CN109955253A - The method of robot searching cradle position - Google Patents
The method of robot searching cradle position Download PDFInfo
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- CN109955253A CN109955253A CN201910255108.8A CN201910255108A CN109955253A CN 109955253 A CN109955253 A CN 109955253A CN 201910255108 A CN201910255108 A CN 201910255108A CN 109955253 A CN109955253 A CN 109955253A
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- 238000009826 distribution Methods 0.000 claims abstract description 91
- 238000013139 quantization Methods 0.000 claims abstract description 47
- 238000001514 detection method Methods 0.000 claims description 26
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention discloses a kind of methods that cradle position is found by robot.In the method, robot passes through the respective guide signal choosing the location point of current path and detecting, with in the signal quantization distribution map that robot prestores distributed point and corresponding distribution signal matched, therefrom choose highest two paths of matching degree, the cradle position as corresponding to the path in quantized signal distribution map again, the position for extrapolating the cradle in the current walking path of robot, allows robot rapidly and accurately to carry out back seat.
Description
Technical field
The present invention relates to field in intelligent robotics, and in particular to a kind of method that cradle position is found by robot.
Background technique
Currently, being able to carry out the intelligent robot of autonomous, such as clean robot, security robot and company machine
People etc. has the function of returning seat charging automatically.If robot is not to walk since cradle or robot is walking
During, the position change of cradle, then robot is more difficult searches out cradle.When robot enters back seat mode
When, just start the guidance signal for constantly detecting cradle sending during finding cradle, only detects the guidance
Signal, robot could carry out back seat according to the guidance of the guidance signal.Seat mode is needed by longer due to this time
Time search guides signal, and it is very low to return seat efficiency.
Summary of the invention
The present invention provides a kind of methods that cradle position is found by robot, and robot can be improved and find cradle
Efficiency.Specific technical solution of the present invention is as follows:
A kind of method that cradle position is found by robot, comprising the following steps: step S1, robot is based on the road currently walked
Diameter randomly selects the first position point in path, obtains the first detection letter that robot is detected in the first position point
Number, subsequently into step S2；Step S2, robot obtains the first distributed point in the signal quantization distribution map of cradle, described
First distributed point distribution signal corresponding in the signal quantization distribution map is the first distribution signal, the first distribution letter
It is number identical as the signal message that the first detection signal is included, subsequently into step S3；Step S3, robot are based on current
The path of walking, randomly selects the second position point in path, obtain that robot detects in the second position point the
Two detection signals, subsequently into step S4；Step S4, robot obtain the second distributed point in the signal quantization distribution map,
Second distributed point distribution signal corresponding in the signal quantization distribution map is the second distribution signal, described second point
Cloth signal is identical as the signal message that the second detection signal is included, and second distributed point and first distributed point
Between linear distance be equal to linear distance between the second position point and first position point, subsequently into step
S5；Step S5, robot choose different positional points based on the path currently walked, and obtain robot in the verifying
The verifying detection signal detected when location point, subsequently into step S6；Step S6, robot obtain the signal quantization distribution
Verifying distributed point in figure, verifying distributed point distribution signal corresponding in the signal quantization distribution map is verifying point
Cloth signal, the positional relationship between the verifying distributed point and first distributed point and second distributed point are identical to described
Positional relationship between positional point and first position point and second position point, subsequently into step S7；Step
S7, robot judge whether the verifying distribution signal and the verifying detect the signal signal message that is included identical, if
It is identical, then accumulative bonus point is carried out, if it is not the same, then without adding up bonus point, subsequently into step S8；Step S8, robot
Whether the selected positional point of judgement reaches preset quantity, if it is, enter step S9, otherwise return step S5；Step
Rapid S9, robot determine the score value of last accumulative bonus point, and judge to determine whether the number of score value reaches preset times, if
It is then to enter step S10, otherwise return step S1；Step S10, the last accumulative bonus point that robot determines more every time
Score value, the position of cradle determined by the distributed point in the signal quantization distribution map based on corresponding to score value highest that time
It sets, obtains the position of cradle corresponding in the path currently walked.
Further, the signal quantization distribution map of the cradle is formed as follows: robot is based on cradle
Position, determine a preset range, and the preset range is subjected to rasterizing, form multiple grid cells；Robot
The preset range is traversed, based on the guidance signal that cradle detected in ergodic process issues, according to pre-arranged code shape
Formula carries out Signal coding, forms distribution signal, and grid cell corresponding to the distribution signal and current location is carried out pair
It should record, form the signal quantization distribution map.
Further, the square area that the preset range is one 2 meters * 2 meters, the cradle are located at the pros
The middle position on the one side in shape region；The square dummy unit lattice that the grid cell is one 0.1 meter * 0.1 meter；It is described just
Square region is divided into 400 square dummy unit lattice.
Further, the robot traverses the preset range, based on cradle hair detected in ergodic process
Guidance signal out specifically includes following step the step of carrying out Signal coding according to pre-arranged code form, form distribution signal
Rapid: machine is walked in the preset range since the position of cradle with arc type track；Robot walks on one side
The guidance signal that detection cradle issues on one side, and the case where analysis detection guidance signal；When robot detects the first guidance
Signal, then the numerical value of the first data bit is 1, and otherwise the numerical value of the first data bit is 0；When robot detects that the second guidance is believed
Number, then the numerical value of the second data bit is 1, and otherwise the numerical value of the second data bit is 0；And so on, when robot detects that N draws
Signal is led, then the numerical value of Nth data position is 1, and otherwise the numerical value of Nth data position is 0；Wherein, N is to be less than more than or equal to 4
Or the numerical value equal to 8；Robot arranges first data bit to Nth data position according to from low level to high-order sequence
Column, form a binary array, then the binary array is converted into hexadecimal values, to form the distribution letter
Number.
Further, the preset quantity is greater than 100.
Further, the preset times are greater than 50 times.
Further, based in signal quantization distribution map corresponding to score value highest that time described in step S10
Distributed point determined by cradle position, obtain in the path currently walked the position of corresponding cradle, it is specific to wrap
Include following steps: robot determines that signal quantization distribution map corresponding to score value highest that time is with reference to figure；Robot is true
The fixed direction parameter with reference to cradle in figure relative to first distributed point and second distributed point；Robot determines
The location parameter of the first position point and second position point corresponding to score value highest that time；Robot is according to institute
Location parameter and the direction parameter are stated, position of the cradle in the path currently walked is calculated.
Detailed description of the invention
Fig. 1 is the signal distributions schematic diagram of cradle described in the embodiment of the present invention
Fig. 2 is the flow diagram for the method that cradle position is found by robot described in the embodiment of the present invention.
Fig. 3 is the schematic diagram in the path that robot described in the embodiment of the present invention currently walks.
Fig. 4 is the schematic diagram of the signal quantization distribution map of cradle described in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is retouched in detail
It states.It should be appreciated that disclosed below, the specific embodiments are only for explaining the present invention, is not intended to limit the present invention.Below
Description in, provide detail to provide a thorough understanding of embodiments.However, those skilled in the art will manage
Solution, may be practiced without these specific details embodiment.For example, circuit can be shown in block diagrams, avoid
Make embodiment fuzzy in unnecessary details.In other cases, it in order not to obscure embodiment, can not display the details of well known
Circuit, structure and technology.
A kind of method that cradle position is found by robot, the artificial sweeping robot of the machine, floor-mopping robot, polishing
Robot or waxing robot etc. clean class intelligent robot.These intelligent robots in the process of walking, can rely on itself
The sensors such as driving wheel code-disc, gyroscope, camera and laser radar, determine and record in real time the position and direction of oneself,
So as to realize the autonomous of robot, purposive movement and navigation.Robot can real-time detection on one side walk while
The guidance signal that cradle issues.The guidance signal is the signal that seat is returned for guided robot that cradle issues, according to
The quantity and installation site of set infrared emission sensor, can be divided into guidance signal different class signals in cradle
Type, for example it is located at the M signal that infrared emission sensor intermediate on front side of cradle is issued, it is located at the left side on front side of cradle
The left signal that is issued of infrared emission sensor, the right letter that the infrared emission sensor on the right is issued on front side of cradle
Number, the guardrail signal that the infrared emission sensor positioned at cradle two sides is issued, it is, of course, also possible to according to the area of signal distributions
The distance in domain is divided into remote signaling, middle part signal and near end signal, etc..In addition, set on the fuselage of robot can
The infrared receiver sensor for receiving the guidance signal that the infrared emission sensor of cradle issues, can be set respectively using multiple
Set the different direction in fuselage.The top of robot is arranged in the infrared receiver sensor of robot described in the present embodiment, and
Outer cover one justifies bubble structure, and guidance signal can be so received in order to robot omnibearing, robot is improved and judges itself orientation
Accuracy.A coding can be arranged in each infrared receiver sensor, and encoded radio can be freely arranged, and such robot can be with
Know which guidance signal is located at which orientation of robot, more accurately convenient for the positioning of robot.As shown in Figure 1, this reality
The guidance signal for applying the sending of cradle C described in example includes M signal F3, left signal F4, right signal F2 and guardrail signal F1.
Wherein, the guardrail signal F1 is the signal being distributed in the surrounded region of camber line before cradle C.Before cradle C, in
Between two oblique lines extended downwardly defined by the signal that is distributed in region be M signal F3.It is most left before cradle C
The signal being distributed in region defined by two oblique lines extended downwardly of side is left signal F4.Before cradle C, the rightmost side
Two oblique lines extended downwardly defined by the signal that is distributed in region be right signal F2.As shown in Fig. 2, the robot is sought
The method for looking for cradle position, specifically includes the following steps:
In step S1, as shown in figure 3, the circle in figure indicates that robot 10, shown arc type route indicate robot current line
The path walked, arrow indicate the direction of travel of robot.Firstly, robot 10 randomly selects road based on the path currently walked
First position point P1 in diameter, and the first detection signal that robot is detected in the first position point P1 is obtained, it is described
First detection signal includes guardrail signal, left signal and the M signal that cradle issues, that is to say, that robot 10 is run to
Guardrail signal, left signal and the M signal of cradle sending have been detected simultaneously by when the point P1 of first position.Subsequently enter step
S2。
In step S2, robot obtains the first distributed point p1 in the signal quantization distribution map of cradle.As shown in Figure 4
The schematic diagram of signal quantization distribution map, is illustrated as the grid cell array of a 20*20, and each lattice indicates that a side length is
0.1 meter of grid cell, when the central point of robot is located at some grid cell, the position of robot is at the grid cell
Position.A hexadecimal numerical value is indicated in each grid cell, indicates robot in corresponding grid list by the numerical value
The case where guidance signal that the cradle detected when the position of member issues.The signal quantization distribution map is stored in robot
In memory, also, robot can also constantly update the numerical value in grid according to its movement and signal detection situation.When
So, under normal circumstances, the numerical value in grid should be fixed and invariable, still, if the type of cradle is replaced, Huo Zhechong
Some sensor degradation in electric seat, the then signal that cradle issues will change, the number in corresponding signal quantization distribution map
Value is also required to update adjustment.In Fig. 4, distribution signal the first distributed point p1 corresponding in the signal quantization distribution map
For the first distribution signal, hexadecimal values are that 1011).Corresponding to the first acquired distributed point p1
First distribution signal and the first detection signal signal message that is included be it is identical, i.e., contain guardrail simultaneously
Signal, left signal and M signal.Subsequently enter step S3.
In step S3, as shown in figure 3, robot 10 based on the path currently walked, randomly selects the second in path
Point P2 is set, and obtains the second detection signal that robot is detected in the second position point P2, the second detection signal
Only contain right signal.Subsequently into step S4.
In step S4, as shown in figure 4, robot obtains the second distributed point p2 in the signal quantization distribution map, it is described
Second distributed point distribution signal corresponding in the signal quantization distribution map is the second distribution signal, hexadecimal values
0100) corresponding to binary system for C(is.Second distribution signal is identical as the signal message that the second detection signal is included,
Right signal is all contained only, also, the linear distance p2p1 between second distributed point and first distributed point is equal to institute
State the linear distance P2P1 between second position point and first position point.Wherein, the linear distance between distributed point be from
Between the central point of grid cell corresponding to the central point to another distributed point of grid cell corresponding to one distributed point
Straight length.Subsequently enter step S5.
In step S5, as shown in figure 3, robot chooses different positional point P3, institute based on the path currently walked
Show that P3 point can be any point in arc type path other than P1 point and P2 point.Robot is obtained in the positional
The verifying detection signal detected when point P3, the verifying detection signal only includes M signal.Subsequently enter step S6.
In step S6, as shown in figure 4, robot obtains the verifying distributed point p3 in the signal quantization distribution map, it is described
Verifying distributed point p3 distribution signal corresponding in the signal quantization distribution map is verifying distribution signal.The verifying distribution
Positional relationship between point p3 and the first distributed point p1 and the second distributed point p2 is identical to the positional point P3
With the positional relationship between the first position point P1 and second position point P2, i.e. triangle composed by p1p2p3 with
Triangle composed by P1P2P3 is congruent.Subsequently enter step S7.
In step S7, robot judges the signal message that the verifying distribution signal and the verifying detection signal are included
Whether identical, if both only including M signal, the two is identical, carries out accumulative bonus point.What if the two was included
Signal type is different, for example verifying detection signal only includes M signal, and verify that distribution signal includes is right signal, then and two
The signal message that person is included is not identical, without adding up bonus point.What the signal message referred to is exactly the type for guiding signal, this
The type of guidance signal as described in the examples has guardrail signal, left signal, right signal and M signal.Subsequently enter step
S8。
In step S8, after robot completes the judgement of a positional point, selected positional point is judged
Whether preset quantity is reached, if so, showing that robot is corresponding to the signal quantization distribution map to the path currently walked
The matching verifying in path has been compared sufficiently, it may be considered that the path changed in a signal quantization distribution map carries out matching and tests
Card, enters step S9.The preset quantity can be accordingly arranged according to specific design requirement, it is preferred that can be set
It is 200 or 300.If selected positional point does not reach preset quantity, show that machine artificially matches the road of acquisition
Diameter data are inadequate, can not adequately be verified, then return step S5, continue to choose other positional points and be verified.
In step S9, robot determines the score value of last accumulative bonus point, completes the verifying in this path, and judge to determine
Whether the number of score value reaches preset times, if so, showing that the path validation of enough times has been carried out in robot, verifies
As a result accuracy is very high, can enter step S10, carries out the determination of cradle position.Otherwise return step S1 starts
Carry out the verifying of next paths.The preset times can be accordingly arranged according to specific design requirement, it is preferred that can
To be set as 100 times or 200 times.
In step S10, the score value for the last accumulative bonus point that robot determines more every time show that score value is highest primary
Verification result is matched, in the result, robot works as in the path corresponding to the distributed point in signal quantization distribution map with robot
The path of preceding walking is identical.And the position of cradle is in the signal quantization distribution map, relative in the path
The orientation of distributed point be known.So robot is based on signal quantization distribution map corresponding to score value highest that time
In distributed point determined by the position of cradle the path currently walked can be calculated by the relationship of congruent triangles
In corresponding cradle position.
Robot described in the present embodiment in the signal quantization distribution map in cradle carry out route matching by way of,
The position of cradle can be accurately determined, so that the seat that returns for subsequent robot provides effective reference data, improves machine
Device people's returns seat efficiency.
As one of embodiment, the signal quantization distribution map of the cradle is formed as follows: first
First, as shown in figure 4, position of the robot based on cradle 20, a preset range is determined, the shape of the preset range and big
It is small to be accordingly arranged according to specific design requirement, it can be set to the shapes such as rectangle, square or ellipse, if
It is set to 2 square meters, 3 square meters or 4 square meter homalographic sizes.Outermost rectangular shaped rim area defined is as this reality in Fig. 4
Apply preset range described in example.The preset range is carried out rasterizing by robot, forms multiple grid cells, the grid list
Member is the imaginary grid with certain length and width, and length and width may be the same or different, but each grid list
Member all must be lattice that is the same, such as being both configured to 0.1 meter * 0.1 meter, or can be set as 0.1 meter of *
0.15 meter of small pane, or 0.15 meter * 0.15 meter of lattice etc. can be set as.Lattice shown in Fig. 4 is this
Grid cell described in embodiment.Then, robot traverses the preset range in the form of the track of arc type, and the traversal is
Refer to that robot walks to go over from the beginning to the end on the surface of the preset range.Clean robot traverses certain region, just refers to clear
Clean robot completes the cleaning of the localized ground.Robot walks on one side, detects the guidance signal that cradle 20 issues on one side,
And the guidance signal issued based on cradle 20 detected in ergodic process, signal volume is carried out according to pre-arranged code form
Code forms distribution signal.The pre-arranged code form can be accordingly arranged according to specific design requirement, for example use eight
Scale coding form or hexadecimal code form etc..It is formed by distribution signal and can embody and draw detected by robot
The case where leading signal.Finally, grid cell corresponding to the distribution signal and current location is carried out corresponding record by robot,
The signal quantization distribution map is formed, by the signal quantization distribution map, robot can be learnt in some grid cell phase
For the position of cradle 20, and can be detected in the position guidance signal the case where.Method described in the present embodiment,
By the way that region a certain range of before cradle is carried out rasterizing, and the guidance signal that robot is detected carries out quantization volume
Code forms cradle position and guides the indirect corresponding relationship of signal, determines that the position of cradle provides standard for subsequent robot
True reference frame.
As one of embodiment, as shown in figure 4, the preset range surrounded by side frame outermost in figure one
A 2 meters * 2 meters of square area.The cradle 20 is located at the middle position on one side of the square area, cradle 20
The signal direction of the launch towards opposite another side.The square dummy unit that the grid cell is one 0.1 meter * 0.1 meter
Lattice.The square area can be divided into 400 square dummy unit lattice.Each grid cell corresponding record is organic
Device people the case where institute's collected guidance signal, corresponds at the position of the grid cell for example, being located in the middle grid cell
Record is hexadecimal values 9 and 8, and the grid cell corresponding record for being located at cradle left side (i.e. the left side of attached drawing) is ten
Senary numerical value 0 and 2, the grid cell corresponding record for being located at cradle right side (i.e. the right of attached drawing) is hexadecimal values
0 and 4, etc..The present embodiment is by being divided into 400 grid cells, and correspondence markings for the regional scope of 4 square meters before cradle
Signal distributions situation of the cradle on each grid cell, finds robot more accurately by the distribution map and fills
The position of electric seat.
As one of embodiment, the robot traverses the preset range, based on being detected in ergodic process
The guidance signal that the cradle arrived issues, the step of carrying out Signal coding according to pre-arranged code form, form distribution signal, specifically
Include the following steps: to be gone in the preset range with arc type track firstly, machine is since the position of cradle
It walks.As shown in figure 4, robot straight forward since the position of cradle 20, keeps straight on after 2 meters of distance, turns to the left, it is first right
Cradle right area (i.e. the right of Fig. 4) carries out arc type traversal, runs to the progress time of cradle left area again after the completion
It goes through.Certainly, robot can also first traverse cradle left area, then traverse the right area of cradle.Robot traversal is whole
The number of a preset range can be it is multiple, preferably 2 times or 3 times.It is traversed by multiple repetition, robot can be improved
The accuracy for detecting cradle signal distributions guarantees the accuracy of constructed signal quantization distribution map.Then, robot one side
The walking guidance signal that detection cradle issues on one side, and the case where analysis detection guidance signal.When robot detects first
Signal is guided, the first guidance signal is guardrail signal described in the present embodiment, then the numerical value of the first data bit is 1, otherwise first
The numerical value of data bit is 0.When robot detects the second guidance signal, the second guidance signal described in the present embodiment is left letter
Number, then the numerical value of the second data bit is 1, and otherwise the numerical value of the second data bit is 0.When robot detect third guide signal,
It is right signal that third described in the present embodiment, which guides signal, then the numerical value of third data bit is 1, otherwise the numerical value of third data bit
It is 0.When robot detects the 4th guidance signal, the 4th guidance signal described in the present embodiment is M signal, then the 4th number
Numerical value according to position is 1, and otherwise the numerical value of the 4th data bit is 0.Cradle described in the present embodiment, can only there are four types of signal is guided
To be indicated using a byte (four bit), one data bit of each bit expression indicates machine with 4 bit
Device people is the case where current location receives 4 kinds of signals.And then, first data bit to the 4th data bit is pressed by robot
It is arranged according to from low level to high-order sequence, forms a binary array, then the binary array is converted into 16
Binary value, to form the distribution signal.In Fig. 4, mark hexadecimal number 0(, that is, Binary Zero 000) grid cell, table
Show that robot does not detect any guidance signal.Mark hexadecimal number 1(, that is, Binary Zero 001) grid cell, indicate machine
Device people only detects guardrail signal.Mark hexadecimal number 2(, that is, Binary Zero 010) grid cell, indicate robot only
Detect left signal.Mark hexadecimal number 3(, that is, Binary Zero 011) grid cell, indicate robot be detected simultaneously by guardrail
Signal and left signal.Mark hexadecimal number 4(, that is, Binary Zero 100) grid cell, indicate robot only detect right letter
Number.Mark hexadecimal number 5(, that is, Binary Zero 101) grid cell, indicate robot be detected simultaneously by guardrail signal and right letter
Number.Mark hexadecimal number 8(, that is, binary one 000) grid cell, indicate robot only detect M signal.Label
Hexadecimal number 9(, that is, binary one 001) grid cell, indicate robot be detected simultaneously by M signal and guardrail signal.Mark
Remember hexadecimal number A(, that is, binary one 010) grid cell, indicate robot be detected simultaneously by M signal and left signal.Mark
Remember hexadecimal number B(, that is, binary one 011) grid cell, indicate robot be detected simultaneously by M signal, left signal and shield
Column signal.Mark hexadecimal number C(, that is, binary one 100) grid cell, indicate robot be detected simultaneously by M signal and
Right signal.Mark hexadecimal number D(, that is, binary one 101) grid cell, indicate robot be detected simultaneously by M signal,
Right signal and guardrail signal.
Certainly, if the guidance signal of cradle further includes other types of signal, such as signal in left signal, the right side,
Signal to the left, signal to the right, etc., then robot can be further added by a byte and be indicated, i.e., indicate machine with 8 bit
Device people is the case where current location receives 8 kinds of signals.The quantity of used data bit can be believed according to the guidance of cradle
Number number of types be accordingly arranged, be traditionally arranged to be the numerical value more than or equal to 4, less than or equal to 8.
The present embodiment indicates different types of signal detection situation in the form of data bit, can use the smallest amount of storage
The storage of mass data is realized, while saving amount of storage, moreover it is possible to which the processing speed for improving data allows the robot to more rapidly
Ground calculates the position of cradle.
As one of embodiment, the preset quantity is greater than 100, that is to say, that robot is carrying out a road
When the verifying of diameter, 100 check posts are only extracted in this path to be verified, this is a proper numerical value, can be reached
To relatively good verification the verifying results.If quantity is too big, need to expend more calculation resources and data processing time, if quantity
It is too small, and it is unable to reach accurate verification the verifying results.
As one of embodiment, the preset times are greater than 50 times, that is to say, that robot only carries out 50 times
The matching in path and the current walking path of robot in signal quantization distribution map, this is a proper numerical value, can be reached
To relatively good matching result.If number is too many, need to expend more calculation resources and data processing time, if number
Very little, and it is unable to reach accurate matching effect.
As one of embodiment, based on signal corresponding to score value highest that time described in step S10
The position of cradle determined by distributed point in quantization profile figure obtains cradle corresponding in the path currently walked
Position specifically comprises the following steps: firstly, robot determines that signal quantization distribution map corresponding to score value highest that time is
With reference to figure, with reference to the track for having formd the reference path after matching in figure.Then, due to the seat with reference to grid cell in figure
Mark is it is known that distribution of the reference path in these grid cells is also known, so robot can determine the reference
In figure, direction parameter of the cradle relative to first distributed point and second distributed point in reference path.Then, machine
Device people determines the location parameter of the first position point and second position point corresponding to score value highest that time, also
It is determining robot in the practical walking process of current path, the sensors such as code-disc based on gyroscope and driving wheel are determined
Coordinate and direction of the robot that position comes out in first position point and second position point.Finally, robot is according to reference in figure
The triangle that is constituted of direction parameter of one distributed point, the second distributed point and the location point of cradle these three location points, passes through
The mode of congruent triangles, by the location parameter of first position point and second position point extrapolate the cradle relative to this two
A location point, and the location parameter in the path currently walked, so that robot is made accurately to search out the position of cradle,
Can rapidly be navigated back seat.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.When being executed, execution includes the steps that above-mentioned each method embodiment to the program.Finally
It is noted that the above embodiments are only used to illustrate the technical solution of the present invention., it rather than its limitations, can between each embodiment
To be combined with each other；Although present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art
It is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, either to part of or
All technical features are equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution this hair
The range of bright each embodiment technical solution.
Claims (7)
1. a kind of method that cradle position is found by robot, which comprises the following steps:
Step S1, robot randomly select the first position point in path based on the path currently walked, and obtain robot in institute
The first detection signal detected when stating first position point, subsequently into step S2；
Step S2, robot obtain the first distributed point in the signal quantization distribution map of cradle, and first distributed point is in institute
Stating distribution signal corresponding in signal quantization distribution map is the first distribution signal, first distribution signal and first inspection
It is identical to survey the signal message that signal is included, subsequently into step S3；
Step S3, robot randomly select the second position point in path based on the path currently walked, and obtain robot in institute
The the second detection signal detected when stating second position point, subsequently into step S4；
Step S4, robot obtain the second distributed point in the signal quantization distribution map, and second distributed point is in the letter
Corresponding distribution signal is the second distribution signal in number quantization profile figure, and second distribution signal and second detection are believed
Number signal message for being included is identical, and the linear distance between second distributed point and first distributed point be equal to it is described
Linear distance between second position point and first position point, subsequently into step S5；
Step S5, robot choose different positional points based on the path currently walked, and obtain robot in the verifying
The verifying detection signal detected when location point, subsequently into step S6；
Step S6, robot obtain the verifying distributed point in the signal quantization distribution map, and the verifying distributed point is in the letter
Corresponding distribution signal is verifying distribution signal in number quantization profile figure, the verifying distributed point and first distributed point and
Positional relationship between second distributed point is identical to the positional point and the first position point and the second
The positional relationship between a little is set, subsequently into step S7；
Step S7, robot judge it is described verifying distribution signal and it is described verifying detect signal included signal message whether phase
Together, if it is identical, accumulative bonus point is carried out, if it is not the same, then without adding up bonus point, subsequently into step S8；
Step S8, whether the selected positional point of robot judgement reaches preset quantity, if it is, S9 is entered step,
Otherwise return step S5；
Step S9, robot determine the score value of last accumulative bonus point, and judge to determine whether the number of score value reaches default time
Number, if it is, enter step S10, otherwise return step S1；
Step S10, the score value for the last accumulative bonus point that robot determines more every time, based on score value, highest institute's that time is right
The position of cradle determined by the distributed point in signal quantization distribution map answered obtains in the path currently walked corresponding
The position of cradle.
2. the method according to claim 1, wherein the signal quantization distribution map of the cradle, by as follows
Step is formed:
Position of the robot based on cradle determines a preset range, and the preset range is carried out rasterizing, is formed
Multiple grid cells；
Robot traverses the preset range, based on the guidance signal that cradle detected in ergodic process issues, according to
Pre-arranged code form carries out Signal coding, forms distribution signal, and by grid corresponding to the distribution signal and current location
Unit carries out corresponding record, forms the signal quantization distribution map.
3. according to the method described in claim 2, it is characterized by:
The square area that the preset range is one 2 meters * 2 meters, the cradle are located at one side of the square area
Middle position；The square dummy unit lattice that the grid cell is one 0.1 meter * 0.1 meter；The square area divides
For 400 square dummy unit lattice.
4. according to the method described in claim 2, it is characterized in that, the robot traverses the preset range, based on traversal
The guidance signal that detected cradle issues in the process carries out Signal coding according to pre-arranged code form, forms distribution letter
Number the step of, specifically comprise the following steps:
Machine is walked in the preset range since the position of cradle with arc type track；
Robot detects the guidance signal of cradle sending while walking, and the case where analysis detection guidance signal；Work as machine
Device people detects the first guidance signal, then the numerical value of the first data bit is 1, and otherwise the numerical value of the first data bit is 0；Work as robot
Detect the second guidance signal, then the numerical value of the second data bit is 1, and otherwise the numerical value of the second data bit is 0；And so on, when
Robot detects that N guides signal, then the numerical value of Nth data position is 1, and otherwise the numerical value of Nth data position is 0；Wherein, N is
Numerical value more than or equal to 4, less than or equal to 8；
Robot arranges first data bit to Nth data position according to from low level to high-order sequence, forms one
Binary array, then the binary array is converted into hexadecimal values, to form the distribution signal.
5. the method according to claim 1, wherein the preset quantity is greater than 100.
6. the method according to claim 1, wherein the preset times are greater than 50 times.
7. method according to any one of claim 1 to 6, which is characterized in that described in step S10 most based on score value
The position of cradle determined by distributed point in signal quantization distribution map corresponding to high that time obtains and currently walks
The position of corresponding cradle, specifically comprises the following steps: in path
Robot determines that signal quantization distribution map corresponding to score value highest that time is with reference to figure；
Robot determine it is described with reference to cradle in figure relative to the orientation of first distributed point and second distributed point join
Number；
Robot determines that the position of the first position point and second position point corresponding to score value highest that time is joined
Number；
The cradle is calculated in the path currently walked according to the location parameter and the direction parameter in robot
Position.
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