CN110926469A

CN110926469A - Mobile robot control method and device and mobile robot real-time mapping method and device

Info

Publication number: CN110926469A
Application number: CN201811016861.3A
Authority: CN
Inventors: 王力
Original assignee: Hangzhou Hikrobot Technology Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2018-08-31
Filing date: 2018-08-31
Publication date: 2020-03-27
Anticipated expiration: 2038-08-31
Also published as: CN110926469B

Abstract

The invention discloses a mobile robot, a method and a device for controlling the mobile robot to build a map in real time, and belongs to the technical field of robots. The method comprises the following steps: acquiring attribute information of a landmark matched with current position information of the mobile robot in the driving process of the mobile robot, wherein the attribute information of the landmark comprises a first distance and/or a second distance, the first distance is the distance between the landmark and one lane line on the side of the landmark, and the second distance is the distance between the landmark and the other lane line on the side of the landmark; and controlling the mobile robot to travel according to a travel route formed by connecting a plurality of landmarks arranged on the ground according to the position information and the acquired attribute information of the landmarks. In the embodiment of the invention, the mobile robot is controlled to run according to the running route formed by connecting a plurality of landmarks by virtue of the attribute information of the landmarks, so that the problem that the mobile robot can only be controlled to run in the middle of the lane can be avoided, and the flexibility is improved.

Description

Mobile robot control method and device and mobile robot real-time mapping method and device

Technical Field

The invention relates to the technical field of robots, in particular to a mobile robot, a method and a device for controlling the mobile robot to build a map in real time.

Background

In today's society where human resources are expensive, in order to reduce labor costs, more and more companies use AGVs (Automated Guided vehicles) instead of people for carrying goods. When the AGV is used for carrying, a worker loads the goods on the AGV, an appointed running route is set for the AGV, and the AGV carries the goods to the destination from the starting position according to the appointed running route.

At present, the AGV cannot acquire attribute information of a lane line of a lane where the AGV is located, so that the designated driving route can only be located in the middle of the lane, and the AGV can only drive in the middle of the lane and is not flexible enough.

Disclosure of Invention

The invention provides a method and a device for controlling a mobile robot and establishing a diagram in real time by the mobile robot, which can solve the problem of poor flexibility in the prior art. The technical scheme is as follows:

in one aspect, the present invention provides a method of controlling a mobile robot, the method comprising:

acquiring attribute information of a landmark matched with current position information of the mobile robot in the driving process of the mobile robot, wherein the attribute information of the landmark comprises a first distance and/or a second distance, the first distance is the distance between the landmark and one lane line on the side of the landmark, and the second distance is the distance between the landmark and the other lane line on the side of the landmark;

and controlling the mobile robot to travel according to a travel route formed by connecting a plurality of landmarks arranged on the ground according to the position information and the acquired attribute information of the landmarks.

In one possible implementation manner, the obtaining of the attribute information of the landmark matched with the current position information of the mobile robot includes:

selecting a landmark matched with the position information from the plurality of landmarks according to the current position information of the mobile robot;

and acquiring the attribute information of the matched landmark from an attribute map of the driving route, wherein the attribute map comprises the attribute information of the plurality of landmarks.

In another possible implementation manner, before the obtaining of the attribute information of the landmark matched with the current position information of the mobile robot, the method further includes:

sending an acquisition request to control equipment, wherein the acquisition request is used for acquiring the attribute map;

and receiving the attribute map returned by the control equipment.

In another possible implementation manner, the controlling the mobile robot to travel along a travel route formed by connecting a plurality of landmarks set on the ground according to the position information and the acquired attribute information of the landmark includes:

determining a first actual distance between the mobile robot and a lane line at the side of the mobile robot, wherein the first actual distance comprises a third distance between the mobile robot and one lane line at the side of the mobile robot and/or a fourth distance between the mobile robot and another lane line at the side of the mobile robot;

determining the moving direction of the mobile robot according to the first actual distance and the attribute information, wherein the moving direction is the moving direction of the mobile robot returning to the driving route;

and controlling the mobile robot to travel according to the moving direction.

In another possible implementation manner, the determining the moving direction of the mobile robot according to the first actual distance and the attribute information includes:

determining a moving speed of the mobile robot and a specified regression time, wherein the specified regression time is a time required for the mobile robot to move to a driving route connected by the landmark;

determining a product of the moving speed and the specified regression time as a moving distance for the mobile robot to regress to the moving travel route, and determining a difference between a distance in the first actual distance and a distance in the attribute information as a first offset value between the mobile robot and the specified travel route;

determining an included angle between the mobile robot and a horizontal line according to the moving distance and the first deviation value;

and determining the included angle as the moving direction of the mobile robot.

In another aspect, the present invention provides a method for real-time mapping of a mobile robot, where the method further includes:

traversing a designated place, wherein a plurality of landmarks are arranged on the ground of the designated place;

when a landmark is traversed, acquiring attribute information of the landmark based on the landmark, wherein the attribute information of the landmark comprises a first distance and/or a second distance, the first distance is a distance between the landmark and one lane line on the side of the landmark, and the second distance is a distance between the landmark and another lane line on the side of the landmark;

and sending the attribute information of the landmark to control equipment, wherein the attribute information is used for constructing an attribute map.

In one possible implementation, the sending the attribute information of the landmark to the control device includes:

the attribute map is formed by the attribute information of the plurality of landmarks obtained by traversing, and the attribute map is sent to the control equipment; alternatively, the first and second electrodes may be,

and sending the attribute information of the landmark to the control equipment when traversing to a landmark and acquiring the attribute information of the landmark, wherein the attribute information is used for the control equipment to generate an attribute map based on the received attribute information of the landmark.

In another possible implementation manner, the obtaining attribute information of the landmark based on the landmark includes:

determining a second actual distance between the mobile robot and a lane line at the side of the mobile robot, wherein the second actual distance comprises a fifth distance between the mobile robot and one lane line at the side of the mobile robot and/or a sixth distance between the mobile robot and another lane line at the side of the mobile robot;

and determining attribute information of the landmark according to the second actual distance.

In another possible implementation manner, the determining attribute information of the landmark according to the second actual distance includes:

determining a second offset value between the landmark and the mobile robot;

determining a sum of the fifth distance and the second offset value as a first distance between the landmark and the one lane line and/or a difference between the sixth distance and the second offset value as a second distance between the landmark and the other lane line;

and the first distance and/or the second distance are/is formed into attribute information of the landmark.

In another aspect, the present invention provides an apparatus for controlling a mobile robot, the apparatus including:

the first acquisition module is used for acquiring attribute information of a landmark matched with the current position information of the mobile robot in the driving process of the mobile robot, wherein the attribute information of the landmark comprises a first distance and/or a second distance, the first distance is the distance between the landmark and one lane line at the side of the landmark, and the second distance is the distance between the landmark and the other lane line at the side of the landmark;

and the control module is used for controlling the mobile robot to run according to a running route formed by connecting a plurality of landmarks arranged on the ground according to the position information and the acquired attribute information of the landmarks.

In a possible implementation manner, the first obtaining module is further configured to select, according to current location information of the mobile robot, a landmark matched with the location information from the plurality of landmarks; and acquiring the attribute information of the matched landmark from an attribute map of the driving route, wherein the attribute map comprises the attribute information of the plurality of landmarks.

In another possible implementation manner, the first obtaining module is further configured to send an obtaining request to the control device, where the obtaining request is used to obtain the attribute map; and receiving the attribute map returned by the control equipment.

In another possible implementation manner, the control module is further configured to determine a first actual distance between the mobile robot and a lane line on a side of the mobile robot, where the first actual distance includes a third distance between the mobile robot and one lane line on the side of the mobile robot and/or a fourth distance between the mobile robot and another lane line on the side of the mobile robot; determining the moving direction of the mobile robot according to the first actual distance and the attribute information, wherein the moving direction is the moving direction of the mobile robot returning to the driving route; and controlling the mobile robot to travel according to the moving direction.

In another possible implementation manner, the control module is further configured to determine a moving speed of the mobile robot and a specified regression time, where the specified regression time is a time required for the mobile robot to move to a driving route connected by the landmark; determining a product of the moving speed and the specified regression time as a moving distance for the mobile robot to regress to the moving travel route, and determining a difference between a distance in the first actual distance and a distance in the attribute information as a first offset value between the mobile robot and the specified travel route; determining an included angle between the mobile robot and a horizontal line according to the moving distance and the first deviation value; and determining the included angle as the moving direction of the mobile robot.

In another aspect, the present invention provides an apparatus for real-time mapping of a mobile robot, where the apparatus further includes:

the traversing module is used for traversing in a specified place, and a plurality of landmarks are arranged on the ground of the specified place;

the second acquisition module is used for acquiring attribute information of the landmark based on the landmark when the landmark is traversed, wherein the attribute information of the landmark comprises a first distance and/or a second distance, the first distance is a distance between the landmark and one lane line on the side of the landmark, and the second distance is a distance between the landmark and the other lane line on the side of the landmark;

and the sending module is used for sending the attribute information of the landmark to the control equipment, and the attribute information is used for constructing an attribute map.

In a possible implementation manner, the sending module is further configured to compose the attribute map from the attribute information of the plurality of traversed landmarks, and send the attribute map to the control device; alternatively, the first and second electrodes may be,

the sending module is further configured to send attribute information of the landmark to the control device every time the control device traverses to a landmark and obtains the attribute information of the landmark, where the attribute information is used for the control device to generate an attribute map based on the received attribute information of the landmark.

In another possible implementation manner, the second obtaining module is further configured to determine a second actual distance between the mobile robot and a lane line on a side of the mobile robot, where the second actual distance includes a fifth distance between the mobile robot and one lane line on the side of the mobile robot and/or a sixth distance between the mobile robot and another lane line on the side of the mobile robot; and determining attribute information of the landmark according to the second actual distance.

In another possible implementation manner, the second obtaining module is further configured to determine a second offset value between the landmark and the mobile robot; determining a sum of the fifth distance and the second offset value as a first distance between the landmark and the one lane line and/or a difference between the sixth distance and the second offset value as a second distance between the landmark and the other lane line; and the first distance and/or the second distance are/is formed into attribute information of the landmark.

In the embodiment of the invention, in the running process of the mobile robot, the attribute information of the landmark matched with the current position information of the mobile robot is acquired, and the mobile robot is controlled to carry out information according to the running route formed by connecting a plurality of landmarks arranged on the ground according to the position information and the attribute information. The mobile robot can drive according to the driving route formed by connecting a plurality of landmarks by virtue of the attribute information of the landmarks, so that the problem that the mobile robot can only be controlled to drive in the middle of a lane can be avoided, and the flexibility is improved.

Drawings

FIG. 1 is a schematic illustration of an implementation environment provided by an embodiment of the invention;

fig. 2 is a flowchart of a method for controlling a mobile robot according to an embodiment of the present invention;

fig. 3 is a flowchart of a method for real-time mapping of a mobile robot according to an embodiment of the present invention;

FIG. 4 is a flowchart of a method for real-time mapping of a mobile robot according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of determining a first distance and a second distance provided by an embodiment of the present invention;

fig. 6 is a flowchart of a method for controlling a mobile robot according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of an apparatus for controlling a mobile robot according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of an apparatus for real-time mapping of a mobile robot according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a mobile robot according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

An embodiment of the present invention provides an implementation environment, referring to fig. 1, where the implementation environment includes a mobile robot 101 and a control device 102, and the mobile robot 101 and the control device 102 are connected through a wireless network, so that information interaction is performed between the mobile robot 101 and the control device 102.

The control device 102 stores an attribute map of a designated place, and a plurality of landmarks are arranged on the ground of the designated place, wherein the attribute map comprises attribute information of the plurality of landmarks, the attribute information of each landmark comprises a first distance and/or a second distance, the first distance is the distance between the landmark and one lane line at the side of the landmark, and the second distance is the distance between the landmark and another lane line at the side of the landmark.

The mobile robot 101 acquires an attribute map of a specified place from the control device 102, acquires attribute information of a landmark that matches current first position information of the mobile robot 101 while the mobile robot 101 is traveling, and controls the mobile robot 101 to travel along a travel route formed by connecting a plurality of landmarks set on the ground based on the first position information and the attribute information of the landmark.

The attribute map of the designated location stored in the control device 102 may be generated for the mobile robot 101 or may be generated for another mobile robot 101 other than the mobile robot 101, and is not particularly limited in the embodiment of the present invention.

It should be noted that the mobile robot 101 may be any device that can be controlled by the control device 102, such as a robot, a vehicle, or an AGV. The control device 102 may be any device capable of communicating with the mobile robot 101.

An embodiment of the present invention provides a method for controlling a mobile robot, and referring to fig. 2, the method includes:

step 201: the method comprises the steps of acquiring attribute information of a landmark matched with current position information of the mobile robot in the driving process of the mobile robot, wherein the attribute information of the landmark comprises a first distance and/or a second distance, the first distance is the distance between the landmark and one lane line on the side of the landmark, and the second distance is the distance between the landmark and the other lane line on the side of the landmark.

Step 202: and controlling the mobile robot to travel according to a travel route formed by connecting a plurality of landmarks arranged on the ground according to the position information and the acquired attribute information of the landmarks.

and receiving the attribute map returned by the control equipment.

and controlling the mobile robot to travel according to the moving direction.

and determining the included angle as the moving direction of the mobile robot.

The embodiment of the invention provides a method for establishing a diagram of a mobile robot in real time, and referring to fig. 3, the method comprises the following steps:

step 301: and traversing at a specified place, wherein a plurality of landmarks are arranged on the ground of the specified place.

Step 302: when traversing to a landmark, acquiring attribute information of the landmark based on the landmark, wherein the attribute information of the landmark comprises a first distance and/or a second distance, the first distance is a distance between the landmark and one lane line on the side of the landmark, and the second distance is a distance between the landmark and another lane line on the side of the landmark.

Step 303: and sending the attribute information of the landmark to control equipment, wherein the attribute information is used for constructing an attribute map.

In one possible implementation manner, the obtaining attribute information of the landmark based on the landmark includes:

determining a second offset value between the landmark and the mobile robot;

In the embodiment of the invention, the mobile robot traverses in a specified place, when the mobile robot traverses to a landmark, the attribute information of the landmark is acquired based on the landmark, and the attribute information of the landmark is sent to the control device, wherein the attribute information is used for constructing the attribute map. Therefore, the subsequent mobile robot or other mobile robots can acquire the attribute information of the landmark matched with the current position information of the mobile robot from the attribute map, and control the mobile robot to perform information according to the driving route formed by connecting a plurality of landmarks arranged on the ground according to the position information and the attribute information. The mobile robot can drive according to the driving route formed by connecting a plurality of landmarks by virtue of the attribute information of the landmarks, so that the problem that the mobile robot can only be controlled to drive in the middle of a lane can be avoided, and the flexibility is improved.

In the embodiment of the invention, a designated place can be traversed by at least one mobile robot, and a plurality of landmarks are arranged on the ground of the designated place. When traversing to a landmark, the mobile robot acquires the attribute information of the landmark based on the landmark, sends the attribute information of the landmark to the control device, and the attribute information is used for constructing an attribute map so as to generate the attribute map, and then sends the attribute map to the control device. The property map is downloaded from the control device by the other control device, and traveling is performed based on the property map. In the embodiment of the present invention, an example is described in which a mobile robot creates a map in real time to generate the attribute map, and referring to fig. 4, the method includes:

step 401: the mobile robot traverses a designated place, and a plurality of landmarks are arranged on the ground of the designated place.

In the stage of constructing the attribute map, the control equipment controls the mobile robot to traverse in a specified place. The designated site is any site controlled by the control equipment. For example, the designated site may be an in-factory, highway, national road, or the like of an enterprise. The landmark may be a landmark graphic code or a magnetic spike. The landmark graphic code can be a landmark two-dimensional code or a landmark bar code and the like. In the embodiment of the present invention, the landmark is not particularly limited.

Step 402: when traversing to the landmark, the mobile robot determines a second actual distance between the mobile robot and a lane line to the side of the mobile robot, the second actual distance comprising a fifth distance between the mobile robot and one lane line to the side of the mobile robot and/or a sixth distance between the mobile robot and another lane line to the side of the mobile robot.

The mobile robot determines the second actual distance directly by image processing. Correspondingly, the steps can be as follows: when the mobile robot traverses a landmark, the mobile robot shoots a ground lane to obtain a first image, a first pixel deviation between the mobile robot and one lane line on the side of the mobile robot and/or a second pixel deviation between the mobile robot and the other lane line on the side of the mobile robot are determined in the first image, and a fifth distance between the mobile robot and the one lane line on the side of the mobile robot and/or a sixth distance between the mobile robot and the other lane line on the side of the mobile robot are respectively determined from a corresponding relation between the pixel deviation and an actual deviation according to the first pixel deviation and/or the second pixel deviation.

Before this step, the mobile robot determines the correspondence between the pixel deviation and the actual deviation value, and stores the correspondence between the pixel deviation and the distance. In addition, a camera is installed right below the mobile robot, and the mobile robot shoots a ground lane through the camera to obtain a first image.

Step 403: and the mobile robot determines the attribute information of the landmark according to the second actual distance.

In a first implementation, the mobile robot may directly compose the second actual distance into attribute information of the landmark.

In a second implementation, the mobile robot may determine attribute information of the landmark at a second actual distance in combination with a second offset value between the landmark and the mobile robot. Accordingly, this step can be realized by the following steps (1) to (3), including:

(1): the mobile robot determines a second offset value between the landmark and the mobile robot.

In the first mode, the mobile robot determines the second offset value directly by image processing. Correspondingly, the steps can be as follows: the mobile robot shoots the landmark to obtain a second image, and a third pixel deviation between the landmark and the mobile robot is determined in the second image; and determining a second offset value between the landmark and the mobile robot from the corresponding relation between the pixel deviation and the actual offset according to the third pixel deviation.

In the second mode, the mobile robot determines a second offset value from the position information. Correspondingly, the steps can be as follows: the mobile robot determines current first position information of the mobile robot, acquires second position information of the landmark from the landmark, and determines a second offset value between the landmark and the mobile robot according to the first position information and the second position information.

It should be noted that the mobile robot has a camera therein, and the mobile robot can scan the landmark map through the camera to acquire the second position information from the landmark. And the mobile robot determines the current first position information of the mobile robot through a landmark arranged on the ground and a self odometer.

(2): the mobile robot determines the sum of the fifth distance and the second offset value as a first distance between the landmark and one lane line, and/or determines the difference between the sixth distance and the second offset value as a second distance between the landmark and another lane line; wherein the fifth distance is less than the sixth distance.

For example, referring to fig. 5, a second offset value between the landmark and the mobile robot is L _ dm, and a fifth distance between the mobile robot and one lane line and a sixth distance between the mobile robot and the other lane line are respectively: and L _ Left and L _ right, wherein the mobile robot takes the difference value of the L _ Left and the L _ dm as a first distance Left _ offset, and takes the sum value of the L _ right and the L _ dm as a second distance right _ offset.

It should be noted that, when the fifth distance is not less than the sixth distance, the mobile robot determines the sum of the sixth distance and the second offset value as the first distance between the landmark and one lane line, and/or determines the difference between the fifth distance and the second offset value as the second distance between the landmark and the other lane line.

(3): the mobile robot combines the first distance and/or the second distance into attribute information of the landmark.

The first distance is the distance between the landmark and one lane line on the side of the landmark, and the second distance is the distance between the landmark and the other lane line on the side of the landmark.

It should be noted that, each time the mobile robot traverses a landmark, the attribute information of the landmark is determined according to

steps

402 and 403 until the landmark in the specified place is traversed.

Step 404: the mobile robot transmits attribute information of the landmark to the control device, the attribute information being used to construct an attribute map.

In the first way, the mobile robot can construct an attribute map and directly send the attribute map to the control device. Correspondingly, the steps can be as follows: and the mobile robot forms the attribute map by the attribute information of the plurality of traversed landmarks and sends the attribute map to the control equipment.

When the mobile robot constructs the attribute map, the attribute information of each landmark can be used as one map node, the attribute information of the landmark is stored in the map node of the landmark, and the map nodes corresponding to a plurality of landmarks form the attribute map. And a plurality of map nodes in the attribute map can be stored in a linked list form, and the mobile robot can insert or delete map nodes in the linked list. In addition, the map nodes in the attribute map may also be stored in the form of an array or other data structures, and in the embodiment of the present application, the storage form of the map nodes in the attribute map is not particularly limited.

For example, the description will be given taking an example in which a plurality of map nodes in the attribute map are stored in the form of a linked list. In a possible implementation manner, when a map node needs to be inserted into the linked list, the mobile robot determines the position of the map node in the linked list according to the node identifier of the map node to be inserted; and inserting the map node into the linked list according to the position. When the map nodes need to be deleted in the linked list, the mobile robot deletes the map nodes from the linked list according to the identifiers of the map nodes to be deleted.

It should be noted that the attribute information of the landmark includes at least the first distance and/or the second distance, and the attribute information of the landmark may further include second location information of the landmark. Correspondingly, the map node corresponding to the landmark may further include second location information of the landmark.

In a second way, the mobile device may send attribute information to the control device, which generates an attribute map. Correspondingly, the steps can be as follows: and when the mobile robot traverses to a landmark and acquires the attribute information of the landmark, the mobile robot sends the attribute information of the landmark to the control equipment. The control device receives the attribute information of the landmark transmitted by the mobile robot. When the control device receives the attribute information of the plurality of landmarks, the attribute information of the plurality of landmarks is combined into an attribute map.

The process of the control device for constructing the attribute map is the same as the step of the mobile device for constructing the attribute map, and details are not repeated here.

It should be noted that, in the embodiment of the present invention, after the mobile robot determines the attribute map, the mobile robot transmits the attribute map to the control device, so that other mobile robots can download the attribute map of the specified driving route from the control device, and therefore, the construction of the attribute map is not required again, and the efficiency is improved. Of course, the control device may control each mobile robot to acquire and store the attribute map according to the

above step

401 and 404, thereby performing the travel route control based on the attribute map.

When there are a plurality of designated places, the control device may control the mobile robot to construct an attribute map of the plurality of designated places. The control device stores the correspondence between the location identifier and the attribute map of each designated location in association with each other. The location identification may be a location, name, or number, etc. of the specified location. In the embodiment of the present invention, this is not particularly limited.

The embodiment of the invention provides a method for controlling a mobile robot, which is applied to the mobile robot. Referring to fig. 6, the method includes:

step 601: during the traveling of the mobile robot, the mobile robot selects a landmark closest to the first position information from the plurality of landmarks, based on the current first position information of the mobile robot.

The mobile robot determines current first position information, determines a seventh distance between the mobile robot and each landmark according to the first position information and the second position information of each landmark, and selects a landmark graphic code closest to the first position information from the plurality of landmarks according to the seventh distance between the mobile robot and each landmark.

It should be noted that, during the travel of the mobile robot, the current first position information may be determined by the landmark and the odometer.

Step 602: the mobile robot acquires the attribute information of the landmark from an attribute map, wherein the attribute map comprises the attribute information of a plurality of landmarks.

The attribute map includes the correspondence between the landmark identifications of the plurality of landmarks and the attribute information of the plurality of landmarks. Correspondingly, the steps can be as follows: and the mobile robot acquires the attribute information of the landmark from the corresponding relation between the landmark identification and the attribute information according to the landmark identification of the landmark. The attribute information of the landmark includes a first distance and/or a second distance, the first distance is a distance between the landmark and one lane line on the side of the landmark, and the second distance is a distance between the landmark and the other lane line on the side of the landmark.

When the attribute information of the landmark is stored in the attribute map in the form of a map node, the step may be: the mobile robot acquires the map node corresponding to the landmark from the attribute map, and acquires the attribute information of the landmark from the map node.

Before this step, the mobile robot needs to acquire the attribute map first, and in a possible implementation manner, the step of acquiring the attribute map by the mobile robot may be: the mobile robot sends an acquisition request to the control device, the acquisition request being used to acquire the attribute map. And the control equipment receives the acquisition request sent by the mobile robot and returns the attribute map to the mobile robot. The mobile robot receives the property map.

In another possible implementation, the mobile robot may construct the attribute map according to the

above steps

401 and 404. In the embodiment of the present invention, the manner in which the mobile robot acquires the attribute map is not particularly limited.

Step 603: the mobile robot determines a first actual distance between the mobile robot and a lane line on the side of the mobile robot, wherein the first actual distance comprises a third distance between the mobile robot and one lane line on the side of the mobile robot and/or a fourth distance between the mobile robot and another lane line on the side of the mobile robot.

The method comprises the steps that the mobile robot shoots a lane line at the side of the mobile robot to obtain a third image, and a fourth pixel deviation between the mobile robot and one lane line at the side of the mobile robot and/or a fifth pixel deviation between the mobile robot and the other lane line at the side of the mobile robot are determined in the third image; and determining a third distance between the mobile robot and one lane line beside the mobile robot and/or a fourth distance between the mobile robot and the other lane line beside the mobile robot from the corresponding relation between the pixel deviation and the actual deviation according to the fourth pixel deviation and/or the fifth pixel deviation.

Step 604: and the mobile robot determines the moving direction of the mobile robot according to the first actual distance and the attribute information, wherein the moving direction is the moving direction of a driving route formed by the regression of the mobile robot and the connection of a plurality of landmarks.

This step can be realized by the following steps (1) to (4), including:

(1): the mobile robot determines a moving speed of the mobile robot and a specified regression time, which is a time required for the mobile robot to move to a driving route connected to the landmark.

The specified regression time may be a time set by the user. In addition, the specified regression time can be set and changed as required, and in the embodiment of the present invention, the specified regression time is not specifically limited; for example, the specified regression time may be 5s (seconds), 10s, or the like.

(2): the mobile robot determines a product of the moving speed and the specified regression time as a moving distance for the mobile robot to regress the moving travel route, and determines a difference between a distance in the first actual distance and a distance in the attribute information as a first offset value between the mobile robot and the specified travel route.

The first actual distance includes a third distance and/or a fourth distance, and the attribute information includes the first distance and/or the second distance. When the first actual distance and the attribute information include only one distance, the first offset value is a difference between a distance in the first actual distance and a distance in the attribute information. When the first actual distance and the attribute information include two distances, for example, when the first actual distance includes a third distance and a fourth distance, and the attribute information includes a first distance and a second distance, the mobile robot determines a first difference between the third distance and the first distance, and determines a second difference between the fourth distance and the second distance, and composes the first difference and the second difference into a first offset value.

(3): and the mobile robot determines an included angle between the mobile robot and the horizontal line according to the moving distance and the first deviation value.

And the mobile robot determines an included angle between the mobile robot and the horizontal line through an inverse trigonometric function according to the moving distance and the first deviation value. The inverse trigonometric function may be an inverse cosine function.

It should be noted that, when the first offset value includes a difference value, the included angle is determined directly according to the step in the step (3). When the first offset value includes two difference values, one difference value may be directly selected from the difference values, and the included angle may be determined according to the step in the step (3).

(4): the mobile robot determines the included angle as the moving direction of the mobile robot.

Step 605: the mobile robot travels in the moving direction.

And the mobile robot runs according to the moving direction, so that the mobile robot is controlled to run according to the running route.

The embodiment of the invention provides a device for controlling a mobile robot, which is applied to the mobile robot and is used for executing the steps executed by the mobile robot in the method for controlling the mobile robot. Referring to fig. 7, the apparatus includes:

a first obtaining module 701, configured to obtain attribute information of a landmark, which is matched with current position information of a mobile robot, in a driving process of the mobile robot, where the attribute information of the landmark includes a first distance and/or a second distance, the first distance is a distance between the landmark and one lane line on a side of the landmark, and the second distance is a distance between the landmark and another lane line on the side of the landmark;

and a control module 702, configured to control the mobile robot to travel according to a travel route formed by connecting a plurality of landmarks set on the ground according to the position information and the acquired attribute information of the landmark.

In a possible implementation manner, the first obtaining module 701 is further configured to select, according to current location information of the mobile robot, a landmark matched with the location information from the plurality of landmarks; and acquiring the attribute information of the matched landmark from an attribute map of the driving route, wherein the attribute map comprises the attribute information of the plurality of landmarks.

In another possible implementation manner, the first obtaining module 701 is further configured to send an obtaining request to a control device, where the obtaining request is used to obtain the attribute map; and receiving the attribute map returned by the control equipment.

In another possible implementation manner, the control module 702 is further configured to determine a first actual distance between the mobile robot and a lane line on a side of the mobile robot, where the first actual distance includes a third distance between the mobile robot and one lane line on the side of the mobile robot and/or a fourth distance between the mobile robot and another lane line on the side of the mobile robot; determining the moving direction of the mobile robot according to the first actual distance and the attribute information, wherein the moving direction is the moving direction of the mobile robot returning to the driving route; and controlling the mobile robot to travel according to the moving direction.

In another possible implementation manner, the control module 702 is further configured to determine a moving speed of the mobile robot and a specified regression time, where the specified regression time is a time required for the mobile robot to move to a driving route connected to the landmark; determining a product of the moving speed and the specified regression time as a moving distance for the mobile robot to regress to the moving travel route, and determining a difference between a distance in the first actual distance and a distance in the attribute information as a first offset value between the mobile robot and the specified travel route; determining an included angle between the mobile robot and a horizontal line according to the moving distance and the first deviation value; and determining the included angle as the moving direction of the mobile robot.

It should be noted that: in the device for controlling a mobile robot according to the above embodiment, when controlling a mobile robot, only the division of the above functional modules is taken as an example, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the apparatus for controlling a mobile robot and the method for controlling a mobile robot provided in the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments, and are not described herein again.

The embodiment of the invention provides a device for real-time mapping of a mobile robot, which is applied to the mobile robot and is used for executing steps executed by the mobile robot in the method for real-time mapping of the mobile robot. Referring to fig. 8, the apparatus includes:

a traversal module 801, configured to perform traversal in a specified place, where multiple landmarks are set on the ground of the specified place;

a second obtaining module 802, configured to, when a landmark is traversed, obtain attribute information of the landmark based on the landmark, where the attribute information of the landmark includes a first distance and/or a second distance, where the first distance is a distance between the landmark and one lane line on a side of the landmark, and the second distance is a distance between the landmark and another lane line on a side of the landmark;

a sending module 803, configured to send attribute information of the landmark to a control device, where the attribute information is used to construct an attribute map.

In a possible implementation manner, the sending module 803 is further configured to compose the attribute map from the attribute information of the plurality of traversed landmarks, and send the attribute map to the control device; alternatively, the first and second electrodes may be,

the sending module 803 is further configured to send attribute information of a landmark to the control device every time the control device traverses to a landmark and acquires the attribute information of the landmark, where the attribute information is used for the control device to generate an attribute map based on the received attribute information of the landmark.

In another possible implementation manner, the second obtaining module 802 is further configured to determine a second actual distance between the mobile robot and a lane line beside the mobile robot, where the second actual distance includes a fifth distance between the mobile robot and one lane line beside the mobile robot and/or a sixth distance between the mobile robot and another lane line beside the mobile robot; and determining attribute information of the landmark according to the second actual distance.

In another possible implementation manner, the second obtaining module 802 is further configured to determine a second offset value between the landmark and the mobile robot; determining a sum of the fifth distance and the second offset value as a first distance between the landmark and the one lane line and/or a difference between the sixth distance and the second offset value as a second distance between the landmark and the other lane line; and the first distance and/or the second distance are/is formed into attribute information of the landmark.

It should be noted that: in the device for real-time mapping of a mobile robot according to the above embodiment, when the mobile robot maps in real time, only the division of the above functional modules is used for illustration, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the above described functions. In addition, the device for real-time map building of the mobile robot provided by the above embodiment and the method embodiment for real-time map building of the mobile robot belong to the same concept, and the specific implementation process thereof is detailed in the method embodiment and is not described herein again.

Fig. 9 is a schematic structural diagram of a mobile robot 900 according to an embodiment of the present invention. For example, the mobile robot 900 may be used to perform the mobile robot control method provided in the above-described respective embodiments. Referring to fig. 9, the mobile robot 900 includes:

the mobile robot 900 may include RF (Radio Frequency) circuitry 910, memory 920 including one or more computer-readable storage media, an input unit 930, a display unit 940, a sensor 950, audio circuitry 960, a WiFi (Wireless Fidelity) module 970, a processor 980 including one or more processing cores, and a power supply 990, among other components. Those skilled in the art will appreciate that the mobile robot configuration shown in fig. 9 does not constitute a limitation of the mobile robot, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components. Wherein:

the RF circuit 910 may be used for receiving and transmitting signals during a message transmission or call, and in particular, for receiving downlink information from a base station and then processing the received downlink information by the one or more processors 980; in addition, data relating to uplink is transmitted to the base station. In general, RF circuit 910 includes, but is not limited to, an antenna, at least one Amplifier, a tuner, one or more oscillators, a Subscriber Identity Module (SIM) card, a transceiver, a coupler, an LNA (Low Noise Amplifier), a duplexer, and the like. In addition, the RF circuit 910 may also communicate with networks and other devices via wireless communication. The wireless communication may use any communication standard or protocol, including but not limited to GSM (Global System for Mobile communications), GPRS (General Packet Radio Service), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), LTE (Long Term Evolution), e-mail, SMS (short messaging Service), etc.

The memory 920 may be used to store software programs and modules, and the processor 980 performs various functional applications and data processing by operating the software programs and modules stored in the memory 920. The memory 920 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the mobile robot 900, and the like. Further, the memory 920 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory 920 may also include a memory controller to provide the processor 980 and the input unit 930 with access to the memory 920.

The input unit 930 may be used to receive input numeric or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control. In particular, the input unit 930 may include a touch-sensitive surface 931 as well as other input devices 932. The touch-sensitive surface 931, also referred to as a touch screen or a touch pad, may collect touch operations by a user on or near the touch-sensitive surface 931 (e.g., operations by a user on or near the touch-sensitive surface 931 using a finger, a stylus, or any other suitable object or attachment) and drive the corresponding connecting device according to a predetermined program. Alternatively, the touch sensitive surface 931 may include both a touch detection device and a touch controller. The touch detection device detects the touch direction of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch sensing device, converts the touch information into touch point coordinates, sends the touch point coordinates to the processor 980, and can receive and execute commands sent by the processor 980. In addition, the touch sensitive surface 931 may be implemented in various types, such as resistive, capacitive, infrared, and surface acoustic wave. The input unit 930 may also include other input devices 932 in addition to the touch-sensitive surface 931. In particular, other input devices 932 may include, but are not limited to, one or more of a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like.

The display unit 940 may be used to display information input by or provided to the user and various graphic user interfaces of the mobile robot 900, which may be configured by graphics, text, icons, video, and any combination thereof. The Display unit 940 may include a Display panel 941, and optionally, the Display panel 941 may be configured in the form of an LCD (Liquid Crystal Display), an OLED (Organic Light-Emitting Diode), or the like. Further, the touch-sensitive surface 931 may overlay the display panel 941, and when a touch operation is detected on or near the touch-sensitive surface 931, the touch operation is transmitted to the processor 980 to determine the type of touch event, and the processor 980 then provides a corresponding visual output on the display panel 941 according to the type of touch event. Although in FIG. 9 the touch-sensitive surface 931 and the display panel 941 are shown as two separate components to implement input and output functions, in some embodiments the touch-sensitive surface 931 and the display panel 941 may be integrated to implement input and output functions.

The mobile robot 900 may also include at least one sensor 950, such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display panel 941 according to the brightness of ambient light, and a proximity sensor that may turn off the display panel 941 and/or a backlight when the mobile robot 900 moves to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally, three axes), can detect the magnitude and direction of gravity when the mobile phone is stationary, and can be used for applications of recognizing the posture of the mobile phone (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer and tapping), and the like; as for other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which may be further configured to the mobile robot 900, detailed descriptions thereof are omitted.

The audio circuitry 960, speaker 961, microphone 962 may provide an audio interface between the user and the mobile robot 900. The audio circuit 960 may transmit the electrical signal converted from the received audio data to the speaker 961, and convert the electrical signal into a sound signal for output by the speaker 961; on the other hand, the microphone 962 converts the collected sound signal into an electric signal, converts the electric signal into audio data after being received by the audio circuit 960, and outputs the audio data to the processor 980 for processing, and then transmits the audio data to, for example, another mobile robot via the RF circuit 910, or outputs the audio data to the memory 920 for further processing. The audio circuit 960 may also include an earpiece jack to provide communication of a peripheral headset with the mobile robot 900.

WiFi belongs to short distance wireless transmission technology, and the mobile robot 900 can help the user send and receive e-mail, browse web page and access streaming media, etc. through the WiFi module 970, which provides wireless broadband internet access for the user. Although fig. 9 shows the WiFi module 970, it is understood that it does not belong to the essential constitution of the mobile robot 900 and can be omitted entirely as needed within the scope not changing the essence of the invention.

The processor 980 is a control center of the mobile robot 900, connects various parts of the entire mobile phone using various interfaces and lines, and performs various functions of the mobile robot 900 and processes data by running or executing software programs and/or modules stored in the memory 920 and calling data stored in the memory 920, thereby integrally monitoring the mobile phone. Optionally, processor 980 may include one or more processing cores; preferably, the processor 980 may integrate an application processor, which primarily handles operating systems, user interfaces, applications, etc., and a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 980.

The mobile robot 900 also includes a power source 990 (e.g., a battery) for supplying power to the various components, which may be logically connected to the processor 980 via a power management system, such that the functions of managing charging, discharging, and power consumption are performed via the power management system. Power supply 990 may also include any component of one or more dc or ac power sources, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and the like.

Although not shown, the mobile robot 900 may further include a camera, a bluetooth module, etc., which will not be described herein. In this embodiment, the display unit of the mobile robot is a touch screen display, and the mobile robot further includes a memory and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors. The one or more programs include instructions for performing the methods illustrated in the illustrated embodiments described above.

An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium is applied to a terminal, and the computer-readable storage medium stores at least one instruction, at least one program, a code set, or a set of instructions, where the instruction, the program, the code set, or the set of instructions is loaded and executed by a processor to implement the operations performed by the mobile robot in the method for controlling a mobile robot according to the foregoing embodiments.

The embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium is applied to a terminal, and at least one instruction, at least one segment of program, a code set, or a set of instructions is stored in the computer-readable storage medium, where the instruction, the program, the code set, or the set of instructions is loaded and executed by a processor to implement operations performed by a mobile robot in the method for real-time mapping of a mobile robot according to the foregoing embodiment.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A method of controlling a mobile robot, the method comprising:

2. The method of claim 1, wherein the obtaining attribute information of the landmark that matches the current position information of the mobile robot comprises:

3. The method according to claim 2, wherein before the obtaining of the attribute information of the landmark matching the current position information of the mobile robot, the method further comprises:

and receiving the attribute map returned by the control equipment.

4. The method according to claim 1, wherein the controlling the mobile robot to travel along a travel route formed by connecting a plurality of landmarks set on the ground based on the position information and the acquired attribute information of the landmarks includes:

and controlling the mobile robot to travel according to the moving direction.

5. The method of claim 4, wherein determining the moving direction of the mobile robot based on the first actual distance and the attribute information comprises:

and determining the included angle as the moving direction of the mobile robot.

6. A method for real-time mapping of a mobile robot, the method further comprising:

7. The method of claim 6, wherein the sending attribute information of the landmark to a control device comprises:

8. The method of claim 6, wherein the obtaining attribute information of the landmark based on the landmark comprises:

9. The method of claim 8, wherein determining attribute information of the landmark from the second actual distance comprises:

determining a second offset value between the landmark and the mobile robot;

10. An apparatus for controlling a mobile robot, the apparatus comprising:

11. The apparatus of claim 10,

the first obtaining module is further configured to select a landmark matched with the position information from the plurality of landmarks according to the current position information of the mobile robot; and acquiring the attribute information of the matched landmark from an attribute map of the driving route, wherein the attribute map comprises the attribute information of the plurality of landmarks.

12. The apparatus of claim 11,

the first obtaining module is further configured to send an obtaining request to the control device, where the obtaining request is used to obtain the attribute map; and receiving the attribute map returned by the control equipment.

13. The apparatus of claim 10,

the control module is further used for determining a first actual distance between the mobile robot and a lane line at the side of the mobile robot, wherein the first actual distance comprises a third distance between the mobile robot and one lane line at the side of the mobile robot and/or a fourth distance between the mobile robot and another lane line at the side of the mobile robot; determining the moving direction of the mobile robot according to the first actual distance and the attribute information, wherein the moving direction is the moving direction of the mobile robot returning to the driving route; and controlling the mobile robot to travel according to the moving direction.

14. The apparatus of claim 13,

the control module is further used for determining the moving speed of the mobile robot and a specified regression time, wherein the specified regression time is the time required for the mobile robot to move to a driving route connected with the landmark; determining a product of the moving speed and the specified regression time as a moving distance for the mobile robot to regress to the moving travel route, and determining a difference between a distance in the first actual distance and a distance in the attribute information as a first offset value between the mobile robot and the specified travel route; determining an included angle between the mobile robot and a horizontal line according to the moving distance and the first deviation value; and determining the included angle as the moving direction of the mobile robot.

15. An apparatus for real-time mapping of a mobile robot, the apparatus further comprising:

16. The apparatus of claim 15,

the sending module is further configured to compose the attribute map from the attribute information of the plurality of landmarks obtained through traversal, and send the attribute map to the control device; alternatively, the first and second electrodes may be,

17. The apparatus of claim 16,

the second obtaining module is further configured to determine a second actual distance between the mobile robot and a lane line on a side of the mobile robot, where the second actual distance includes a fifth distance between the mobile robot and one lane line on the side of the mobile robot and/or a sixth distance between the mobile robot and another lane line on the side of the mobile robot; and determining attribute information of the landmark according to the second actual distance.

18. The apparatus of claim 17,

the second obtaining module is further configured to determine a second offset value between the landmark and the mobile robot; determining a sum of the fifth distance and the second offset value as a first distance between the landmark and the one lane line and/or a difference between the sixth distance and the second offset value as a second distance between the landmark and the other lane line; and the first distance and/or the second distance are/is formed into attribute information of the landmark.