CN110539307A

CN110539307A - Robot, robot positioning method, positioning navigation system and positioning mark

Info

Publication number: CN110539307A
Application number: CN201910848506.0A
Authority: CN
Inventors: 刘凯
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Geekplus Technology Co Ltd; Beijing Jizhijia Technology Co Ltd
Priority date: 2019-09-09
Filing date: 2019-09-09
Publication date: 2019-12-06

Abstract

The embodiment of the invention discloses a robot, a robot positioning method, a positioning navigation system and a positioning mark. The robot includes: the information acquisition unit acquires information to be identified containing a first positioning identifier when the robot runs in a working area, and sends the acquired information to be identified to the information processing unit; the information processing unit identifies a first positioning identifier in the information to be identified, decodes coding information carried in the identified first positioning identifier to obtain first identification information, and sends the first identification information to the main control unit, wherein the first identification information at least indicates the rows and columns of the cells in which the first positioning identifier is located in the working area; the main control unit obtains the current physical position of the robot in the working area at least partially according to the first identification information. By adopting the scheme, the robot can quickly decode the coded information carried by the positioning identification to obtain the physical position of the robot in a working area.

Description

robot, robot positioning method, positioning navigation system and positioning mark

Technical Field

the embodiment of the invention relates to the technical field of robots, in particular to a robot, a robot positioning method, a positioning navigation system and a positioning mark.

background

with the continuous development of robots, the robots are gradually applied to the warehouse logistics industry to replace manual work to work on a work site. When the robot works in the work place, the robot can drive to the destination according to the planned path so as to complete corresponding work operation. Although a path has been planned for the robot and the robot is instructed to travel to work on the work site according to the planned path, for various reasons, in an actual work scenario, the robot may still experience deviations in the course of travel. Therefore, it is necessary to locate the position of the robot at the work site during the travel of the robot to correct the traveling deviation during the travel.

Disclosure of Invention

In view of the foregoing problems, embodiments of the present invention provide a robot, a robot positioning method, a positioning navigation system, and a positioning mark, so as to implement accurate positioning of the robot during a driving process in a working area, so as to correct a route deviation during the driving process.

In a first aspect, an embodiment of the present invention provides a robot, including: the system comprises an information collector, an information processing unit and a main control unit; the working area of the robot is gridded into a plurality of cells which are arranged row by row and column by column, and at least part of the cells in the plurality of cells are paved with first positioning marks; wherein the content of the first and second substances,

The information collector is configured to collect information to be identified including the first positioning identifier when the robot runs in a working area, and send the collected information to be identified to the information processing unit;

The information processing unit is configured to perform identification processing on a first positioning identifier in the information to be identified, and perform decoding processing on encoded information carried in the identified first positioning identifier to obtain corresponding first identification information; the first identification information is sent to the main control unit, and the first identification information at least indicates the rows and columns of the cells where the first positioning identification is located in the working area;

the master control unit is configured to obtain a current physical location of the robot in the work area based at least in part on the first identification information.

In a second aspect, an embodiment of the present invention further provides a robot positioning method, where a working area of the robot is gridded into a plurality of cells arranged row by row and column by column, and at least some of the plurality of cells are paved with first positioning identifiers; the method comprises the following steps:

When the robot runs in a working area, acquiring information to be identified containing the first positioning identifier, and sending the acquired information to be identified to the information processing unit;

identifying a first positioning identifier in the information to be identified, and decoding coding information carried in the identified first positioning identifier to obtain corresponding first identification information; the first identification information is sent to the main control unit, and the first identification information indicates the rows and the columns of the cells where the first positioning identification is located in the working area;

Obtaining a current physical location of the robot in the work area based at least in part on the first identification information.

In a third aspect, an embodiment of the present invention further provides a robot positioning navigation system, where the system includes: a remote server and the robot of any of the embodiments of the present invention, the remote server being in wireless communication with the robot; wherein the content of the first and second substances,

The robot reports the current physical position in the working area obtained by positioning to a remote server, and the remote server navigates the robot according to the current physical position of the robot in the working area and navigates the robot to a target position.

In a fourth aspect, the embodiment of the present invention further provides a positioning identifier, where the positioning identifier is laid on at least part of the plurality of cells, and the cells are gridded into a plurality of cells arranged row by row and column by column for the working area of the robot; the positioning mark indicates the row and the column of the cell in the working area; or, an identification number indicating the replaced positioning identification.

the embodiment of the invention provides a positioning scheme of a robot, which comprises the steps of meshing a working area of the robot in advance, dividing the working area into a plurality of cells distributed in rows and columns, paving positioning marks on at least part of the cells, and determining the current physical position of the robot in the working area by identifying the row and column positions of the cells in the working area, which are indicated by identification information recorded in the positioning marks, when the robot runs in the working area. By adopting the scheme of the embodiment, the robot can be ensured to rapidly acquire the positioning identifier, and the carried coding information in the positioning identifier is rapidly decoded to obtain the identification information recorded in the positioning identifier, so that the current physical position of the robot in the working area can be rapidly calculated through the simple row and column position indicated by the identification information.

The above summary of the present invention is merely an overview of the technical solutions of the present invention, and the present invention can be implemented in accordance with the content of the description in order to make the technical means of the present invention more clearly understood, and the above and other objects, features, and advantages of the present invention will be more clearly understood.

drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

Fig. 1 is a schematic structural diagram of a warehouse picking system provided in an embodiment of the present invention;

Fig. 2 is a block diagram of a robot provided in the embodiment of the present invention;

fig. 3 is a schematic area diagram for gridding a working area of a robot according to an embodiment of the present invention;

fig. 4 is a schematic identification diagram of a first positioning identifier based on a two-dimensional code format according to an embodiment of the present invention;

FIG. 5 is a schematic illustration of a region of a work area that is gridded and has positioning marks laid thereon according to an embodiment of the present invention;

Fig. 6 is a flowchart illustrating a main control unit of a robot determining a current physical location of the robot in a work area according to an embodiment of the present invention;

fig. 7 is a schematic identification diagram of a second positioning identifier based on a two-dimensional code format according to an embodiment of the present invention;

FIG. 8 is a flow chart of a method for positioning a robot provided in an embodiment of the present invention;

Fig. 9 is a block diagram of a robot positioning navigation system provided in an embodiment of the present invention.

Detailed Description

the present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations (or steps) can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.

in order to better understand the technical solution of the embodiment of the present invention, a typical scenario for robot positioning is provided below, but of course, the scenario provided in the embodiment is only an example. Fig. 1 is a schematic structural diagram of a warehouse picking system provided in an embodiment of the present invention. Referring to FIG. 1, a picking system 100 includes: the robot 110, the control system 120, the inventory receptacle area 130, and the workstation 140, the inventory receptacle area 130 is provided with a plurality of inventory receptacles 131, various items are placed on the inventory receptacles 131, and the plurality of inventory receptacles 131 are arranged in an array as with shelves found in supermarkets where various merchandise are placed. The robot 110 may be a self-driven robot. Typically, a plurality of workstations 140 are provided on one side of the inventory receptacle area 130.

the control system 120 is in wireless communication with the robot 110, and the operator can operate the control system 120 via the console 160, and the robot 110 can perform an article handling task under the control of the control system 120. For example, the robot 110 may travel along an empty space (a portion of the aisle traveled by the robot 110) in the array of inventory containers, move to the bottom of the target inventory container 131, lift the target inventory container 131 using the lifting mechanism, and transport to the assigned workstation 140. In one example, the robot 110 has a lifting mechanism, and has an autonomous navigation function, the robot 110 can travel to the bottom of the target inventory receptacle 131 and lift the entire inventory receptacle 131 with the lifting mechanism so that the inventory receptacle 131 can move up and down with the lifting mechanism having a lifting function. In one example, the robot 110 can travel forward based on the two-dimensional code information captured by the camera and can travel to under the inventory receptacles 131 prompted by the control system 120 based on the route determined by the control system 120. The robot 110 carries the target inventory receptacle 131 to the workstation 140, where the picker 141 or picking robot picks items from the inventory receptacle 131 and places them into the tote 150 for packing.

the control system 120 is a software system with data storage and information processing capability running on a server, and can be connected with a robot, a hardware input system and other software systems through wireless or wired connection. The control system 120 may include one or more servers, which may be a centralized control architecture or a distributed computing architecture. The server has a processor 1201 and a memory 1202, and may have an order pool 1203 in the memory 1202.

Taking the stock storage container area in the picking system shown in fig. 1 as the working area of the robot as an example, in the related art, the robot 110 may pick items in the stock storage container area according to a pre-planned picking path, but during the picking process, due to various factors, the traveling path of the robot 110 generates deviation, and if the robot 110 cannot correct the traveling deviation in time, the correctness of the picking path of the robot 110 is seriously affected after a large number of traveling deviations are accumulated, so that the correct stock storage container cannot be found in the stock storage container area, and a picking error occurs when picking the stock storage container. Therefore, it is necessary to provide a robot that determines a travel position during travel to correct its own travel deviation in time.

the following describes the robot, the robot positioning method, the positioning navigation system, and the positioning marker provided in the embodiments of the present invention in detail through the respective embodiments.

Fig. 2 is a structural block diagram of a robot provided in an embodiment of the present invention, and the technical solution of the embodiment is applicable to a case where the robot performs real-time positioning when the robot travels in a work area. As shown in fig. 2, the robot 200 provided in the embodiment of the present invention specifically includes: an information collector 210, an information processing unit 220, and a main control unit 230. Wherein:

The working area of the robot 200 is gridded into a plurality of cells arranged row by row and column by column, and at least part of the cells in the plurality of cells are paved with first positioning marks;

The information collector 210 is configured to collect information to be identified including the first positioning identifier when the robot 200 travels in the work area, and send the collected information to be identified to the information processing unit 220;

The information processing unit 220 is configured to perform identification processing on a first positioning identifier in the information to be identified, and perform decoding processing on encoded information carried in the identified first positioning identifier to obtain corresponding first identifier information; and, transmitting the first identification information to the main control unit 230; the first identification information at least indicates the row and the column of the cell in the working area where the first positioning identification is located;

the master control unit 230 is configured to obtain a current physical position of the robot 200 in the work area at least partly from the first identification information.

in this embodiment, the positioning is a basic condition that the robot can automatically and intelligently work, and the robot can timely correct the driving deviation in the working area by positioning the position of the working area in real time, so that a large driving deviation formed after a plurality of slight driving deviations are accumulated is avoided. In general, in a working environment like a picking warehouse, a positioning identifier can be added in a working area, and the robot determines the position of the robot in the working area by recognizing the added positioning identifier in the working area. In addition, considering that the robot may continuously travel in the working area, if the efficiency of recognizing the position is low, even if the position information carried in the positioning mark is recognized, the current position of the robot may be changed with respect to the recognized position. Therefore, the fact that the position information can be rapidly identified from the positioning mark is an important link of robot positioning.

In this embodiment, in order to quickly identify the information carried in the positioning identifier, the encoding complexity of the positioning identifier may be simplified by starting with the encoding information complexity of the positioning identifier, so as to ensure that the robot can quickly identify the encoding information in the positioning identifier. In addition, after the complexity of the coded information of the positioning identifier is simplified, the coded information of the positioning identifier may not carry more effective information, so as to ensure that the position of the positioning identifier in the working area can be accurately obtained by using the simple coded information in the positioning identifier. Therefore, the working area where the robot is located can be reasonably arranged in advance, and the arrangement of the working area and the simple coding information of the positioning identifier are better fused, so that the position of the positioning identifier in the working area can be quickly obtained even if the simple coding information in the positioning identifier is adopted on the basis of reasonably arranging the working area. Therefore, as long as the positioning identifier containing the simple coded information is laid in the working area, when the robot identifies the coded information of the positioning identifier, the coded information can be decoded quickly, and the identifier information which can be used for representing the specific position of the positioning identifier in the working area is obtained, so that the problem that the difficulty of decoding the coded information in the positioning identifier is increased due to the fact that the robot carries the complex coded information in the positioning identifier can be avoided.

Fig. 3 is a schematic area diagram for gridding a working area of a robot according to an embodiment of the present invention, and details of the layout of the working area and the laying of the positioning marks of the robot are described below.

In this embodiment, referring to fig. 3, before the location identifier is laid in the working area, the working area of the robot may be gridded to be divided into a plurality of cells distributed row by row and column by column, so as to convert the working area of the robot into a working area composed of a plurality of cells. Optionally, the working area of the robot is array-gridded to divide the working area into a plurality of cells which are distributed row by row and array by array. The cells distributed in the array are arranged in the working area row by row according to the row and column sequence, and the position of each cell distributed in the array in the working area can be represented by adopting a row and a column. Optionally, after the cells in the first row and the first column in the working area are set, the row and column positions of a certain cell in the working area may be known, for example, the position of the cell in the working area is represented as a sixth row and a sixth column by rows and columns.

in this embodiment, referring to fig. 3, after the working area is gridded to form a plurality of cells row by row, column by column, the first positioning identifier may be directly laid on the formed plurality of cells. The first positioning mark is used when the laying positioning mark is firstly initialized in the working area, and the first positioning mark can be damaged in later use. Optionally, the positioning identifier is attached to the central position of the area cell. When the positioning mark is laid, the row and column information indicated by the coding information carried by the positioning mark is consistent with the row and column information of the cells laid with the positioning mark in the working area, so that the laid positioning mark is laid according to the row and column sequence positions of the cells in the working area, and the row and column information of the corresponding cells in the working area can be obtained as long as the row and column information indicated by the coding information in the positioning mark is known in the later stage.

It can be seen that after the laying processing, the row and column positions indicated by the positioning marks laid on the cells in the working area are consistent with the row and column positions of the cells in the working area. Optionally, the positioning mark in the present application may adopt a visual mark, and may also adopt a tag that can be recognized through near field communication. In an alternative example, the visual marker refers to a type of marker that uses an image collector to collect the positioning marker, and specifically includes, but is not limited to, a two-dimensional code. In another alternative example, the tags that can be identified by near field communication may specifically include, but are not limited to, radio frequency tags, and other tags that can be identified by near field communication, such as bluetooth, carrierless communication technology UWB, and the like.

in this embodiment, referring to fig. 3, at least some cells of the working area have been pre-laid with first positioning marks matching their row and column positions. Referring to fig. 2 and 3, the robot 200 includes an information collector 210, and the robot 200 can travel in the gridded working area shown in fig. 3 according to the planned working path. When the robot 200 travels in a working area, the information collector 210 in the robot 200 may collect information to be identified of a surrounding environment in the traveling process in real time, and may specifically collect information to be identified including the first positioning identifier in a preset collection range. Optionally, the collection range of the information collector 210 in the robot 200 is set, so that when the information collector 210 runs into a working area and the cells with the first positioning identifiers are laid, the collection range can point to the cells with the first positioning identifiers, and thus the information collector 210 of the robot 200 can collect the information to be identified including the first positioning identifiers.

in this embodiment, the first positioning identifier carries encoding information capable of reflecting rows and columns of the cells laid with the first positioning identifier in the working area. The coded information carried in the first positioning identification is generated after the row and column numbers are coded through the coding rules, so that the coded information carried in the first positioning identification only contains simple information of the row and column numbers, when the first positioning identification does not need to carry complex coded information, the structural style of the first positioning identification is simple and easy to recognize, the robot 200 can conveniently recognize the first positioning identification, meanwhile, the decoding process of the coded information carried in the first identification is also very easy, and the decoding difficulty of the coded information is avoided.

in an optional example, the encoding information carried in the first positioning identifier may be set according to a set encoding rule. Optionally, the coding information carried in the first positioning identifier may adopt 8-bit coding information, and the first 4-bit coding represents a column number, and the second 4-bit coding represents a row number; or, the front 4-bit code represents a row number, the rear 4-bit code represents a column number, and which format is specifically adopted can be set according to the self requirement. Fig. 4 is a schematic identification diagram of a first positioning identifier based on a two-dimensional code format according to an embodiment of the present invention. Referring to fig. 4, if the row and column positions of the cells in the working area where the first positioning identifier is laid are row 5 and column 125, the encoded information carried in the first positioning identifier may be set to (00050125); each character is an ASCII code, and when the robot 200 recognizes the coded information, the first 4 ASCII bits can be combined into a decimal number, and the second 4 bits can be combined into a decimal number, so that the row and column number of the first positioning identifier can be obtained.

in this embodiment, referring to fig. 2, after the information collector 210 can send the collected information to be identified to the information processing unit 220, the information processing unit 220 can identify the coded information carried in the first positioning identifier included in the information to be identified, so as to obtain the first identifier information. The information processing unit 220 may transmit the first identification information to the main control unit 230. At least part of the cells arranged row by row in the working area are matched with corresponding first positioning marks, and the row and column number indicated by the first mark information of each first positioning mark is the same as the row and column number indicated by the corresponding cell. At this time, the main control unit 230 may obtain the current physical location of the robot in the work area according to the first identification information. Adopt above-mentioned first locating identification who carries the ranks serial number, the robot obtains the coding information that first locating identification carried after discerning, directly carries out simple decoding processing to coding information according to the coding rule, just can obtain the ranks serial number that carries in the first locating identification, makes things convenient for the robot to carry out the location fast according to the ranks serial number at work area.

In an optional manner of this embodiment, a row and column number is set on the first positioning identifier, and the row and column number is used to indicate the row and column number of the cell in the working area where the first positioning identifier is located.

In this embodiment, if the robot is expected to be able to directly perform positioning by using the row and column number obtained from the encoded information of the first positioning identifier, it is necessary to ensure that the row and column number in the encoded information of the first positioning identifier is consistent with the row and column number of the cell where the first positioning identifier is located in the working area, otherwise, the row and column number in the encoded information of the first positioning identifier cannot be directly used to calculate the position of the robot in the working area. Therefore, the coded decimal character obtained by decoding the coded information of the first positioning identifier can be arranged at the preset position of the first positioning identifier. The arrangement can facilitate the sequential construction and laying of workers on each cell of the working area according to the line number and the column number indicated by the decimal code characters during construction, so that the first positioning marks with the same line number and column number are laid on the cells with the same line number, and laying errors are avoided.

Exemplarily, fig. 5 is a schematic area diagram of a work area which is gridded and is paved with positioning marks according to an embodiment of the present invention. Referring to fig. 5, the working area array of the robot is gridded into a plurality of cells arranged in rows and columns, and it is ensured that the area cells arranged in rows and columns in the working area are matched with row and column numbers for identifying the arrangement sequence of the cells. The row number and the column number of the first row of cells in the working area are sequentially as follows: (1,1), (1,2), (1,3), (1,4), (1,5), (1,6), (1,7) and (1, 8); the row and column numbers of the cells in the first column in the working area are as follows: (1,1), (2,1), (3,1), (4,1), (5,1), (6,1) and (7, 1). After the row and column numbers are set for the cells according to the actual row and column sequence of the cells in the working area, the first positioning marks can be laid on at least part of the cells, and the row and column number indicated by each first positioning mark is the same as the row and column number of the corresponding cell in the working area.

the embodiment of the invention provides a robot, which comprises information to be identified of a first positioning identifier in real time in the process of driving in a working area, rapidly decodes coded information which is carried by the first positioning identifier and stores simple row and column numbers, and calculates the current physical position of the robot in the working area according to the decoded first identification information. By adopting the scheme of the embodiment, as the coding information of the first positioning identifier in the scheme is very simple, the robot can still quickly acquire the positioning identifier even without strong image processing capacity, and quickly decode the coding information carried in the positioning identifier to obtain the identification information recorded in the positioning identifier, so that the current physical position of the robot in the working area can be quickly calculated through the simple row and column position indicated by the identification information.

In an alternative to this embodiment, this embodiment may be combined with each of the alternatives in one or more of the embodiments described above. Referring to fig. 2, if the first positioning identifier is a visual marker, the information collector 210 in the robot 200 is embodied as an image collector. At this time, the image collector is specifically configured to collect an image including the first positioning identifier, and use the collected image as information to be identified.

In this embodiment, the image collector disposed on the robot 200 has a preset collection range, so that the robot 200 can only collect image information within the preset collection range. The advantage of setting up and predetermine the collection scope lies in, if the robot meets first location sign in the course of traveling, then can guarantee that the image collector must contain the first location sign of robot 200 current driving position department in the image of predetermineeing the collection within range collection, and does not contain the location sign of other driving positions departments as far as possible. Further, the robot 200 may use the image information acquired by the image acquirer as the information to be identified, and thus calculate the position of the robot 200 itself in the work area.

In this embodiment, if the intervals of the positioning identifiers laid in the working area are relatively small, the robot 200 may include a plurality of positioning identifiers (including the first positioning identifier and other positioning identifiers) in the image acquired by the image acquirer within the preset acquisition range, so that the robot 200 may not know which positioning identifier to select for positioning, thereby causing a positioning error. For this reason, it is necessary to set not only the acquisition range of the image acquirer but also the interval between the positioning marks located in the work area. In an optional example, when the location marks are laid on each cell of the work area, the spacing distance between the location marks laid on the work area may be optimally set or the size of the grid of the cell on which the location mark is laid may be optimally set. In another optional example, the size of the mark area of the first positioning mark laid on the cell and the size of the mark area of the other positioning marks can be processed to ensure that the interval between the positioning marks meets the condition. Through the above two optional example schemes, it can be ensured that the image acquired by the image acquirer installed on the robot 200 in the preset acquisition range only contains one positioning identifier or does not contain any positioning identifier, and of course, other schemes can achieve the above effects, which are not limited thereto.

In an alternative to this embodiment, this embodiment may be combined with each of the alternatives in one or more of the embodiments described above. Referring to fig. 2, if the first location is identified as a tag that can be recognized through near field communication, the information collector 210 in the robot 200 is embodied as a tag reader. At this time, the tag reader is specifically configured to read tag information of the tag and take the read tag information as information to be identified.

In this embodiment, the robot 200 is provided with a tag reader with a preset reading range, so that the robot 200 can only collect tags which can be identified through near field communication within the preset reading range. The advantage of setting the preset reading range is that if the robot encounters the first positioning identifier during the driving process, it can be ensured that the tag information read by the tag reader within the preset reading range includes a signal sent by the first positioning identifier at the current driving position of the robot 200. Further, the robot 200 may calculate the position of the robot 200 itself in the work area by using the tag information read by the tag reader as the information to be recognized. For example, taking the tag reader specifically as a radio frequency code reader as an example, the robot 200 may read, by the radio frequency code reader, a radio frequency signal that is within a preset reading range of the radio frequency code reader when the robot travels in the work area, and use the radio frequency signal as the information to be identified.

In this embodiment, if the intervals of the positioning identifiers laid in the working area are relatively small, the tag information read by the robot 200 in the preset reading range may include tag signals sent by a plurality of positioning identifiers (including the first positioning identifier and other positioning identifiers), so that the robot 200 may not know which positioning identifier corresponding to which tag signal is selected for positioning, and thus positioning errors occur. For this reason, it is necessary to set not only the reading range of the tag reader but also the interval between the positioning marks located in the working area. In an optional example, when the location marks are laid on the cells of the work area, the spacing distance between the location marks laid on the work area may be optimally set or the size of the grid of the cells laid with the location marks may be optimally set. In another optional example, the strength of the label signals sent by the first positioning marks laid on the cells and the other positioning marks can be set, so that the label signals sent by the positioning marks are ensured not to overlap as much as possible. Through the two alternative example schemes, it can be ensured that the tag reader installed on the robot 200 can only read the tag information of the unique tag or not read the tag information of any tag within the preset reading range.

in an alternative to this embodiment, this embodiment may be combined with each of the alternatives in one or more of the embodiments described above. Referring to fig. 2 and 4, if the first positioning mark is a visual mark, an auxiliary mark is disposed on the periphery of the first positioning mark. The information processing unit 220 in the robot 200 is further configured to perform recognition processing on the auxiliary identifier in the information to be recognized, and determine the first positioning identifier located in the auxiliary identifier according to the recognized auxiliary identifier.

In this embodiment, when the first positioning identifier is specifically a visual identifier, the information to be identified collected by the information collector 210 by the robot 200 is image information. For an image, the image corresponding to the information to be recognized not only includes the first positioning identifier, but also includes other information in the environment. For this reason, when the information processing unit 220 performs the identification processing on the first positioning identifier in the information to be identified, the auxiliary identifier arranged on the periphery of the first positioning identifier may be utilized to quickly assist in determining which position in the image has the first positioning identifier, thereby assisting the information processing unit 220 in performing the identification rate of the first positioning identifier. Taking the first positioning identifier in the form of a two-dimensional code shown in fig. 4 as an example, a peripheral frame is arranged on the periphery of the first positioning identifier in the form of a two-dimensional code, and is used for assisting the information processing unit to quickly find the first positioning identifier in the information to be identified when visually identifying the first positioning identifier.

In an alternative to this embodiment, this embodiment may be combined with each of the alternatives in one or more of the embodiments described above. Referring to fig. 2, the main control unit 230 in the robot 200 is further configured to calculate the current physical position of the robot in the working area according to the row and column of the cell in the working area where the first positioning identifier is located, and the row width and column width of the cell in the working area.

In the present embodiment, the work area array of the robot 200 is gridded into a plurality of cells arranged row by row and column by column, and the height and the width of each cell are known. After determining the first positioning identifier laid on the cell where the robot 200 is currently located, the robot 200 may obtain the rows and columns of the cell where the first positioning identifier is located in the working area through the decoding processing of the information processing unit 220 on the encoded information of the first positioning identifier. In combination with the row height and column width of each cell in the working area, the main control unit 230 in the robot 200 can calculate the current physical position of the robot in the working area.

In this embodiment, if the sizes of the cells in the working area are all consistent, only the row and the column of the cell where the first positioning identifier is located in the working area need to be guided, then the number of the cells existing in the row and the column between a certain reference position and the cell where the first positioning identifier is located is obtained, and the current physical position of the robot in the working area can be calculated by multiplying the two numbers. However, in some working areas, the sizes of the cells are not uniform, that is, there are some cells with the same row height and column width, and there are other cells without the same row height and column width, which cannot be simply multiplied as in the previous example, and careful analysis is needed to add the row height and column width of the cells.

in the following, for the case that the sizes of the cells in the working area are not the same, how the main control unit in the robot obtains the current physical position of the robot in the working area according to the first identification information is elaborated.

fig. 6 is a flowchart illustrating a main control unit of a robot determining a current physical location of the robot in a work area according to an embodiment of the present invention. Referring to fig. 6, the method for determining the current physical position of the robot in the working area by the main control unit of the robot in the embodiment specifically includes the following steps S610 to S630:

s610, according to the rows and the columns of the cells where the first positioning marks are located in the working area, the first type of cells meeting the first row and column conditions are selected from all the cells in the working area.

In this embodiment, the row and column of the cell in the working area where the first positioning identifier is located refer to the row number and column number of the cell in the working area where the first positioning identifier is located. Optionally, the first type of cells meeting the first row and column condition are cells in the working area, in which the column number is smaller than the column number of the cell in the working area where the first positioning identifier is located, and the row number is the same as the row number of the cell in the working area where the first positioning identifier is located.

s620, selecting a second type of unit cell meeting a second row and column condition from all the unit cells in the working area according to the row and column of the unit cell where the first positioning identifier is located in the working area.

in this embodiment, optionally, the second type of cells meeting the second row-column condition are cells in which the row number of each cell in the working area is smaller than the row number of the cell in the working area where the first positioning identifier is located, and the column number of each cell in the working area is the same as the column number of the cell in the working area where the first positioning identifier is located.

for example, referring to fig. 5, the first positioning mark laid on the cell in the third row and the fourth column of the working area is taken as an example to describe the first type of cell and the second type of cell, and the row and column number of the cell in which the first positioning mark is located in the working area is (3, 4). It can be easily known that, in all the cells in the working area, the column number is smaller than that of the cell paved with the first positioning identifier, and the cells with the same row number are respectively: the cells in the third row and the first column, the cells in the third row and the second column, and the cells in the third row and the third column may be selected as the first-type area cells. Meanwhile, in all the cells of the working area, the row number is smaller than that of the cell paved with the first positioning identifier, and the area cells with the same column number specifically respectively: in this case, the plurality of area cells may be selected as the second type area cell.

It is understood that the cells included in the working area shown in fig. 5 are only an example, the working area of the robot in the actual scene is larger than that shown in fig. 5, the number of the cells is more, and fig. 5 is only for explaining which cells belong to the first type of cells and the second type of cells.

In this embodiment, optionally, after the working area of the robot is gridded and the first positioning identifiers are laid on at least some of the cells according to the actual row and column sequence of the cells in the working area, the cell in which each positioning identifier is located and the first type cell and the second type cell required by the cell can be associated, and the associated information is recorded. When a first type of cell meeting a first row and column condition is selected and a second type of cell meeting a second row and column condition is selected, which cells can be used as the first type of cell and which cells can be used as the second type of cell can be inquired according to a pre-recorded row and column numbering table of the cells.

S630, calculating to obtain the current physical position of the robot in the working area according to the row width and the column width of the cell where the first positioning identifier is located, the column width of the first type of cell and the line height of the second type of cell.

In this embodiment, after the first type of cells and the second type of cells satisfying the condition are selected from each cell of the working area, the current physical position of the first positioning identifier in the working area may be specifically calculated according to the row width and the column width of the cell where the first positioning identifier is located, the column width of the first type of cells, and the row height of the second type of cells, so as to determine the current physical position of the robot in the working area more accurately by combining the relative physical position between the robot and the first positioning identifier.

In the present embodiment, referring to fig. 5, taking the first positioning marks laid on the cells in the third row and the fourth column as an example, the column distance between the first positioning mark and the column boundary line is calculated according to the sum of the column width of the cell on which the first positioning mark is laid and the column width of each first type cell, and the column distance between the robot and the column boundary line is calculated by combining the relative position between the robot and the first positioning mark. The column boundary line is an outer boundary line of the active area that is biased toward the cell side of the first column. Meanwhile, the row distance between the first positioning mark and the row boundary line is calculated according to the sum of the row height of the cells paved with the first positioning mark and the row height of each first type of cells, and then the row distance between the robot and the row boundary line is determined by combining the relative position between the robot and the first positioning mark. The row boundary line is an outer boundary line of the active region that is biased toward the first row of cells.

Illustratively, referring to fig. 5, still taking the first positioning mark laid on the third row and the fourth column of the cell of the working area as an example, the column width of the cell of the third row and the first column is W1, the column width of the cell of the third row and the second column is W2, the column width of the cell of the third row and the third column is W3, and the column width of the cell of the third row and the fourth column is W4. At this time, the column distance between the first positioning mark and the column boundary line is: and X is W1+ W2+ W3+ W4/2. The line height of the cell in the first row and the fourth column is H1, the line height of the regional cell in the second row and the fourth column is H2, and the line height of the regional cell in the third row and the fourth column is H3; at this time, the row distance between the initial positioning mark and the row boundary line is: and Y is H1+ H2+ H3/2.

In an optional manner of this embodiment, if the cells arranged in rows and columns in the working area of the robot match the row and column numbers in the arrangement order, where the row and column numbers are used to indicate the row and column positions of the cells in the working area, and the coding information carried in the first positioning identifier laid on the cells indicates the row and column numbers of the cells, the calculation formula of the physical position of the first positioning identifier with the row and column number of (N, M) in the working area is specifically: XN ═ W1+ W2+ … + Wk + … + WN-1+ WN/2. W1-WN are the column width of each cell respectively; and YM is H1+ H2+ … + Hk + … + HM-1+ HM/2, wherein H1-HM are respectively the heights of each unit cell. It will be appreciated that where the first location indicator is generally laid out in the central position of the cell, only half of the first location indicator height and column width need be summed when summing with the first location indicator height and column width.

the advantage of determining the physical position in the above manner is that the real distance position of the robot in the working area can be quickly calculated by using the simple row and column positions stored in the first positioning identifier, and the physical position can be quickly determined no matter whether the sizes of the cells in the working area are consistent or not. Meanwhile, the row and column numbers in the first positioning identification can also be used as manual clear guide during field construction, and construction errors during laying of the positioning identification are avoided.

In an alternative to this embodiment, this embodiment may be combined with each of the alternatives in one or more of the embodiments described above. The robot of the present embodiment may further include: a communication unit; the main control unit 230 of the robot 200 is further configured to send the first identification information to a remote server through a communication unit, and receive the current physical position of the robot in the work area, which is returned by the server after calculation, through the communication unit.

In this embodiment, the manner in which the server calculates the current physical position of the robot in the work area according to the first identification information may be referred to as the determination manner of the main control unit in the foregoing embodiment. In an optional example, the robot 200 may receive, through its own communication unit, matrix data for the row height and column width of each cell in the work area sent by the remote server, so that the robot knows, from the matrix data, the row height and column width of the cell on which the first positioning identifier is laid, the column width of the first type of cell, and the row height of the second type of area cell.

In this embodiment, the row height and column width matrix data of each cell in the working area may be described by using an xml file, for example, as follows:

<？xml version＝"1.0"encoding＝"UTF-8"？>

<mapcells xcellNum＝"20"ycellNum＝"24"cellwidth＝"1.0，1.2，1.5，1.1， 1.0"cellhight＝"1.0，2.0，1.35，1.2，1.0">encoding＝"csv">

The method includes the steps of obtaining a cell node, obtaining a cell width matrix, obtaining cell height matrix, obtaining cell length matrix, obtaining cell width matrix, obtaining cell height matrix, and obtaining cell encoding.

In an alternative to this embodiment, this embodiment may be combined with each of the alternatives in one or more of the embodiments described above. The information processing unit 220 of the robot 200 in this embodiment is further specifically configured to recognize a direction indicator included in the first positioning indicator, and determine a relative angle of the traveling direction of the robot with respect to the indication direction of the direction indicator according to the direction indicator.

in this embodiment, referring to fig. 4, the first positioning identifier may include a direction identifier, where the direction identifier is a rectangular line, and the constructor may lay the line according to the direction indicated by the direction identifier when working, so as to ensure that the direction identifiers of the positioning identifiers all point to the same direction, and thus may use the direction indicated by the positioning identifiers as a reference direction. It can be seen that after the positioning identifier is determined as the first positioning identifier, the relative angle between the traveling direction of the robot and the direction indicated by the direction identifier can be determined by identifying the direction identifier on the first positioning identifier, and the actual traveling direction of the robot is obtained under the condition that the direction indicated by the direction identifier is determined.

as shown in fig. 2, the present embodiment is optimized based on the above embodiments, and the present embodiment may be combined with various alternatives in one or more of the above embodiments. The information collector 210, the information processing unit 220 and the main control unit 130 in the robot 200 in this embodiment provide the following configuration functions, in addition to the configuration functions mentioned in the foregoing embodiments, specifically including:

second positioning marks are laid on at least part of the cells, and the second positioning marks are the original first positioning marks on the replacement cells and are laid again;

The information collector 210 is further configured to collect information to be identified including the second positioning identifier when the robot runs in the working area, and send the collected information to be identified to the information processing unit;

the information processing unit 220 is further configured to perform identification processing on the second positioning identifier in the information to be identified, and perform decoding processing on the encoded information carried in the identified second positioning identifier to obtain corresponding second identifier information; and sending the second identification information to the main control unit; the second identification information indicates the current physical position of the cell where the second positioning identification is located in the working area or the identification number of the replaced first positioning identification;

The master control unit is further configured to obtain a current physical location of the robot in the work area based at least in part on the second identification information.

In this embodiment, in general, the positioning flag laid when the initial laying is performed in the work area is referred to as a first positioning flag. During the running process of the robot in the working area, the current physical position of the robot in the working area can be determined by identifying the first positioning identifier laid on the cell. However, in the actual use process, one or more first positioning identifiers may be damaged and have to be replaced by new positioning identifiers. If there happens to be a location identifier having the same encoded information as the corrupted first location identifier, the corrupted first location identifier can be replaced directly. However, in the maintenance process of the positioning identifier, it is difficult to immediately acquire the positioning identifier of the backup version having the identical encoding information with the damaged first positioning identifier in most cases; meanwhile, in order to avoid making the matching positioning identifiers of the backup versions for all the first positioning identifiers and reduce the making cost, other second positioning identifiers which do not carry the row and column position information can be adopted to replace the first positioning identifiers.

because the second positioning mark does not contain specific row and column position information, the mode of positioning by using the second positioning mark is different from the mode of positioning by using the first positioning mark. For this reason, after the positioning identifier laid in the working area is detected, further identification processing needs to be performed on the detected positioning identifier to determine a specific identifier type of the detected positioning identifier, that is, whether the detected positioning identifier belongs to the first positioning identifier or the second positioning identifier, so as to subsequently adopt different positioning determination strategies.

In this embodiment, a manufacturing and using process of the second positioning identifier is provided below, the first positioning identifier and the second positioning identifier are manufactured according to a plan of a work area, the number of the second positioning identifiers can be a certain proportion of the number of the second positioning identifiers required by the whole map, the second positioning identifiers are manufactured according to a possible damage proportion of the positioning identifiers in the work area, for example, the first positioning identifier has ten thousand (1 ten thousand square meters of field, each unit cell is 1 meter, 1 meter), the second positioning identifiers are 100, replacement numbers are respectively recorded as a 0000001-a 0000100, ten thousand second positioning identifiers are not required to be manufactured at this time, cost is saved, and the second positioning identifiers are manufactured as required.

In this embodiment, when a first positioning mark in the working area is damaged, such as 00050125, the first positioning mark can be replaced by the same first positioning mark (if it happens to be damaged); if there is no identical first positioning mark, a second positioning mark, such as A0000016, can be taken from the second positioning marks to replace the damaged first positioning mark. It can be seen that the positioning marks laid in the working area not only include the first positioning marks, but also include the second positioning marks which are replaced again after a small number of the first positioning marks are damaged. Therefore, after the positioning identifier laid in the working area is detected, it needs to be determined whether the positioning identifier is the first positioning identifier or the second positioning identifier.

in this embodiment, if the information to be identified collected by the robot includes the first positioning identifier instead of the second positioning identifier, the current physical position of the robot in the working area may be calculated by directly using the row and column of the cell where the first positioning identifier indicated in the encoded information is located and carried by the first positioning identifier, and the specific calculation process is not repeated here. However, if the information to be identified collected by the robot includes the second positioning identifier, instead of the first positioning identifier, another set of calculation strategy is required.

in this embodiment, when the robot travels in the working area, the information collector 210 of the robot may further collect information to be identified including the second positioning identifier, and send the collected information to be identified to the information processing unit 220. The process of acquiring and sending the information to be identified including the second positioning identifier by the information acquirer 210 in this embodiment is similar to the process of acquiring and sending the information to be identified including the first positioning identifier by the information acquirer 210 in the foregoing embodiment, and will not be further described here.

In this embodiment, the second identification information in the encoded information carried by the second positioning identifier is different from the first identification information in the encoded information carried by the first positioning identifier. The second identification information indicates the current physical position of the cell where the second positioning identification is located in the working area or the identification number of the replaced first positioning identification, but not the position information of the row and the column of the cell where the second positioning identification is located. Therefore, after the encoded information carried by the second positioning identifier is decoded, the mode of determining the current physical position of the robot in the working area according to the second positioning identifier information is different. It can be understood that the data type of the encoded information record carried by the second positioning identifier information is different from the data type of the encoded information record carried by the first positioning identifier, because it cannot be predicted which first positioning identifier in the working area will be damaged, and therefore the row and column information cannot be carried in the second positioning identifier.

In this embodiment, a replacement identification code may be set in the first positioning identifier, and when the positioning identifier is subjected to the identification processing, whether the positioning identifier is the second positioning identifier may be determined by identifying the set replacement identification code. And if the positioning identifier is identified to contain the replacement identification code, determining that the positioning identifier is the second positioning identifier, otherwise, determining that the positioning identifier is the first positioning identifier. Fig. 7 is a schematic identification diagram of a second positioning identifier based on a two-dimensional code format according to an embodiment of the present invention. Referring to fig. 7, it is assumed that the second positioning identifier also uses an 8-bit character two-dimensional code, in the two-dimensional code encoding, the first character uses a character with special meaning, such as 'a', and "a" is used as the replacement identifier, and thus "a" indicates that the positioning identifier is the second positioning identifier. It is understood that, in the structural style, the style of the second positioning identifier is similar to or the same as the style of the second positioning identifier, and only a certain difference exists in the encoded information carried in the positioning identifier.

In this embodiment, after the constructor replaces the damaged first positioning identifier, the constructor may register and record the replaced positioning identifier. Optionally, a mapping record of the second positioning identifier may be added to the location mapping table by the operation of the server software system. The uniqueness check is needed before adding the mapping of the second positioning identifier, and if the same second positioning identifier exists in the position mapping table, one second positioning identifier needs to be selected again to replace the damaged first positioning identifier; and if the repetition does not exist, directly adding the second positioning identification into the position mapping table, and after the addition is successful, actually replacing the damaged first positioning identification on the cell where the damaged first positioning identification is located. For example, if the second location identifier with the replacement number information of a0000016 already exists in the location mapping table, a replacement location identifier needs to be reselected to replace the damaged first location identifier.

In this embodiment, the first positioning identifier and the second positioning identifier employ different encoding rules to generate respective encoding information. The information processing unit 220 needs to identify the second positioning identifier in the information to be identified according to the encoding rule to which the encoding information carried by the second positioning identifier belongs, and decode the encoding information carried by the identified second positioning identifier, so as to obtain the corresponding second identifier information. Meanwhile, the information processing unit 220 also transmits the second identification information to the main control unit 230.

In this embodiment, the main control unit 230 may further obtain the current physical position of the robot in the work area according to the second identification information. In another optional example, the main control unit may send the second identification information to a remote server through the communication unit, and receive, through the communication unit, a current physical location of the robot in the work area, which is returned by the server after calculation. Optionally, when the second positioning identifier is registered and recorded in the location mapping table, a mapping relationship between the identifier number of the second positioning identifier and the identifier number of the replaced first positioning identifier may be recorded, so that the identifier number of the replaced first positioning identifier may be obtained after the identifier number in the second identifier information is obtained; or recording the current physical position of the cell in which the second positioning identifier is positioned in the working area.

In an optional example, the main control unit queries a physical location associated with second identification information in the second positioning identification according to a pre-stored location mapping table; the physical position is the current physical position of the robot in the working area.

In another optional example, the main control unit queries, according to a pre-stored location mapping table, first identifier information in the first location identifier associated with second identifier information in the second location identifier; and determining the current physical position of the robot in the working area according to the first identification information. How to determine the current physical position of the robot in the working area by using the first identification information is not repeated herein.

The scheme of the embodiment has the advantages that other replaced positioning identifiers can be adopted to replace damaged first positioning identifiers, and when the position is determined according to the positioning identifiers, the positioning identifiers are directly identified and identified to determine whether the first positioning identifiers or the second positioning identifiers exist, and then the current position of the robot in the working area is determined by adopting respective calculation strategies, so that the situation that the original first positioning identifiers are matched with the same backup version positioning identifiers for each first positioning identifier at a later stage without spending higher cost in the positioning identifier maintenance process is ensured, then the damaged first positioning identifiers are replaced, even if the original first positioning identifiers are replaced by the second positioning identifiers, the positioning can be still performed quickly according to the second positioning identifiers, the positioning scheme is not required to be changed, and the same first positioning identifiers are manufactured without spending higher cost.

Fig. 8 is a flowchart of a robot positioning method provided in an embodiment of the present invention, and the technical solution of the embodiment is applicable to a case where the robot is positioned in real time when the robot travels in a work area. The method can be executed by the robot provided by the embodiment of the invention, the working area of the robot is gridded into a plurality of cells which are arranged row by row and column by column, and at least part of the cells in the plurality of cells are paved with the first positioning identification.

as shown in fig. 8, the robot positioning method provided in the embodiment of the present invention specifically includes the following steps:

s810, when the robot runs in a working area, acquiring information to be identified containing the first positioning identifier, and sending the acquired information to be identified to the information processing unit.

on the basis of the above embodiment, optionally, an auxiliary identifier is disposed on the periphery of the first positioning identifier; if the first positioning identifier is a visual mark, before the identification processing is performed on the first positioning identifier in the information to be identified, the method further includes:

And identifying the auxiliary identifier in the information to be identified, and determining a first positioning identifier in the auxiliary identifier according to the identified auxiliary identifier.

on the basis of the foregoing embodiment, optionally, the acquiring the information to be identified including the first positioning identifier, where the acquiring the information includes:

And acquiring an image containing the first positioning identifier, and taking the acquired image as information to be identified.

On the basis of the foregoing embodiment, optionally, the acquiring, by using the first location identifier as a tag that can be identified through near field communication, information to be identified that includes the first location identifier includes:

And reading the label information of the label in the preset code reading range, and taking the read label information as the information to be identified.

On the basis of the above embodiment, optionally, only the tag information of the unique tag or the tag information of any tag may be read within a preset reading range.

On the basis of the above embodiment, optionally, a row and column number is set on the first positioning identifier, and the row and column number is used to indicate the number of the row and column of the cell in the working area where the first positioning identifier is located.

s820, identifying the first positioning identifier in the information to be identified, and decoding the coding information carried in the identified first positioning identifier to obtain corresponding first identification information; and sending the first identification information to the main control unit, wherein the first identification information indicates the rows and columns of the cells in which the first positioning identification is located in the working area.

S830, obtaining the current physical position of the robot in the working area at least partially according to the first identification information.

on the basis of the foregoing embodiment, optionally, obtaining the current physical position of the robot in the work area at least partially according to the first identification information includes:

And calculating to obtain the current physical position of the robot in the working area according to the rows and the columns of the cells where the first positioning identification is located in the working area and the row width and the column width of the cells in the working area.

And sending the first identification information to a remote server through a communication unit, and receiving the current physical position of the robot in the working area, which is returned by the server after calculation, through the communication unit.

The method further comprises the following steps:

And identifying a direction identifier contained in the first positioning identifier, and determining a relative angle of the driving direction of the robot relative to the indication direction of the direction identifier according to the direction identifier.

on the basis of the above embodiment, optionally, a second positioning identifier is laid on at least a part of the plurality of cells, and the second positioning identifier is a positioning identifier that replaces the original first positioning identifier on the cell and is laid again; the method further comprises the following steps:

when the robot runs in a working area, acquiring information to be identified containing the second positioning identifier, and sending the acquired information to be identified to the information processing unit;

Identifying a second positioning identifier in the information to be identified, and decoding coding information carried in the identified second positioning identifier to obtain corresponding second identification information; and sending the second identification information to the main control unit; the second identification information indicates the current physical position of the cell where the second positioning identification is located in the working area or the identification number of the replaced first positioning identification;

obtaining a current physical location of the robot in the work area based at least in part on the second identification information.

On the basis of the foregoing embodiment, optionally, obtaining the current physical position of the robot in the work area at least partially according to the second identification information includes:

Inquiring a physical position associated with second identification information in the second positioning identification according to a pre-stored position mapping table; the physical position is the current physical position of the robot in a working area.

The main control unit is further configured to query first identification information in the first positioning identification associated with second identification information in the second positioning identification according to a pre-stored position mapping table; and determining the current physical position of the robot in the working area according to the first identification information.

The robot positioning method provided in the embodiment of the present invention may be applied to the robot provided in any embodiment of the present invention, and has corresponding functions and advantages of the robot, and reference may be made to the robot provided in any embodiment of the present application without detailed technical details described in the embodiment.

Fig. 9 is a structural block diagram of a robot positioning navigation system provided in an embodiment of the present invention, and the technical solution of this embodiment is applicable to a case where the robot is positioned in real time when the robot travels in a work area. As shown in fig. 9, the robot positioning navigation system in the embodiment of the present invention includes: a remote server 910 and the robot 200 provided in any of the embodiments above, the remote server being in wireless communication with the robot; the robot reports the current physical position in the working area obtained by positioning to a remote server, and the remote server navigates the robot according to the current physical position of the robot in the working area and navigates the robot to a target position.

the robot positioning and navigation system provided in the embodiment of the present invention may be applied to the robot provided in any embodiment of the present invention, and has corresponding functions and advantages of the robot, and specific reference may be made to the robot provided in any embodiment of the present invention without detailed technical details described in the embodiment.

Referring to fig. 4 and 7, the present embodiment is optimized based on the above embodiments, and may be combined with various alternatives in one or more of the above embodiments. The embodiment of the invention provides a positioning identifier, wherein the positioning identifier is laid on at least part of a plurality of cells, and the cells are a plurality of cells which are arranged row by row and column by column in a gridding manner in a working area of a robot; the positioning mark indicates the row and the column of the cell in the working area; or, an identification number indicating the replaced positioning identification.

on the basis of the above embodiment, optionally, the positioning identifier is a two-dimensional code or a radio frequency tag, and each positioning identifier in the working area is unique.

On the basis of the foregoing embodiment, optionally, the two-dimensional code is a QR code.

On the basis of the above embodiment, optionally, an auxiliary identifier is arranged on the periphery of the two-dimensional code; the auxiliary identification is used for determining the two-dimensional code located in the auxiliary identification.

in addition, the embodiment of the invention also discloses the following contents:

c1, a robot comprising: the system comprises an information collector, an information processing unit and a main control unit; the working area of the robot is gridded into a plurality of cells which are arranged row by row and column by column, and at least part of the cells in the plurality of cells are paved with first positioning marks; wherein the content of the first and second substances,

c2, the robot according to c1, the first location identity being a visual marker or a tag identifiable by near field communication.

c3, if the first positioning mark is a visual mark, arranging an auxiliary mark at the periphery of the first positioning mark according to the robot of c 1; the information processing unit is further configured to perform recognition processing on an auxiliary identifier in the information to be recognized, and determine a first positioning identifier located in the auxiliary identifier according to the recognized auxiliary identifier.

c4, the robot of c2, wherein the information collector is specifically an image collector if the first positioning identifier is a visual marker; the image collector is configured to collect an image including the first positioning identifier, and use the collected image as information to be identified.

c5, the robot of c2, the information collector being specifically a tag reader if the first location identity is a tag identifiable by near field communication; the tag reader is configured to read tag information of a tag and to use the read tag information as information to be identified.

c6, the robot according to c4, wherein the tag reader can only read the tag information of the unique tag or not read the tag information of any tag within a preset reading range.

c7, the robot according to c1 or c2, wherein the first positioning mark is provided with a row and column number, and the row and column number is used for indicating the row and column number of the cell in the working area where the first positioning mark is located.

c8, and according to the robot described in c1, the main control unit is further configured to calculate the current physical position of the robot in the working area according to the rows and columns of the cells in the working area where the first positioning identifier is located, and the row width and column width of the cells in the working area.

c9, the robot of c1, the robot further comprising: a communication unit;

The main control unit is further configured to send the first identification information to a remote server through the communication unit, and receive, through the communication unit, a current physical position of the robot in the working area, which is returned by the server after calculation.

c10, the robot according to c1, wherein the information processing unit is further configured to recognize the direction identifier contained in the first positioning identifier, and determine the relative angle of the driving direction of the robot relative to the indication direction of the direction identifier according to the direction identifier.

c11, paving second positioning marks on at least part of the plurality of cells according to the robot of c1, wherein the second positioning marks are the positioning marks which replace the original first positioning marks on the cells and are paved again;

The information collector is also configured to collect information to be identified containing the second positioning identifier when the robot runs in a working area, and send the collected information to be identified to the information processing unit;

The information processing unit is also configured to perform identification processing on a second positioning identifier in the information to be identified, and perform decoding processing on the encoded information carried in the identified second positioning identifier to obtain corresponding second identification information; and sending the second identification information to the main control unit; the second identification information indicates the current physical position of the cell where the second positioning identification is located in the working area or the identification number of the replaced first positioning identification;

c12, the robot according to c11, the main control unit further configured to query a physical location associated with the second identification information in the second positioning identification according to a pre-stored location mapping table; the physical position is the current physical position of the robot in a working area.

c13, the robot according to c11, the main control unit further configured to query first identification information in the first positioning identifier associated with second identification information in the second positioning identifier according to a pre-stored location mapping table; and determining the current physical position of the robot in the working area according to the first identification information.

c14, a robot positioning method, wherein the working area of the robot is gridded into a plurality of cells arranged row by row and column by column, and at least part of the cells in the plurality of cells are paved with first positioning marks; the method comprises the following steps:

c15, according to the method of c14, the periphery of the first positioning mark is provided with an auxiliary mark; if the first positioning identifier is a visual mark, before the identification processing is performed on the first positioning identifier in the information to be identified, the method further includes:

c16, the method according to c14, wherein the first positioning identifier is a visual marker, and acquiring information to be identified containing the first positioning identifier comprises:

c17, the method according to c14, wherein the first location identifier is a tag identifiable by near field communication, and acquiring information to be identified containing the first location identifier comprises:

c18, according to the method of c17, only the label information of the unique label can be read or the label information of any label can not be read in the preset reading range.

c19, according to the method of c14 or c15, a row and column number is set on the first positioning mark, and the row and column number is used for indicating the number of the cell in the working area, where the first positioning mark is located.

c20, according to the method of c14, obtaining a current physical location of the robot in the work area at least partly according to the first identification information, comprising:

c21, according to the method of c14, obtaining a current physical location of the robot in the work area at least partly according to the first identification information, comprising:

c22, the method of c14, the method further comprising:

c23, paving second positioning marks on at least part of the cells in the plurality of cells according to the method of c14, wherein the second positioning marks are the positioning marks which replace the original first positioning marks on the cells and are paved again; the method further comprises the following steps:

c24, according to the method of c23, obtaining a current physical location of the robot in the work area at least partly according to the second identification information, comprising:

c25, according to the method of c23, obtaining a current physical location of the robot in the work area at least partly according to the second identification information, comprising:

c26, a robot positioning navigation system, the system comprising: a remote server and the robot of any of claims c1-c12, the remote server and the robot in wireless communication; wherein the content of the first and second substances,

The robot reports the current physical position in the work area obtained by positioning to the remote server, and the remote server navigates the robot according to the current physical position of the robot in the work area and navigates the robot to a target position.

c27, a positioning mark, wherein the positioning mark is laid on at least part of the plurality of cells, and the cells are gridded into a plurality of cells arranged row by row and column by column for the working area of the robot; the positioning mark indicates the row and the column of the cell in the working area; or, an identification number indicating the replaced positioning identification.

c28, the positioning identification is two-dimensional code or radio frequency label according to c27, and each positioning identification in the working area is unique.

c29, and according to the positioning identification of c27, the two-dimensional code is a QR code.

c30, according to the positioning mark of c29, an auxiliary mark is arranged on the periphery of the two-dimensional code; the auxiliary identification is used for determining the two-dimensional code located in the auxiliary identification.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A robot, comprising: the system comprises an information collector, an information processing unit and a main control unit; the working area of the robot is gridded into a plurality of cells which are arranged row by row and column by column, and at least part of the cells in the plurality of cells are paved with first positioning marks; wherein the content of the first and second substances,

2. the robot of claim 1, wherein the first location indicator is a visual marker or a tag identifiable by near field communication.

3. the robot of claim 1, wherein if the first positioning mark is a visual mark, an auxiliary mark is arranged on the periphery of the first positioning mark; the information processing unit is further configured to perform recognition processing on an auxiliary identifier in the information to be recognized, and determine a first positioning identifier located in the auxiliary identifier according to the recognized auxiliary identifier.

4. the robot according to claim 2, wherein the information collector is in particular an image collector if the first positioning identifier is a visual marker; the image collector is configured to collect an image including the first positioning identifier, and use the collected image as information to be identified.

5. The robot according to claim 2, characterized in that the information collector is in particular a tag reader if the first location identity is a tag that can be recognized by near field communication; the tag reader is configured to read tag information of a tag and to use the read tag information as information to be identified.

6. The robot according to claim 1, wherein the main control unit is further configured to calculate a current physical position of the robot in the working area according to rows and columns of the cells in the working area where the first positioning identifiers are located, and a row width and a column width of the cells in the working area.

7. the robot of claim 1, wherein at least some of the plurality of cells have second positioning marks laid thereon, the second positioning marks being positioning marks that replace the original first positioning marks on the cells and are laid again;

8. A robot positioning method is characterized in that a working area of a robot is gridded into a plurality of cells which are arranged row by row and column by column, and at least part of the cells are paved with first positioning marks; the method comprises the following steps:

9. A robot positioning navigation system, the system comprising: a remote server and the robot of any of claims 1-7, the remote server and the robot in wireless communication; wherein the content of the first and second substances,

10. the positioning mark is characterized in that the positioning mark is laid on at least part of a plurality of cells, and the cells are gridded into a plurality of cells arranged row by row and column by column for a working area of a robot; the positioning mark indicates the row and the column of the cell in the working area; or, an identification number indicating the replaced positioning identification.