WO2018076777A1

WO2018076777A1 - Robot positioning method and device, and robot

Info

Publication number: WO2018076777A1
Application number: PCT/CN2017/092032
Authority: WO
Inventors: 刘若鹏; 张莹莹; 赵金玉
Original assignee: 深圳光启合众科技有限公司
Priority date: 2016-10-25
Filing date: 2017-07-06
Publication date: 2018-05-03
Also published as: CN107972027A; CN107972027B

Abstract

A robot positioning method, comprising: obtaining a first position of a robot in a plurality of first preset regions, the first preset region comprising at least one robot; obtaining a relative position of the first preset region with respect to a second preset region, the second preset region being a set of the plurality of first preset regions; mapping the first position of the robot in the first preset region into a second position of the robot in the second preset region according to the relative position and the first position. The present invention solves the technical problem in the prior art of inaccurate indoor multi-robot positioning. Also disclosed are a robot positioning device and a robot.

Description

Robot positioning method and device, robot

Technical field

The present invention relates to the field of robots, and in particular to a method and device for positioning a robot and a robot.

Background technique

Robot technology is rapidly developing under the support of national policies. In order to show people the current level of robot technology development and future applications, robotics exhibition halls have been established in many places, and multiple robots are placed in the science and technology exhibition hall. People's interactions make people feel the convenience and happiness of robots' intelligence and technology.

In addition to the speech recognition, face recognition, motion control, and collaboration capabilities that robots display in the process of interacting with people, there is a very important hidden ability that is the ability of robots to locate and navigate. If the robot cannot be accurately positioned, it cannot Planning the correct path for the robot can cause the robots to collide with each other or the robot to collide with surrounding objects.

The existing positioning technology is not suitable for indoor multi-robot positioning. For example, GPS is generally suitable for outdoor positioning, and the indoor signal is poor, and the positioning accuracy is also poor; RFID, Bluetooth, Zigbee, Wi-Fi fingerprint, etc. Small, positioning accuracy is also poor; inertial sensing is constrained by external conditions, can guarantee higher accuracy in the short term, but will drift with time, the cumulative error is getting larger and larger; lidar and ultra-wideband positioning accuracy is higher, but the cost is higher It is not convenient to promote it in large quantities.

In response to the above problems, no effective solution has been proposed yet.

Summary of the invention

Embodiments of the present invention provide a positioning method and apparatus for a robot, and a robot, to at least solve the technical problem of inaccurate positioning of indoor multi-robot in the prior art.

According to an aspect of the present invention, a method for positioning a robot includes: acquiring a first position of a plurality of robots in a first preset area, wherein the first preset area includes at least one robot; Acquiring a relative position of the first preset area relative to the second preset area, where the second preset area is a set of the plurality of the first preset areas; according to the relative position and the first Positioning, mapping the first position of the robot in the first preset area to the second position of the robot in the second preset area Set.

Further, the first position is a coordinate (x1, y1) of the robot in a two-dimensional coordinate system with a first reference point as a coordinate origin, and the first reference point is in the first preset area. Any one of the points, the relative position is a coordinate (x2, y2) of the first reference point in a two-dimensional coordinate system with a second reference point as a coordinate origin, and the second reference point is the second Any one of the preset areas, according to the relative position and the first position, mapping the first position of the robot in the first preset area to the second position of the robot in the second The second position in the preset area includes: adding x1 and x2 to obtain x0; adding y1 and y2 to obtain y0; and setting the position indicated by the coordinate (x0, y0) as the robot in the second The second position in the preset area.

Further, acquiring the first position of the robot in the first preset area comprises: acquiring an image of the first preset area; identifying the robot in the image; mapping a position of the robot in the image a position of the robot in the first preset area, and a position of the robot in the first preset area as the first position.

Further, mapping a position of the robot in the image to a position of the robot in the first preset area, and using a position of the robot in the first preset area as the first The position includes: acquiring coordinates of the robot in the image; acquiring a ratio of the image to a size of the first preset area; and enlarging coordinates of the robot in the image according to the ratio, obtaining a Depicting the coordinates of the robot in the first preset area, and using the position indicated by the coordinates of the robot in the first preset area as the first position.

Further, each of the first preset regions has a different visible identifier, and identifying the robot in the image comprises: identifying, by the visible identifier, the robot corresponding to the visible identifier.

Further, the visible identifier is a color, a shape, or a combination of colors and shapes of a certain component of the robot.

Further, the positioning method further includes: calculating position information of the robot according to the second position; generating a control instruction according to the position information, where the control instruction is used to indicate that the robot is in accordance with the control instruction Motion information motion; transmitting the control command to the robot.

Further, the position information of the robot includes distance information of a boundary line between the robot and the first preset area, and calculating position information of the robot according to the second position includes: calculating the second position and a distance d(i) of the boundary line Li of the first preset area, where i is an integer from 1 to N, where N is the number of boundary lines of the first preset area; and the distance d(1) Deriving a distance equal to or less than a preset distance d0 from the N distances d(N) to obtain a target distance; generating a control instruction packet according to the position information And including: a boundary line corresponding to the target distance as a target boundary line; generating a control instruction according to the target boundary line, wherein the control instruction is used to control the robot to move in a direction away from the target boundary line.

Further, before calculating the motion information of the robot according to the second position, the method further includes: determining whether the robot is a first type robot or a second type robot; if it is determined that the robot is the first a type of robot, the control command allowing the robot to move within one of the first predetermined regions; if it is determined that the robot is the second type of robot, the control command allows the robot to be in multiple The movement in the first preset area is described.

Further, determining whether the robot is a first type of robot or a second type of robot comprises: identifying a visible identifier of the robot; determining whether the visible identifier is a first type identifier or a second type identifier; if the visible identifier is Determining the first type of identifier, determining that the robot is the first type of robot, wherein the first type of robot is only allowed to move in one of the first preset regions; if the visible identifier is the second The class identifies that the robot is the second type of robot, wherein the second type of robot allows movement within a plurality of the first predetermined regions.

According to still another aspect of the embodiments of the present invention, a positioning device for a robot includes: a first acquiring unit, configured to acquire a first position of a robot in a plurality of first preset regions, wherein the first pre- The second preset unit is configured to acquire a relative position of the first preset area relative to the second preset area, where the second preset area is a plurality of the first a mapping unit, configured to map the first position of the robot in the first preset area to the robot according to the relative position and the first position The second position in the second preset area.

Further, the first position is a coordinate (x1, y1) of the robot in a two-dimensional coordinate system with a first reference point as a coordinate origin, and the first reference point is in the first preset area. Any one of the points, the relative position is a coordinate (x2, y2) of the first reference point in a two-dimensional coordinate system with a second reference point as a coordinate origin, and the second reference point is the second Any one of the preset areas, the mapping unit includes: a first calculating sub-unit for adding x1 and x2 to obtain x0; and a second calculating sub-unit for adding y1 and y2 to obtain y0 a first determining subunit for using a position indicated by the coordinates (x0, y0) as the second position of the robot in the second preset area.

Further, the first acquiring unit includes: an acquiring subunit, configured to acquire an image of the first preset area; a first identifying subunit, configured to identify the robot in the image; and a mapping subunit, Mapping a position of the robot in the image to a position of the robot in the first preset area, and using a position of the robot in the first preset area as the first position .

Further, the first identifying subunit includes: a first acquiring module, configured to acquire the robot in the office a coordinate in the image; a second acquisition module, configured to acquire a ratio of the image to a size of the first preset area; and an amplification module, configured to enlarge the coordinate of the robot in the image according to the ratio Obtaining coordinates of the robot in the first preset area, and using the position indicated by the coordinates of the robot in the first preset area as the first position.

Further, each of the first preset areas has a different visible identifier, and the first identifying subunit includes: an identifying module, configured to identify, by the visible identifier, a location corresponding to the visible identifier Said robot.

Further, the positioning device further includes: a calculating unit, calculating position information of the robot according to the second position; a generating unit, configured to generate a control instruction according to the position information, wherein the control instruction is used to instruct the robot to follow The motion information movement in the control instruction; the sending unit, configured to send the control instruction to the robot.

Further, the position information of the robot includes distance information of a boundary line between the robot and the first preset area, and the calculating unit includes: a third calculating subunit, configured to calculate the second position and the location a distance d(i) of the boundary line Li of the first preset area, wherein i sequentially takes an integer from 1 to N, where N is the number of boundary lines of the first preset area; and a screening subunit is used to A distance from the distance d(1) to the distance d(N) is selected to be a distance less than or equal to the preset distance d0 to obtain a target distance; the generating unit includes: a second determining subunit, configured to: The corresponding boundary line is a target boundary line; a generating subunit is configured to generate a control instruction according to the target boundary line, wherein the control instruction is used to control the robot to move in a direction away from the target boundary line.

Further, the positioning device further includes: a determining unit, configured to determine, before the calculating unit calculates the motion information of the robot according to the second position, whether the robot is a first type robot or a second type robot; If it is determined that the robot is the first type of robot, the control instruction allows the robot to move in one of the first preset areas; if it is determined that the robot is the second type of robot, The control command allows the robot to move within a plurality of the first predetermined regions.

Further, the determining unit includes: a second identifying subunit, configured to identify a visible identifier of the robot; and a determining subunit, configured to determine whether the visible identifier is a first type identifier or a second type identifier; a subunit, configured to determine that the robot is the first type of robot if the visible identifier is the first type of identifier, wherein the first type of robot is allowed only in one of the first preset regions a fourth determining subunit, configured to determine that the robot is the second type of robot if the visible identifier is the second type of identifier, Wherein the second type of robot allows movement in a plurality of the first predetermined areas.

According to still another aspect of an embodiment of the present invention, there is provided a robot comprising: the positioning device of the robot described above.

In the embodiment of the present invention, the plurality of smaller regions are combined to form a larger region, and the relative positions of the relatively larger regions of each of the smaller regions are fixed and unique, and the acquiring robot is in a smaller region. The position in the middle and the relative position of the smaller area relative to the larger area, the robot is smaller according to the position of the robot in the smaller area and the relative position of the smaller area relative to the larger area The position mapping in the area is the position of the robot in a larger area, and the technical effect of indoor multi-robot positioning is achieved, thereby solving the technical problem of inaccurate positioning of indoor multi-robot in the prior art.

DRAWINGS

The drawings described herein are intended to provide a further understanding of the invention, and are intended to be a part of the invention. In the drawing:

1 is a flow chart of a positioning method of a robot according to an embodiment of the present invention;

2-1 is a schematic diagram of a first preset area according to an embodiment of the present invention;

2-2 is a schematic diagram of relative positions of a first preset area with respect to a second preset area according to an embodiment of the present invention;

2-3 are schematic diagrams of a second position of a robot in a second predetermined area, in accordance with an embodiment of the present invention.

3-1 is a schematic diagram of a position of a robot in a first preset area according to an embodiment of the present invention;

3-2 is a schematic diagram of a position of a first reference point D1 in a two-dimensional coordinate system with a second reference point D2 as a coordinate origin, according to an embodiment of the present invention;

3-3 is a schematic diagram of a position of a robot in a two-dimensional coordinate system with a second reference point D2 as a coordinate origin, according to an embodiment of the present invention;

4 is a schematic diagram of indoor multi-robot positioning according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a positioning device of a robot according to an embodiment of the present invention.

detailed description

In order to enable those skilled in the art to better understand the solution of the present invention, the following will be incorporated in the embodiments of the present invention. The embodiments of the present invention are clearly and completely described in the drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of the present invention.

It is to be understood that the terms "first", "second" and the like in the specification and claims of the present invention are used to distinguish similar objects, and are not necessarily used to describe a particular order or order. It is to be understood that the data so used may be interchanged where appropriate, so that the embodiments of the invention described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

According to an embodiment of the present invention, there is provided an embodiment of a positioning method of a robot, and it is to be noted that the steps illustrated in the flowchart of the accompanying drawings may be executed in a computer system such as a set of computer executable instructions, and Although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in a different order than the ones described herein.

1 is a flow chart of a method for positioning a robot according to an embodiment of the present invention. As shown in FIG. 1, the method includes the following steps:

Step S102: Acquire a first position of the robot in the plurality of first preset areas, wherein the first preset area includes at least one robot.

Step S104: Acquire a relative position of the first preset area with respect to the second preset area, where the second preset area is a set of the plurality of first preset areas.

Step S106, mapping the first position of the robot in the first preset area to the second position of the robot in the second preset area according to the relative position and the first position.

The positioning method of the robot provided by the embodiment of the present invention has no limitation on the walking manner of the robot. For example, the walking mode of the robot may be biped walking or wheeled moving (omnidirectional, differential moving platform).

The second preset area includes a plurality of first preset areas. The relative position of each of the first preset areas relative to the second preset area is fixed and unique. One or more robots are included in each of the first preset areas. If you want to locate the robot, you need to obtain two pieces of position information, where one position information is the position of the robot in the first preset area (first position), and the other position information is the first preset area relative to the second preset area. Relative position. Based on the two position information, the position (second position) of the robot in the second preset area can be obtained.

For example, it is assumed that the second preset area includes nine first preset areas, which are a first preset area Z1, a first preset area Z2, a first preset area Z3, ..., and a first preset area Z9. Figure 2-1 shows a first preset area Z6, as can be seen in Figure 2-1, there are two robots in the first preset area Z6, namely Robot A and Robot B. 2-2 shows the relative positions of the nine first preset areas with respect to the second preset area, wherein the set of the nine first preset areas is the second preset area. According to the relative position of the first preset area Z6 relative to the second preset area and the position (first position) of the robot A in the first preset area Z6, the position of the robot A in the second preset area can be obtained (No. Two positions). According to the relative position of the first preset area Z6 relative to the second preset area and the position (first position) of the robot B in the first preset area Z6, the position of the robot B in the second preset area can be obtained (No. Two positions). Figures 2-3 show the second position of the robot A and the robot B in the second predetermined area.

In the embodiment of the present invention, the plurality of smaller regions are combined to form a larger region, and the relative positions of the relatively larger regions of each of the smaller regions are fixed and unique, and the acquiring robot is in a smaller region. The position in the middle and the relative position of the smaller area relative to the larger area, the robot is smaller according to the position of the robot in the smaller area and the relative position of the smaller area relative to the larger area The position mapping in the area is the position of the robot in a larger area, which achieves the technical effect of accurate positioning of the indoor multi-robot, and solves the technical problem that the indoor multi-robot positioning in the prior art is inaccurate.

The position information can be represented by coordinates. Optionally, the first position is a coordinate (x1, y1) of the robot in a two-dimensional coordinate system with the first reference point as a coordinate origin, and the first reference point is any one of the first preset regions, the relative position For the first reference point, the coordinate (x2, y2) in the two-dimensional coordinate system with the second reference point as the coordinate origin, and the second reference point is any one of the second preset regions. According to the relative position and the first position, the specific process of mapping the first position of the robot in the first preset area to the second position of the robot in the second preset area is as follows: adding x1 and x2 to obtain x0; Adding y1 and y2 to obtain y0; the position indicated by the coordinates (x0, y0) is taken as the second position of the robot in the second preset area.

The first reference point is any one of the first preset areas; the second reference point is any one of the second preset areas. In the two-dimensional coordinate system in which the first reference point is the coordinate origin, the coordinates of a certain robot R1 are (x1, y1). In the two-dimensional coordinate system in which the second reference point is the coordinate origin, the coordinates of the first reference point are (x2, y2). Let x0=x1+x2, y0=y1+y2, and the coordinates (x0, y0) be the coordinates of the robot R1 in the two-dimensional coordinate system with the second reference point as the coordinate origin, that is, the coordinates (x0, y0) The indicated position is taken as the position (second position) of the robot R1 in the second preset area.

For example, in FIGS. 3-1, 3-2, and 3-3, D1 represents a first reference point and D2 represents a second reference point. In the coordinate system shown in Fig. 3-1, the coordinates of the robot A are (0.5, 0.8), that is, x1 = 0.5 and y1 = 0.8. In the coordinate system shown in FIG. 3-2, the second reference point D2 is taken as the coordinate origin, and the coordinate of the first reference point D1 is (2, 1). That is, x2=2 and y2=1. X0=x1+x2=0.5+2=2.5. Y0=y1+y2=0.8+1=1.8. The coordinates (2.5, 1.8) are the coordinates of the robot A in the two-dimensional coordinate system with the second reference point D2 as the coordinate origin, that is, the position indicated by the coordinates (2.5, 1.8) is taken as the second preset of the robot A. The location in the area (second position). In the coordinate system shown in Fig. 3-1, the coordinates of the robot B are (0.9, 0.3), that is, x1 = 0.9 and y1 = 0.3. In the coordinate system shown in FIG. 3-2, the second reference point D2 is taken as the coordinate origin, and the coordinates of the first reference point D1 are (2, 1), that is, x2=2, y2=1. X0=x1+x2=0.9+2=2.9. Y0=y1+y2=0.3+1=1.3. The coordinates (2.9, 1.3) are the coordinates of the robot B in the two-dimensional coordinate system with the second reference point D2 as the coordinate origin, that is, the position indicated by the coordinates (2.9, 1.3) is taken as the second preset of the robot B. The location in the area (second position).

Optionally, each robot in the first preset area has a different visible identity. Obtaining an image of the first preset area; identifying a robot corresponding to the visible identifier by the visible identifier in the image, mapping a position of the robot in the image to a position of the robot in the first preset area, and placing the robot at the first The position of the preset area is taken as the first position.

It can be seen that the color, shape, or a combination of color and shape of a certain part of the robot is identified.

A plurality of cameras are used, each camera covering a first preset area, a plurality of robots in the first preset area, each robot having a visible identifier associated with its ID.

The camera captures the image of the first preset area, and identifies the position of the visible mark in the image, so that the position of the robot associated with the visible mark can be obtained. It should be noted that the position of the robot in the image is obtained, but not the robot. The position in the first preset area.

If you want to get the position of the robot in the first preset area (the first position), you need to map the position of the robot in the image to the position of the robot in the first preset area, and position the robot in the first preset area. As the first position. The specific process of the mapping is as follows: acquiring the coordinates of the robot in the image; obtaining the ratio of the image to the size of the first preset area; magnifying the coordinates of the robot in the image according to the scale, obtaining the coordinates of the robot in the first preset area, and The position of the robot indicated by the coordinates of the first preset area is taken as the first position.

That is, the coordinates of the robot in the image are enlarged according to the ratio of the image to the size of the first preset area, and the position (first position) of the robot in the first preset area is obtained.

For example, the size of the image of the first preset area captured by the camera is 10 cm x 10 cm, and the coordinates of the robot R1 in the image are (8 cm, 9 cm). The size of the first preset area is 2m x 2m. Since the side length of the first preset area is 20 times of the side length of the image, the coordinates of the robot R1 in the image are multiplied by 20, that is, the coordinates of the robot in the first preset area (1.6 m×1.8 m) are obtained, and the coordinates are obtained. The position indicated by (1.6m × 1.8m) is the position (first position) of the robot in the first preset area.

Embodiments of the present invention include a plurality of local submodule master control systems and a server, wherein each local submodule The block master system is responsible for a first preset area. The image captured by the camera can be processed in the local sub-module main control system to obtain the second coordinate of the robot in the second preset area, and the second coordinate of the robot in the second preset area is passed through the communication module (for example, the wifi module) Uploading the server, this method has lower requirements on the server and is not prone to delays. The image captured by the camera can also be compressed and uploaded to the server for centralized processing.

For example, using multiple cameras, each camera covers a first preset area, and there are multiple robots in the first preset area, and each robot has a color patch associated with its ID, which may be the robot body. The decorative objects such as hats, scarves, etc. can also be the design color of the robot. The camera captures the image of the first preset area, and records the different color blocks in the image of the first preset area to reflect different robots in the image in real time. s position.

Optionally, after mapping the first position of the robot in the first preset area to the second position of the robot in the second preset area, calculating position information of the robot according to the second position; generating a control instruction according to the position information The control command is used to instruct the robot to move according to the motion information carried in the control command; and send a control command to the robot.

After the server acquires the second position of the robot in the second preset area, the motion information of the robot can be calculated in real time through an algorithm comparison operation, and the motion information of the robot includes a path, a direction, a step number, and the like.

A control command is generated based on the motion information. The control command is transmitted to the motion control module of the robot through the communication module, and the motion control module of the robot controls the operation of the robot according to the control instruction, for example, controlling which direction the robot moves, how many steps to move, etc., according to the second preset area according to the robot The position in the calculation of the robot's motion information and control of the robot's motion enables the robots not to collide with each other, and the robot does not collide with other objects or people.

Optionally, the position information of the robot includes distance information of the boundary line between the robot and the first preset area, and calculating the position information of the robot according to the second position includes: calculating a distance between the second position and the boundary line Li of the first preset area. d(i), wherein i sequentially takes an integer from 1 to N, where N is the number of boundary lines of the first predetermined region; and the value of the N distances from the distance d(1) to the distance d(N) is less than A distance equal to the preset distance d0 is obtained, and the generating the control command according to the position information includes: using a boundary line corresponding to the target distance as a target boundary line; generating a control instruction according to the target boundary line, where the control instruction is used to control the robot to move away from the target boundary The direction of the line moves.

For some robots (for example, the first type of robot), it is only allowed to move in one first preset area, and it is not allowed to move from one first preset area to another first preset area. Therefore, it is very important to know the distance between the robot and the boundary line of the first preset area in time. When the robot is closer to the boundary of the first preset area, the movement of the robot should be controlled in time to keep it away from the first preset area. boundary.

The first preset area has N boundary lines, which are boundary lines L1, L2, ..., LN, respectively. The distance between the robot and the N boundary lines is calculated separately to obtain the distance d(1) to the distance d(N).

The preset distance d0 can be set in advance. If the distance between the robot and the boundary line is less than the preset distance d0, the distance between the robot and the boundary is relatively close, and the movement direction of the robot needs to be adjusted to avoid the robot running to the first preset. Outside the area.

A distance whose value is less than or equal to the preset distance d0 is selected from the N distances from the distance d(1) to the distance d(N) to obtain a target distance. The boundary line corresponding to the target distance is taken as the target boundary line. A control command is generated according to the target boundary line, and the control command is used to control the movement of the robot in a direction away from the target boundary line.

By calculating the distance between the robot and the boundary line of the first preset area where the robot is located, when the distance between the robot and a certain boundary is very close, the running direction of the robot is adjusted to be away from the boundary, and the robot can be accurately controlled. Running in a first preset area avoids collisions with robots of other first preset areas.

Optionally, before calculating the motion information of the robot according to the second position, determining whether the robot is the first type robot or the second type robot; if it is determined that the robot is the first type robot, the control instruction allows the robot to be in a first preset area. Internal motion; if it is determined that the robot is a second type of robot, the control command allows the robot to move within a plurality of first preset regions.

Determining whether the robot is the first type of robot or the second type of robot comprises: identifying the visible identifier of the robot; determining whether the visible identifier is the first type of identifier or the second type of identifier; if the visible identifier is the first type of identifier, determining that the robot is the first type of robot Wherein, the first type of robot is only allowed to move in a first preset area; if the visible mark is a second type of mark, the determined robot is a second type of robot, wherein the second type of robot is allowed to be in a plurality of first presets Movement within the area.

Each robot has a decorative object, such as a scarf, a hat, a glove, etc., by identifying the color of the ornament to identify the category to which the robot belongs. For example, if the color of the decoration is a single color, the decoration is a first type of identification, and the robot corresponding to the first type of identification is a first type of robot, and the first type of robot is only allowed to move within a first predetermined area. If the color of the decoration is colored, the decoration is a second type of identification, the second type of identification corresponding robot is a second type of robot, and the second type of robot is allowed to move within a plurality of first preset areas.

Embodiments of the present invention provide two different methods of controlling the range of motion of a robot. Method 1: All robots (first class robots) are only allowed to move in a first preset area. Method 2: Most of the robots (the first type of robots) are only allowed to move in a first preset area, and a small number of robots (the second type of robots) are allowed to move in a plurality of first preset areas.

Both methods have their own advantages and are now described in detail.

In the first method, the range of motion of the robot in the different first preset areas does not intersect. For example, the second preset area includes a total of three first preset areas, respectively being the first preset area Z1 and the first The preset area Z2 and the first preset area Z3. Wherein, there are two robots in the first preset area Z1, then the two robots are only allowed to move in the first preset area Z1, and are not allowed to move in the first preset area Z2 or the first preset area Z3. There are three robots in the first preset area Z2, and then the three robots are only allowed to move in the first preset area Z2, and are not allowed to move in the first preset area Z1 or the first preset area Z3. There are 7 robots in the first preset area Z3, and then the 7 robots are only allowed to move in the first preset area Z3, and are not allowed to move in the first preset area Z1 or the first preset area Z2. The advantage of this method is that since the range of motion of the robot is set within the coverage of a single camera, the number of robots within the coverage of each camera is small, so that the number of visible markers is small, and the visible identifier is recognized during image processing. When the number of visible identifiers is small, the difficulty of image processing is greatly reduced, and the same visible identifier may be in the range covered by different cameras, that is, the same first preset area cannot have the same visible identifier, different The first preset area may have the same visible identity.

In method two, most of the robots are only allowed to move in one first preset area, and a small number of robots are allowed to move in a plurality of first preset areas. A small number of robots can be set with special visible signs (for example, special colors). These robots with special visible signs allow movement in multiple first preset areas and can be moved from one camera coverage to another. Within the scope of coverage, the remaining robots are only allowed to move within a first preset area. The difficulty of image processing in method 2 is not much more difficult than the difficulty of image processing in method 1. However, the flexibility of the robot in this method is greatly increased. Because some robots can move in a wide range, in the process of displaying the robot, Make the audience more interested and enhance the audience's goodwill.

The positioning method of the robot provided by the embodiment of the invention has good positioning accuracy, high positioning precision, and the error can be controlled within 30 cm, which is much higher than the positioning accuracy of the positioning modes such as Wi-Fi, Bluetooth, Zigbee, RFID, etc., and Multiple cameras expand the range of positioning and cost far less than ultra-wideband and lidar positioning.

Embodiments of the present invention provide a positioning system for a robot. The system includes a camera module 40, a main control system module 42, a communication module 44, a server module 46, and a motion control module 48. The camera module 40 includes a plurality of cameras.

As shown in Fig. 4, each camera covers a range, and the camera is installed at the top of the exhibition hall. On the ground of the exhibition hall, each robot has a certain range of motion, and each camera will take an image of the first preset area. Uploaded to the main control system module 42 , the main control system module 42 calculates the position of the robot in the second preset area according to the position of the robot in the first preset area and the relative position of the first preset area relative to the second preset area (second position). The main control system module 42 transmits the position of the robot in the second preset area (the second position) through the communication module 44. To the server module 46. The server module 46 plans the motion path of the robot in real time according to the position (second position) of the robot in the second preset area, generates a control signal, and transmits the control signal to the motion control module 48 of the robot through the communication module 44. The motion control module 48 of the robot controls which direction the robot moves and the distance of the motion according to the control signal, thereby avoiding the robots colliding with each other and avoiding the robot colliding with other objects or people.

In the embodiment of the invention, an infrared sensor or a sonar can also be added, so that the positioning of the robot is more accurate.

According to an embodiment of the invention, a positioning device for a robot is also provided. The positioning device of the robot can perform the positioning method of the above robot, and the positioning method of the robot can also be implemented by the positioning device of the robot.

FIG. 5 is a schematic diagram of a positioning device of a robot according to an embodiment of the present invention. As shown in FIG. 5, the device includes a first acquisition unit 10, a second acquisition unit 20, and a mapping unit 30.

The first obtaining unit 10 is configured to acquire a first position of the robot in the first preset area, wherein the first preset area includes at least one robot.

The second acquiring unit 20 is configured to acquire a relative position of the first preset area relative to the second preset area, where the second preset area is a set of the plurality of first preset areas.

The mapping unit 30 is configured to map the first position of the robot in the first preset area to the second position of the robot in the second preset area according to the relative position and the first position.

Optionally, the first position is a coordinate (x1, y1) of the robot in a two-dimensional coordinate system with the first reference point as a coordinate origin, and the first reference point is any one of the first preset regions, the relative position For the first reference point, the coordinate (x2, y2) in the two-dimensional coordinate system with the second reference point as the coordinate origin, and the second reference point is any one of the second preset regions. The mapping unit includes: a first calculating subunit for adding x1 and x2 to obtain x0; a second calculating subunit for adding y1 and y2 to obtain y0; and a first determining subunit for using coordinates The position indicated by (x0, y0) is the second position of the robot in the second preset area.

Optionally, the first obtaining unit includes: an acquiring subunit for acquiring an image of the first preset area; a first identifying subunit for identifying the robot in the image; and a mapping subunit for using the robot in the image The position is mapped to the position of the robot in the first preset area, and the position of the robot in the first preset area is taken as the first position.

Optionally, the first identifying subunit includes: a first acquiring module, configured to acquire coordinates of the robot in the image; a second acquiring module, configured to acquire a ratio of an image to a size of the first preset area; and an amplifying module, Zooming in on the coordinates of the robot in the image according to the scale, obtaining the coordinates of the robot in the first preset area, and The position indicated by the coordinates of the first preset area is taken as the first position.

Optionally, each robot in the first preset area has a different visible identifier, and the first identification subunit includes: an identification module, configured to identify the robot corresponding to the visible identifier by the visible identifier.

Alternatively, the color, shape, or a combination of color and shape of a certain component of the robot is visible.

Optionally, the positioning device further includes: a calculating unit, calculating position information of the robot according to the second position; generating a unit, generating a control instruction according to the position information, wherein the control instruction is used to instruct the robot to move according to the motion information in the control instruction; Used to send control commands to the robot.

Optionally, the position information of the robot includes distance information of the boundary line between the robot and the first preset area, and the calculating unit includes: a third calculating subunit, configured to calculate a boundary line Li between the second position and the first preset area. The distance d(i), where i takes an integer from 1 to N, N is the number of boundary lines of the first preset area; and the filtering subunit is used for the distance d(1) to the distance d(N) The distance is determined by the distance of the distance less than or equal to the preset distance d0, and the target distance is obtained; the generating unit includes: a second determining sub-unit, configured to use the boundary line corresponding to the target distance as the target boundary line; and generate a sub-unit for The target boundary line generates a control command for controlling the movement of the robot in a direction away from the target boundary line.

Optionally, the positioning device further includes: a determining unit, configured to determine, before the calculating unit calculates the motion information of the robot according to the second position, whether the robot is the first type robot or the second type robot; if the robot is determined to be the first type robot The control command allows the robot to move within a first predetermined area; if it is determined that the robot is a second type of robot, the control command allows the robot to move within the plurality of first predetermined areas.

Optionally, the determining unit includes: a second identifying subunit, configured to identify a visible identifier of the robot; and a determining subunit, configured to determine whether the visible identifier is a first type identifier or a second type identifier; and the third determining subunit is configured to: If the visible identifier is the first type of identifier, determining that the robot is the first type of robot, wherein the first type of robot is only allowed to move within a first preset area; and the fourth determining subunit is for if the visible identifier is the second type The identification determines that the robot is a second type of robot, wherein the second type of robot allows movement within a plurality of first predetermined regions.

In the above-mentioned embodiments of the present invention, the descriptions of the various embodiments are different, and the parts that are not detailed in a certain embodiment can be referred to the related descriptions of other embodiments.

In the several embodiments provided by the present invention, it should be understood that the disclosed technical contents may be implemented in other manners. The device embodiments described above are only schematic. For example, the division of the unit may be a logical function division. In actual implementation, there may be another division manner, such as multiple units or components. It can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, unit or module, and may be electrical or otherwise.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and the like. .

The above description is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. It should be considered as the scope of protection of the present invention.

Claims

A method for positioning a robot, comprising:

Acquiring a first position of the robot in the plurality of first preset areas, wherein the first preset area includes at least one robot;

Obtaining a relative position of the first preset area relative to the second preset area, where the second preset area is a set of the plurality of the first preset areas;

And mapping the first position of the robot in the first preset area to a second position of the robot in the second preset area according to the relative position and the first position.
The positioning method according to claim 1, wherein the first position is a coordinate (x1, y1) of the robot in a two-dimensional coordinate system with a first reference point as a coordinate origin, the first The reference point is any one of the first preset regions, and the relative position is a coordinate (x2, y2) of the first reference point in a two-dimensional coordinate system with a second reference point as a coordinate origin. The second reference point is any one of the second preset areas,

Mapping the first position of the robot in the first preset area to a second position of the robot in the second preset area according to the relative position and the first position :

Adding x1 and x2 to obtain x0;

Add y1 and y2 to get y0;

The position indicated by the coordinates (x0, y0) is taken as the second position of the robot in the second preset area.
The positioning method according to claim 1, wherein the acquiring the first position of the robot in the first preset area comprises:

Obtaining an image of the first preset area;

Identifying the robot in the image;

Mapping a position of the robot in the image to a position of the robot in the first preset area, and using a position of the robot in the first preset area as the first position.
The positioning method according to claim 3, wherein a position of the robot in the image is mapped to a position of the robot in the first preset area, and the robot is in the One The location of the preset area as the first location includes:

Obtaining coordinates of the robot in the image;

Obtaining a ratio of the image to a size of the first preset area;

Enlarging coordinates of the robot in the image according to the scale, obtaining coordinates of the robot in the first preset area, and positioning the robot in a position indicated by coordinates of the first preset area As the first position.
The positioning method according to claim 3, wherein each of the first preset areas has a different visible identifier,

Identifying the robot in the image comprises:

The robot corresponding to the visible identification is identified by the visible identification.
The positioning method according to claim 5, wherein the visible identification is a color, a shape, or a combination of colors and shapes of a certain component of the robot.
The positioning method according to claim 1, wherein the positioning method further comprises:

Calculating position information of the robot according to the second position;

And generating, according to the location information, a control instruction, where the control instruction is used to instruct the robot to move according to motion information in the control instruction;

Sending the control command to the robot.
The positioning method according to claim 7, wherein the position information of the robot includes distance information of a boundary line between the robot and the first preset area, and the robot is calculated according to the second position. Location information includes:

Calculating a distance d(i) of the second position from a boundary line Li of the first preset area, where i sequentially takes an integer from 1 to N, where N is the number of boundary lines of the first preset area ;

The distance from the distance d(1) to the distance d(N) is selected to be a distance less than or equal to the preset distance d0 to obtain a target distance;

Generating control instructions according to the location information includes:

Taking a boundary line corresponding to the target distance as a target boundary line;

Generating a control instruction according to the target boundary line, the control instruction is for controlling the robot to be far Moving in the direction of the target boundary line.
The positioning method according to claim 7, wherein

Before calculating the motion information of the robot according to the second position, the method further includes:

Determining whether the robot is a first type robot or a second type robot;

If it is determined that the robot is the first type of robot, the control instruction allows the robot to move in one of the first preset regions;

If it is determined that the robot is the second type of robot, the control command allows the robot to move within a plurality of the first predetermined regions.
The positioning method according to claim 9, wherein determining whether the robot is a first type robot or a second type robot comprises:

Identifying a visible identifier of the robot;

Determining whether the visible identifier is a first type identifier or a second type identifier;

If the visible identifier is the first type of identifier, determining that the robot is the first type of robot, wherein the first type of robot is only allowed to move in one of the first preset regions;

If the visible identification is the second type of identification, determining that the robot is the second type of robot, wherein the second type of robot is allowed to move within a plurality of the first predetermined regions.
A positioning device for a robot, comprising:

a first acquiring unit, configured to acquire a first position of the robot in the plurality of first preset areas, wherein the first preset area includes at least one robot;

a second acquiring unit, configured to acquire a relative position of the first preset area relative to the second preset area, where the second preset area is a set of the plurality of the first preset areas;

a mapping unit, configured to map the first position of the robot in the first preset area to the robot in the second preset area according to the relative position and the first position The second position.
The positioning device according to claim 11, wherein the first position is a coordinate (x1, y1) of the robot in a two-dimensional coordinate system with a first reference point as a coordinate origin, the first The reference point is any one of the first preset regions, and the relative position is a coordinate (x2, y2) of the first reference point in a two-dimensional coordinate system with a second reference point as a coordinate origin. The second reference point is the second preset area Any point in the domain,

The mapping unit includes:

a first calculating subunit for adding x1 and x2 to obtain x0;

a second calculation subunit for adding y1 and y2 to obtain y0;

a first determining subunit, configured to use a position indicated by the coordinates (x0, y0) as the second position of the robot in the second preset area.
The positioning device according to claim 11, wherein the first obtaining unit comprises:

Obtaining a subunit, configured to acquire an image of the first preset area;

a first identification subunit for identifying the robot in the image;

a mapping subunit for mapping a position of the robot in the image to a position of the robot in the first preset area, and using the position of the robot in the first preset area as a location Said the first position.
The positioning device according to claim 13, wherein the first identifying subunit comprises:

a first acquiring module, configured to acquire coordinates of the robot in the image;

a second acquiring module, configured to acquire a ratio of the image to a size of the first preset area;

And an amplification module, configured to enlarge coordinates of the robot in the image according to the scale, obtain coordinates of the robot in the first preset area, and display the robot in the first preset area The position indicated by the coordinates is taken as the first position.
The positioning device according to claim 13, wherein each of the robots in the first preset area has a different visible identifier,

The first identification subunit includes:

And an identification module, configured to identify, by the visible identifier, the robot corresponding to the visible identifier.
The positioning device according to claim 15, wherein the visible identification is a color, a shape, or a combination of colors and shapes of a certain component of the robot.
The positioning device according to claim 11, wherein the positioning device further comprises:

Calculating unit, calculating position information of the robot according to the second position;

a generating unit, configured to generate, according to the location information, a control instruction, where the control instruction is used to instruct the robot to move according to motion information in the control instruction;

And a sending unit, configured to send the control instruction to the robot.
The positioning device according to claim 17, wherein the position information of the robot includes distance information of a boundary line between the robot and the first preset area, and the calculating unit comprises:

a third calculating subunit, configured to calculate a distance d(i) of the second position from a boundary line Li of the first preset area, where i sequentially takes an integer from 1 to N, where N is the first The number of boundary lines of the preset area;

The screening subunit is configured to filter the distance from the distance d(1) to the distance d(N) by a distance less than or equal to the preset distance d0 to obtain a target distance;

The generating unit includes:

a second determining subunit, configured to use a boundary line corresponding to the target distance as a target boundary line;

Generating a subunit for generating a control instruction according to the target boundary line, the control instruction for controlling the robot to move in a direction away from the target boundary line.
The positioning device according to claim 17, wherein the positioning device further comprises:

a determining unit, configured to determine, before the calculating unit calculates motion information of the robot according to the second position, whether the robot is a first type robot or a second type robot;

If it is determined that the robot is the first type of robot, the control instruction allows the robot to move in one of the first preset regions;

If it is determined that the robot is the second type of robot, the control command allows the robot to move within a plurality of the first predetermined regions.
The positioning device according to claim 19, wherein the determining unit comprises:

a second identification subunit, configured to identify a visible identifier of the robot;

a determining subunit, configured to determine whether the visible identifier is a first type identifier or a second type identifier;

a third determining subunit, configured to determine that the robot is the first type of robot if the visible identifier is the first type of identifier, wherein the first type of robot is only allowed in one of the first Set the movement within the area;

a fourth determining subunit, configured to determine the machine if the visible identifier is the second type of identifier The person is the second type of robot, wherein the second type of robot allows movement within a plurality of the first predetermined areas.
A robot comprising the positioning device of the robot according to any one of claims 11 to 20.