CN110546462A

CN110546462A - Robot positioning method and device

Info

Publication number: CN110546462A
Application number: CN201880011046.XA
Authority: CN
Inventors: 郑小威; 陈旭东; 朱俊安
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2018-04-25
Filing date: 2018-04-25
Publication date: 2019-12-06
Also published as: WO2019205001A1

Abstract

A robot (100) positioning method and device, the robot (100) is provided with an encoder, wherein, the robot (100) is matched with a preset track (200), and a matching piece (210) matched with the encoder is arranged on the preset track (200); the method comprises the following steps: controlling the robot (100) to move along a predetermined trajectory (200); acquiring the movement path of the robot (100) based on the encoder; when the encoder meets the triggering condition, calibrating the route according to the position information of the mating piece (210); the real-time position of the robot (100) is determined based on the real-time course of the encoder. According to the positioning method and the positioning device for the robot (100), through the matching of the encoder on the robot (100) and the matching piece (210) on the preset track (200), the accumulated error of the encoder is eliminated, the accurate positioning of the robot (100) is realized, and the execution of the execution strategies (such as base defense, fortress and other decisions) of the subsequent robot (100) is facilitated; the cost is low.

Description

Robot positioning method and device

Technical Field

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

Background

In recent years, in order to popularize the practical education of robots, contestants are guided to learn knowledge points in multiple fields, and various robot confrontation competitions are organized at home and abroad. In the robot competition, some robots can run on a special single track and can launch shots, and the accuracy of robot positioning influences the hitting precision of the robots.

Currently, all robots are positioned by using GPS, lidar scanning positioning or UWB indoor positioning. Because the robot competition is mostly carried out indoors, the GPS can be influenced when being used indoors; the laser radar scanning positioning has the advantages that firstly, the cost is high, secondly, the size and the weight of the robot are limited by the robot competition, and the laser radar scanning positioning has certain requirements on space and is difficult to meet; UWB indoor positioning can be operated only by a base station, the robot can only use appointed UWB positioning in an anti-competition game, if a participating team needs to debug before the competition, the robot needs to buy a suit by oneself, and the cost is higher.

Disclosure of Invention

The invention provides a robot positioning method and device.

Specifically, the invention is realized by the following technical scheme:

according to a first aspect of the present invention, there is provided a robot positioning method, wherein an encoder is installed on a robot, wherein the robot is matched with a predetermined track, and a matching piece adapted to the encoder is installed on the predetermined track; the method comprises the following steps:

controlling the robot to move along the predetermined track;

acquiring the movement distance of the robot based on the encoder;

when the encoder meets the triggering condition, calibrating the route according to the position information of the mating piece;

and determining the real-time position of the robot according to the real-time distance of the encoder.

According to a second aspect of the present invention, there is provided a robot positioning device, comprising an encoder and a processor both mounted on the robot, wherein the encoder is electrically connected to the processor, the robot is matched with a predetermined track, and a matching member adapted to the encoder is arranged on the predetermined track;

the processor comprises one or more processors, working individually or collectively; the processor is configured to:

controlling the robot to move along the predetermined track;

acquiring the movement distance of the robot based on the encoder;

According to a third aspect of the invention, there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

controlling the robot to move along the predetermined track;

acquiring the movement distance of the robot based on the encoder;

According to the technical scheme provided by the embodiment of the invention, the accumulated error of the encoder is eliminated through the cooperation of the encoder on the robot and the matching piece on the preset track, so that the robot is accurately positioned, and the execution strategies (such as base defense, fortress hitting and other decisions) of the follow-up robot are favorably executed; the cost is low.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a diagram of an application scenario of a robot in an embodiment of the present invention;

FIG. 2 is a flow chart of a method of positioning a robot in an embodiment of the invention;

FIG. 3 is a diagram of an application scenario of a robot in another embodiment of the present invention;

fig. 4 is a block diagram of a robot positioning device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The following describes the robot positioning method and apparatus of the present invention in detail with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

The robot 100 according to the embodiment of the present invention is provided with an encoder, referring to fig. 1, the robot 100 is matched with a predetermined track 200, and a matching component 210 adapted to the encoder is provided on the predetermined track 200. The engaging member 210 may be disposed at a middle position of the predetermined track along the length direction, or may be disposed at other positions of the predetermined track 200. Further, the fitting member 210 may be directly mounted on the predetermined track 200, or may be mounted on other structures but located on the predetermined track 200. Referring to fig. 3, the fitting member 210 is located above the predetermined track 200, and in this embodiment, the predetermined track 200 includes a track body and a support column for supporting the predetermined track 200, and the fitting member 210 is fitted on the support column and aligned with a position of the track body. Optionally, the fitting 210 is suspended from the support post. The engaging members 210 may include one or at least two. When the engaging members 210 include at least two, at least two engaging members 210 are provided at different positions of the predetermined track 200.

The present embodiment does not specifically limit the position where the encoder is mounted on the robot 100, and for example, in an embodiment, the robot 100 includes a first driving wheel and a second driving wheel interposed on both sides of the predetermined track 200, and the encoder is mounted between the first driving wheel and the second driving wheel.

In addition, the robot 100 of the present embodiment may further include a referee lamp post for monitoring parameters such as blood volume of the robot 100. When the robot 100 of the present embodiment is mounted to the predetermined track 200, the referee lamp post faces outward, so that the rear end can monitor the referee lamp post of the robot 100 at present in real time.

In this embodiment, when the robot 100 is in a straight section (a track with two parallel sides), two first driving wheels and two second driving wheels are clamped in parallel between the two straight sections, and a connecting line between the first driving wheels and the second driving wheels (for example, a central connecting line between the first driving wheels and the second driving wheels) is almost perpendicular to the sides of the straight section.

Fig. 2 is a flowchart of a method of positioning a robot according to an embodiment of the present invention. The main executing body of the robot positioning method of this embodiment is a processor, and the processor may be a central controller of the robot 100 or an independently provided controller. As shown in fig. 2, the method may include the steps of:

step S201: controlling the robot 100 to move along the predetermined trajectory 200;

in this embodiment, the processor drives the driving wheel to move along the predetermined track 200 through a driving mechanism. The driving mechanism can comprise a motor, the processor controls the motor to rotate so as to drive the driving wheel to rotate, and the control mode of the processor controlling the motor to rotate can select any existing control mode. In this embodiment, the first drive wheel and the second drive wheel are driven by respective drive mechanisms.

Further, in this embodiment, step S201 specifically includes: controlling the robot 100 to move along the predetermined track 200 from a specific position of the predetermined track 200. The robot 100 of the present embodiment starts to move with a specific position of the predetermined trajectory 200 as a starting point, thereby taking the specific position as a reference for subsequent positioning. In other embodiments, the robot 100 may be controlled to move back and forth on the predetermined track 200, so as to calibrate the position of the robot 100.

In addition, in this embodiment, step S201 further includes: controlling the robot 100 to reciprocate along a specific area range of the predetermined track 200. Wherein the specific area range can be set according to the competition requirement, for example, in some examples, the specific area range is the whole track. In other examples, the specific area range is a certain area of the predetermined track 200.

Step S202: acquiring a path of movement of the robot 100 based on the encoder;

the encoder of the present embodiment may be a quadrature encoder (i.e., an electro-optical rotary incremental encoder), a hall element, or other encoders, such as an absolute encoder (relative to an incremental encoder) or an electromagnetic encoder (relative to an electro-optical encoder).

Step S203: when the encoder meets the triggering condition, calibrating the route according to the position information of the fitting piece 210;

in one embodiment, the encoder is a quadrature encoder, and the orthogonal encoder is matched with the shielding of the fitting element 210 to determine whether the robot 100 runs to the position of the fitting element 210, so that the cost is low. In this embodiment, when it is determined that the orthogonal encoder is blocked by the mating member 210, it is determined that the encoder satisfies the trigger condition.

Further, determining that the encoder satisfies a trigger condition comprises: detecting that the quadrature encoder generates a hopping signal. In some examples, when the quadrature encoder is not occluded, a low level is output; when the orthogonal encoder is blocked, a high level is output. In this embodiment, when the robot 100 passes through the fitting member 210, the infrared light emitted by the orthogonal encoder is blocked by the fitting member 210 for a period of time, and the output result of the orthogonal encoder jumps from a low level to a high level. Therefore, the detecting of the generation of the hopping signal by the orthogonal encoder in this embodiment includes: detecting a transition of the quadrature encoder from a low level to a high level. In other embodiments, the quadrature encoder outputs a high level when it is not occluded; when the quadrature encoder is blocked, a low level is output. In this embodiment, when the robot 100 passes through the fitting member 210, the quadrature encoder is shielded by the fitting member 210 for a period of time, and the output result of the quadrature encoder jumps from a high level to a low level.

In another embodiment, the encoder is a hall element, and the engaging element 210 is a magnet, and whether the robot 100 is currently operated to the position of the magnet is determined by the engagement of the hall element and the magnet. In this embodiment, when it is determined that the hall element is aligned with the magnet, it is determined that the encoder satisfies the trigger condition.

Further, determining that the encoder satisfies a trigger condition comprises: and detecting that the Hall element generates a jump signal. In some examples, the hall element outputs a low level when not aligned with the magnet; when the hall element is aligned with the magnet, a high level is output, and the step of detecting that the hall element generates a jump signal includes: and detecting that the Hall element jumps from a low level to a high level. In other examples, a hall element outputs a high level when not aligned with a magnet; when the hall element is aligned with the magnet, a low level is output, and the step of detecting that the hall element generates a jump signal includes: and detecting that the Hall element jumps from a high level to a low level.

In this embodiment, calibrating the route according to the position information of the mating member 210 includes: determining an error correction value according to the path and the position information of the fitting piece 210; and correcting the distance according to the error correction value. Optionally, the position information of the fitting member 210 refers to a distance between the fitting member 210 and the specific position. And controlling the robot 100 to start moving from a specific position, when the robot 100 passes through the fitting piece 210 for the first time, obtaining the path obtained by the encoder as S1, and obtaining the position information of the fitting piece 210 as S2, determining an error correction value delta S according to S1 and S2, and correcting S1 according to the delta S, namely realizing the calibration of the path.

Step S204: the real-time position of the robot 100 is determined based on the real-time distance of the encoder.

The present embodiment divides the predetermined track 200 into a plurality of sections in a length direction according to a preset rule, for example, in some examples, the predetermined track 200 is divided in the length direction according to a shape of the predetermined track 200. Alternatively, the predetermined track 200 includes a straight section and a curved section. In other examples, the predetermined track 200 is formed by splicing (e.g., welding) multiple sections of track, and the present embodiment divides the predetermined track 200 into multiple sections according to the splicing positions.

In this embodiment, the specific position is located on a specific track segment of the multi-track segment, and the engaging member 210 is disposed at the specific position of the specific track segment. For example, in one embodiment, the specific position is an end position of the specific section of track, and the designated position is a middle position of the specific section of track.

Further, before controlling the robot 100 to start moving along the predetermined trajectory 200 from the specific position of the predetermined trajectory 200, the method further includes: and acquiring the length of each section of track.

The obtaining mode of the length of each section of track may be selected as required, and in an embodiment, the obtaining of the length of each section of track specifically includes: controlling the robot 100 to move along each section of track; the length of each track segment is detected based on the encoder. In other embodiments, other existing distance measuring methods may be used to measure the length of each track segment.

Step S204 specifically includes: and determining the real-time position of the robot 100 according to the real-time distance of the encoder, the length of each section of track and the position information of the specific position.

The present embodiment stores the lengths of the tracks in advance to be used as a coordinate reference, and the current position of the robot 100 can be calculated by combining the length of each track and the current value of the encoder. For example, referring to fig. 3, the predetermined track 200 includes a track 1, a track 2, a track 3, a track 4 and a track 5, the track 1 is connected to the track 2, an end of the track 2 away from the track 1 is connected to the track 3, an end of the track 3 away from the track 2 is connected to the track 4, and an end of the track 4 away from the track 3 is connected to the track 5. Wherein, the length of track 1 is 4000mm, and control robot 100 starts to move from the track 1 one end of keeping away from track 2, before robot 100 moves, the encoder numerical value is 0. In the process of controlling the operation of the robot 100, if the distance detected by the encoder is 2000mm, it is determined that the robot 100 is located in the middle of the track 1. If the encoder detects a distance greater than 4000mm and less than 4000mm + the length of track 2, it can be determined that the robot 100 has entered track 2.

In the embodiment of the invention, through the matching of the encoder on the robot 100 and the matching piece 210 on the predetermined track 200, the accumulated error of the encoder is eliminated, the robot 100 is accurately positioned, and the execution of the execution strategies (such as base defense, hit fortress and other decisions) of the robot 100 is facilitated; the cost is low.

Referring to fig. 4, an embodiment of the present invention further provides a positioning apparatus for a robot 100, including an encoder and a processor both mounted on the robot 100, wherein the encoder is electrically connected to the processor, the robot 100 is matched with a predetermined track 200, and a matching component 210 adapted to the encoder is disposed on the predetermined track 200;

the processor comprises one or more processors, working individually or collectively; the processor is used for controlling the robot 100 to move along the predetermined track 200; acquiring a path of movement of the robot 100 based on the encoder; when the encoder meets the triggering condition, calibrating the route according to the position information of the fitting piece 210; the real-time position of the robot 100 is determined based on the real-time distance of the encoder.

The specific principle and implementation of the positioning device of the robot 100 according to the embodiment of the present invention are similar to those of the embodiment shown in fig. 2, and are not described herein again.

In this embodiment, the processor may be a Central Processing Unit (CPU). The processor may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.

Further, the robot 100 positioning device may further include a storage device. The storage device may include a volatile memory (volatile memory), such as a random-access memory (RAM); the storage device may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), a Hard Disk Drive (HDD) or a solid-state drive (SSD); the first memory means may also comprise a combination of memories of the kind described above. Optionally, the storage device is for storing program instructions. The processor may invoke the program instructions to implement the overbending control method applied to the robot 100 as described in the embodiments above.

For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the robot positioning method shown in fig. 2.

The description of "particular examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried out to implement the above-described implementation method can be implemented by hardware related to instructions of a program, which can be stored in a computer-readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

A robot positioning method is characterized in that a coder is arranged on a robot, wherein the robot is matched with a preset track, and a matching piece matched with the coder is arranged on the preset track; the method comprises the following steps:

controlling the robot to move along the predetermined track;

acquiring the movement distance of the robot based on the encoder;

when the encoder meets the triggering condition, calibrating the route according to the position information of the mating piece;

and determining the real-time position of the robot according to the real-time distance of the encoder.
The method of claim 1, wherein the encoder is a quadrature encoder.
The method of claim 2, wherein the encoder satisfies a triggering condition comprising:

determining that the quadrature encoder is occluded by the mating piece.
The method of claim 2, wherein the encoder satisfies a triggering condition comprising:

detecting that the quadrature encoder generates a hopping signal.
The method of claim 4, wherein detecting that the quadrature encoder generates a hopping signal comprises:

detecting a transition of the quadrature encoder from a low level to a high level.
The method of claim 1, wherein the encoder is a hall element and the mating member is a magnet.
The method of claim 6, wherein the encoder satisfies a triggering condition comprising:

determining that the Hall element is aligned with the magnet.
The method of claim 6, wherein the encoder satisfies a triggering condition comprising:

and detecting that the Hall element generates a jump signal.
The method of claim 8, wherein the detecting that the hall element generates a transition signal comprises:

and detecting that the Hall element jumps from a low level to a high level.
The method of claim 1, wherein calibrating the route based on the position information of the mating member comprises:

determining an error correction value according to the distance and the position information of the matching piece;

and correcting the distance according to the error correction value.
The method of claim 1, wherein said controlling said robot to move along said predetermined trajectory comprises:

and controlling the robot to move along the preset track from the specific position of the preset track.
The method of claim 11, wherein the position information of the mating member is a distance between the mating member and the specific position.
The method according to claim 11, wherein the predetermined track is divided into a plurality of sections in a length direction according to a preset rule;

the specific position is located on a specific section of track in the multi-section of track, and the matching piece is arranged at the specific position of the specific section of track.
The method of claim 13, wherein the specific location is an end location of the specific section of track and the designated location is a middle location of the specific section of track.
The method of claim 13, wherein the preset rules comprise:

and dividing the preset track along the length direction according to the shape of the preset track.
The method of claim 13, wherein before controlling the robot to move along the predetermined trajectory from the particular location of the predetermined trajectory, further comprising:

and acquiring the length of each section of track.
The method of claim 16, wherein the obtaining the length of each track segment comprises:

controlling the robot to run along each section of track;

the length of each track segment is detected based on the encoder.
The method of claim 17, wherein determining the real-time position of the robot based on the real-time range of the encoder comprises:

and determining the real-time position of the robot according to the real-time distance of the encoder, the length of each section of track and the position information of the specific position.
The method of claim 1, wherein said controlling said robot to move along said predetermined trajectory comprises:

and controlling the robot to reciprocate along the specific area range of the preset track.
The method of claim 19, wherein the specific area is the entire track.
A robot positioning device is characterized by comprising an encoder and a processor which are both arranged on a robot, wherein the encoder is electrically connected with the processor, the robot is matched with a preset track, and a matching piece matched with the encoder is arranged on the preset track;

the processor comprises one or more processors, working individually or collectively; the processor is configured to:

controlling the robot to move along the predetermined track;

acquiring the movement distance of the robot based on the encoder;

when the encoder meets the triggering condition, calibrating the route according to the position information of the mating piece;

and determining the real-time position of the robot according to the real-time distance of the encoder.
The apparatus of claim 21, wherein the encoder is a quadrature encoder.
The apparatus of claim 22, wherein the processor determines that the encoder satisfies a triggering condition, comprising:

determining that the quadrature encoder is occluded by the mating piece.
The apparatus of claim 22, wherein the processor determines that the encoder satisfies a triggering condition, comprising:

detecting that the quadrature encoder generates a hopping signal.
The apparatus of claim 24, wherein the processor detecting that the quadrature encoder generates a hopping signal comprises:

detecting a transition of the quadrature encoder from a low level to a high level.
The apparatus of claim 21, wherein the encoder is a hall element and the mating member is a magnet.
The apparatus of claim 26, wherein the processor determines that the encoder satisfies a trigger condition, comprising:

determining that the Hall element is aligned with the magnet.
The apparatus of claim 26, wherein the processor determines that the encoder satisfies a trigger condition, comprising:

and detecting that the Hall element generates a jump signal.
The apparatus of claim 28, wherein the processor detecting that the hall element generates a transition signal comprises:

and detecting that the Hall element jumps from a low level to a high level.
The apparatus of claim 21, wherein the processor calibrates the route based on the position information of the mating member, comprising:

determining an error correction value according to the distance and the position information of the matching piece;

and correcting the distance according to the error correction value.
The apparatus of claim 21, wherein the processor is configured to:

and controlling the robot to move along the preset track from the specific position of the preset track.
The apparatus of claim 31, wherein the position information of the mating member is a distance between the mating member and the specific position.
The apparatus of claim 31, wherein the predetermined track is divided into a plurality of sections in a length direction according to a preset rule;

the specific position is located on a specific section of track in the multi-section of track, and the matching piece is arranged at the specific position of the specific section of track.
The apparatus of claim 33, wherein the specific location is an end location of the specific section of track and the designated location is a middle location of the specific section of track.
The apparatus of claim 33, wherein the preset rules comprise:

and dividing the preset track along the length direction according to the shape of the preset track.
The apparatus of claim 33, wherein the processor, prior to controlling the robot to move along the predetermined trajectory from the particular location of the predetermined trajectory, is further configured to:

and acquiring the length of each section of track.
The apparatus of claim 36, wherein the processor is configured to:

controlling the robot to run along each section of track;

the length of each track segment is detected based on the encoder.
The apparatus of claim 37, wherein the processor is configured to:

and determining the real-time position of the robot according to the real-time distance of the encoder, the length of each section of track and the position information of the specific position.
The apparatus of claim 21, wherein the processor is configured to:

and controlling the robot to reciprocate along the specific area range of the preset track.
The apparatus of claim 39, wherein the specific area is the entire track.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the robot positioning method of any one of claims 1 to 20.