Point stabilization control method and apparatus for a mobile robot

1. A point stabilization control method for a mobile robot, the method performed by at least one processor in a point stabilization control system of the mobile robot, the method comprising:

acquiring a position of a target object;

determining a first displacement of the robot relative to the target object according to the position of the target object and an initial position of the robot;

determining a to-be-offset displacement of the robot according to the first displacement and a second displacement of the target object relative to a target point, and determining a target motion rate and a target motion direction of the robot according to the to-be-offset displacement and a mapping relation of a motion rate, a motion direction and the to-be-offset displacement;

determining a current position of the robot according to the target motion rate and the target motion direction; and

using the current position as the initial position and returning to the steps from determining the first displacement of the robot relative to the target object according to the position of the target object and the initial position of the robot to determining the current position of the robot according to the target motion rate and the target motion direction until a distance between the current position of the robot and a position of the target point is less than a preset threshold;

wherein the point stabilization control system runs in the mobile robot.

2. The method of claim 1 , wherein the step of determining the to-be-offset displacement of the robot according to the first displacement and the second displacement of the target object relative to the target point, and determining the target motion rate and the target motion direction of the robot according to the to-be-offset displacement and the mapping relation of the motion rate, the motion direction and the to-be-offset displacement comprises:

determining the to-be-offset displacement of the robot according to the first displacement and the second displacement;

determining a current position of the robot in a discretized artificial vector field according to the to-be-offset displacement, wherein the discretized artificial vector field is formed through discretizing an artificial vector field constructed according to a to-be-offset displacement which is determined for the first time and the position of the target point, and the position of the target point is an origin in the discretized artificial vector field;

determining a target motion track sequence of the robot in the discretized artificial vector field according to the current position of the robot in the discretized artificial vector field and the position of the target point, wherein the target motion track sequence comprises a plurality of motion track points; and

using a first motion track point in the target motion track sequence in a direction away from the origin as a subtarget point, and determining the target motion rate and the target motion direction of the robot according to a position of the subtarget point and the current position of the robot in the discretized artificial vector field.

3. The method of claim 2 , wherein the step of determining the target motion track sequence of the robot in the discretized artificial vector field according to the current position of the robot in the discretized artificial vector field and the position of the target point comprises:

determining an actual deflection angle of the robot in the discretized artificial vector field according to the current position of the robot in the discretized artificial vector field and a mapping relation between a position of the robot in the discretized artificial vector field and a deflection angle of the robot; and

determining the target motion track sequence according to the actual deflection angle and the position of the target point.

4. The method of claim 3 , wherein the mapping relation between the position of the robot in the discretized artificial vector field and the deflection angle of the robot is configured to be determined according to empirical data; or

the mapping relation between the position of the robot in the discretized artificial vector field and the deflection angle of the robot is configured to be determined according to a machine learning algorithm.

5. The method of claim 1 , wherein the target object comprises a first mounting plate and a second mounting plate which have a length greater than or equal to a preset length, wherein one end of the first mounting plate and one end of the second mounting plate are fixedly connected to each other to form an opening angle greater than a preset angle.

6. The method of claim 5 , wherein the preset length is 12 cm and the preset angle is 120 degrees.

7. The method of claim 1 , wherein the step of acquiring the position of the target object comprises acquiring a contour of an object in a preset range by using a lidar sensor; and

determining a position of the object as the position of the target object in response to determining that the contour of the object is a contour of the target object.

8. The method of claim 1 , wherein the to-be-offset displacement is a vector difference between the first displacement and the second displacement.

9. The method of claim 1 , wherein the robot uses any one of the following wheel systems:

omni wheels, differential wheels, Mecanum wheels or helms.

10. An electronic device, comprising:

at least one processor; and

a memory, which is configured to store at least one program which, when executed by the at least one processor, causes the at least one processor to perform the following steps:

acquiring a position of a target object;

determining a first displacement of the robot relative to the target object according to the position of the target object and an initial position of the robot;

determining a to-be-offset displacement of the robot according to the first displacement and a second displacement of the target object relative to a target point, and determining a target motion rate and a target motion direction of the robot according to the to-be-offset displacement and a mapping relation of a motion rate, a motion direction and the to-be-offset displacement;

determining a current position of the robot according to the target motion rate and the target motion direction; and

using the current position as the initial position and returning to the steps from determining the first displacement of the robot relative to the target object according to the position of the target object and the initial position of the robot to determining the current position of the robot according to the target motion rate and the target motion direction until a distance between the current position of the robot and a position of the target point is less than a preset threshold;

wherein the electronic device is provided in a point stabilization control system of a mobile robot and the point stabilization control system runs in the mobile robot.

11. A computer-readable non-transitory storage medium for a mobile robot, which is configured to store a computer program which, when executed by a processor, perform the following steps:

acquiring a position of a target object;

determining a first displacement of the robot relative to the target object according to the position of the target object and an initial position of the robot;

determining a to-be-offset displacement of the robot according to the first displacement and a second displacement of the target object relative to a target point, and determining a target motion rate and a target motion direction of the robot according to the to-be-offset displacement and a mapping relation of a motion rate, a motion direction and the to-be-offset displacement;

determining a current position of the robot according to the target motion rate and the target motion direction; and

using the current position as the initial position and returning to the steps from determining the first displacement of the robot relative to the target object according to the position of the target object and the initial position of the robot to determining the current position of the robot according to the target motion rate and the target motion direction until a distance between the current position of the robot and a position of the target point is less than a preset threshold.

12. The method of claim 2 , wherein the target object comprises a first mounting plate and a second mounting plate which have a length greater than or equal to a preset length, wherein one end of the first mounting plate and one end of the second mounting plate are fixedly connected to each other to form an opening angle greater than a preset angle.

13. The method of claim 3 , wherein the target object comprises a first mounting plate and a second mounting plate which have a length greater than or equal to a preset length, wherein one end of the first mounting plate and one end of the second mounting plate are fixedly connected to each other to form an opening angle greater than a preset angle.

14. The method of claim 4 , wherein the target object comprises a first mounting plate and a second mounting plate which have a length greater than or equal to a preset length, wherein one end of the first mounting plate and one end of the second mounting plate are fixedly connected to each other to form an opening angle greater than a preset angle.

15. The method of claim 2 , wherein the preset length is 12 cm and the preset angle is 120 degrees.

16. The method of claim 3 , wherein the preset length is 12 cm and the preset angle is 120 degrees.

17. The method of claim 4 , wherein the preset length is 12 cm and the preset angle is 120 degrees.

18. The method of claim 2 , wherein the step of acquiring the position of the target object comprises acquiring a contour of an object in a preset range by using a lidar sensor; and

determining a position of the object as the position of the target object in response to determining that the contour of the object is a contour of the target object.

19. The method of claim 3 , wherein the step of acquiring the position of the target object comprises acquiring a contour of an object in a preset range by using a lidar sensor; and

determining a position of the object as the position of the target object in response to determining that the contour of the object is a contour of the target object.

20. The method of claim 4 , wherein the step of acquiring the position of the target object comprises acquiring a contour of an object in a preset range by using a lidar sensor; and

determining a position of the object as the position of the target object in response to determining that the contour of the object is a contour of the target object.