CN117970909A - Mobile robot docking method and device, storage medium and mobile robot - Google Patents
Mobile robot docking method and device, storage medium and mobile robot Download PDFInfo
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Abstract
The application relates to a docking method and device of a mobile robot, a storage medium and the mobile robot. The method comprises the following steps: acquiring the workstation gesture of a workstation to be docked of the mobile robot under the condition that the mobile robot is located at a preset navigation point; under the condition that the mobile robot is not right in front of the workstation according to the workstation gesture, determining the relative coordinates of a target navigation point of the target navigation point right in front of the workstation according to the workstation gesture; determining target DR coordinates of the target navigation points according to the relative coordinates of the target navigation points; through DR positioning, the mobile robot is controlled to move to a target navigation point according to target DR coordinates; and controlling the mobile robot to move from the target navigation point to a docking position for docking with the workstation, and completing docking of the mobile robot with the workstation. The application can overcome the technical problem of poor docking precision between the mobile robot and the workstation in the related art.
Description
Technical Field
The present application relates to the field of robots, and in particular, to a docking method and apparatus for a mobile robot, a storage medium, and a mobile robot.
Background
With the rapid development of artificial intelligence in recent years, products in the fields of mobile robots and autopilots are gradually going into the lives of people, replacing the manpower in the specific field, and freeing up the productivity of people.
The unmanned work of the mobile robot is the premise of whether the product can be commercialized and landed, and when the energy, raw materials or excrement of the mobile robot operation are too much, the automatic return to the workstation for supplying or discharging is an indispensable function. The mobile robot often needs to accurately dock with a workstation when returning to supply, and the mobile robot puts higher precision requirements on decision planning and control of a docking process.
In the related art, a mobile robot returns to a related planning method of a workstation, usually, a navigation point under a global positioning is recorded by manually judging the position of the workstation, the mobile robot starts to identify the workstation in real time after reaching the navigation point, then a linear path is planned through a relative perception result, the mobile robot drives to the workstation, and the docking process is finished after the mobile robot contacts the workstation. Because global positioning is easily influenced by environment and subjected to larger jump or drift correction, the position reached by the mobile robot is caused to have a certain deviation from a navigation point in probability. On the other hand, compared with the position right in front of the workstation, the navigation point can have an error in manual setting, even if the mobile robot reaches the navigation point, the mobile robot can still have a larger deviation from the position right in front of the actual workstation, and if the mobile robot directly tracks to the workstation through a straight line path, the problem of poor docking precision caused by incomplete transverse control correction can be caused.
In addition, in the process of returning the mobile robot to the position right in front of the workstation, the swing motion exists in the process of converging the transverse deviation, the swing motion causes interference to the perception and identification workstation, the pose of the workstation is caused to generate larger identification deviation, the mobile robot is further influenced to move in the wrong direction, and finally the butt joint precision is deteriorated.
Aiming at the technical problem of poor docking precision between a mobile robot and a workstation in the related art, no effective solution is provided at present.
Disclosure of Invention
In order to solve the technical problem of poor docking precision between the mobile robot and the workstation, the application provides a docking method and device of the mobile robot, a storage medium and the mobile robot.
In a first aspect, an embodiment of the present application provides a docking method of a mobile robot, including:
Acquiring a workstation gesture of a workstation to be docked of the mobile robot under the condition that the mobile robot is located at a preset navigation point, wherein the workstation gesture is used for indicating the position relation of the workstation relative to the mobile robot;
Under the condition that the mobile robot is not right in front of the workstation according to the workstation gesture, determining the relative coordinates of a target navigation point of the target navigation point right in front of the workstation according to the workstation gesture;
determining target DR coordinates of the target navigation points according to the relative coordinates of the target navigation points;
controlling the mobile robot to move to the target navigation point according to the target DR coordinates by adopting DR positioning;
And controlling the mobile robot to move from the target navigation point to a docking position for docking with the workstation, and completing docking of the mobile robot with the workstation.
Optionally, in the case that the mobile robot is located at a preset navigation point, the method further includes:
Under the condition that the mobile robot is located at a preset navigation point, performing at least one position detection operation on the workstation to obtain candidate relative coordinates corresponding to each position detection operation, wherein the relative coordinates are coordinates in a relative coordinate system determined according to the direction of the mobile robot by taking the preset position on the mobile robot as an origin;
calculating an average value of all the candidate relative coordinates, and determining the relative position relation of the workstation relative to the mobile robot;
Performing at least one orientation detection operation on the workstation to obtain candidate orientation positions corresponding to each orientation detection operation;
Determining the workstation orientation position of the workstation relative to the mobile robot according to all the candidate orientation positions;
determining the workstation pose including the relative positional relationship and the workstation facing position.
Optionally, in the case that the mobile robot is determined not to be directly in front of the workstation according to the workstation pose, the method further includes, before determining the relative coordinates of the target navigation point located directly in front of the workstation according to the workstation pose:
Determining an offset angle of the mobile robot relative to the front of the workstation according to the orientation position of the workstation and the direction of a coordinate axis in the relative coordinate system;
Determining the current distance between the workstation and the mobile robot according to the relative position relation;
Determining that the mobile robot is right in front of the workstation when the offset angle is within a preset angle difference range and the current distance is smaller than or equal to a preset distance upper limit;
And determining that the mobile robot is not directly in front of the workstation when the offset angle is not within the preset angle difference range or the current distance is greater than the preset distance upper limit.
Optionally, in the foregoing method, the determining, according to the workstation pose, relative coordinates of a target navigation point located directly in front of the workstation includes:
Determining a preset distance;
And determining the target navigation point which is positioned right in front of the workstation and is at the preset distance from the workstation and the relative coordinates of the target navigation point according to the relative position relation, the orientation position of the workstation and the preset distance.
Optionally, the controlling the mobile robot to move to the target navigation point according to the target DR coordinate by adopting DR positioning, as in the foregoing method, includes:
Acquiring a current DR coordinate corresponding to the mobile robot in a DR coordinate system when the mobile robot is at the target navigation point;
Calculating a local path between the current DR coordinate and the target DR coordinate;
and controlling the mobile robot to move to the target navigation point according to the local path.
Optionally, the method of controlling the mobile robot to move from the target navigation point to a docking position to dock with the workstation, includes:
the following steps are cyclically executed until the mobile robot moves to the docking position:
under the condition that the mobile robot is not located at the docking position, determining a next road point according to the current position of the docking position relative to the mobile robot;
Controlling the mobile robot to move to the next road point;
And judging whether the mobile robot is positioned at the docking position.
Optionally, as in the previous method, before said controlling the mobile robot to move from the target navigation point to the docking position where the workstation is located, the method further comprises:
judging whether the current direction of the mobile robot of the target navigation point is smaller than or equal to a preset offset angle or not, wherein the preset direction is the connecting line direction between the workstation and the mobile robot;
And under the condition that the current direction is larger than the preset offset angle with the preset direction, adjusting the gesture of the mobile robot until the real-time direction of the mobile robot is smaller than or equal to the preset offset angle with the preset direction.
In a second aspect, an embodiment of the present application provides a docking device of a mobile robot, including:
The system comprises a workstation gesture acquisition module, a navigation module and a control module, wherein the workstation gesture acquisition module is used for acquiring the workstation gesture of a workstation to be docked of the mobile robot under the condition that the mobile robot is positioned at a preset navigation point, wherein the workstation gesture is used for indicating the position relation of the workstation relative to the mobile robot;
The relative coordinate module is used for determining the relative coordinates of a target navigation point positioned right in front of the workstation according to the workstation gesture under the condition that the mobile robot is not right in front of the workstation according to the workstation gesture;
the target DR coordinate module is used for determining target DR coordinates of the target navigation points according to the relative coordinates of the target navigation points;
the first control module is used for controlling the mobile robot to move to the target navigation point according to the DR positioning;
And the second control module is used for controlling the mobile robot to move from the target navigation point to a docking position for docking with the workstation and completing docking of the mobile robot with the workstation.
In a third aspect, an embodiment of the present application provides an electronic device, including: the device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
The memory is used for storing a computer program;
The processor is configured to implement a method as claimed in any one of the preceding claims when executing the computer program.
In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, the storage medium comprising a stored program, wherein the program when run performs a method according to any one of the preceding claims.
In a fifth aspect, embodiments of the present application provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of any preceding claim.
In a sixth aspect, an embodiment of the present application provides a mobile robot, including an electronic device as described above.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
According to the method provided by the embodiment of the application, the target DR coordinates of the target navigation points are determined, and the mobile robot is controlled to move to the target navigation points according to the target DR coordinates by adopting DR positioning, so that the accuracy of the mobile robot moving to the target navigation points can be improved, the transverse initial error of the later mobile robot moving to the docking position is reduced, the docking accuracy between the mobile robot and the workstation can be effectively improved, and the technical problem of poor docking accuracy between the mobile robot and the workstation in the related art can be solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic flow chart of a docking method of a mobile robot according to an embodiment of the present application;
Fig. 2 is a schematic flow chart of a docking method of a mobile robot according to another embodiment of the present application;
fig. 3 is a schematic flow chart of a docking method of a mobile robot according to an embodiment of the present application;
Fig. 4 is a schematic diagram of a docking method of a mobile robot according to an embodiment of the present application;
Fig. 5 is a block diagram of a docking device of a mobile robot according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
According to an aspect of an embodiment of the present application, there is provided a docking method of a mobile robot. Alternatively, in the present embodiment, the above-described docking method of the mobile robot may be applied to a hardware environment constituted by a terminal and a server. The server is connected with the terminal through a network, can be used for providing services (such as advertisement push service, application service and the like) for the terminal or a client installed on the terminal, and can be used for providing data storage service for the server by setting a database on the server or independent of the server.
The network may include, but is not limited to, at least one of: wired network, wireless network. The wired network may include, but is not limited to, at least one of: a wide area network, a metropolitan area network, a local area network, and the wireless network may include, but is not limited to, at least one of: WIFI (WIRELESS FIDELITY ), bluetooth. The terminal may not be limited to a PC, a mobile phone, a tablet computer, or the like.
The docking method of the mobile robot in the embodiment of the application can be executed by a server, a terminal or both the server and the terminal. The docking method of the mobile robot, which is executed by the terminal according to the embodiment of the application, can also be executed by the client installed on the terminal.
Taking a server as an example to execute the docking method of the mobile robot in this embodiment, fig. 1 is a schematic diagram of a docking method of the mobile robot according to an embodiment of the present application, including the following steps:
step S101, acquiring a workstation gesture of a workstation to be docked of the mobile robot under the condition that the mobile robot is located at a preset navigation point, wherein the workstation gesture is used for indicating the position relation of the workstation relative to the mobile robot;
The docking method of the mobile robot in the present embodiment can be applied to a scene where it is necessary to dock the mobile robot with a workstation, for example: the robot can be a scene of docking with a workstation, or a scene of docking with a charging station. For other types of mobile robots and workstations interfacing scenarios, the above described method of interfacing a mobile robot is equally applicable without contradiction.
The preset navigation point may be a navigation point of the mobile robot under global positioning, and in an ideal state, the preset navigation point is a navigation point right in front of the workstation, but the preset navigation point cannot be accurately located right in front of the workstation due to positioning errors or action errors of the mobile robot.
In the above case, the mobile robot is brought into a stationary state, and an observation operation for observing the workstation posture of the workstation to which the mobile robot is to be docked is performed. And the navigation point which is roughly and globally positioned in the later stage can be conveniently reached to the target navigation point right in front of the workstation obtained according to observation under the static state through tracking, so that the transverse initial error during docking according to the real-time sensing result is reduced, the maximum transverse control quantity is further reduced, the gesture posture is reduced, and the stability of the sensing detection workstation is improved.
The workstation pose may include, but is not limited to, the angle of the front face of the workstation (the face on which the docking location with the mobile robot is located) to the front face of the mobile robot, and the distance between the workstation and the mobile robot.
In step S102, in the case where it is determined that the mobile robot is not located directly in front of the workstation according to the workstation pose, the relative coordinates of the target navigation point located directly in front of the workstation are determined according to the workstation pose.
After the workstation pose is determined, it may be determined whether the mobile robot is directly in front of the workstation.
When it is determined that the mobile robot is not directly in front of the workstation, the relative coordinates of the target navigation point directly in front of the workstation may be determined according to the workstation pose.
The relative coordinates of the target navigation points are the coordinates of the target navigation points in the relative coordinate system.
Step S103, determining target DR coordinates of the target navigation points according to the relative coordinates of the target navigation points.
After the target navigation point right in front of the workstation is obtained, the mobile robot is controlled to move to the target navigation point, and then the mobile robot can be located right in front of the workstation.
In general, the distance between the target navigation point and the preset navigation point is not far, so in this embodiment, the target DR coordinate of the target navigation point is determined by dead reckoning (Dead Reckoning, DR).
The target DR coordinates may be coordinates of a target navigation point determined using DR positioning. In addition, the origin of the DR coordinate system for DR positioning may be the position where the mobile robot is initially powered on, or may be the current position.
After the relative coordinates of the target navigation points are determined, the relative coordinates of the target navigation points can be converted into target DR coordinates in a DR coordinate system through a coordinate system conversion mode.
Step S104, through adopting DR positioning, the mobile robot is controlled to move to the target navigation point according to the target DR coordinates.
After the target DR coordinates of the target navigation points are determined, path planning can be performed between the preset navigation points where the target navigation points are currently located and the target DR coordinates, and the robot is controlled to move to the target navigation points.
Step S105, the mobile robot is controlled to move from the target navigation point to a docking position for docking with the workstation, and docking of the mobile robot with the workstation is completed.
When the mobile robot moves to the target navigation point, the mobile robot is located right in front of the workstation, so that the mobile robot can be controlled to dock with the workstation after moving from the target navigation point to the docking position for docking with the workstation.
According to the method, the target DR coordinates of the target navigation points are determined, and the mobile robot is controlled to move to the target navigation points according to the target DR coordinates by adopting DR positioning, so that the accuracy of the mobile robot moving to the target navigation points can be improved, the transverse initial error of the later mobile robot moving to the docking position is reduced, the docking accuracy between the mobile robot and the workstation can be effectively improved, and the technical problem of poor docking accuracy between the mobile robot and the workstation in the related art can be solved.
As shown in fig. 2, as an alternative embodiment, the step S101 of obtaining the workstation pose of the workstation to which the mobile robot is to dock in the case that the mobile robot is located at the preset navigation point, as the foregoing method includes the following steps:
Step S201, performing at least one position detection operation on the workstation when the mobile robot is located at the preset navigation point, to obtain candidate relative coordinates corresponding to each position detection operation, where the relative coordinates are coordinates in a relative coordinate system determined according to the direction of the mobile robot with the preset position on the mobile robot as an origin.
In the case where the mobile robot is located at a preset navigation point, the workstation may be subjected to one or more position detection operations by a position detection device on the mobile robot.
In each position detection operation, a candidate relative coordinate of the workstation is obtained.
Alternatively, the candidate relative coordinates may be coordinates in a relative coordinate system with a preset position on the mobile robot as an origin, the direction in which the mobile robot is oriented as an x-axis, and a coordinate system parallel to the horizontal plane as the relative coordinate system.
The preset position can be the center of a rear axle of the mobile robot, can be one of the geometric center, the mass center or the rotation center of the mobile robot, and can be selected according to actual application scenes.
And step S202, calculating an average value of all the candidate relative coordinates, and determining the relative position relation of the workstation relative to the mobile robot.
After all candidate relative coordinates are obtained, an average value calculation may be performed for all candidate relative coordinates.
For example, the number n of candidate relative coordinates is determined, then X-axis coordinates of the n candidate relative coordinates are added to obtain X, Y-axis coordinates of the n candidate relative coordinates are added to obtain Y, and finally the relative position relationship (X/n, Y/n) is determined through average calculation.
In step S203, the workstation is subjected to at least one orientation detection operation, and a candidate orientation position corresponding to each orientation detection operation is obtained.
In the case where the mobile robot is located at a preset navigation point, the workstation may be subjected to one or more orientation detection operations by an orientation detection device on the mobile robot.
Alternatively, the orientation detection means on the mobile robot may communicate with an orientation means within the workstation for indicating the orientation of the workstation, and obtain the orientation position of the orientation means and take it as a candidate orientation position.
Step S204, according to all the candidate orientation positions, the orientation position of the workstation relative to the mobile robot is determined.
After all candidate orientation positions are obtained, the orientation position of the workstation relative to the mobile robot can be determined by performing methods such as average calculation.
Further, candidate unit vectors corresponding to each candidate orientation position can be determined, an average vector is obtained by carrying out average calculation on the candidate unit vectors, and then the workstation orientation position is determined based on the average vector: for example, the candidate heading position may be represented by its unit vector (cos, sin). The workstation average pose may be represented as an average vector of its unit vectors
And further obtain an average vectorAnd the final workstation orientation position is back-derived from the average vector:
according to the method for calculating the orientation position of the static observation calculation workstation, the average attitude of the workstation is calculated, and the new unit direction vector is obtained by averaging two latitudes corresponding to the unit vector, so that the problem of calculating the average value of the angle circulation variable is effectively solved.
In step S205, a workstation pose including a relative positional relationship and a workstation facing position is determined.
After the relative position relationship and the workstation orientation position are determined, the relative position relationship and the workstation orientation position can be used as the workstation gesture, so that the target navigation point positioned in front of the workstation and the target navigation point relative coordinates of the target navigation point can be determined based on the relative position relationship and the workstation orientation position in the later period. As an alternative embodiment, as the foregoing method, before determining, in step S102, the relative coordinates of the target navigation point located directly in front of the workstation according to the workstation pose in the case where it is determined that the mobile robot is not directly in front of the workstation according to the workstation pose, the method further includes the steps of:
In step S301, an offset angle of the mobile robot with respect to the front of the workstation is determined according to the orientation position of the workstation and the directions of coordinate axes in the relative coordinate system.
After the workstation orientation position and the relative coordinate system are determined, since the directions of the coordinate axes in the relative coordinate system are determined according to the orientation of the mobile robot, the offset angle of the mobile robot with respect to the front of the workstation can be determined based on the included angle between the workstation orientation position and the directions of the coordinate axes in the relative coordinate system.
As shown in fig. 4, θ t is the workstation orientation position of the workstationThe angle with the x-axis and this θ t is taken as the offset angle.
Step S302, determining the current distance between the workstation and the mobile robot according to the relative position relation.
After the relative position relation corresponding to the workstation is obtained, the relative position relation is obtained by calculating an average value according to all candidate relative coordinates, so the relative position relation is also a coordinate, and the relative position relation is obtained according to a relative coordinate system, and the origin of the relative coordinate system is the current position of the mobile robot, so the current distance between the workstation and the mobile robot can be determined based on the relative position relation.
As shown in fig. 4, vectors are obtained based on the relative positional relationshipAnd the vector/>The length of (2) is the current distance.
In step S303, in the case that the offset angle is within the preset angle difference range and the current distance is less than or equal to the preset distance upper limit, it is determined that the mobile robot is directly in front of the workstation.
Step S304, determining that the mobile robot is not right in front of the workstation when the offset angle is not within the preset angle difference range or the current distance is greater than the preset distance upper limit.
After the offset angle and the current distance are obtained, the offset relationship between the mobile robot and the front of the workstation can be judged.
And, it is possible to make sure that the mobile robot is directly in front of the workstation in a case where the offset angle is satisfied within a preset angle difference range and the current distance is less than or equal to a preset distance upper limit. Otherwise, if the offset angle is not within the preset angle difference range or the current distance is greater than the preset distance upper limit, the mobile robot is determined not to be right in front of the workstation.
For example, when the preset angle difference range is [0 °,5 ° ], and the preset distance upper limit is 3m, if the offset angle is 6 °, and the current distance is 2m, it is determined that the offset angle is not within the preset angle difference range, or the current distance is greater than the preset distance upper limit, and at this time, it is determined that the mobile robot is not directly in front of the workstation. If the offset angle is 3 degrees and the current distance is 2.5m, the mobile robot is determined to be right in front of the workstation under the condition that the offset angle is within a preset angle difference range and the current distance is smaller than or equal to a preset distance upper limit.
As an alternative embodiment, the step S102 of determining the relative coordinates of the target navigation point located directly in front of the workstation according to the workstation pose, includes the following steps:
Step S401, determining a preset distance;
step S402, determining a target navigation point which is positioned right in front of the workstation and is at a preset distance from the workstation and a target navigation point relative coordinate of the target navigation point according to the relative position relationship, the workstation orientation position and the preset distance.
In order to determine the target navigation point and the relative coordinates before the target navigation; after determining the workstation pose, the distance of the target navigation point relative to the workstation needs to be determined, and therefore, the preset distance needs to be determined.
The preset distance may be preset, so that the mobile robot does not generate a distance greater than a preset error when moving. Therefore, the preset distance can be set according to the accuracy of the movement of the mobile robot.
After the preset distance is determined, according to the relative position relation in the workstation posture, the workstation orientation position and the preset distance, the relative coordinates of the target navigation point which is positioned right in front of the workstation and is at the preset distance from the workstation can be determined, and the navigation point indicated by the relative coordinates of the target navigation point is determined as the target navigation point. And the relative coordinates of the target navigation points are also coordinates in the relative coordinate system.
By the method in the embodiment, the target navigation point right in front of the workstation can be determined, so that the later stage can move to the target navigation point and then go straight to the right in front of the workstation, and the docking with the workstation is facilitated.
As an alternative embodiment, the step S104 of controlling the mobile robot to move to the target navigation point according to the target DR coordinates by using DR positioning as the aforementioned method includes the steps of:
step S501, when the mobile robot is at the target navigation point, the current DR coordinate corresponding to the DR coordinate system is obtained.
After the target DR coordinate of the target navigation point is determined, in order to be able to move to the target navigation point through DR positioning, the DR coordinate of the preset navigation point where the current position is located needs to be determined, optionally, the current DR coordinate corresponding to the mobile robot under the DR coordinate system when the mobile robot is acquired at the target navigation point can be obtained by reading the DR positioning data updated in real time.
Alternatively, the DR coordinate system may be a coordinate system under DR positioning with the initial power-on running position as the origin in the current motion cycle of the mobile robot, or may be a coordinate system under DR positioning with the origin before the preset navigation.
Step S502, a local path between the current DR coordinate and the target DR coordinate is calculated.
After the current DR coordinate and the target DR coordinate are determined, a local path between the current DR coordinate and the target DR coordinate can be obtained through planning by a preset path planning method.
Further, when the mobile robot can rotate at a fixed point, the local path can be only used for controlling the mobile robot to move from the current DR coordinate to the target DR coordinate; when the mobile robot cannot rotate at fixed points, the local path controls the mobile robot to move from the current DR coordinate to the target DR coordinate, and the mobile robot needs to move to the target navigation point corresponding to the target DR coordinate according to the local path, and then the front face of the mobile robot faces the workstation.
The local path planning from the preset navigation point and the target navigation point is not limited herein, and any path planning algorithm such as Dijkstra or a×and the like capable of realizing the point-to-point process can be adopted.
Step S503, controlling the mobile robot to move to the target navigation point according to the local path.
After the local path is obtained, the mobile robot can be controlled to move to the target navigation point according to the local path.
By the method in the embodiment, an implementation mode of controlling the mobile robot to move from the preset navigation point to the target navigation point by adopting DR positioning is provided, and the mobile robot is enabled to have the advantages of continuous smoothness and no jump according to the local path movement due to no external correction.
As an alternative embodiment, the step S105 of controlling the mobile robot to move from the target navigation point to the docking position for docking with the workstation, includes the steps of:
the following steps are cyclically executed until the mobile robot moves to the docking position:
step S601, under the condition that the mobile robot is not located at the docking position, determining the next road point according to the current position of the docking position relative to the mobile robot;
step S602, controlling the mobile robot to move to the next road point;
step S603, determining whether the mobile robot is located at the docking position.
After moving to the target navigation point, since the target navigation point is located directly in front of the workstation, the mobile robot can be moved toward the workstation to move to the docking position.
The docking position may be a position where the mobile robot is required to be located when docking with the workstation.
For any road point where the mobile robot is currently located, under the condition that the road point where the mobile robot is not at the butt joint position, determining the next road point according to the current position of the butt joint position relative to the target navigation point, namely determining the road point where the mobile robot stops after the next moving operation.
And then controlling the mobile robot to move to the next road point.
If the mobile robot is still not positioned at the docking position after the next road point is reached, determining the position of the next road point as the current position of the mobile robot, judging whether the mobile robot is positioned at the docking position, and if the mobile robot is determined not to be positioned at the docking position, continuing to execute the step S601; if the mobile robot is determined to be located at the docking position, the loop is jumped out. This cycle is followed until the mobile robot moves to the docked position.
When this step S601 is executed for the first time, the current position of the mobile robot is the position corresponding to the target navigation point.
According to the method, the next road point is determined according to the current position of the butt joint position relative to the mobile robot, so that the realization mode of determining the next road point in a real-time sensing mode is realized, and the mobile robot can adjust the next road point according to the current position in real time, so that the mobile robot can be ensured to accurately move to the butt joint position.
As an alternative embodiment, as the foregoing method, before the step S105 controls the mobile robot to move from the target navigation point to the docking position for docking with the workstation, the method further includes the steps of:
Step S701, judging whether the current direction of the mobile robot of the target navigation point is smaller than or equal to a preset offset angle or not, wherein the preset direction is the connecting line direction between the workstation and the mobile robot;
Step S702, under the condition that the current direction is determined to be greater than the preset offset angle, adjusting the posture of the mobile robot until the real-time direction of the mobile robot is less than or equal to the preset offset angle.
Before controlling the mobile robot to move from the target navigation point to the docking position for docking with the workstation, in order to enable the mobile robot to move forward towards the workstation so as to improve the docking precision between the mobile robot and the workstation, whether the current direction of the mobile robot at the target navigation point is smaller than or equal to a preset offset angle or not can be judged in advance.
The current orientation of the mobile robot is the orientation of the mobile robot to the workstation interface.
And under the condition that the current direction is larger than the preset offset angle with the preset direction, adjusting the gesture of the mobile robot until the real-time direction, in which the current direction of the mobile robot is adjusted, is smaller than or equal to the preset offset angle with the preset direction.
As shown in fig. 3, an application example is provided in which any of the foregoing embodiments is applied:
(1) When the observation result is judged to be stable, the average pose of the workstation pose is recorded, the navigation point right in front of the workstation is obtained by reverse pushing, and the navigation point is converted to DR coordinates and recorded.
The global path planning can adopt algorithms such as Dijkstra or A, and the local path planning can adopt algorithms such as DWA or DP, and the invention is not limited. After reaching the navigation point A under global condition, the relative coordinates (namely, the relative position relation) of the workstation and the target DR coordinates of the navigation point B (namely, the target navigation point) right in front of the workstation are calculated through the static observation workstation, and the position relation between the navigation point and the workstation is shown in figure 4.
(1-1) Computing an average workstation position pose
In the process of stationary observation of the workstation by the mobile robot, calculating the average value of the position and the posture of the workstation, wherein the average position of the relative coordinates of the workstation isThe calculation mode is as follows:
the average orientation of the workstation is calculated by expressing the angle in its unit vector (cos, sin). The workstation average pose may be represented as an average vector of its unit vectors
And the final workstation average pose can be extrapolated from the average vector as:
(2) Judging whether the mobile robot is at the position right in front of the workstation currently, if so, driving to the workstation by using a straight line path according to the real-time perceived pose of the workstation, otherwise, driving to a navigation point B under DR positioning by DR positioning, namely, firstly reaching the position right in front of the workstation.
(2-1) Determining whether the own vehicle is directly in front of the workstation
When the mobile robot reaches the navigation point A, the mobile robot falls in a certain distance range l THR along the average working station pose and navigatesSatisfying a certain angle difference range theta THR, the position is considered to be right in front of the workstation:
Wherein, For indicating vectors/>Vector/>The included angle between the two is an acute angle,For indicating the current distance between the workstation and the mobile robot.
When the mobile robot is positioned right in front of the workstation, the mobile robot does not need to go to the navigation point B recorded under the DR coordinate system, but directly goes to the workstation according to the real-time sensing result.
(2-2) When the mobile robot is not located right in front of the workstation, the coordinates of the navigation point B at a distance L (i.e., a preset distance) right in front of the workstation can be calculated from the average position posture of the workstation.
And converting the navigation point B under the relative coordinate system to target DR coordinates under DR positioning and storing.
The distance between the navigation point A and the navigation point B is not far, the mobile robot calculates a local path in a short distance under DR positioning, and the vehicle runs to the navigation point B without causing larger deviation. On the contrary, if the global positioning is adopted to generate the path tracking, the path tracking is greatly influenced by the environment, and the drift correction and jump of the global positioning can influence the accuracy of reaching the navigation point B.
(3) The robot can run according to the perceived workstation direction in real time, at the moment, large swing head gesture adjustment is not carried out, the workstation gesture is ensured to be perceived and stably identified, and then a stable planning track is obtained, and accurate butt joint can be realized by control.
When the mobile robot reaches the position right in front of the workstation, a real-time sensing mode is adopted, the next road point is determined according to the sensed position and the current position of the workstation, the mobile robot moves to the next road point, and the mobile robot circulates according to the next road point until the mobile robot moves to the butt joint position. At the moment, the mobile robot has smaller initial state error of control because the transverse deviation and the course deviation meet certain constraint, and further the docking precision can be improved.
As shown in fig. 5, according to an embodiment of another aspect of the present application, there is also provided a docking apparatus of a mobile robot, including:
The workstation gesture acquisition module 1 is used for acquiring the workstation gesture of a workstation to be docked of the mobile robot under the condition that the mobile robot is located at a preset navigation point, wherein the workstation gesture is used for indicating the position relation of the workstation relative to the mobile robot;
The relative coordinate module 2 is used for determining the relative coordinates of the target navigation points positioned right in front of the workstation according to the workstation gesture under the condition that the mobile robot is determined not to be right in front of the workstation according to the workstation gesture;
the target DR coordinate module 3 is used for determining target DR coordinates of the target navigation points according to the relative coordinates of the target navigation points;
The first control module 4 is used for controlling the mobile robot to move to a target navigation point according to target DR coordinates by adopting DR positioning;
And the second control module 5 is used for controlling the mobile robot to move from the target navigation point to a docking position for docking with the workstation and completing docking of the mobile robot with the workstation.
In particular, the specific process of implementing the functions of each module in the apparatus of the embodiment of the present invention may be referred to the related description in the method embodiment, which is not repeated herein.
According to another embodiment of the present application, there is also provided an electronic apparatus including: as shown in fig. 6, the electronic device may include: the device comprises a processor 1501, a communication interface 1502, a memory 1503 and a communication bus 1504, wherein the processor 1501, the communication interface 1502 and the memory 1503 are in communication with each other through the communication bus 1504.
A memory 1503 for storing a computer program;
the processor 1501 is configured to execute the program stored in the memory 1503, thereby implementing the steps of the method embodiment described above.
The bus mentioned above for the electronic device may be a peripheral component interconnect standard (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, etc. The bus may be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
The communication interface is used for communication between the electronic device and other devices.
The Memory may include random access Memory (Random Access Memory, RAM) or may include Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components.
The embodiment of the application also provides a computer readable storage medium, wherein the storage medium comprises a stored program, and the program executes the method steps of the method embodiment.
Embodiments of the present application also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method steps of the method embodiments described above.
The embodiment of the application also provides a mobile robot which comprises the electronic equipment. The mobile robot may be any mobile-capable device, including autonomous or intelligent vehicles (including passenger vehicles (e.g., cars, buses, wagons, etc.), cargo-carrying vehicles (e.g., vans, dump trucks, closed trucks, tank trucks, flatcars, container trucks, dump trucks, special structure trucks), special vehicles (e.g., logistics distribution vehicles, automated guided transport vehicles AGVs, patrol vehicles, cranes, excavators, bulldozers, forklift trucks, road rollers, loaders, off-road engineering vehicles, armored vehicles, sewage treatment vehicles, sanitation vehicles, dust trucks, floor washing vehicles, watering vehicles, sweeping robots, meal delivery robots, shopping guide robots, mowers, golf carts, etc.), recreational vehicles (e.g., recreational vehicles, automatic driving devices for amusement parks, balance cars, etc.), rescue vehicles (e.g., fire fighters, ambulances, power emergency vehicles, engineering vehicles, etc.), and robots (e.g., sweeping robots, meal delivery robots, welcome robots, etc.).
The workstation in the embodiment of the invention can be equipment with at least one or more functions of water adding, water draining, charging, oiling, air adding and the like.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. A docking method of a mobile robot, comprising:
Acquiring a workstation gesture of a workstation to be docked of the mobile robot under the condition that the mobile robot is located at a preset navigation point, wherein the workstation gesture is used for indicating the position relation of the workstation relative to the mobile robot;
Under the condition that the mobile robot is not right in front of the workstation according to the workstation gesture, determining the relative coordinates of a target navigation point of the target navigation point right in front of the workstation according to the workstation gesture;
determining target DR coordinates of the target navigation points according to the relative coordinates of the target navigation points;
controlling the mobile robot to move to the target navigation point according to the target DR coordinates by adopting DR positioning;
And controlling the mobile robot to move from the target navigation point to a docking position for docking with the workstation, and completing docking of the mobile robot with the workstation.
2. The method according to claim 1, wherein the acquiring the workstation pose of the workstation to which the mobile robot is to dock in the case that the mobile robot is located at a preset navigation point comprises:
Under the condition that the mobile robot is located at a preset navigation point, performing at least one position detection operation on the workstation to obtain candidate relative coordinates corresponding to each position detection operation, wherein the relative coordinates are coordinates in a relative coordinate system determined according to the direction of the mobile robot by taking the preset position on the mobile robot as an origin;
calculating an average value of all the candidate relative coordinates, and determining the relative position relation of the workstation relative to the mobile robot;
Performing at least one orientation detection operation on the workstation to obtain candidate orientation positions corresponding to each orientation detection operation;
Determining the workstation orientation position of the workstation relative to the mobile robot according to all the candidate orientation positions;
determining the workstation pose including the relative positional relationship and the workstation facing position.
3. The method of claim 2, wherein, in the event that the mobile robot is determined not to be directly in front of the workstation from the workstation pose, prior to determining the target navigation point relative coordinates of the target navigation point directly in front of the workstation from the workstation pose, the method further comprises:
Determining an offset angle of the mobile robot relative to the front of the workstation according to the orientation position of the workstation and the direction of a coordinate axis in the relative coordinate system;
Determining the current distance between the workstation and the mobile robot according to the relative position relation;
Determining that the mobile robot is right in front of the workstation when the offset angle is within a preset angle difference range and the current distance is smaller than or equal to a preset distance upper limit;
And determining that the mobile robot is not directly in front of the workstation when the offset angle is not within the preset angle difference range or the current distance is greater than the preset distance upper limit.
4. The method of claim 2, wherein determining the relative coordinates of the target navigation point located directly in front of the workstation based on the workstation pose comprises:
Determining a preset distance;
And determining the target navigation point which is positioned right in front of the workstation and is at the preset distance from the workstation and the relative coordinates of the target navigation point according to the relative position relation, the orientation position of the workstation and the preset distance.
5. The method of claim 1, wherein said controlling the mobile robot to move to the target navigation point according to the target DR coordinates by employing DR positioning comprises:
Acquiring a current DR coordinate corresponding to the mobile robot in a DR coordinate system when the mobile robot is at the target navigation point;
Calculating a local path between the current DR coordinate and the target DR coordinate;
and controlling the mobile robot to move to the target navigation point according to the local path.
6. The method of claim 1, wherein the controlling the mobile robot to move from the target navigation point to a docked position with the workstation comprises:
the following steps are cyclically executed until the mobile robot moves to the docking position:
under the condition that the mobile robot is not located at the docking position, determining a next road point according to the current position of the docking position relative to the mobile robot;
Controlling the mobile robot to move to the next road point;
And judging whether the mobile robot is positioned at the docking position.
7. The method of any of claims 1-6, wherein prior to said controlling the mobile robot to move from the target navigation point to a docked position with the workstation, the method further comprises:
judging whether the current direction of the mobile robot of the target navigation point is smaller than or equal to a preset offset angle or not, wherein the preset direction is the connecting line direction between the workstation and the mobile robot;
And under the condition that the current direction is larger than the preset offset angle with the preset direction, adjusting the gesture of the mobile robot until the real-time direction of the mobile robot is smaller than or equal to the preset offset angle with the preset direction.
8. A docking device for a mobile robot, comprising:
The system comprises a workstation gesture acquisition module, a navigation module and a control module, wherein the workstation gesture acquisition module is used for acquiring the workstation gesture of a workstation to be docked of the mobile robot under the condition that the mobile robot is positioned at a preset navigation point, wherein the workstation gesture is used for indicating the position relation of the workstation relative to the mobile robot;
The relative coordinate module is used for determining the relative coordinates of a target navigation point positioned right in front of the workstation according to the workstation gesture under the condition that the mobile robot is not right in front of the workstation according to the workstation gesture;
the target DR coordinate module is used for determining target DR coordinates of the target navigation points according to the relative coordinates of the target navigation points;
the first control module is used for controlling the mobile robot to move to the target navigation point according to the target DR coordinates by adopting DR positioning;
And the second control module is used for controlling the mobile robot to move from the target navigation point to a docking position for docking with the workstation and completing docking of the mobile robot with the workstation.
9. An electronic device, comprising: the device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
The memory is used for storing a computer program;
the processor being adapted to implement the method of any of claims 1 to 7 when executing the computer program.
10. A computer readable storage medium, characterized in that the storage medium comprises a stored program, wherein the program when run performs the method of any of the preceding claims 1 to 7.
11. A computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 7.
12. A mobile robot comprising the electronic device of claim 9.
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