CN109031205A - Robotic positioning device, method and robot - Google Patents
Robotic positioning device, method and robot Download PDFInfo
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- CN109031205A CN109031205A CN201810794849.9A CN201810794849A CN109031205A CN 109031205 A CN109031205 A CN 109031205A CN 201810794849 A CN201810794849 A CN 201810794849A CN 109031205 A CN109031205 A CN 109031205A
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/24—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
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Abstract
The present invention provides a kind of robotic positioning device, method and robots, device includes the first ultrasonic sensor, the second ultrasonic sensor, the first ultrasonic wave emission source, the second ultrasonic wave emission source and locating module, first ultrasonic sensor and the second ultrasonic sensor are arranged in robot, and the first ultrasonic wave emission source and the second ultrasonic wave emission source are arranged on robot charging pile；First ultrasonic wave emission source is for launching outward the first ultrasonic signal；First ultrasonic sensor obtains the first ranging information for receiving the first ultrasonic signal；Second ultrasonic wave emission source is for launching outward the second ultrasonic signal；Second ultrasonic sensor obtains the second ranging information for receiving the second ultrasonic signal；Locating module is used to obtain the location information of robot according to the first ranging information and the second ranging information.The present invention will can realize the absolute fix of robot in the biggish dynamic environment of flow of the people indoors.
Description
Technical field
The present invention relates to robot localization art fields, more particularly, to a kind of robotic positioning device, method and machine
People.
Background technique
The positioning of robot is cognition of the robot to self-position, is that mobile robot completes building map, path rule
The premise drawn.Specifically, be exactly according to the map, location estimation and sensor observation etc. input information obtained by algorithm process
To the accurate estimation to current pose.
Robot localization relies on external sensor and obtains the information such as GPS, global road sign, global map, is absolute fix.Absolutely
To the application different from for being located in outdoor and indoor environment: GPS is widely used in outdoor absolute fix, and environment indoors
In, usually use laser radar, visual sensor and ultrasonic listening environmental information, and by information and global road sign or global map
Matching obtains positioning result.
Currently, not adapting to the biggish dynamic environment of flow of the people for the location algorithm of indoor absolute fix.In this ring
Under border, the map moment is changing, and positioning difficulty is larger.
Summary of the invention
In view of this, the purpose of the present invention is to provide robotic positioning device, method and robot, to alleviate room
The location algorithm of interior absolute fix does not adapt to the technical issues of flow of the people biggish dynamic environment.
In a first aspect, the embodiment of the invention provides a kind of robotic positioning device, including the first ultrasonic sensor,
Two ultrasonic sensors, the first ultrasonic wave emission source, the second ultrasonic wave emission source and locating module, first ultrasonic wave pass
Sensor and second ultrasonic sensor are arranged in robot, the first ultrasonic wave emission source and second ultrasonic wave
Emission source is arranged on robot charging pile；
The first ultrasonic wave emission source, for launching outward the first ultrasonic signal；
First ultrasonic sensor obtains the first ranging information for receiving first ultrasonic signal；
The second ultrasonic wave emission source, for launching outward the second ultrasonic signal；
Second ultrasonic sensor obtains the second ranging information for receiving second ultrasonic signal；
The locating module, for obtaining determining for robot according to first ranging information and second ranging information
Position information.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein institute
The center position coordinates and azimuth that location information includes robot are stated, the locating module is also used to:
According to first ranging information calculate the first of the first ultrasonic wave emission source and robot center away from
From；
The of the second ultrasonic wave emission source and the robot center is calculated according to second ranging information
Two distances；
The center position coordinates are obtained according to the first distance and the second distance；
The azimuth of the robot is obtained according to first ranging information or second ranging information.
Second aspect, the embodiment of the invention provides robot localization methods, fill using robot localization as described above
It sets, which comprises
Obtain the first ranging information between the first ultrasonic wave emission source of the first ultrasonic sensor acquisition；
Obtain the second ranging information between the second ultrasonic wave emission source of the second ultrasonic sensor acquisition；
The location information of robot is obtained according to first ranging information and second ranging information.
In conjunction with second aspect, the embodiment of the invention provides the first possible embodiments of second aspect, wherein institute
The center position coordinates and azimuth that location information includes robot are stated, it is described according to first ranging information and described second
Ranging information obtains the step of location information of robot, comprising:
According to first ranging information calculate the first of the first ultrasonic wave emission source and robot center away from
From；
The of the second ultrasonic wave emission source and the robot center is calculated according to second ranging information
Two distances；
The center position coordinates are obtained according to the first distance and the second distance；
The azimuth of the robot is obtained according to first ranging information or second ranging information.
In conjunction with second aspect, the embodiment of the invention provides second of possible embodiments of second aspect, wherein institute
It states the first ranging information and includes the first distance measurement value and the second distance measurement value, it is described to calculate described first according to first ranging information
The step of first distance of ultrasonic wave emission source and robot center, comprising:
The first ultrasonic wave emission source is obtained according to first distance measurement value and second distance measurement value to sit in robot
First position coordinate under mark system；
The institute of the first ultrasonic wave emission source Yu the robot center is obtained according to the first position coordinate
State first distance.
In conjunction with second of possible embodiment of second aspect, the embodiment of the invention provides the third of second aspect
Possible embodiment, wherein described that azimuthal step of the robot is obtained according to first ranging information, packet
It includes:
Of the first ultrasonic wave emission source under the robot coordinate system is obtained according to the first position coordinate
The second party parallactic angle of one azimuth and the first ultrasonic wave emission source under global coordinate system；
The azimuth of the robot is obtained according to the first party parallactic angle and the second party parallactic angle.
The third aspect, the embodiment of the present invention also provide a kind of robot, including robotic positioning device as described above, also
Including robot body；Multiple ultrasonic sensors are provided on the robot body.
In conjunction with the third aspect, the embodiment of the invention provides the first possible embodiments of the third aspect, wherein institute
It states robot body and is connected with doll machine, multiple ultrasonic sensors are provided on the doll machine.
The first possible embodiment in conjunction with the third aspect, second the embodiment of the invention provides the third aspect can
Can embodiment, wherein the cross section of the robot body is circle, the cross section of the doll machine be it is rectangular, it is described
The back of robot body is connected with the doll machine.
In conjunction with second of possible embodiment of the third aspect, the embodiment of the invention provides the third of the third aspect
Possible embodiment, wherein be provided with control panel on the robot body, the baby is controlled by the control panel
Baby's machine.
The embodiment of the present invention bring it is following the utility model has the advantages that
The embodiment of the invention provides a kind of robotic positioning device, method and robot, device includes the first ultrasound
Wave sensor, the second ultrasonic sensor, the first ultrasonic wave emission source, the second ultrasonic wave emission source and locating module, first
Ultrasonic sensor and the second ultrasonic sensor are arranged in robot, the first ultrasonic wave emission source and the transmitting of the second ultrasonic wave
Source is arranged on robot charging pile；First ultrasonic wave emission source is for launching outward the first ultrasonic signal；First ultrasonic wave
Sensor obtains the first ranging information for receiving the first ultrasonic signal；Second ultrasonic wave emission source is for launching outward the
Two ultrasonic signals；Second ultrasonic sensor obtains the second ranging information for receiving the second ultrasonic signal；Locating module
For obtaining the location information of robot according to the first ranging information and the second ranging information.The setting of ultrasonic wave emission source is being filled
In electric stake, as Global localization road sign, the super of ultrasonic wave emission source is received using the ultrasonic sensor being arranged in robot
Acoustic signals can realize the absolute fix of robot in the biggish dynamic environment of flow of the people according to ranging information indoors.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification, claims
And specifically noted structure is achieved and obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is robotic positioning device schematic diagram provided in an embodiment of the present invention；
Fig. 2 is robot localization method flow diagram provided in an embodiment of the present invention；
Fig. 3 be another embodiment of the present invention provides robot localization method flow diagram；
Fig. 4 is the positioning schematic diagram of robot localization method provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of robot provided in an embodiment of the present invention；
Fig. 6 is electronic equipment schematic diagram provided in an embodiment of the present invention.
Icon: 10- the first ultrasonic wave emission source；20- the second ultrasonic wave emission source；The first ultrasonic sensor of 30-；40-
Second ultrasonic sensor；50- locating module；1- robot body；2- doll machine；3- ultrasonic sensor；1000- electronics is set
It is standby；500- processor；501- memory；502- bus；503- communication interface.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Currently, the biggish dynamic environment of flow of the people cannot be well adapted for for the location algorithm of indoor absolute fix.?
Under this environment, the map moment is changing, and positioning difficulty is larger., it is based on this, a kind of robot provided in an embodiment of the present invention is fixed
Position device, method and robot, can realize the indoor absolute fix of robot in the biggish dynamic environment of flow of the people.
For convenient for understanding the present embodiment, first to a kind of robotic positioning device disclosed in the embodiment of the present invention
It describes in detail.
As shown in Figure 1, a kind of robotic positioning device provided in this embodiment, including the first ultrasonic sensor 30,
Two ultrasonic sensors 40, the first ultrasonic wave emission source 10, the second ultrasonic wave emission source 20 and locating module 50, the first ultrasound
Wave sensor 30 and the second ultrasonic sensor 40 are arranged in robot, the first ultrasonic wave emission source 10 and the second ultrasonic wave hair
Source 20 is penetrated to be arranged on robot charging pile；
First ultrasonic wave emission source 10, for launching outward the first ultrasonic signal；
First ultrasonic sensor 30 obtains the first ranging information for receiving the first ultrasonic signal；
Second ultrasonic wave emission source 20, for launching outward the second ultrasonic signal；
Second ultrasonic sensor 40 obtains the second ranging information for receiving the second ultrasonic signal；
Locating module 50, for obtaining the location information of robot according to the first ranging information and the second ranging information.
Specifically, multiple ultrasonic sensors are provided in robot, by the first ultrasonic wave emission source 10 and the second ultrasound
Wave emission source 20 is arranged on charging pile, charging pile fixed placement, and general be the planes such as wall below.Through reasonable settings,
The range that can make 180 ° in front of ultrasonic wave covering emission source, for example, by using wide-angle ultrasound emission source.Start in robot
When location tasks, the first ultrasonic wave emission source 10 sends out the first ultrasonic signal, and the ultrasonic sensor in robot is opened
It opens, and records the number and distance measurement value of shortest two ultrasonic sensors of distance measurement value, the two ultrasonic sensors i.e. first
Ultrasonic sensor 30, the first ranging information are the distance measurement values of the two ultrasonic sensors；Next, closing the first ultrasonic wave
Emission source 10 opens the second ultrasonic wave emission source 20, the number of second of record shortest two ultrasonic sensor of distance measurement value
And distance measurement value, two ultrasonic sensors i.e. the second ultrasonic sensor 40, the second ranging information of second of record is second
The distance measurement value of two ultrasonic sensors of secondary record.
The present embodiment by charging pile the first ultrasonic wave emission source 10 and the second ultrasonic wave emission source 20 as global fixed
Position road sign, the ultrasonic signal of ultrasonic wave emission source is received using the ultrasonic sensor being arranged in robot, according to ranging
Information can realize the absolute fix of robot in the biggish dynamic environment of flow of the people indoors.
Further, the location information of robot includes center position coordinates and the azimuth of robot, locating module 50
It is also used to: calculating the first distance of the first ultrasonic wave emission source 10 and robot center according to the first ranging information；According to
Second ranging information calculates the second distance of the second ultrasonic wave emission source 20 and robot center；According to first distance and
Two distances obtain center position coordinates；The azimuth of robot is obtained according to the first ranging information or the second ranging information.
Specifically, the first ranging information includes the first distance measurement value and the second distance measurement value, is surveyed according to the first distance measurement value and second
First position coordinate of the first ultrasonic wave emission source 10 under robot coordinate system is obtained away from value；It is obtained according to first position coordinate
The first distance of first ultrasonic wave emission source 10 and robot center.Likewise it is possible to obtain the second ultrasonic wave emission source
20 with the second distance of robot center.
The first ultrasonic wave hair is obtained according to first position coordinate of the first ultrasonic wave emission source 10 under robot coordinate system
Penetrate source 10 the first party parallactic angle and the first ultrasonic wave emission source 10 under robot coordinate system under global coordinate system second
Azimuth；The azimuth of robot is obtained according to first party parallactic angle and second party parallactic angle.
The present embodiment can be in the biggish dynamic environment of flow of the people, such as market, realize in real time, high robust determines
Position, while hardware cost is reduced as far as possible.By carrying two ultrasonic wave emission sources on robot charging pile, robotic surface is matched
Standby ultrasonic sensor realizes the indoor absolute fix of robot by handling the ranging information received.
As shown in Fig. 2, the present embodiment additionally provides a kind of robot localization method of applied robot's positioning device, method
The following steps are included:
Step S101 obtains the first ranging letter between the first ultrasonic wave emission source of the first ultrasonic sensor acquisition
Breath；
Step S102 obtains the second ranging letter between the second ultrasonic wave emission source of the second ultrasonic sensor acquisition
Breath；
Step S103 obtains the location information of robot according to the first ranging information and the second ranging information.
Further, location information includes center position coordinates and the azimuth of robot, as shown in figure 3, step S103
The following steps are included:
Step S201, according to the first ranging information calculate the first of the first ultrasonic wave emission source and robot center away from
From；
Step S202, according to the second ranging information calculate the second of the second ultrasonic wave emission source and robot center away from
From；
Step S203 obtains center position coordinates according to first distance and second distance；
Step S204 obtains the azimuth of robot according to the first ranging information or the second ranging information.
Further, the first ranging information includes the first distance measurement value and the second distance measurement value, and step S201 includes: according to first
Distance measurement value and the second distance measurement value obtain first position coordinate of the first ultrasonic wave emission source under robot coordinate system；According to first
Position coordinates obtain the first distance of the first ultrasonic wave emission source and robot center.The second surpass likewise it is possible to obtain
The second distance of sound wave emission source and robot center.
Further, azimuthal step of robot is obtained according to the first ranging information, comprising:
First party parallactic angle of the first ultrasonic wave emission source under robot coordinate system is obtained according to first position coordinate, and
Second party parallactic angle of the first ultrasonic wave emission source under global coordinate system；Machine is obtained according to first party parallactic angle and second party parallactic angle
The azimuth of people.
Fig. 4 shows the positioning schematic diagram of robot localization method provided in an embodiment of the present invention.
As shown in figure 4, robot includes robot body, doll machine, robot can also be set on robot body
A point on charging pile is provided with the first ultrasonic wave emission source, and B point is provided with the second ultrasonic wave emission source.The knot of robot localization
Fruit is robot using charging pile as the global pose of origin, under the world coordinates using charging pile as origin, the position of robot
Appearance is (xr yr θr), the center position coordinates (x including robotr yr) and azimuth angle thetar.If the first ultrasonic wave emission source obtains
Nearest distance measurement value be LA1And LA2, corresponding ultrasonic sensor is SA1And SA2, the second ultrasonic wave emission source obtains nearest
Distance measurement value is LB1And LB2, corresponding ultrasonic sensor is SB1And SB2,
Firstly, seeking the center position coordinates (x of robotr yr).The the first ultrasonic wave emission source for first considering A point, due to
First ultrasonic wave emission source is fixedly mounted in robot, so the pose of its opposed robots immobilizes.With
Circle (O, r) indicates a circle, and wherein O is the center of circle, and r is radius.Then under robot coordinate system, available round Circle
(SA1,LA1) and circle Circle (SA2,LA2), pass through function Get_InterSectionPoints_Of_2_Circles
(Circle1, Cirle2) seeks two circle intersection points.Two circle intersection point (filter off two intersection points in apparent error that) be first
Coordinate of the ultrasonic wave emission source in robot coordinate system.According to the available line segment AO of the coordinaterLength.To the second ultrasound
Wave emission source carries out similar operation, available line segment BOrLength.To circle Circle (A, AOr) and Circle (B, BOr) ask
Intersection point, the coordinate for obtaining intersection point is the center position coordinates of robot.
Next, seeking the azimuth angle theta of robotr.As shown in figure 4, first considering A point, it is known that,Its
InFor the orientation of A point under robot coordinate system,For vector O under world coordinatesrThe orientation of A, two above angle pass through
Atan2 function can be in the hope of.Therefore robot towards angle, θrIt can be in the hope of by formula (1).Wherein, atan2 function returns
What is returned is origin to the azimuth of point (x, y), i.e., with the angle of x-axis.It can be appreciated that the argument of plural number x+yi.
Ultrasonic wave emission source is provided on charging pile and is used as Global localization road sign by the present embodiment, the ultrasonic wave in robot
Sensor is only used as receiver, receives transmitting source signal and is positioned, based on the letter of the location algorithm of geometrical relationship and triangulation location
Single effective, strong robustness.
As shown in figure 5, the present embodiment additionally provides a kind of robot, including above-mentioned robotic positioning device, further include
Robot body 1；Multiple ultrasonic sensors 3 are provided on robot body.
Robot body 1 is connected with doll machine 2, and multiple ultrasonic sensors 3 are provided on doll machine 2.
Specifically, the cross section of robot body 1 is circle, the cross section of doll machine 2 be it is rectangular, robot body 1
Back is connected with doll machine 2.
The present embodiment can be combined robot body 1 with doll machine 2.It is provided with control panel on robot body 1, is led to
Cross control panel control doll machine 2.Also the image that can use robot attracts passenger flow.
Robot provided in an embodiment of the present invention, with robotic positioning device provided by the above embodiment skill having the same
Art feature reaches identical technical effect so also can solve identical technical problem.
The embodiment of the present invention also provides a kind of electronic equipment, including memory, processor, and being stored in memory can locate
The computer program run on reason device, processor realize robot localization side provided by the above embodiment when executing computer program
The step of method.
The embodiment of the present invention also provides a kind of computer readable storage medium, and meter is stored on computer readable storage medium
Calculation machine program, the step of robot localization of above-described embodiment is executed when computer program is run by processor.
Referring to Fig. 6, the embodiment of the present invention also provides a kind of electronic equipment 1000, comprising: processor 500, memory 501,
Bus 502 and communication interface 503, processor 500, communication interface 503 and memory 501 are connected by bus 502；Memory
501 for storing program；Processor 500 is used to call the program being stored in memory 501 by bus 502, executes above-mentioned
The robot localization of embodiment.
Wherein, memory 501 may include high-speed random access memory (RAM, Random Access Memory),
It may further include non-labile memory (non-volatile memory), for example, at least a magnetic disk storage.By extremely
A few communication interface 503 (can be wired or wireless) is realized logical between the system network element and at least one other network element
Letter connection, can be used internet, wide area network, local network, Metropolitan Area Network (MAN) etc..
Bus 502 can be isa bus, pci bus or eisa bus etc..The bus can be divided into address bus, number
According to bus, control bus etc..Only to be indicated with a four-headed arrow in Fig. 6, it is not intended that an only bus convenient for indicating
Or a type of bus.
Wherein, memory 501 is for storing program, and processor 500 executes described program after receiving and executing instruction,
Method performed by the device that the stream process that aforementioned any embodiment of the embodiment of the present invention discloses defines can be applied to processor
In 500, or realized by processor 500.
Processor 500 may be a kind of IC chip, the processing capacity with signal.It is above-mentioned during realization
Each step of method can be completed by the integrated logic circuit of the hardware in processor 500 or the instruction of software form.On
The processor 500 stated can be general processor, including central processing unit (Central Processing Unit, abbreviation
CPU), network processing unit (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (Digital
Signal Processing, abbreviation DSP), specific integrated circuit (Application Specific Integrated
Circuit, abbreviation ASIC), ready-made programmable gate array (Field-Programmable Gate Array, abbreviation FPGA) or
Person other programmable logic device, discrete gate or transistor logic, discrete hardware components.It may be implemented or execute sheet
Disclosed each method, step and logic diagram in inventive embodiments.General processor can be microprocessor or the processing
Device is also possible to any conventional processor etc..The step of method in conjunction with disclosed in the embodiment of the present invention, can be embodied directly in
Hardware decoding processor executes completion, or in decoding processor hardware and software module combination execute completion.Software mould
Block can be located at random access memory, flash memory, read-only memory, programmable read only memory or electrically erasable programmable storage
In the storage medium of this fields such as device, register maturation.The storage medium is located at memory 501, and processor 500 reads memory
Information in 501, in conjunction with the step of its hardware completion above method.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
The computer program product of robot localization method is carried out provided by the embodiment of the present invention, including stores processing
The computer readable storage medium of the executable non-volatile program code of device, the instruction that said program code includes can be used for holding
Row previous methods method as described in the examples, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, of the invention
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the present invention
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can be with
Store the medium of program code.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of robotic positioning device, which is characterized in that including the first ultrasonic sensor, the second ultrasonic sensor,
One ultrasonic wave emission source, the second ultrasonic wave emission source and locating module, first ultrasonic sensor and described the second surpass
Sonic sensor is arranged in robot, and the first ultrasonic wave emission source and the second ultrasonic wave emission source are arranged in machine
On people's charging pile；
The first ultrasonic wave emission source, for launching outward the first ultrasonic signal；
First ultrasonic sensor obtains the first ranging information for receiving first ultrasonic signal；
The second ultrasonic wave emission source, for launching outward the second ultrasonic signal；
Second ultrasonic sensor obtains the second ranging information for receiving second ultrasonic signal；
The locating module, the positioning for obtaining robot according to first ranging information and second ranging information are believed
Breath.
2. the apparatus according to claim 1, which is characterized in that the location information includes the center position coordinates of robot
And azimuth, the locating module are also used to:
The first distance of the first ultrasonic wave emission source and robot center is calculated according to first ranging information；
According to second ranging information calculate the second of the second ultrasonic wave emission source and the robot center away from
From；
The center position coordinates are obtained according to the first distance and the second distance；
The azimuth of the robot is obtained according to first ranging information or second ranging information.
3. a kind of robot localization method, which is characterized in that apply robotic positioning device as claimed in claim 1 or 2, institute
The method of stating includes:
Obtain the first ranging information between the first ultrasonic wave emission source of the first ultrasonic sensor acquisition；
Obtain the second ranging information between the second ultrasonic wave emission source of the second ultrasonic sensor acquisition；
The location information of robot is obtained according to first ranging information and second ranging information.
4. according to the method described in claim 3, it is characterized in that, the location information includes the center position coordinates of robot
And azimuth, the step of the location information that robot is obtained according to first ranging information and second ranging information
Suddenly, comprising:
The first distance of the first ultrasonic wave emission source and robot center is calculated according to first ranging information；
According to second ranging information calculate the second of the second ultrasonic wave emission source and the robot center away from
From；
The center position coordinates are obtained according to the first distance and the second distance；
The azimuth of the robot is obtained according to first ranging information or second ranging information.
5. according to the method described in claim 3, it is characterized in that, first ranging information includes the first distance measurement value and second
Distance measurement value, it is described that the first of the first ultrasonic wave emission source and robot center is calculated according to first ranging information
Apart from the step of, comprising:
The first ultrasonic wave emission source is obtained in robot coordinate system according to first distance measurement value and second distance measurement value
Under first position coordinate；
Described the of the first ultrasonic wave emission source and the robot center is obtained according to the first position coordinate
One distance.
6. according to the method described in claim 5, it is characterized in that, described obtain the machine according to first ranging information
Azimuthal step of people, comprising:
First party of the first ultrasonic wave emission source under the robot coordinate system is obtained according to the first position coordinate
The second party parallactic angle of parallactic angle and the first ultrasonic wave emission source under global coordinate system；
The azimuth of the robot is obtained according to the first party parallactic angle and the second party parallactic angle.
7. a kind of robot, which is characterized in that further include machine including robotic positioning device as claimed in claim 1 or 2
Human body；Multiple ultrasonic sensors are provided on the robot body.
8. robot according to claim 7, which is characterized in that the robot body is connected with doll machine, the baby
Multiple ultrasonic sensors are provided on baby's machine.
9. robot according to claim 8, which is characterized in that the cross section of the robot body is circle, described
The cross section of doll machine be it is rectangular, the back of the robot body is connected with the doll machine.
10. robot according to claim 8, which is characterized in that be provided with control panel on the robot body, lead to
It crosses the control panel and controls the doll machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810794849.9A CN109031205B (en) | 2018-07-18 | 2018-07-18 | Robot positioning device, method and robot |
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| CN109031205B (en) | 2020-11-03 |
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Address after: Building 65, No. 17, Jiujiang Road, Tongji New Economic Zone, Jimo District, Qingdao City, Shandong Province, 266200 Patentee after: Qingdao Evolver xiaopang Robot Technology Co.,Ltd. Address before: 100192 1005-008, floor 1, building 27, 25 North Third Ring Road West, Haidian District, Beijing Patentee before: BEIJING EVOLVER ROBOTICS Co.,Ltd. |