Robot parking method and apparatus, device, and readable storage medium

Abstract

A robot parking method and apparatus, a device, and a readable storage medium. The robot parking method comprises: in a work start area, obtaining first laser radar data of the surrounding environment around a robot by means of a laser radar on the robot (S201); according to the first laser radar data, determining first coordinate information of the robot in a first coordinate system (S202); obtaining second coordinate information of a first marker, which is in a parking area, in the first coordinate system (S203); according to a first relative position relationship between the first coordinate information and the second coordinate information, determining third coordinate information of the first marker in a second coordinate system in which the laser radar is located (S204); according to the third coordinate information, generating a first movement path for the robot (S205); and moving along the first movement path from the work start area to the parking area (S206).

Description

Robot parking method, device, equipment and readable storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application 202311756409.1, filed on December 20, 2023, entitled “A robot parking method, device, equipment and readable storage medium,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the field of path navigation, and in particular to a robot parking method, device, equipment and readable storage medium. Background Art

[0004] Currently, there are three main approaches to guiding a robot to automatically leave its parking area to perform work and then automatically return to it. The first approach involves a human manually controlling the robot to leave and return to its parking area. The second approach involves using a camera to identify landmarks and guide the robot to autonomous parking. The third approach involves drawing lines or applying QR codes on the road surface, forcing the robot to follow these lines or codes to achieve autonomous parking (Automated Guided Vehicle (AGV) robot mode).

[0005] However, the manual remote control method of parking the robot in solution one requires a lot of manpower, has low remote control efficiency and accuracy, and has a low degree of automation. Solution two uses a camera to identify markers, but in outdoor environments such as bright sunlight or low light, the camera has difficulty seeing the markers, so the accuracy in outdoor environments is relatively low. Solution three, which involves drawing lines or applying QR codes on the ground, is not flexible enough. The robot must strictly follow the predetermined route, and the ground must be drawn or coded in advance, which is not convenient. Summary of the Invention

[0006] The embodiments of the present application provide a robot parking method, apparatus, device, and readable storage medium, which can automatically and accurately move to a parking area without being restricted by lighting conditions.

[0007] In a first aspect, an embodiment of the present application provides a robot parking method, which includes: in a work starting area, obtaining first laser radar data of the robot's surrounding environment through a laser radar on the robot; determining the first coordinate information of the robot in a first coordinate system based on the first laser radar data; obtaining the second coordinate information of a first marker in the parking area in the first coordinate system; determining the third coordinate information of the first marker in the second coordinate system where the laser radar is located based on a first relative position relationship between the first coordinate information and the second coordinate information; generating a first movement path of the robot based on the third coordinate information; and moving from the work starting area to the parking area along the first movement path.

[0008] According to the implementation scheme of the first aspect of the present application, moving from the working starting area to the parking area along the first moving path includes: moving from the working starting area along the first moving path, scanning the robot's surrounding environment in real time according to the laser radar during the movement to obtain real-time updated second laser radar data; determining the real-time coordinate information of the first marker in the second coordinate system where the laser radar is located according to the second laser radar data and the second coordinate information; adjusting the first moving path according to the real-time coordinate information to obtain a real-time second moving path; and moving to the parking area along the second moving path.

[0009] According to any of the aforementioned embodiments of the first aspect of the present application, the real-time coordinate information includes the angle between the orientation of the robot and the first coordinate axis of the first coordinate system. After moving from the working starting area to the parking area along the first moving path, the method also includes: scanning the first marker through a laser radar to determine whether the parking area has been reached; if the judgment result is that the parking area has been reached, adjusting the orientation of the robot according to the real-time coordinate information.

[0010] According to any of the aforementioned embodiments of the first aspect of the present application, the first marker has laser reflectivity, and the shape, size and height of the first marker are adapted to the site of the berthing area.

[0011] According to any of the aforementioned embodiments of the first aspect of the present application, the robot is provided with an optical camera, the first marker has a color and / or pattern that is easy for the optical camera to identify, and the first marker in the parking area is scanned by a laser radar to determine whether the target parking area has been reached, including: scanning the first marker in the parking area by a laser radar to obtain data information of the first marker; judging whether the first marker is the target marker based on the data information and the recognition result of the optical camera; and judging whether the parking area has been reached based on the judgment result.

[0012] According to any of the aforementioned embodiments of the first aspect of the present application, in the working starting area, before obtaining the first laser radar data of the robot's surrounding environment through the laser radar on the robot, the method also includes: establishing a first coordinate system, the first coordinate system includes a spatial coordinate origin and a spatial coordinate axis, and the spatial coordinate axis includes a first coordinate axis and a second coordinate axis; entering the second coordinate information, the fourth coordinate information of the parking area in the first coordinate system, and the fifth coordinate information of the working starting area in the first coordinate system in the first coordinate system; obtaining a third moving path based on the fourth coordinate information, the fifth coordinate information and the mileage in real time calculation; and moving from the parking area to the working starting area along the third moving path.

[0013] According to any of the aforementioned embodiments of the first aspect of the present application, a second marker is provided in the working starting area. After moving from the parking area to the working starting area along the third moving path, the method further includes: scanning the second marker by a laser radar to determine whether the working starting area has been reached; if the judgment result is that the working starting area has been reached, obtaining the sixth coordinate information of the robot in the first coordinate system; the sixth coordinate information includes the angle between the orientation of the robot and the first coordinate axis; and adjusting the orientation of the robot according to the sixth coordinate information.

[0014] In a second aspect, an embodiment of the present application provides a robot parking device, which includes: a first acquisition module, used to acquire first laser radar data of the robot's surrounding environment through a laser radar on the robot in a working starting area; a first determination module, used to determine the first coordinate information of the robot in a first coordinate system based on the first laser radar data; a second acquisition module, used to acquire the second coordinate information of a first marker in the parking area in the first coordinate system; a second determination module, used to determine the third coordinate information of the first marker in the second coordinate system where the laser radar is located based on a first relative position relationship between the first coordinate information and the second coordinate information; a generation module, used to generate a first movement path of the robot based on the third coordinate information; and a movement module, used to move from the working starting area to the parking area along the first movement path.

[0015] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the robot parking method as in the first aspect is implemented.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the robot parking method according to the first aspect is implemented.

[0017] The robot parking method, device, equipment and readable storage medium of the embodiments of the present application, since the robot is provided with a laser radar, the robot's surrounding environment can be scanned by the laser radar in the work starting area, thereby determining the first coordinate information of the robot in the first coordinate system. And because the second coordinate information of the first marker in the first coordinate system is known, the first coordinate information of the first marker can be converted into third coordinate information with the laser radar as the coordinate origin based on the first relative relationship between the laser radar and the first marker, so that a first moving path from the coordinate origin to the laser radar can be generated. The robot can move along this moving path, thereby moving from the work starting area to the parking area. It is achieved that the robot can automatically and accurately move to the parking area without being restricted by lighting conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] FIG1 is a schematic diagram of a robot movement area provided in an embodiment of the present application;

[0020] FIG2 is a flow chart of a robot parking method provided in an embodiment of the present application;

[0021] FIG3 is another schematic flow chart of a robot parking method according to an embodiment of the present application;

[0022] FIG4 is a schematic structural diagram of a first marker provided in an embodiment of the present application;

[0023] FIG5 is another schematic flow chart of a robot parking method according to an embodiment of the present application;

[0024] FIG6 is a schematic structural diagram of a robot parking device provided in an embodiment of the present application;

[0025] FIG7 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0027] The acquisition, storage, use, and processing of data in this application's technical solution comply with relevant national laws and regulations.

[0028] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0029] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0030] It will be apparent to those skilled in the art that various modifications and variations can be made in this application without departing from the spirit or scope of this application. Therefore, this application is intended to cover modifications and variations of this application that fall within the scope of the corresponding claims (technical solutions claimed for protection) and their equivalents. It should be noted that the embodiments provided in the examples of this application can be combined with each other without contradiction.

[0031] Before describing the technical solutions provided by the embodiments of the present application, in order to facilitate understanding of the embodiments of the present application, the present application first specifically describes the problems existing in the related art:

[0032] Currently, there are three main approaches to guiding a robot to automatically leave its parking area to perform work and then automatically return to it. The first approach involves a human manually controlling the robot to leave and return to its parking area. The second approach involves using a camera to identify landmarks and guide the robot to autonomous parking. The third approach involves drawing lines or applying QR codes on the road surface, forcing the robot to follow these lines or codes to achieve autonomous parking (Automated Guided Vehicle (AGV) robot mode).

[0033] However, the manual remote control method of parking the robot in solution one requires a lot of manpower, has low remote control efficiency and accuracy, and has a low degree of automation. Solution two uses a camera to identify markers, but in outdoor environments such as bright sunlight or low light, the camera has difficulty seeing the markers, so the accuracy in outdoor environments is relatively low. Solution three, which involves drawing lines or applying QR codes on the ground, is not flexible enough. The robot must strictly follow the predetermined route, and the ground must be drawn or coded in advance, which is not convenient.

[0034] In order to solve the problems in the above-mentioned related technologies, an embodiment of the present application provides a robot parking method, device, equipment and readable storage medium. The following first introduces a robot parking method provided by an embodiment of the present application.

[0035] In order to facilitate the understanding of the robot parking method, the robot moving area schematic diagram is first briefly introduced. Figure 1 is a schematic diagram of the robot moving area provided in an embodiment of the present application. As shown in Figure 1, in the present application, the moving range of the robot Q includes the working starting area A, the parking area B and the working area D. The parking area B is provided with a first marker C. The relevant information of the first coordinate system XOY is established in the robot Q, and the origin O(0, 0) of the first coordinate system XOY and the X-axis and Y-axis directions are specified to facilitate the subsequent coordinate positioning of each area and the first marker C.

[0036] The arrow within the robot in Figure 1 represents the robot's frontal orientation. Figure 1 shows the robot's orientation within the work start area A as it returns from the work start area A to the parking area B. When robot Q reaches the parking area B, the robot's orientation is adjusted to face the X-axis of the first coordinate system XOY, facilitating its movement to the work start area A for security checks and other tasks. When the robot moves from the parking area B to the work start area A, it now faces the work area D. The robot's posture in the work start area A and parking area B can be configured based on the specific task and application environment, and should be configured to different appropriate states for different tasks and application environments.

[0037] The following is a detailed introduction to a robot parking method provided in an embodiment of the present application.

[0038] FIG2 is a flow chart of a robot parking method provided in an embodiment of the present application. As shown in FIG2 , the robot parking method 200 may include: S201 to S206 .

[0039] S201. In a work starting area, first laser radar data of the robot's surrounding environment is obtained through a laser radar on the robot.

[0040] S202. Determine first coordinate information of the robot in a first coordinate system based on the first laser radar data.

[0041] LiDAR is a radar system that uses laser beams to detect target characteristics such as position and velocity. Its operating principle is essentially the same as that of microwave radar: a detection signal (laser beam) is transmitted toward the target. The received signal reflected from the target (target echo) is then compared with the transmitted signal. After appropriate processing, relevant target information such as distance, direction, altitude, speed, attitude, and even shape can be obtained.

[0042] In the embodiment of the present application, the laser radar may include a 2D laser radar and a 3D laser radar. The laser radar is used to scan the robot's surrounding environment to obtain first laser radar data, and the first coordinate information of the robot's current position in the first coordinate system can be obtained through the first laser radar data.

[0043] S203: Acquire second coordinate information of the first marker in the parking area in the first coordinate system.

[0044] The first marker is used to indicate the spatial location of the parking area. In some embodiments, the first marker is laser reflective, and its shape, size, and height are adapted to the location of the parking area. The marker's laser reflectivity facilitates identification by a laser radar. The center point of the first marker has a fixed positional relationship with the center point of the parking area. By moving toward the marker's location, the robot can move to the parking area. The relative positional relationship between the center of the marker and the center of the parking area allows the robot to move to the center of the parking area. The robot can move to the center of the parking area based on the location of the first marker's center.

[0045] S203 means obtaining the coordinates (Xm, Ym, Am) of the first marker in the first coordinate system as the second coordinate information, where Am is the angle between the positive direction of the first marker and the X axis in the first coordinate system.

[0046] S204. Determine the third coordinate information of the first marker in the second coordinate system where the laser radar is located based on the first relative position relationship between the first coordinate information and the second coordinate information.

[0047] The second coordinate system takes the laser radar position as the coordinate origin. Through S202 and S203, the position of the robot in the first coordinate system and the position of the first marker in the first coordinate system are known. Through the relative position relationship between the two, the third coordinate information of the first marker in the coordinate system with the laser radar as the origin can be calculated.

[0048] S205: Generate a first moving path of the robot according to the third coordinate information.

[0049] The robot combines its own position and the third coordinate information of the first marker to generate a first movement path for the robot to move from its own position to the center of the first marker.

[0050] S206 , moving along the first moving path from the work starting area to the parking area.

[0051] In the robot parking method of the embodiment of the present application, since the robot is provided with a laser radar, the robot's surrounding environment can be scanned by the laser radar in the work starting area, thereby determining the first coordinate information of the robot in the first coordinate system. Because the second coordinate information of the first marker in the first coordinate system is known, the first coordinate information of the first marker can be converted into third coordinate information with the laser radar as the coordinate origin based on the first relative relationship between the laser radar and the first marker, thereby generating a first moving path from the coordinate origin to the laser radar. The robot can move along this moving path, thereby moving from the work starting area to the parking area. This ensures that the robot can automatically and accurately move to the parking area without being restricted by lighting conditions.

[0052] Figure 3 is another flow chart of the robot parking method provided in an embodiment of the present application. As shown in Figure 3, in some embodiments, S206, moving from the working starting area to the parking area along the first moving path, may include: S301 to S304.

[0053] S301, moving from a work starting area along a first moving path, and during the movement, scanning the robot's surrounding environment in real time according to the laser radar to obtain a second laser radar data updated in real time.

[0054] S302. Determine the real-time coordinate information of the first marker in the second coordinate system where the laser radar is located based on the second laser radar data and the second coordinate information.

[0055] S303: Adjust the first moving path according to the real-time coordinate information to obtain a real-time second moving path.

[0056] S304: Move to the parking area along the second moving path.

[0057] Steps S301 to S304 describe how, as the robot moves along the first movement path from the starting area to the parking area, it scans its surroundings in real time using a laser radar to obtain updated coordinate information for the first marker and corrects any motion deviations in real time until it is accurately parked at the center of the parking area. Because the center of the first marker and the center of the parking area have a fixed positional relationship, the robot can be moved to the parking area by moving toward the marker. The relative positional relationship between the center of the marker and the center of the parking area allows the robot to be moved to the center of the parking area.

[0058] In some embodiments, the real-time coordinate information includes an angle between the robot's orientation and a first coordinate axis of the first coordinate system, where the first coordinate axis may be an X-axis. After moving from the work starting area to the parking area along the first movement path in step S206 , the robot parking method 200 may further include steps 1 and 2.

[0059] Step 1: Scan the first marker through the laser radar to determine whether it has reached the parking area.

[0060] Step 1 is that the robot has moved to the vicinity of the parking area and can scan the first marker. By scanning the first marker, it is determined whether the robot has reached the parking area based on information such as the shape and size of the first marker.

[0061] In some embodiments, the shape of the first marker can be seen in Figure 4. As shown in Figure 4, the first marker can be a rectangular parallelepiped structure, a combination of multiple cubes, or a combination of multiple cylinders. Figure 4 is only an example of the first marker; the first marker can also have other shapes or structures as long as they can be identified by the laser radar. Optionally, the first marker has good laser reflectivity, and the shape, size, and height of the first marker are compatible with the ground of the parking area.

[0062] In some embodiments, the laser radar includes a 2D laser radar and a 3D laser radar. The 2D laser radar identifies the cross-sectional shape of the first marker, while the 3D laser radar identifies the spatial shape of the first marker. Both 2D and 3D laser radars can be used to complete the task of identifying the first marker.

[0063] Step 2: If the robot reaches the parking area, adjust the robot's orientation based on the real-time coordinate information.

[0064] After arriving at the parking area, the robot's orientation is adjusted based on the coordinate information obtained from the stopping point and the angle between the robot's orientation and the X-axis. Generally, the robot's front is facing the Y-axis direction, which facilitates the robot's departure to the work area for work.

[0065] In some embodiments, the robot is provided with an optical camera, and the first marker has a color and / or pattern that is easy for the optical camera to identify. The optical camera can be used as a further verification after the laser radar verifies whether it is the first marker, thereby ensuring the accuracy of the verification result.

[0066] Step 1: Scanning the first marker in the parking area by laser radar to determine whether the target parking area has been reached may include: Step 3 to Step 5.

[0067] Step 3: Scan the first marker in the parking area through the laser radar to obtain data information of the first marker.

[0068] Step 4: Determine whether the first marker is the target marker based on the data information and the recognition result of the optical camera.

[0069] Step 5: Determine whether the vehicle has reached the parking area based on the judgment result.

[0070] Steps 3 to 5 involve using the laser radar to identify the first marker while also using an optical camera to assist in verification and enhance the accuracy of the recognition results. It should be noted that when using an optical camera, the first marker must have a color and / or pattern that is easy for the optical camera to recognize.

[0071] FIG5 is another flowchart of a robot parking method provided in an embodiment of the present application. As shown in FIG5 , before S201, in the work starting area, obtaining first lidar data of the robot's surrounding environment by a lidar on the robot, the robot parking method may further include:

[0072] S501 : Establish a first coordinate system, where the first coordinate system includes a spatial coordinate origin and spatial coordinate axes, and the spatial coordinate axes include a first coordinate axis and a second coordinate axis.

[0073] The relevant information of the first coordinate system can be seen in conjunction with FIG1 . The spatial coordinate origin is O, and the spatial coordinate axes include a first coordinate axis X and a second coordinate axis Y.

[0074] S502 : Enter the second coordinate information, the fourth coordinate information of the parking area in the first coordinate system, and the fifth coordinate information of the work starting area in the first coordinate system in the first coordinate system.

[0075] The second coordinate information is the coordinates of the first marker in the first coordinate system (Xm, Ym, Am). The fourth coordinate information of the parking area in the first coordinate system can be the position coordinates of the center of the parking area in the first coordinate system (Xp, Yp, Ap), where Ap is the angle between the positive direction of the robot and the X-axis when the robot is parked. The fifth coordinate information of the work starting area in the first coordinate system can be the position coordinates of the center position of the work starting area (Xb, Yb, Ab), where Ab is the angle between the positive direction of the robot and the X-axis when the robot moves to the work starting area and starts working.

[0076] S503: Obtain a third moving path based on the fourth coordinate information, the fifth coordinate information, and the mileage in real time.

[0077] The third moving path is the moving path from the parking area to the work starting area. Since the parking area and the work starting area are both fixed positions, in addition to the S503 method, a route can also be directly set on the robot, and the robot can move directly from the parking area to the work starting area according to the set route.

[0078] S504: Move along the third moving path from the parking area to the work starting area.

[0079] In some embodiments, the work starting area may be provided with a second marker. After the robot moves from the parking area to the work starting area along the third movement path, the robot parking method may further include steps six to eight.

[0080] Step 6: Scan the second marker through the laser radar to determine whether it has reached the working starting area.

[0081] A second marker can be used to indicate the spatial location of the work starting area. Similar to the first marker, the second marker is laser reflective, and its shape, size, and height are adapted to the work starting area. In other embodiments, a mark (a line or other pattern) can be drawn on the work starting area, and the robot can accurately move to the work starting area by recognizing the ground pattern.

[0082] Step 7: When the result of the judgment is that the robot has reached the work starting area, obtain the sixth coordinate information of the robot in the first coordinate system; the sixth coordinate information includes the angle between the orientation of the robot and the first coordinate axis.

[0083] Step 8: Adjust the robot's orientation based on the sixth coordinate information.

[0084] Adjust the robot's orientation based on the angle between the robot's front face and the X-axis after the robot reaches the work starting area, so that the robot faces the work area, making it easier for the robot to reach the work area for work.

[0085] Based on the same technical concept as the robot parking method provided in the above embodiment, the present application also provides a robot parking device. Please see the following embodiment.

[0086] Figure 6 is a structural schematic diagram of a robot parking device provided in an embodiment of the present application. As shown in Figure 6, the robot parking device 600 may include: a first acquisition module 601, a first determination module 602, a second acquisition module 603, a second determination module 604, a generation module 605 and a motion module 606.

[0087] The first acquisition module 601 is used to acquire first laser radar data of the robot's surrounding environment through the laser radar on the robot in the work starting area;

[0088] A first determining module 602 is configured to determine first coordinate information of the robot in a first coordinate system based on the first laser radar data;

[0089] A second acquisition module 603 is configured to acquire second coordinate information of a first marker in the parking area in the first coordinate system;

[0090] A second determining module 604 is configured to determine third coordinate information of the first marker in the second coordinate system where the laser radar is located based on a first relative position relationship between the first coordinate information and the second coordinate information;

[0091] A generating module 605 is configured to generate a first moving path of the robot according to the third coordinate information;

[0092] The movement module 606 is configured to move from the work starting area to the parking area along a first movement path.

[0093] In some embodiments, the motion module 606 is specifically used to move from the working starting area along the first moving path, and the first acquisition module 601 is also used to scan the robot's surrounding environment in real time according to the laser radar during the movement to obtain real-time updated second laser radar data; the first determination module 602 is also used to determine the real-time coordinate information of the first marker in the second coordinate system where the laser radar is located based on the second laser radar data and the second coordinate information; the generation module 605 is also used to adjust the first moving path according to the real-time coordinate information to obtain a real-time second moving path; the motion module is also used to move to the parking area along the second moving path.

[0094] In some embodiments, the robot parking device 600 also includes a judgment module, which is specifically used to scan the first marker through a laser radar to determine whether the parking area has been reached; the robot parking device 600 also includes an adjustment module, which is used to adjust the orientation of the robot according to real-time coordinate information when the judgment result is that the robot has reached the parking area.

[0095] In some embodiments, the first marker is laser reflective, and the shape, size, and height of the first marker are adapted to the site of the parking area.

[0096] In some embodiments, the robot is provided with an optical camera, and the first marker has a color and / or pattern that is easy for the optical camera to identify. The judgment module is specifically used to scan the first marker in the parking area through a laser radar to obtain data information of the first marker. Based on the data information and the recognition result of the optical camera, it is judged whether the first marker is the target marker; based on the judgment result, it is judged whether the parking area has been reached.

[0097] In some embodiments, the robot parking device 600 also includes an establishment module and an entry module. The establishment module is specifically used to establish a first coordinate system, the first coordinate system includes a spatial coordinate origin and a spatial coordinate axis, and the spatial coordinate axis includes a first coordinate axis and a second coordinate axis; the entry module is specifically used to enter the second coordinate information, the fourth coordinate information of the parking area in the first coordinate system, and the fifth coordinate information of the working starting area in the first coordinate system in the first coordinate system; the generation module 605 is also used to obtain a third moving path based on the fourth coordinate information, the fifth coordinate information and the mileage in real time calculation; the movement module 606 is also used to move from the parking area to the working starting area along the third moving path.

[0098] In some embodiments, a second marker is provided in the working starting area, and the judgment module is further used to scan the second marker through a laser radar to determine whether the working starting area has been reached; when the judgment result is that the working starting area has been reached, the sixth coordinate information of the robot in the first coordinate system is obtained; the sixth coordinate information includes the angle between the orientation of the robot and the first coordinate axis; the adjustment module is further used to adjust the orientation of the robot according to the sixth coordinate information.

[0099] The robot parking method, device, equipment and readable storage medium of the embodiments of the present application, since the robot is provided with a laser radar, the robot's surrounding environment can be scanned by the laser radar in the work starting area, thereby determining the first coordinate information of the robot in the first coordinate system. And because the second coordinate information of the first marker in the first coordinate system is known, the first coordinate information of the first marker can be converted into third coordinate information with the laser radar as the coordinate origin based on the first relative relationship between the laser radar and the first marker, so that a first moving path from the coordinate origin to the laser radar can be generated. The robot can move along this moving path, thereby moving from the work starting area to the parking area. It is achieved that the robot can automatically and accurately move to the parking area without being restricted by lighting conditions.

[0100] FIG7 is a schematic diagram of an electronic device provided in an embodiment of the present application. As shown in FIG7 , the electronic device includes: a processor 701 and a memory 702 storing computer program instructions.

[0101] Specifically, the processor 701 may include a central processing unit (CPU) or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0102] Memory 702 may include a large capacity memory for data or instructions. By way of example and not limitation, memory 702 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 702 may include removable or non-removable (or fixed) media. Where appropriate, memory 702 may be internal or external to the electronic device. In a particular embodiment, memory 702 is a non-volatile solid-state memory.

[0103] The memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to the first aspect of the present application.

[0104] The processor 701 implements any one of the robot parking methods in the above embodiments by reading and executing computer program instructions stored in the memory 702 .

[0105] In one example, an electronic device may further include a communication interface 703 and a bus 710. As shown in FIG7, the processor 701, the memory 702, and the communication interface 703 are connected via the bus 710 and communicate with each other.

[0106] The communication interface 703 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0107] Bus 710 includes hardware, software, or both that couples components of the terminal services device to each other. By way of example, and not limitation, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Linear Predictive Coding (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (Peripheral Component Interconnect-X, PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VESA Local Bus, VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 710 may include one or more buses. Although embodiments herein describe and illustrate a particular bus, this application contemplates any suitable bus or interconnect.

[0108] The device can execute the robot parking method in the embodiment of the present application based on various units / components in the data processing system, thereby realizing the robot parking method described in combination with Figures 2, 3 and 5.

[0109] In addition, in conjunction with the robot parking method in the above embodiments, the present application can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any one of the robot parking methods in the above embodiments is implemented.

[0110] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0111] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link via a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, read-only memories (ROMs), flash memories, erasable read-only memories (EROMs), floppy disks, compact disc read-only memories (CD-ROMs), optical discs, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0112] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0113] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It is also understood that each box in the block diagram and / or flowchart and the combination of the boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0114] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A robot parking method, comprising: In the work starting area, obtaining first laser radar data of the robot's surrounding environment by using the laser radar on the robot; Determine first coordinate information of the robot in a first coordinate system according to the first laser radar data; Acquire second coordinate information of a first marker in the parking area in the first coordinate system; Determine, according to a first relative position relationship between the first coordinate information and the second coordinate information, third coordinate information of the first marker in the second coordinate system where the laser radar is located; generating a first moving path of the robot according to the third coordinate information; Move from the work starting area to the parking area along the first moving path.

2. The robot parking method according to claim 1, wherein: The step of moving from the work starting area to the parking area along the first moving path includes: Move from the working starting area along the first moving path, and during the movement, scan the robot's surrounding environment in real time according to the laser radar to obtain real-time updated second laser radar data; Determine the real-time coordinate information of the first marker in the second coordinate system where the laser radar is located according to the second laser radar data and the second coordinate information; Adjust the first moving path according to the real-time coordinate information to obtain a real-time second moving path; Move to the parking area along the second moving path.

3. The robot parking method according to claim 2, wherein: The real-time coordinate information includes an angle between the orientation of the robot and a first coordinate axis of the first coordinate system. After the robot moves from the work starting area to the parking area along the first moving path, the method further includes: Scanning the first marker by the laser radar to determine whether the parking area has been reached; When the judgment result is that the robot has reached the parking area, the orientation of the robot is adjusted according to the real-time coordinate information.

4. The robot parking method according to claim 3, wherein: The first marker has laser reflectivity, and the shape, size and height of the first marker are adapted to the site of the parking area.

5. The robot parking method according to claim 3, wherein: The robot is provided with an optical camera, the first marker has a color and / or pattern that is easy for the optical camera to identify, and the first marker of the parking area is scanned by the laser radar to determine whether the target parking area has been reached, including: Scanning a first marker in the parking area by the laser radar to obtain data information of the first marker; Determining whether the first marker is a target marker according to the data information and a recognition result of the optical camera; Based on the judgment result, it is determined whether the parking area has been reached.

6. The robot parking method according to claim 1, wherein: Before acquiring first laser radar data of the robot's surrounding environment by the laser radar on the robot in the work starting area, the method further includes: Establishing the first coordinate system, wherein the first coordinate system includes a spatial coordinate origin and spatial coordinate axes, wherein the spatial coordinate axes include a first coordinate axis and a second coordinate axis; Enter the second coordinate information, the fourth coordinate information of the parking area in the first coordinate system, and the fifth coordinate information of the working starting area in the first coordinate system in the first coordinate system; Obtaining a third moving path according to the fourth coordinate information, the fifth coordinate information and the mileage in real time calculation; Move from the parking area to the work starting area along the third movement path.

7. The robot parking method according to claim 6, wherein: The work starting area is provided with a second marker, and after moving from the parking area to the work starting area along the third moving path, the method further includes: Scanning the second marker by the laser radar to determine whether it has reached the working starting area; When the result of the judgment is that the robot has reached the work starting area, obtaining sixth coordinate information of the robot in the first coordinate system; the sixth coordinate information includes an angle between the orientation of the robot and the first coordinate axis; The orientation of the robot is adjusted according to the sixth coordinate information.

8. A robot parking device, comprising: A first acquisition module is used to acquire first laser radar data of the robot's surrounding environment through the laser radar on the robot in the work starting area; A first determination module, used to determine first coordinate information of the robot in a first coordinate system according to the first laser radar data; A second acquisition module, used to acquire second coordinate information of a first marker in the parking area in the first coordinate system; A second determination module, configured to determine third coordinate information of the first marker in a second coordinate system where the laser radar is located according to a first relative position relationship between the first coordinate information and the second coordinate information; A generating module, used for generating a first moving path of the robot according to the third coordinate information; The motion module is used to move from the working starting area to the parking area along the first moving path.

9. An electronic device, comprising: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the robot parking method as described in any one of claims 1-7 is implemented.

10. A computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the robot parking method according to any one of claims 1 to 7.

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