CN110716205B - Positioning method based on reflector, robot and computer readable storage medium - Google Patents
Positioning method based on reflector, robot and computer readable storage medium Download PDFInfo
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- CN110716205B CN110716205B CN201910991724.XA CN201910991724A CN110716205B CN 110716205 B CN110716205 B CN 110716205B CN 201910991724 A CN201910991724 A CN 201910991724A CN 110716205 B CN110716205 B CN 110716205B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
Abstract
The invention discloses a positioning method based on reflectors, a robot and a computer-readable storage medium, and relates to the field of robot positioning, wherein the positioning method is applied to a robot provided with a laser radar, the robot is positioned in a space area, a plurality of reflectors are deployed in the space area, a plurality of layers are arranged according to priority, and each associated layer is provided with at least one subregion; the positioning method comprises the following steps: acquiring actual distances between the laser radar and the reflectors; and calculating initial coordinates according to the actual distance between the reflectors and the position coordinates of the reflectors corresponding to the sub-regions acquired layer by layer from high to low priority. The spatial region is subjected to layering processing, different sub-regions are divided, different reflectors are associated, and the situation that the precision is low when the robot calculates coordinates due to the fact that the reflectors are too many and interfere with each other is avoided.
Description
Technical Field
The invention relates to the field of robot positioning, in particular to a positioning method based on a reflector, a robot and a computer readable storage medium.
Background
With the continuous development of robotics, the application fields are more and more extensive, for example: industrial, commercial, financial, etc. where applicable, the positioning accuracy of a robot is the basis for its freedom to move and perform tasks.
When books in a library are automatically checked by the robot, reflectors are generally installed in all places of the library, and the laser radar is configured on the robot, so that the robot can realize autonomous positioning through the acquired information (distance, angle and the like between the information and the reflectors) of the reflectors.
However, the area based on the library is relatively large, and in order to achieve accurate positioning, reflectors are installed in various places, but the positioning accuracy of the robot decreases as the number of reflectors increases. And based on the specificity of libraries, they are generally designed as symmetrical structures, such as: the two reflectors are arranged in a symmetrical mode in the regions of the symmetrical structure, so that the robot cannot accurately identify the position of the robot when positioning.
Disclosure of Invention
In order to solve at least one of the above technical problems, an object of the present invention is to provide a positioning method based on a reflector, a robot, and a computer readable storage medium, which improve the positioning accuracy when coordinates are calculated by using the reflector.
The technical scheme provided by the invention is as follows:
a positioning method based on reflectors is applied to a robot provided with a laser radar, the robot is located in a space area, a plurality of reflectors are deployed in the space area, a plurality of layers are arranged according to priority, and each layer is associated with at least one subregion; the positioning method comprises the following steps: acquiring actual distances between the laser radar and the reflectors; and calculating initial coordinates according to the actual distance between the reflectors and the position coordinates of the reflectors corresponding to the sub-regions acquired layer by layer from high to low priority.
In the technical scheme, the spatial region is subjected to layering processing, different sub-regions are divided, different reflectors are associated, and the situation that the precision is low when the robot calculates the coordinates due to the fact that the reflectors are too many and interfere with each other is avoided.
Further, the priorities of the multiple layers are, from low to high: a reference layer, an isolation layer and a region layer; the space region is a sub-region of the reference layer, and the sub-region of the reference layer corresponds to all the reflectors; the space region is also a subregion of the isolation layer, and the light reflecting plates corresponding to the subregion of the isolation layer are light reflecting plates left after partial light reflecting plates causing coordinate calculation errors are removed from all the light reflecting plates; and dividing a plurality of regions on the space region to serve as sub-regions of the region layer, wherein each sub-region corresponds to different light reflecting plates.
In the technical scheme, different layers have different sub-regions and different reflectors, so that the robot has different results when acquiring the reflectors of the sub-regions layer by layer, and the accuracy of the calculated initial coordinates is improved.
Further, the plurality of layers further comprises: a similar layer having a higher priority than the regional layer; dividing the region with similarity in relative distance when the reflector is deployed on the space region into sub-regions serving as the similar layers, wherein the sub-region of each similar layer is associated with a physical address; the positioning method further comprises the following steps: acquiring the physical address of each scanned wireless access point to obtain a physical address list; the specific process of calculating the position coordinates of the reflectors corresponding to the subregions of the similar layer in the initial coordinates according to the actual distance between the reflectors and the position coordinates of the reflectors corresponding to the subregions acquired layer by layer according to the priorities from high to low comprises the following steps: and skipping the sub-areas of the similar layer, of which the associated physical addresses are not in the physical address list, and respectively acquiring the position coordinates of the reflectors corresponding to other sub-areas in the similar layer.
In the technical scheme, a layer with higher priority is set, sub-regions with higher similarity are separately divided, physical addresses are associated, the sub-regions which are not possible are removed firstly according to a scanned physical address list, and the range is narrowed, so that the precision of the robot in coordinate calculation is improved.
Further, still include: and in the moving process, calculating the current coordinate according to the actual distance between the reflector detected by the laser radar and the reflector position coordinate corresponding to the subregion of the layer to which the coordinate belongs, which is obtained by the previous calculation.
In the technical scheme, after one coordinate is calculated, subsequent coordinate calculation can be directly carried out according to the reflector corresponding to the sub-region where the coordinate is located, the process of repeatedly acquiring the reflectors of the sub-regions layer by layer in each coordinate calculation is reduced, and the calculation amount is reduced.
Further, still include: in the moving process, when the current coordinate cannot be calculated according to the actual distance between the laser radar and each reflector and the position coordinate of the reflector corresponding to the subregion of the layer to which the coordinates obtained by the previous calculation belong, calculating the current coordinate by adopting the subregion of the layer corresponding to the region near the subregion of the layer to which the coordinates obtained by the previous calculation belong; or, in the moving process, when the current coordinate cannot be calculated according to the actual distance between the reflector and each reflector detected by the laser radar and the position coordinate of the reflector corresponding to the subregion of the layer to which the coordinate belongs, which is obtained by the previous calculation, the current coordinate is calculated according to the actual distance between the reflectors and the position coordinate of the reflector corresponding to each subregion, which is obtained layer by layer according to the priority from high to low.
In the technical scheme, after the robot leaves from one subregion, the position judgment or the process of acquiring the light reflecting plates of each subregion layer by layer is adopted, the subregion where the light reflecting plate is located is repositioned, and the coordinate calculation is carried out, so that the problem of reduction of positioning accuracy caused by excessive light reflecting plates is solved, the calculation amount of the robot is reduced to a certain extent, and the processing efficiency of the robot is improved.
The invention also provides a robot, wherein the robot is positioned in a space region, a plurality of reflectors are deployed in the space region, a plurality of layers are arranged according to priority, and each layer is associated with at least one subregion; the robot includes: the laser radar module is used for acquiring the detected actual distance between the laser radar module and each reflector; and the coordinate calculation module is used for calculating initial coordinates according to the actual distance between the reflector and the position coordinates of the reflector corresponding to each subregion, which are acquired layer by layer according to the priorities from high to low.
Further, the priorities of the multiple layers are, from low to high: a reference layer, an isolation layer and a region layer; the space region is a sub-region of the reference layer, and the sub-region of the reference layer corresponds to all the reflectors; the space region is also a subregion of the isolation layer, and the light reflecting plates corresponding to the subregion of the isolation layer are light reflecting plates left after partial light reflecting plates causing coordinate calculation errors are removed from all the light reflecting plates; and dividing a plurality of regions on the space region to serve as sub-regions of the region layer, wherein each sub-region corresponds to different light reflecting plates.
Further, the plurality of layers further comprises: a similar layer having a higher priority than the regional layer; dividing the region with similarity in relative distance when the reflector is deployed on the space region into sub-regions serving as the similar layers, wherein the sub-region of each similar layer is associated with a physical address; the robot further includes: the address scanning module is used for acquiring the physical addresses of the scanned wireless access points to obtain a physical address list; the coordinate calculation module is configured to calculate, according to the actual distance between the light reflectors and the position coordinates of the light reflectors corresponding to each sub-region acquired layer by layer according to the priorities from high to low, a specific process when acquiring the position coordinates of the light reflectors corresponding to the sub-regions of the similar layer in the initial coordinates includes: and the coordinate calculation module skips the sub-areas of the similar layer, of which the associated physical addresses are not in the physical address list, and respectively acquires the position coordinates of the reflectors corresponding to other sub-areas in the similar layer.
Further, the coordinate calculation module is further configured to calculate, during the moving process, the current coordinate according to the actual distance detected by the laser radar module from each of the reflectors and the position coordinate of the reflector corresponding to the sub-region of the layer to which the coordinate belongs, which is obtained through the previous calculation.
Further, the coordinate calculation module is further configured to calculate, in the moving process, when the current coordinate cannot be calculated according to the actual distance detected by the laser radar from each of the reflectors and the position coordinate of the reflector corresponding to the sub-region of the layer to which the coordinate belongs, the position coordinate of the reflector corresponding to the sub-region of the layer to which the coordinate belongs being obtained through the previous calculation, the current coordinate being calculated by using the sub-region of the layer corresponding to the region near the sub-region of the layer to which the coordinate belongs being obtained through the previous calculation; or, in the moving process, when the current coordinate cannot be calculated according to the actual distance between the reflector and each reflector detected by the laser radar and the position coordinate of the reflector corresponding to the subregion of the layer to which the coordinate belongs, which is obtained by the previous calculation, the current coordinate is calculated according to the actual distance between the reflectors and the position coordinate of the reflector corresponding to each subregion, which is obtained layer by layer according to the priority from high to low.
The invention also provides a computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the reflector-based positioning method according to any one of the preceding claims.
Compared with the prior art, the positioning method based on the reflector, the robot and the computer readable storage medium have the advantages that:
according to the invention, the spatial region is subjected to layering processing, different sub-regions are divided, different reflectors are associated, and the condition that the accuracy is lower when the robot calculates the coordinates due to excessive reflectors and mutual interference is avoided.
Drawings
The above features, technical features, advantages and implementations of a method for reflector-based positioning and a robot, a computer-readable storage medium will be further described in the following detailed description of preferred embodiments with reference to the accompanying drawings.
FIG. 1 is a flow chart of one embodiment of a reflector-based positioning method of the present invention;
FIG. 2 is a schematic structural diagram of one embodiment of a spatial region;
FIG. 3 is a flow chart of yet another embodiment of a reflector-based positioning method of the present invention;
FIG. 4 is a flow chart of another embodiment of a reflector-based positioning method of the present invention;
FIG. 5 is a schematic structural diagram of one embodiment of the robot of the present invention;
fig. 6 is a schematic structural diagram of another embodiment of the robot of the present invention.
The reference numbers illustrate:
51. laser radar module, 52 coordinate calculation module, 53 address scanning module.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
The positioning method based on the reflector is mainly applied to libraries, the libraries can be divided into different venues based on special arrangement requirements of the libraries, a plurality of bookshelves are distributed in each venue, and tables and chairs are placed in other places.
For convenience of explanation of the technical solution of the present invention, a situation of a floor of a library is taken as an example of a spatial area, and it is assumed that fig. 2 is a plan view of three layers of a certain library, two venues are provided in the three layers, where venue 1 is a magazine venue, venue 2 is a finance venue, the two venues are connected through a framework, and other places are common areas of the three layers, for example: toilets, staircases, elevator halls, places outside the stadium, etc., where appropriate in this space area a plurality of reflectors 1 are deployed.
In an embodiment of the present invention, as shown in fig. 1 and 2, a reflector-based positioning method is applied to a robot equipped with a laser radar, the robot is located in a space region, a plurality of reflectors 1(1a, 1b, 1c) are deployed in the space region, a plurality of layers are set according to priorities, and each layer is associated with at least one sub-region.
Specifically, the spatial region is a complete actual region, for example: a certain level of a certain library.
The plurality of layers are arranged according to the priority, the concept of the layers refers to the priority of which reflectors are called when the robot internal program runs, and the concept of the physical device is not achieved.
The plurality of layers includes: a reference layer and an isolation layer.
A reference layer: the entire spatial region is taken as a sub-region of the reference layer, and thus the sub-region of the reference layer corresponds to all the reflectors within the spatial region. For example: the reflectors 1a, 1b, 1c in fig. 2, and reflectors not shown in other areas, all belong to the reference layer.
Isolation layer: the whole space area is also used as a subarea of the isolation layer, but the reflecting plate corresponding to the subarea of the isolation layer is the reflecting plate left after the part of the reflecting plate causing the coordinate calculation error is removed from all the reflecting plates. The coordinate calculation error is caused by various reasons, such as: the distance between some reflectors is completely the same, which results in that the robot cannot calculate its own coordinates after restarting and moving away from the previous position. Therefore, the light reflecting plate pair which generates contradiction can be removed from the isolating layer, only one light reflecting plate pair is reserved, and the probability of generating deviation in coordinate calculation is reduced. For example: in fig. 2, the distance between the two reflectors 1a on the right side in the venue 1 is the same as the distance between the two reflectors 1b on the right side in the venue 2, and the two reflectors 1b on the right side in the venue 2 can be removed as an isolation layer.
Optionally, the plurality of layers further comprises: and the regional layer divides a plurality of regions on the space region to be used as sub-regions of the regional layer, and each sub-region corresponds to different reflectors. The region layer has a plurality of sub-regions, all of which are divided from the space region, and the specific division rule may be determined according to the structure of the actual space region, for example: each venue acts as a sub-area.
The priority is from low to high: reference layer, isolation layer, regional layer.
For example: the stadium 1 and the stadium 2 in fig. 2 can be used as two sub-areas of the area layer, the light reflecting plate corresponding to the stadium 1 is 8 light reflecting plates 1a, and the light reflecting plate corresponding to the stadium 2 is 8 light reflecting plates 1 b.
Optionally, the plurality of layers further comprises: the similar layer has higher priority than the regional layer; and dividing the region with similarity in relative distance when the reflector is deployed on the space region into sub-regions serving as similar layers, wherein the sub-region of each similar layer is associated with a physical address.
Specifically, the similarity layer is to divide the regions with greater similarity (for example, symmetrically arranged) on the spatial region separately, and associate a physical address with each sub-region.
For example: assuming that the venue 1 and the venue 2 in fig. 2 are symmetrical, and the positions of the deployed reflectors are also very similar, the venue 1 and the venue 2 can be taken as two sub-areas of a similar layer, and the venue 1 is associated with eight reflectors 1a and a physical address (MAC) 1; the venue 2 is associated with eight reflectors 1b and with a physical address 2.
The physical address 1 associated with the venue 1 is the physical address of the wireless access point that can be scanned at the venue 1, and if the physical addresses of other wireless access points that can be scanned at the venue 1 are also required to be associated with the venue 1. That is, the physical address associated with each sub-area of the similar layer is the physical address of each wireless access point that can be scanned in the sub-area.
If there are other dissimilar venues in the spatial zone, they can be used as sub-zones of the zone layer.
It should be noted that the boundaries of the sub-areas in the area layer and the similar layer are not allowed to coincide, so that the robot is prevented from entering a coinciding area and the problem that the selection of which light reflecting plates cause coordinate calculation errors is not known. Overlapping regions are allowed between the sub-regions of different layers.
The reference layer and the isolation layer are necessary layers, and the regional layer and the similar layer can be selectively arranged according to actual requirements, such as: one of the layers is selected, or both layers are selected.
The positioning method based on the reflector comprises the following steps:
s101, acquiring actual distances (including distances and angles) between the reflectors detected by the laser radar.
Specifically, the laser radar is a radar system that detects a characteristic quantity such as a position and a velocity of a target by emitting a laser beam. The working principle is to transmit a detection signal (i.e. laser beam) to the target, then compare the received signal reflected from the target with the transmitted signal, and after appropriate processing, obtain information about the target, such as: distance to the target, its orientation, altitude, speed, etc.
Optionally, the lidar employed in this embodiment may return not only distance and angle information but also Received Signal Strength (RSSI), and by means of the returned RSSI, it is possible to distinguish between an ordinary object (e.g., a bookshelf, a desk, a book, etc.) and a highly reflective object (i.e., a reflector) to be detected.
When the robot is located in the space area, the laser radar of the robot can detect surrounding reflectors, and the robot coordinate is calculated according to the actual distance between the laser radar and each detected reflector and the stored position coordinates of the reflectors corresponding to the subregions of different layers.
S102, calculating initial coordinates according to the actual distance between the reflector and the position coordinates of the reflector corresponding to each subregion acquired layer by layer from high to low priority.
Specifically, the initial coordinate is mainly calculated when the robot is just started and needs to determine its position.
After the robot detects the actual distance between the robot and the plurality of reflectors, the robot starts to acquire the position coordinates of the reflectors corresponding to each subregion from the high surface layer to the low surface layer, and the initial coordinates are calculated by adopting the combination of different reflectors.
As an embodiment, taking fig. 2 as an example: if the plurality of layers includes: the reference layer, the isolation layer and the zone layer are sequentially arranged in the venue floor, the reflectors of the sub-zones are obtained from the zone layer, the position coordinates of the eight reflectors 1a of the venue 1 are obtained, and the actual distances of the detected reflectors are combined to see whether the initial coordinates can be calculated or not (the specific calculation process is the prior art and is not described herein); if so, the process is ended. If not, acquiring the position coordinates of the eight reflectors 1b of the venue 2, and combining the detected actual distances of the reflectors to see whether the initial coordinates can be calculated or not, and if so, ending the process. If not, obtaining the position coordinates of the reflectors in the sub-area corresponding to the isolation layer, combining the detected actual distances of the reflectors to see whether the initial coordinates can be calculated, and if so, ending the calculation. If not, acquiring the position coordinates of the reflector of the sub-area corresponding to the reference layer, and calculating the initial coordinates.
As another embodiment, when the plurality of layers further includes: when the layers are similar, as shown in fig. 3, the positioning method comprises the following steps:
s301, acquiring physical addresses (MAC) of the scanned wireless access points to obtain a physical address list;
s302, acquiring actual distances between the reflector and the reflector detected by the laser radar;
s303, calculating initial coordinates according to the actual distance between the reflector and the position coordinates of the reflector corresponding to each subregion, which are acquired layer by layer from high to low priority;
the specific process of acquiring the position coordinates of the light reflecting plate corresponding to the sub-region of the similar layer in S303 includes:
and skipping the sub-areas of the similar layer, of which the associated physical addresses are not in the physical address list, and respectively acquiring the position coordinates of the reflectors corresponding to other sub-areas in the similar layer.
Specifically, when similar layers exist in the stored layers, the robot automatically scans surrounding wireless access points in the processes of starting and running to acquire the physical addresses of the wireless access points which can be scanned, and the physical addresses of a plurality of wireless access points which can be scanned during scanning can be summarized into a physical address list.
In the process of acquiring the position coordinates of the light reflecting plate corresponding to each sub-region layer by layer, the sub-regions of which the associated physical addresses are not in the physical address list can be skipped, and the associated physical addresses are not in the physical address list, which indicates that the/some sub-regions are far away from the current position of the robot, so that the position coordinates of the light reflecting plate corresponding to each sub-region can be acquired from the rest sub-regions by directly ignoring.
Optionally, when the position coordinate of the light reflecting plate corresponding to each layer of sub-region is obtained, the position coordinate may be obtained randomly, or may be obtained sequentially according to the preset priority of each sub-region, which is determined according to the actual setting condition.
Taking fig. 2 as an example: if the plurality of layers includes: the device comprises a reference layer, an isolation layer, a region layer and a similar layer, wherein if the similar layer has 3 sub-regions, the sub-region 1 is associated with a physical address 1 and a physical address 2, the sub-region 2 is associated with a physical address 3 and a physical address 2, and the sub-region 3 is associated with a physical address 4; after the robot scans, the obtained physical address lists are physical address 2 and physical address 3; each sub-area is obtained from the similar layer, because the physical address 4 associated with the sub-area 3 of the similar layer is not in the physical address list, it indicates that the robot is certainly not in the sub-area 3, and skips it, and because part/all of the physical addresses associated with the sub-areas 1 and 2 are in the physical address list, both of them need to be considered, the initial coordinates can be calculated by using the reflector of the sub-area 1, and the calculation is finished. And if the calculation cannot be carried out, calculating the initial coordinate by using the reflector of the subregion 2, and ending the calculation. And from the zone level, the reflectors … … are acquired for the sub-zones until the initial coordinates are calculated.
In this embodiment, the spatial region is processed in a layered manner, different sub-regions are divided, and different reflectors are associated, so that the situation that the accuracy is low when the robot calculates the coordinates due to the fact that the reflectors are too many and interfere with each other is avoided.
In addition, a layer with higher priority is arranged, the sub-regions with higher similarity are separately divided, the physical addresses are associated, the sub-regions which are not possible are removed according to the scanned physical address list, the range is narrowed, and the precision of the robot in coordinate calculation is improved.
In another embodiment of the present invention, as shown in fig. 4, a positioning method based on reflectors is applied to a robot equipped with a laser radar, the robot is located in a space region, a plurality of reflectors are deployed in the space region, a plurality of layers are arranged according to priorities, and each layer is associated with at least one sub-region; the priority of the multiple layers is from low to high: reference layer, isolation layer, regional layer.
The space area is a subarea of the reference layer, and the subarea of the reference layer corresponds to all the reflectors; the space area is also a subregion of the isolation layer, and the light reflecting plates corresponding to the subregion of the isolation layer are light reflecting plates left after part of the light reflecting plates causing coordinate calculation errors are removed from all the light reflecting plates; and dividing a plurality of regions on the space region to serve as sub-regions of the region layer, wherein each sub-region corresponds to different light reflecting plates.
The positioning method comprises the following steps:
s401, acquiring actual distances between the reflector plates and the reflector plates detected by a laser radar;
s402, calculating initial coordinates according to the actual distance between the reflector and the position coordinates of the reflector corresponding to each subregion acquired layer by layer according to the priorities from high to low.
Optionally, the plurality of layers further comprises: the similar layer has higher priority than the regional layer; and dividing the region with similarity in relative distance when the reflector is deployed on the space region into sub-regions serving as similar layers, wherein the sub-region of each similar layer is associated with a physical address.
The positioning method further comprises the following steps:
acquiring the physical address of each scanned wireless access point to obtain a physical address list;
the specific process of calculating the position coordinates of the reflectors corresponding to the subregions of the similar layer in the initial coordinates according to the actual distance between the reflectors and the position coordinates of the reflectors corresponding to the subregions acquired layer by layer from high to low priority comprises the following steps:
and skipping the sub-areas of the similar layer, of which the associated physical addresses are not in the physical address list, and respectively acquiring the position coordinates of the reflectors corresponding to other sub-areas in the similar layer.
And S403, in the moving process, calculating the current coordinate according to the actual distance between the reflector detected by the laser radar and the reflector corresponding to the sub-region of the layer to which the coordinate belongs, which is obtained by the previous calculation.
Specifically, based on the work task of the robot (scanning books on bookshelves in each venue), the operation speed is limited, and the operation cannot be too fast, so that after one coordinate is calculated, the next coordinate can be calculated by calculating the position coordinate of the reflection light corresponding to the sub-region of the layer corresponding to the coordinate, and so on.
For example: when the robot starts to operate, the robot calculates initial coordinates (which are coordinates 1) by acquiring position coordinates of the reflectors of each subregion layer by layer, and supposing that the initial coordinates are calculated by using the reflectors corresponding to the subregions 1 of the similar layer; when the reflector moves, the position coordinates of the reflector corresponding to the subregion 1 are directly adopted to calculate the coordinates (namely, coordinates 2) after the reflector moves; during recalculation, the position coordinates of the reflector corresponding to the subregion 1 are still adopted to calculate the coordinates (namely, the coordinates 3) … … after movement
It can be understood that when the robot is in a sub-area of a certain floor, the reflector of the sub-area is directly used for coordinate calculation until the robot leaves the sub-area.
In other embodiments, considering that the more reflectors are, the lower the positioning accuracy is, in the moving process, S403 calculates, according to the actual distance between the reflectors detected by the laser radar and the position coordinates of the reflector corresponding to the sub-area of the layer to which the coordinates obtained by the previous calculation belong, that the current coordinates may be transformed into:
in the moving process, if the priority of the layer to which the coordinates obtained by the previous calculation belong is higher than that of the isolation layer, calculating the current coordinates according to the actual distance between the laser radar and each reflector and the position coordinates of the reflectors corresponding to the sub-regions of the layer to which the coordinates obtained by the previous calculation belong;
in the moving process, if the priority of the layer to which the coordinates obtained by the previous calculation belong is not higher than that of the isolation layer, the current coordinates are calculated according to the actual distance between the light reflecting plates and the position coordinates of the light reflecting plates corresponding to the sub-regions acquired layer by layer from high to low priorities.
Optionally, the outer frame range corresponding to each sub-region of the similar layer and the region layer is larger than the actual range of the sub-region.
Taking the range of the solid line frame of the venue 1 in fig. 2 as its actual range (i.e. the area of the venue in real life), if the venue 1 belongs to a sub-area of the area layer, the corresponding outer frame range is the dashed line frame outside the venue 1, i.e. the corresponding area is larger than the actual area when being used as the sub-area. This is because when the robot calculates its own coordinates using the reflectors, when different reflector combinations (generally, at least 3 reflectors are a group) are calculated, due to the problem of calculation accuracy, coordinate drift may occur, and the problem may be solved by expanding the range of the outer frame corresponding to each sub-region of the similar layer and the region layer.
S404, during the moving process, when the current coordinate cannot be calculated according to the actual distance detected by the laser radar from each reflector and the position coordinate of the reflector corresponding to the sub-region of the layer to which the coordinate obtained by the previous calculation belongs, it indicates that the current coordinate is not in the previous sub-region, and the position of the current coordinate needs to be determined again, and the following two methods are adopted:
in one embodiment, the current coordinates are calculated using a subregion of a layer corresponding to a region in the vicinity of a subregion of a layer to which the coordinates obtained by the previous calculation belong.
Specifically, each sub-region has a coordinate range, and the judgment can be performed according to the coordinates obtained by the previous calculation and the coordinate range of the sub-region, so as to select the sub-region nearby.
As another embodiment (not shown in the figure), the current coordinates are calculated based on the actual distance between the reflectors and the position coordinates of the reflectors corresponding to the sub-regions acquired layer by layer according to the priorities from high to low.
Specifically, like calculating the initial coordinates, the position coordinates of the light reflecting plate corresponding to each sub-region may be obtained layer by layer again according to the priorities from high to low until the current coordinates are calculated, so as to determine the layer where the current coordinates are located and the corresponding sub-region.
In the embodiment, after one coordinate is calculated, subsequent coordinate calculation can be directly performed according to the reflector corresponding to the sub-region where the coordinate is located, so that the process of repeatedly acquiring the reflectors of the sub-regions layer by layer during coordinate calculation each time is reduced, and the calculation amount is reduced; after the robot leaves from one subregion, the position judgment or the process of acquiring the light reflecting plates of each subregion layer by layer is adopted, the subregion where the light reflecting plate is located is repositioned, and the coordinate calculation is carried out, so that the problem of reduction of positioning accuracy caused by excessive light reflecting plates is solved, the calculation amount of the robot is reduced to a certain extent, and the processing efficiency of the robot is improved.
It should be understood that, in the above embodiments, the size of the sequence number of each step does not mean the execution sequence, and the execution sequence of each step should be determined by functions and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In one robot embodiment of the present invention, the robot is located in a spatial area, a plurality of reflectors are deployed in the spatial area, a plurality of layers are arranged according to priority, and each layer is associated with at least one sub-area.
Specifically, the spatial region is a complete actual region, for example: a certain level of a certain library.
The plurality of layers are arranged according to the priority, the concept of the layers refers to the priority of which reflectors are called when the robot internal program runs, and the concept of the physical device is not achieved.
The plurality of layers includes: a reference layer and an isolation layer.
A reference layer: the entire spatial region is taken as a sub-region of the reference layer, and thus the sub-region of the reference layer corresponds to all the reflectors within the spatial region. For example: the reflectors 1a, 1b, 1c in fig. 2, and reflectors not shown in other areas, all belong to the reference layer.
Isolation layer: the whole space area is also used as a subarea of the isolation layer, but the reflecting plate corresponding to the subarea of the isolation layer is the reflecting plate left after the part of the reflecting plate causing the coordinate calculation error is removed from all the reflecting plates.
Optionally, the plurality of layers further comprises: and the regional layer divides a plurality of regions on the space region to be used as sub-regions of the regional layer, and each sub-region corresponds to different reflectors. The region layer has a plurality of sub-regions, all of which are divided from the space region, and the specific division rule may be determined according to the structure of the actual space region, for example: each venue acts as a sub-area.
The priority is from low to high: reference layer, isolation layer, regional layer.
Optionally, the plurality of layers further comprises: the similar layer has higher priority than the regional layer; and dividing the region with similarity in relative distance when the reflector is deployed on the space region into sub-regions serving as similar layers, wherein the sub-region of each similar layer is associated with a physical address.
Specifically, the similarity layer is to divide the regions with greater similarity (for example, symmetrically arranged) on the spatial region separately, and associate a physical address with each sub-region.
If there are other dissimilar venues in the spatial zone, they can be used as sub-zones of the zone layer.
It should be noted that the boundaries of the sub-areas in the area layer and the similar layer are not allowed to coincide, so that the robot is prevented from entering a coinciding area and the problem that the selection of which light reflecting plates cause coordinate calculation errors is not known. Overlapping regions are allowed between the sub-regions of different layers.
The reference layer and the isolation layer are necessary layers, and the regional layer and the similar layer can be selectively arranged according to actual requirements, such as: one of the layers is selected, or both layers are selected.
As shown in fig. 5, the robot includes:
and the laser radar module 51 is used for acquiring the detected actual distance (including the distance and the angle) between each reflector.
Specifically, the laser radar is a radar system that detects a characteristic quantity such as a position and a velocity of a target by emitting a laser beam. The working principle is to transmit a detection signal (i.e. laser beam) to the target, then compare the received signal reflected from the target with the transmitted signal, and after appropriate processing, obtain information about the target, such as: distance to the target, its orientation, altitude, speed, etc.
Optionally, the lidar employed in this embodiment may return not only distance and angle information but also Received Signal Strength (RSSI), and by means of the returned RSSI, it is possible to distinguish between an ordinary object (e.g., a bookshelf, a desk, a book, etc.) and a highly reflective object (i.e., a reflector) to be detected.
When the robot is located in the space area, the laser radar of the robot can detect surrounding reflectors, and the robot coordinate is calculated according to the actual distance between the laser radar and each detected reflector and the stored position coordinates of the reflectors corresponding to the subregions of different layers.
And the coordinate calculation module 52 is configured to calculate initial coordinates according to the actual distance between the reflector and the position coordinates of the reflector corresponding to each sub-region acquired layer by layer according to the priorities from high to low.
Specifically, the initial coordinate is mainly calculated when the robot is just started and needs to determine its position.
After the robot detects the actual distance between the robot and the plurality of reflectors, the robot starts to acquire the position coordinates of the reflectors corresponding to each subregion from the high surface layer to the low surface layer, and the initial coordinates are calculated by adopting the combination of different reflectors.
As an embodiment, taking fig. 2 as an example: if the plurality of layers includes: the reference layer, the isolation layer and the zone layer are sequentially arranged in the venue floor, the reflectors of the sub-zones are obtained from the zone layer, the position coordinates of the eight reflectors 1a of the venue 1 are obtained, and the actual distances of the detected reflectors are combined to see whether the initial coordinates can be calculated or not (the specific calculation process is the prior art and is not described herein); if so, the process is ended. If not, acquiring the position coordinates of the eight reflectors 1b of the venue 2, and combining the detected actual distances of the reflectors to see whether the initial coordinates can be calculated or not, and if so, ending the process. If not, obtaining the position coordinates of the reflectors in the sub-area corresponding to the isolation layer, combining the detected actual distances of the reflectors to see whether the initial coordinates can be calculated, and if so, ending the calculation. If not, acquiring the position coordinates of the reflector of the sub-area corresponding to the reference layer, and calculating the initial coordinates.
As another embodiment, when the plurality of layers further includes: like the layers, as shown in fig. 6, the robot includes:
the laser radar module 51 is used for acquiring the detected actual distance between each reflector;
an address scanning module 53, configured to obtain physical addresses of the scanned wireless access points, and obtain a physical address list;
the coordinate calculation module 52 is configured to calculate an initial coordinate according to the actual distance between each light reflecting plate and the position coordinates of the light reflecting plate corresponding to each sub-region acquired layer by layer according to the priorities from high to low;
the specific process of the coordinate calculation module 52 when obtaining the position coordinates of the light reflecting plate corresponding to the sub-region of the similar layer includes:
the coordinate calculation module 52 skips the sub-regions of the similar layer where the associated physical address is not in the physical address list, and respectively obtains the position coordinates of the reflectors corresponding to other sub-regions in the similar layer.
Specifically, when similar layers exist in the stored layers, the robot automatically scans surrounding wireless access points in the processes of starting and running to acquire the physical addresses of the wireless access points which can be scanned, and the physical addresses of a plurality of wireless access points which can be scanned during scanning can be summarized into a physical address list.
In the process of acquiring the position coordinates of the light reflecting plate corresponding to each sub-region layer by layer, the sub-regions of which the associated physical addresses are not in the physical address list can be skipped, and the associated physical addresses are not in the physical address list, which indicates that the/some sub-regions are far away from the current position of the robot, so that the position coordinates of the light reflecting plate corresponding to each sub-region can be acquired from the rest sub-regions by directly ignoring.
Optionally, when the position coordinate of the light reflecting plate corresponding to each layer of sub-region is obtained, the position coordinate may be obtained randomly, or may be obtained sequentially according to the preset priority of each sub-region, which is determined according to the actual setting condition.
In this embodiment, the spatial region is processed in a layered manner, different sub-regions are divided, and different reflectors are associated, so that the situation that the accuracy is low when the robot calculates the coordinates due to the fact that the reflectors are too many and interfere with each other is avoided.
In addition, a layer with higher priority is arranged, the sub-regions with higher similarity are separately divided, the physical addresses are associated, the sub-regions which are not possible are removed according to the scanned physical address list, the range is narrowed, and the precision of the robot in coordinate calculation is improved.
In another robot embodiment of the present invention, the robot is located in a spatial region, the spatial region is disposed with a plurality of reflectors, the spatial region is provided with a plurality of layers according to priority, and each layer is associated with at least one sub-region; the priority of the multiple layers is from low to high: reference layer, isolation layer, regional layer.
The space area is a subarea of the reference layer, and the subarea of the reference layer corresponds to all the reflectors; the space area is also a subregion of the isolation layer, and the light reflecting plates corresponding to the subregion of the isolation layer are light reflecting plates left after part of the light reflecting plates causing coordinate calculation errors are removed from all the light reflecting plates; and dividing a plurality of regions on the space region to serve as sub-regions of the region layer, wherein each sub-region corresponds to different light reflecting plates.
The robot includes:
and the laser radar module 51 is used for acquiring the detected actual distance (including the distance and the angle) between each reflector.
And the coordinate calculation module 52 is configured to calculate initial coordinates according to the actual distance between the reflector and the position coordinates of the reflector corresponding to each sub-region acquired layer by layer according to the priorities from high to low.
Optionally, the plurality of layers further comprises: the similar layer has higher priority than the regional layer; and dividing the region with similarity in relative distance when the reflector is deployed on the space region into sub-regions serving as similar layers, wherein the sub-region of each similar layer is associated with a physical address.
The robot further includes:
an address scanning module 53, configured to obtain physical addresses of the scanned wireless access points, and obtain a physical address list;
the specific process of the coordinate calculation module 52 when obtaining the position coordinates of the light reflecting plate corresponding to the sub-region of the similar layer includes:
the coordinate calculation module 52 skips the sub-regions of the similar layer where the associated physical address is not in the physical address list, and respectively obtains the position coordinates of the reflectors corresponding to other sub-regions in the similar layer.
The coordinate calculation module 52 is further configured to calculate a current coordinate according to the actual distance detected by the laser radar module from each reflector and the position coordinate of the reflector corresponding to the sub-region of the layer to which the coordinate belongs, which is obtained through the previous calculation.
Specifically, based on the work task of the robot (scanning books on bookshelves in each venue), the operation speed is limited, and the operation cannot be too fast, so that after one coordinate is calculated, the next coordinate can be calculated by calculating the position coordinate of the reflection light corresponding to the sub-region of the layer corresponding to the coordinate, and so on.
It can be understood that when the robot is in a sub-area of a certain floor, the reflector of the sub-area is directly used for coordinate calculation until the robot leaves the sub-area.
In other embodiments, considering that the more reflectors are, the lower the positioning accuracy is, the coordinate calculation module 52 is further configured to calculate, during the moving process, the current coordinate according to the position coordinates of the reflector corresponding to the sub-region of the layer to which the actual distance between the reflectors and the coordinates obtained by the previous calculation belong, where the current coordinate may be changed into:
the coordinate calculation module 52 is configured to calculate a current coordinate according to the actual distance detected by the laser radar from each reflector and the position coordinate of the reflector corresponding to the sub-region of the layer to which the coordinate obtained through the previous calculation belongs, if the priority of the layer to which the coordinate obtained through the previous calculation belongs is higher than that of the isolation layer in the moving process;
and in the moving process, if the priority of the layer to which the coordinates obtained by the previous calculation belong is not higher than that of the isolation layer, calculating the current coordinates according to the actual distance between the light reflecting plates and the position coordinates of the light reflecting plates corresponding to the sub-regions acquired layer by layer from high to low priorities.
Optionally, the outer frame range corresponding to each sub-region of the similar layer and the region layer is larger than the actual range of the sub-region.
Taking the range of the solid line frame of the venue 1 in fig. 2 as its actual range (i.e. the area of the venue in real life), if the venue 1 belongs to a sub-area of the area layer, the corresponding outer frame range is the dashed line frame outside the venue 1, i.e. the corresponding area is larger than the actual area when being used as the sub-area. This is because when the robot calculates its own coordinates using the reflectors, when different reflector combinations (generally, at least 3 reflectors are a group) are calculated, due to the problem of calculation accuracy, coordinate drift may occur, and the problem may be solved by expanding the range of the outer frame corresponding to each sub-region of the similar layer and the region layer.
The coordinate calculation module 52 is further configured to, during the moving process, when the current coordinate cannot be calculated according to the actual distance detected by the laser radar from each of the reflectors and the position coordinate of the reflector corresponding to the sub-region of the layer to which the coordinate obtained by the previous calculation belongs, calculate the current coordinate by using the sub-region of the layer corresponding to the region near the sub-region of the layer to which the coordinate obtained by the previous calculation belongs;
or, in the moving process, when the current coordinate cannot be calculated according to the actual distance between the reflector and the reflector detected by the laser radar and the position coordinate of the reflector corresponding to the subregion of the layer to which the coordinate belongs, the current coordinate is calculated according to the actual distance between the reflectors and the position coordinate of the reflector corresponding to each subregion acquired layer by layer from high to low priority.
Specifically, when the current coordinate cannot be calculated by using the position coordinate of the light reflecting plate corresponding to the sub-region of the layer to which the coordinate obtained by the previous calculation belongs, it is described that the current coordinate is not in the previous sub-region, and the position where the current coordinate is located needs to be determined again, which can be calculated by using any one of the above embodiments.
In the first embodiment, each sub-region has a coordinate range, and the judgment can be performed according to the coordinates obtained by the previous calculation and the coordinate range of the sub-region, and the sub-region nearby is selected.
In the second embodiment, as well as calculating the initial coordinates, the position coordinates of the light reflecting plate corresponding to each sub-region may be obtained again layer by layer according to the priorities from high to low until the current coordinates are calculated, so as to determine the layer where the current coordinates are located and the corresponding sub-region.
In the embodiment, after one coordinate is calculated, subsequent coordinate calculation can be directly performed according to the reflector corresponding to the sub-region where the coordinate is located, so that the process of repeatedly acquiring the reflectors of the sub-regions layer by layer during coordinate calculation each time is reduced, and the calculation amount is reduced; after the robot leaves from one subregion, the position judgment or the process of acquiring the light reflecting plates of each subregion layer by layer is adopted, the subregion where the light reflecting plate is located is repositioned, and the coordinate calculation is carried out, so that the problem of reduction of positioning accuracy caused by excessive light reflecting plates is solved, the calculation amount of the robot is reduced to a certain extent, and the processing efficiency of the robot is improved.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
If implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by sending instructions to relevant hardware through a computer program, where the computer program may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises: computer program code which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the content of the computer-readable storage medium can be increased or decreased according to the requirements of the legislation and patent practice in the jurisdiction, for example: in certain jurisdictions, in accordance with legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunications signals.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A positioning method based on reflectors is characterized by being applied to a robot provided with a laser radar, wherein the robot is positioned in a space area, a plurality of reflectors are deployed in the space area, a plurality of layers are arranged according to priority, and each layer is associated with at least one subregion;
the priority of the layers is from low to high: a reference layer, an isolation layer and a region layer;
the space region is a sub-region of the reference layer, and the sub-region of the reference layer corresponds to all the reflectors;
the space region is also a subregion of the isolation layer, and the light reflecting plates corresponding to the subregion of the isolation layer are light reflecting plates left after partial light reflecting plates causing coordinate calculation errors are removed from all the light reflecting plates;
dividing a plurality of regions on the space region to serve as sub-regions of the region layer, wherein each sub-region corresponds to different light reflecting plates;
the positioning method comprises the following steps:
acquiring actual distances between the laser radar and the reflectors;
and calculating initial coordinates according to the actual distance between the reflectors and the position coordinates of the reflectors corresponding to the sub-regions acquired layer by layer from high to low priority.
2. The reflector-based positioning method of claim 1, wherein the plurality of layers further comprises: a similar layer having a higher priority than the regional layer;
dividing the region with similarity in relative distance when the reflector is deployed on the space region into sub-regions serving as the similar layers, wherein the sub-region of each similar layer is associated with a physical address;
the positioning method further comprises the following steps:
acquiring the physical address of each scanned wireless access point to obtain a physical address list;
the specific process of calculating the position coordinates of the reflectors corresponding to the subregions of the similar layer in the initial coordinates according to the actual distance between the reflectors and the position coordinates of the reflectors corresponding to the subregions acquired layer by layer according to the priorities from high to low comprises the following steps:
and skipping the sub-areas of the similar layer, of which the associated physical addresses are not in the physical address list, and respectively acquiring the position coordinates of the reflectors corresponding to other sub-areas in the similar layer.
3. The reflector-based positioning method of any one of claims 1-2, further comprising:
and in the moving process, calculating the current coordinate according to the actual distance between the reflector detected by the laser radar and the reflector position coordinate corresponding to the subregion of the layer to which the coordinate belongs, which is obtained by the previous calculation.
4. The reflector-based positioning method of claim 1, further comprising:
in the moving process, when the current coordinate cannot be calculated according to the actual distance between the laser radar and each reflector and the position coordinate of the reflector corresponding to the subregion of the layer to which the coordinates obtained by the previous calculation belong, calculating the current coordinate by adopting the subregion of the layer corresponding to the region near the subregion of the layer to which the coordinates obtained by the previous calculation belong;
or, in the moving process, when the current coordinate cannot be calculated according to the actual distance between the reflector and each reflector detected by the laser radar and the position coordinate of the reflector corresponding to the subregion of the layer to which the coordinate belongs, which is obtained by the previous calculation, the current coordinate is calculated according to the actual distance between the reflectors and the position coordinate of the reflector corresponding to each subregion, which is obtained layer by layer according to the priority from high to low.
5. A robot is characterized in that the robot is located in a space area, a plurality of reflectors are deployed in the space area, a plurality of layers are arranged according to priority, and each layer is associated with at least one subregion;
the priority of the layers is from low to high: a reference layer, an isolation layer and a region layer;
the space region is a sub-region of the reference layer, and the sub-region of the reference layer corresponds to all the reflectors;
the space region is also a subregion of the isolation layer, and the light reflecting plates corresponding to the subregion of the isolation layer are light reflecting plates left after partial light reflecting plates causing coordinate calculation errors are removed from all the light reflecting plates;
dividing a plurality of regions on the space region to serve as sub-regions of the region layer, wherein each sub-region corresponds to different light reflecting plates;
the robot includes:
the laser radar module is used for acquiring the detected actual distance between the laser radar module and each reflector;
and the coordinate calculation module is used for calculating initial coordinates according to the actual distance between the reflector and the position coordinates of the reflector corresponding to each subregion, which are acquired layer by layer according to the priorities from high to low.
6. The robot of claim 5, wherein the plurality of layers further comprises: a similar layer having a higher priority than the regional layer;
dividing the region with similarity in relative distance when the reflector is deployed on the space region into sub-regions serving as the similar layers, wherein the sub-region of each similar layer is associated with a physical address;
the robot further includes:
the address scanning module is used for acquiring the physical addresses of the scanned wireless access points to obtain a physical address list;
the coordinate calculation module is configured to calculate, according to the actual distance between the light reflectors and the position coordinates of the light reflectors corresponding to each sub-region acquired layer by layer according to the priorities from high to low, a specific process when acquiring the position coordinates of the light reflectors corresponding to the sub-regions of the similar layer in the initial coordinates includes:
and the coordinate calculation module skips the sub-areas of the similar layer, of which the associated physical addresses are not in the physical address list, and respectively acquires the position coordinates of the reflectors corresponding to other sub-areas in the similar layer.
7. A robot as claimed in any of claims 5-6, characterized in that:
the coordinate calculation module is further configured to calculate a current coordinate according to the actual distance detected by the laser radar module from each reflector and the position coordinate of the reflector corresponding to the sub-region of the layer to which the coordinate belongs, which is obtained through the previous calculation, in the moving process.
8. The robot of claim 5, wherein:
the coordinate calculation module is further configured to calculate, in the moving process, when the current coordinate cannot be calculated according to the actual distance detected by the laser radar from each of the reflectors and the position coordinate of the reflector corresponding to the sub-region of the layer to which the coordinate belongs, the position coordinate of the reflector corresponding to the sub-region of the layer to which the coordinate belongs being calculated at the previous time, the current coordinate being calculated by using the sub-region of the layer corresponding to the region near the sub-region of the layer to which the coordinate belongs being calculated at the previous time;
or, in the moving process, when the current coordinate cannot be calculated according to the actual distance between the reflector and each reflector detected by the laser radar and the position coordinate of the reflector corresponding to the subregion of the layer to which the coordinate belongs, which is obtained by the previous calculation, the current coordinate is calculated according to the actual distance between the reflectors and the position coordinate of the reflector corresponding to each subregion, which is obtained layer by layer according to the priority from high to low.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the reflector-based positioning method as set forth in any one of claims 1-4.
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| CN103561380A (en) * | 2013-08-19 | 2014-02-05 | 北京邮电大学 | Location fingerprint positioning method and device |
| CN106003052B (en) * | 2016-07-29 | 2018-06-12 | 哈尔滨工大服务机器人有限公司 | A kind of creation method of robot visual guidance map |
| CN106950572B (en) * | 2017-03-28 | 2020-09-01 | 深圳市镭神智能系统有限公司 | Automatic guided vehicle positioning method and device |
| CN107738852B (en) * | 2017-11-30 | 2020-03-31 | 歌尔科技有限公司 | Positioning method, positioning map construction method and robot |
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