request when the third UWB module receives a third distance measurement request, transmits the third distance information to the first UWB module, and determines the distance between the first UWB module and the third UWB module in the autonomous mobile device based on the third distance information. The system is configured to determine that the first UWB module in the autonomous mobile device is functioning correctly if the distance between the first UWB module and the third UWB module in the autonomous mobile device is within a second distance threshold range, and to determine that the first UWB module and / or the third UWB module in the autonomous mobile device are abnormal if the distance between the first UWB module and the third UWB module in the autonomous mobile device is outside the second distance threshold range, and to control the system to stop the movement of the autonomous mobile device.

[0148] In some embodiments, if the first UWB module has not received the third distance measurement trigger information transmitted from the third UWB module, it is determined that the first UWB module and / or the third UWB module on the autonomous mobile device are malfunctioning, and control is made to stop the movement of the autonomous mobile device.

[0149] In some embodiments, a third UWB module of the autonomous mobile device is in announcer mode, and a first UWB module of the autonomous mobile device is in monitor mode.

[0150] The trajectory adjustment device for the autonomous mobile device applied to the autonomous mobile device of this disclosure receives first distance measurement trigger information transmitted from a target obstacle object, generates a first distance measurement request based on the first distance measurement trigger information, is used to establish a communication connection between the target obstacle object and the autonomous mobile device, receives first distance measurement information returned by the target obstacle object based on the first distance measurement request, is used to calculate the distance between the target obstacle object and the autonomous mobile device, determines the current position information of the target obstacle object based on the first distance measurement information, determines the movement trajectory of the autonomous mobile device based on the current position information, thereby avoiding collisions. Furthermore, by communication between the UWB module of the autonomous mobile device and the ceiling detection UWB module and / or the UWB module in the autonomous mobile device, it is possible to determine whether or not an abnormality has occurred in the UWB module in the autonomous mobile device, and if an abnormality occurs in the autonomous mobile device, it is possible to control the movement of the autonomous mobile device to stop, thereby avoiding collisions.

[0151] Corresponding to embodiments of the above-described method, the Disclosure further provides embodiments of a trajectory adjustment device for an autonomous mobile device applied to a target obstacle object, and Figure 6 shows a schematic configuration diagram of a trajectory adjustment device for an autonomous mobile device applied to a target obstacle object provided by one embodiment of the Disclosure. As shown in Figure 6, this device, A broadcast module 602 is configured to broadcast first distance measurement trigger information based on the Bluetooth unit of a second UWB module, When a first distance measurement request is received by an autonomous mobile device based on first distance measurement trigger information, a determination module 604 is configured to determine first distance measurement information based on the first distance measurement request, The system includes a transmitting module 606 configured to transmit first distance measurement information to an autonomous mobile device so that the autonomous mobile device adjusts the movement trajectory of the autonomous mobile device based on the first distance measurement information.

[0152] In some embodiments, the target fault object is provided with at least one fourth UWB module, and the device further includes a receiving module and an acquisition module, the receiving module being configured to receive fourth ranging trigger information transmitted from the target detection UWB module based on the Bluetooth unit of the fourth UWB module, and the warehouse system is provided with a plurality of detection UWB modules, each of the plurality of detection UWB modules being provided at a plurality of fixed positions in the warehouse system, and the plurality of detection UWB modules include a target detection UWB module, The transmitting module 606 is further configured to transmit a fourth ranging request to the target detection UWB module via the UWB chip of the fourth UWB module based on the fourth ranging trigger information. The acquisition module is configured to acquire the fourth distance measurement information returned by the target detection UWB module based on the fourth distance measurement request.

[0153] The determination module 604 determines the distance between the target fault object and the target detection UWB module based on the fourth distance measurement information. If the distance between the target fault object and the target detection UWB module is within the third distance threshold range, it determines that the fourth UWB module installed on the target fault object is normal. If the distance between the target fault object and the target detection UWB module is outside the third distance threshold range, it determines that the fourth UWB module installed on the target fault object is abnormal and / or the target detection UWB module is abnormal, and is configured to output alarm information.

[0154] In some embodiments, if the fourth UWB module has not received the fourth distance measurement trigger information transmitted from the target detection UWB module, it is determined that the fourth UWB module installed on the target fault object and / or the target detection UWB module is faulty, and alarm information is output.

[0155] In some embodiments, multiple detection UWB modules are uniformly distributed on the top of the warehouse system, and / or multiple detection UWB modules are uniformly distributed at multiple charging stations of the warehouse system.

[0156] In some embodiments, the target detection UWB module is in announcer mode, and the fourth UWB module is in monitor mode.

[0157] In some embodiments, the target fault object is provided with at least one fourth UWB module, and the broadcast module 602 is further configured to broadcast fifth ranging trigger information based on the Bluetooth unit of the second UWB module.

[0158] The receiving module is further configured to receive fifth ranging trigger information based on the Bluetooth unit of the fourth UWB module.

[0159] The transmitting module 606 is further configured to transmit a fifth distance measurement request to the second UWB module via the UWB chip of the fourth UWB module based on the fifth distance measurement trigger information.

[0160] The decision module 604 is further configured to determine fifth distance measurement information based on the fifth distance measurement request when the second UWB module receives a fifth distance measurement request, transmit the fifth distance measurement information to the fourth UWB module, and determine the distance between the fourth UWB module and the second UWB module at the target fault object based on the fifth distance measurement information.

[0161] If the distance between the fourth UWB module and the second UWB module in the target fault object is within the fourth distance threshold range, it is determined that the fourth UWB module installed in the target fault object is normal. If the distance between the fourth UWB module and the second UWB module in the target fault object is outside the fourth distance threshold range, it is determined that the fourth UWB module and / or the second UWB module installed in the target fault object are abnormal, and alarm information is output.

[0162] In some embodiments, if the fourth UWB module has not received the fifth distance measurement trigger information transmitted from the second UWB module, it is determined that the fourth UWB module and / or the second UWB module installed on the target fault object are malfunctioning, and alarm information is output.

[0163] In some embodiments, the second UWB module is in announcer mode and the fourth UWB module is in monitor mode.

[0164] The trajectory adjustment device for an autonomous mobile device applied to the target obstacle object of this disclosure includes a second UWB module on the target obstacle object, and the second UWB module is opened to announcer mode, thereby enabling the target obstacle object to continuously broadcast distance measurement trigger information to the outside, allowing the autonomous mobile device to monitor the position of the target obstacle object in real time, thereby enabling it to adjust its own speed and position in a timely manner and avoid collisions. Furthermore, by providing a fourth UWB module on the target obstacle object and setting the fourth UWB module to monitor mode, the fourth UWB module and the fixed position detection UWB module or the second UWB module can communicate to determine whether or not an abnormality has occurred in the UWB module on the target obstacle object, and if there is a possibility of an abnormality occurring, alarm information can be output to ensure the safety of personnel.

[0165] The above is an exemplary design for a trajectory adjustment device for an autonomous mobile device in this embodiment. This technical proposal for a trajectory adjustment device for an autonomous mobile device belongs to the same concept as the technical proposal for a trajectory adjustment method for an autonomous mobile device described above. For details not described in the technical proposal for a trajectory adjustment device for an autonomous mobile device, please refer to the description of the technical proposal for a trajectory adjustment method for an autonomous mobile device described above.

[0166] Figure 7 shows a flowchart of a trajectory adjustment method for an autonomous mobile device provided by one embodiment of the present disclosure, the method being applied to a UWB base station, the UWB base station being provided with at least one fifth UWB module, the at least one fifth UWB module including a Bluetooth unit and a UWB chip, the method comprising the following steps 702 to 706.

[0167] In step 702, the system receives a device distance measurement request transmitted from the autonomous mobile device and an object distance measurement request transmitted from the target fault object.

[0168] In step 704, the device position information of the autonomous mobile device is determined based on the device distance measurement request, and the object position information of the target obstacle object is determined based on the object distance measurement request.

[0169] In step 706, the distance between the autonomous mobile device and the target obstacle object is calculated based on the device position information and the object position information, and adjustment information is generated to adjust the movement trajectory of the autonomous mobile device based on the distance.

[0170] For example, in addition to enabling adjustments to the autonomous mobile device's movement trajectory through interaction between the second UWB module of the target obstacle object and the first UWB module of the autonomous mobile device, a UWB base station can be provided. The UWB base station determines the position information of the target obstacle object and the autonomous mobile device, and based on this, the UWB base station transmits information about the movement rule adjustments to the autonomous mobile device.

[0171] A device distance measurement request refers to a request to calculate the current location information of the autonomous mobile device, an object distance measurement request refers to a request to calculate the current location information of the target obstacle object, device location information refers to the current location information of the autonomous mobile device, object location information refers to the current location information of the target obstacle object, and autonomous mobile device movement trajectory adjustment information refers to information that requires adjustment of the autonomous mobile device's movement trajectory when the distance between the autonomous mobile device and the target obstacle object is smaller than a preset threshold, such as increasing or decreasing the autonomous mobile device's movement speed or creating a new movement trajectory.

[0172] The trajectory adjustment method for autonomous mobile devices applied to the above-mentioned UWB base station can also be used to adjust the movement trajectory of the autonomous mobile device, but it requires the prior installation of the UWB base station.

[0173] Figure 8 shows a block diagram of the configuration of a computing device 800 provided by some embodiments of the present disclosure. The components of this computing device 800 include, but are not limited to, a memory 810 and a processor 820. The memory 810 and the processor 820 are connected via a bus 830, and a database 850 is used to store data.

[0174] The computing device 800 further includes an access device 840, which enables the computing device 800 to communicate over one or more networks 860. Examples of these networks include a Public Switched Telephone Network (PSTN), a Local Area Network (LAN), a Wide Area Network (WAN), a Personal Area Network (PAN), or a combination of communication networks such as the Internet. The access device 840 may include one or more of the following wired or wireless network interfaces (e.g., Network Interface Controllers (NICs)): for example, an IEEE 802.11 Wireless Local Area Network (WLAN) wireless interface, a Worldwide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, a Near Field Communication (NFC) interface, etc.

[0175] In one embodiment of this disclosure, the above-mentioned components of the computing device 800 and other components shown in Figure 8 may be connected to each other, for example, via a bus. Note that the configuration block diagram of the computing device shown in Figure 8 is illustrative and does not limit the scope of this disclosure. Those skilled in the art may add or replace other components as needed.

[0176] The computing device 800 may be any type of fixed or mobile computing device, including mobile computers or mobile computing devices (e.g., tablet computers, personal digital assistants, laptop computers, notebooks, netbooks, etc.), mobile phones (e.g., smartphones), wearable computing devices (e.g., smartwatches, smart glasses, etc.) or other types of mobile devices, or fixed computing devices such as desktop computers or personal computers (PCs). The computing device 700 may be a mobile or fixed server.

[0177] When the processor 820 executes a computer instruction, it implements the steps of the method for adjusting the trajectory of the autonomous mobile device.

[0178] The above is an exemplary design for the computing device in this embodiment. This computing device designation belongs to the same concept as the above-described designation for the trajectory adjustment method of the autonomous mobile device. For details not described in the computing device designation, please refer to the description of the above-described designation for the trajectory adjustment method of the autonomous mobile device.

[0179] One embodiment of the present disclosure further provides a computer-readable storage medium in which computer instructions are stored, and which, when executed by a processor, realizes a step of a method for adjusting the trajectory of the autonomous mobile device.

[0180] The above is an exemplary solution for a computer-readable storage medium in this embodiment. This storage medium technical solution belongs to the same concept as the technical solution for the trajectory adjustment method of the autonomous mobile device described above. For details not described in the storage medium technical solution, please refer to the description of the technical solution for the trajectory adjustment method of the autonomous mobile device described above.

[0181] Specific embodiments of the present disclosure have been described above. Other embodiments are within the scope of the appended claims. In some cases, the operations or steps described in the claims may be performed in a different order than those described in the embodiments, and the desired results may still be achieved. Furthermore, the processes shown in the drawings do not necessarily require the specific illustrated order or sequence to achieve the desired results. In some embodiments, multitasking and parallel processing may be possible or advantageous.

[0182] The computer instruction includes computer program code, which may be in source code format, object code format, executable file format, or some intermediate format. The computer-readable medium may include any entity or device capable of carrying the computer program code, recording media, USB memory, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media. The contents of the computer-readable medium may be increased or decreased as appropriate in accordance with the requirements of legislative and patent practice in the jurisdiction. For example, in certain jurisdictions, based on legislative and patent practice, the computer-readable medium may not include electrical carrier signals or telecommunication signals.

[0183] While the embodiments of each of the above methods have been described as a combination of operations for the sake of ease of explanation, those skilled in the art will understand that, according to this disclosure, some steps can be performed in other orders or simultaneously, and therefore this disclosure is not limited to the order of operations described. Furthermore, those skilled in the art will understand that all embodiments described herein are preferred embodiments, and the relevant operations and modules are not necessarily essential to this disclosure.

[0184] In the above embodiments, each embodiment has its own emphasis, and some embodiments lack detailed descriptions, allowing users to refer to the descriptions of other embodiments.

[0185] The preferred embodiments of the Disclosure disclosed above are provided solely to facilitate the explanation of the Disclosure. The selective embodiments do not describe all details, nor do they limit the Disclosure to the specific embodiments described. Clearly, various modifications and changes are possible based on the content of the Disclosure. These embodiments are selected and described specifically in this Disclosure to better illustrate the principles and practical applications of the Disclosure, and to enable those skilled in the art to understand and utilize the Disclosure. The Disclosure is limited only by the claims and all their scope and equivalents.

Claims

1. A method for adjusting the trajectory of an autonomous mobile device, which is applied to an autonomous mobile device, The autonomous mobile device is provided with at least one first ultra-wideband (UWB) module, the first UWB module including a Bluetooth unit and a UWB chip, The aforementioned method, A step of receiving first distance measurement trigger information transmitted from a target fault object based on the Bluetooth unit of the first UWB module, wherein the target fault object is provided with at least one second UWB module, The steps include: transmitting a first distance measurement request to the target fault object using the UWB chip of the first UWB module based on the first distance measurement trigger information; The steps include: acquiring first distance measurement information returned by the target obstacle object based on the first distance measurement request; The steps include determining the current position information of the target obstacle object based on the first distance measurement information, The step includes adjusting the movement trajectory of the autonomous mobile device based on the current location information, A method for adjusting the trajectory of an autonomous mobile device, characterized by the following features.

2. The step of determining the current position information of the target obstacle object based on the first distance measurement information is: A step of calculating current distance information between the autonomous mobile device and the target obstacle object based on the first distance measurement information, The process includes the step of determining the current position information of the target obstacle object based on the pre-set trajectory information of the autonomous mobile device and the current distance information. A method for adjusting the trajectory of an autonomous mobile device according to feature 1.

3. The step of calculating the current distance information between the autonomous mobile device and the target obstacle object based on the first distance measurement information is: The steps include analyzing the first distance measurement request and determining the first time when the autonomous mobile device generated the first distance measurement request, The steps include analyzing the first distance measurement information to determine the second time when the first distance measurement request was received by the target obstacle object and the third time when the first distance measurement information was returned, The steps include determining the fourth time when the first distance measurement information was received, A step of determining the optical wave transmission delay based on the first time, the second time, the third time, and the fourth time, The step includes calculating the current distance information based on a preset optical wave transmission speed and the optical wave transmission delay, The method for adjusting the trajectory of an autonomous mobile device according to feature 2.

4. The autonomous mobile device includes an antenna array, After calculating the current distance information between the autonomous mobile device and the target obstacle object based on the first distance measurement information, A step of determining distance information between each antenna and the target obstacle object based on first ranging trigger information received by each antenna in the antenna array, A step of calculating angular information between the autonomous mobile device and the target obstacle object based on the phase difference between the antennas and the distance information, The step of determining the orientation of the target obstacle object relative to the autonomous mobile device based on the angle information and the distance information, The method for adjusting the trajectory of an autonomous mobile device according to feature 2.

5. The step of adjusting the movement trajectory of the autonomous mobile device based on the current location information is: The steps include determining a pre-set movement trajectory for the autonomous mobile device, If the current distance information is less than or equal to a distance threshold, the step of determining whether the current location information overlaps with the pre-set movement trajectory, If there is no overlap, a first speed value is calculated based on the decreasing speed value and a preset speed value, and the autonomous mobile device is controlled to move based on the first speed value, the steps being: the first speed value is greater than 0; If there is an overlap, the step of determining the direction of the movement trajectory of the autonomous mobile device and determining whether the current position information and the direction of the movement trajectory coincide, including the step of adjusting the movement speed of the autonomous mobile device to 0 if they coincide, and calculating a second speed value based on an increasing speed value and a preset speed value if they do not coincide, and controlling the autonomous mobile device to move based on the second speed value, The method for adjusting the trajectory of an autonomous mobile device according to feature 2.

6. The aforementioned decrease rate value and the aforementioned increase rate value are set based on the current distance information. The trajectory adjustment method for an autonomous mobile device according to feature 5.

7. If the current distance information is greater than a preset threshold, the step further includes controlling the autonomous mobile device to move based on a preset velocity value, The trajectory adjustment method for an autonomous mobile device according to feature 5.

8. The first UWB module of the autonomous mobile device is in monitor mode, and the first UWB module is configured to transmit a first distance measurement request based on first distance measurement trigger information received in monitor mode. A method for adjusting the trajectory of an autonomous mobile device according to feature 1.

9. If the autonomous mobile device fails, the first UWB module is switched from monitor mode to announcer mode, further comprising the step of configuring the first UWB module to broadcast fault distance trigger information when it is in announcer mode. A method for adjusting the trajectory of an autonomous mobile device according to feature 1.

10. A step of receiving second distance measurement trigger information transmitted from a target detection UWB module based on the Bluetooth unit of the first UWB module, wherein a plurality of detection UWB modules are provided in the warehouse system, each of the plurality of detection UWB modules is provided at a plurality of fixed positions in the warehouse system, and the plurality of detection UWB modules includes the target detection UWB module, The steps include: transmitting a second distance measurement request to the target detection UWB module via the UWB chip of the first UWB module based on the second distance measurement trigger information; The steps include: obtaining second distance measurement information returned by the target detection UWB module based on the second distance measurement request, and determining the distance between the autonomous mobile device and the target detection UWB module based on the second distance measurement information; If the distance between the autonomous mobile device and the target detection UWB module is within a first distance threshold range, the first UWB module provided on the autonomous mobile device is determined to be functioning correctly. The further step includes determining that the first UWB module provided on the autonomous mobile device and / or the target detection UWB module is malfunctioning if the distance between the autonomous mobile device and the target detection UWB module is outside the first distance threshold range, and controlling the autonomous mobile device to stop moving. A method for adjusting the trajectory of an autonomous mobile device according to any one of features 1 to 8.

11. If the first UWB module has not received the second distance measurement trigger information transmitted from the target detection UWB module, the first UWB module provided on the autonomous mobile device is found to be malfunctioning, and / or the target detection UWB module is found to be malfunctioning, and the autonomous mobile device is controlled to stop moving. A method for adjusting the trajectory of an autonomous mobile device according to feature 10.

12. The plurality of detection UWB modules are uniformly distributed on the top of the warehouse system, and / or the plurality of detection UWB modules are uniformly distributed at the plurality of charging stations of the warehouse system. A method for adjusting the trajectory of an autonomous mobile device according to feature 10.

13. The target detection UWB module is in announcer mode, and the first UWB module is in monitor mode. A method for adjusting the trajectory of an autonomous mobile device according to feature 10.

14. The autonomous mobile device is provided with at least one third UWB module. The aforementioned method, The steps include broadcasting a third distance measurement trigger information based on the Bluetooth unit of the third UWB module, The steps include receiving the third distance measurement trigger information based on the Bluetooth unit of the first UWB module, The steps include: transmitting a third distance measurement request to the third UWB module via the UWB chip of the first UWB module based on the third distance measurement trigger information; When the third UWB module receives the third distance measurement request, it determines third distance measurement information based on the third distance measurement request and transmits the third distance measurement information to the first UWB module. The first UWB module determines the distance between the first UWB module and the third UWB module in the autonomous mobile device based on the third distance measurement information, If the distance between the first UWB module and the third UWB module in the autonomous mobile device is within a second distance threshold range, the first UWB module provided in the autonomous mobile device is determined to be functioning correctly. The further step includes determining that the first UWB module and / or the third UWB module in the autonomous mobile device are malfunctioning if the distance between them is outside the second distance threshold range, and controlling the autonomous mobile device to stop moving. A method for adjusting the trajectory of an autonomous mobile device according to any one of features 1 to 8.

15. If the first UWB module has not received the third distance measurement trigger information transmitted from the third UWB module, the first UWB module provided on the autonomous mobile device is found to be malfunctioning, and / or the third UWB module is found to be malfunctioning, and the autonomous mobile device is controlled to stop moving. The trajectory adjustment method for an autonomous mobile device according to feature 14.

16. The third UWB module of the autonomous mobile device is in announcer mode, and the first UWB module of the autonomous mobile device is in monitor mode. The trajectory adjustment method for an autonomous mobile device according to feature 14.

17. A method for adjusting the trajectory of an autonomous mobile device applied to a target obstacle object, The target fault object is provided with at least one second UWB module, and the second UWB module includes a Bluetooth unit and a UWB chip. The aforementioned method, The steps include broadcasting first distance measurement trigger information based on the Bluetooth unit of the second UWB module, When a first distance measurement request returned by the autonomous mobile device based on the first distance measurement trigger information is received, the steps include determining first distance measurement information based on the first distance measurement request, wherein the autonomous mobile device is provided with at least one first UWB module, The step of transmitting the first distance measurement information to the autonomous mobile device so that the autonomous mobile device adjusts the movement trajectory of the autonomous mobile device based on the first distance measurement information, A method for adjusting the trajectory of an autonomous mobile device, characterized by the following features.

18. The second UWB module of the target fault object is in announcer mode, and when the second UWB module is in announcer mode, it is configured to broadcast the first distance measurement trigger information. A method for adjusting the trajectory of an autonomous mobile device according to feature 17.

19. The target fault object is provided with at least one fourth UWB module. The aforementioned method, A step of receiving a fourth distance measurement trigger information transmitted from a target detection UWB module based on the Bluetooth unit of the fourth UWB module, wherein a plurality of detection UWB modules are provided in the warehouse system, each of the plurality of detection UWB modules is provided at a plurality of fixed positions in the warehouse system, and the plurality of detection UWB modules includes the target detection UWB module, The steps include: transmitting a fourth distance measurement request to the target detection UWB module via the UWB chip of the fourth UWB module based on the fourth distance measurement trigger information; The steps include: obtaining the fourth distance measurement information returned by the target detection UWB module based on the fourth distance measurement request, and determining the distance between the target obstacle object and the target detection UWB module based on the fourth distance measurement information; If the distance between the target fault object and the target detection UWB module is within a third distance threshold range, the step of determining that the fourth UWB module provided on the target fault object is normal, The further step includes determining that a fourth UWB module provided on the target fault object and / or the target detection UWB module is abnormal if the distance between the target fault object and the target detection UWB module is outside the third distance threshold range, and outputting alarm information. A method for adjusting the trajectory of an autonomous mobile device according to feature 17 or 18.

20. If the fourth UWB module has not received the fourth distance measurement trigger information transmitted from the target detection UWB module, the fourth UWB module provided on the target fault object is found to be malfunctioning, and / or the target detection UWB module is found to be malfunctioning, and the process further includes the step of outputting alarm information. A method for adjusting the trajectory of an autonomous mobile device according to feature 19.

21. The plurality of detection UWB modules are uniformly distributed on the top of the warehouse system, and / or the plurality of detection UWB modules are uniformly distributed at the plurality of charging stations of the warehouse system. A method for adjusting the trajectory of an autonomous mobile device according to feature 19.

22. The target detection UWB module is in announcer mode, and the fourth UWB module is in monitor mode. A method for adjusting the trajectory of an autonomous mobile device according to feature 19.

23. The target fault object is provided with at least one fourth UWB module. The aforementioned method, The steps include broadcasting a fifth distance measurement trigger information based on the Bluetooth unit of the second UWB module, The steps include receiving the fifth distance measurement trigger information based on the Bluetooth unit of the fourth UWB module, The steps include: transmitting a fifth distance measurement request to the second UWB module via the UWB chip of the fourth UWB module based on the fifth distance measurement trigger information; When the second UWB module receives the fifth distance measurement request, it determines the fifth distance measurement information based on the fifth distance measurement request and transmits the fifth distance measurement information to the fourth UWB module. The fourth UWB module determines the distance between the fourth UWB module and the second UWB module at the target obstacle object based on the fifth distance measurement information, If the distance between the fourth UWB module and the second UWB module in the target fault object is within a fourth distance threshold range, the fourth UWB module provided in the target fault object is determined to be normal. The further step includes determining that the fourth UWB module and / or the second UWB module in the target fault object are abnormal and / or outputting alarm information if the distance between the fourth UWB module and the second UWB module in the target fault object is outside the fourth distance threshold range, A method for adjusting the trajectory of an autonomous mobile device according to feature 17 or 18.

24. If the fourth UWB module has not received the fifth distance measurement trigger information transmitted from the second UWB module, the fourth UWB module provided on the target fault object is found to be malfunctioning, and / or the second UWB module is found to be malfunctioning, and the process further includes the step of outputting alarm information. The trajectory adjustment method for an autonomous mobile device according to feature 23.

25. The second UWB module is in announcer mode, and the fourth UWB module is in monitor mode. The trajectory adjustment method for an autonomous mobile device according to feature 23.

26. A method for adjusting the trajectory of an autonomous mobile device applied to a UWB base station, The UWB base station is provided with at least one fifth UWB module, and the at least one fifth UWB module includes a Bluetooth unit and a UWB chip. The aforementioned method, The steps include receiving a device distance measurement request transmitted from an autonomous mobile device and an object distance measurement request transmitted from a target fault object, The steps include: determining the device position information of the autonomous mobile device based on the device distance measurement request, and determining the object position information of the target obstacle object based on the object distance measurement request; The process includes the steps of calculating the distance between the autonomous mobile device and the target obstacle object based on the device position information and the object position information, and generating adjustment information to adjust the movement trajectory of the autonomous mobile device based on the distance. A method for adjusting the trajectory of an autonomous mobile device, characterized by the following features.

27. A trajectory adjustment system for autonomous mobile devices, The trajectory adjustment system includes an autonomous mobile device and a target obstacle object, the autonomous mobile device is provided with at least one first UWB module, the obstacle object is provided with at least one second UWB module, the at least one first UWB module is in monitor mode, the at least one first UWB module transmits a first distance measurement request based on first distance measurement trigger information received in monitor mode, the at least one second UWB module is in announcer mode, and broadcasts the first distance measurement trigger information when the at least one second UWB module is in announcer mode, and both the at least one first UWB module and the at least one second UWB module include a Bluetooth unit and a UWB chip. The target obstacle object is configured to output first distance measurement trigger information based on the Bluetooth unit of the second UWB module. The autonomous mobile device is configured to receive first distance measurement trigger information transmitted from the target obstacle object based on the Bluetooth unit of the first UWB module, and to transmit a first distance measurement request to the target obstacle object via the UWB chip of the first UWB module based on the first distance measurement trigger information. The target obstacle object is further configured to transmit first distance measurement information to the autonomous mobile device based on the first distance measurement request. The autonomous mobile device is further configured to determine the current position information of a target obstacle object based on the first distance measurement information, and to adjust the movement trajectory of the autonomous mobile device based on the current position information. A trajectory adjustment system for autonomous mobile devices, characterized by the following features.

28. The autonomous mobile device further, If device failure information is detected, the monitor mode of the first UWB module is adjusted to announcer mode. The Bluetooth unit is configured to output fault distance detection trigger information for the autonomous mobile device. Trajectory adjustment system for an autonomous mobile device according to feature 27.

29. The trajectory adjustment system further includes a target autonomous movement device. The aforementioned target autonomous mobile device is The system receives fault distance trigger information transmitted from the autonomous mobile device. Based on the fault distance measurement trigger information, a fault distance measurement request is sent to the autonomous mobile device. Based on the current distance measurement information returned by the autonomous mobile device in response to the fault distance measurement request, the fault location information of the autonomous mobile device is determined. It is configured to report the fault location information and acquire obstacle avoidance trajectory information. Trajectory adjustment system for an autonomous mobile device according to feature 28.

30. A computing device comprising memory, a processor, and computer instructions stored in memory and executable by the processor, wherein when the processor executes the computer instructions, a step of the method according to any one of claims 1 to 26 is realized. A computing device characterized by the following features.

31. A computer-readable storage medium in which computer instructions are stored, wherein when the computer instructions are executed by a processor, the steps of the method according to any one of claims 1 to 26 are realized. A computer-readable storage medium characterized by the following features.

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