CN113607154A

CN113607154A - Two-dimensional autonomous positioning method, system, equipment and medium for indoor robot

Info

Publication number: CN113607154A
Application number: CN202110726286.1A
Authority: CN
Inventors: 谢斌盛; 赵嘉辉; 朱晓健; 刘洁
Original assignee: Guangzhou University
Current assignee: Guangzhou University
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2021-11-05

Abstract

The invention relates to the technical field of intelligent robots, in particular to a two-dimensional autonomous positioning method, a system, equipment and a medium of an indoor robot based on a gray sensor and grid lines, wherein the method comprises the steps of identifying ground grid lines through gray sensor groups in all directions in a positioning device so as to determine the current position coordinates of the robot; detecting whether the robot has position inclination or not through position correction; the robot is parked at a high-precision position by using the threading positioning; the robot can be autonomously positioned by using a simple positioning device and a processor, the control logic is simple, the occupied resources are extremely low, the hardware cost is greatly reduced, and the positioning efficiency is improved; compared with the prior art, the positioning method provided by the invention does not need to occupy extra space, is not influenced by indoor light and barriers, and has strong anti-interference capability and wide application range.

Description

Two-dimensional autonomous positioning method, system, equipment and medium for indoor robot

Technical Field

The invention relates to the technical field of intelligent robots, in particular to a two-dimensional autonomous positioning method, a two-dimensional autonomous positioning system, indoor robot two-dimensional autonomous positioning equipment and indoor robot two-dimensional autonomous positioning media based on a gray sensor and grid lines.

Background

With the development of science and technology fields such as communication, electronics and the like, more and more functional robots are applied to the fields such as restaurant service, logistics distribution and the like, such as meal delivery robots, logistics carrying robots and the like, the robots generally run in rooms with smaller space, and the positioning accuracy requirement is high; in the prior art, the GPS is generally used for realizing the autonomous positioning of the outdoor robot, but the GPS can only realize the positioning of a plurality of meters, so that the indoor signal is weak, and the GPS can generate larger positioning deviation when being applied to an indoor environment.

At present, indoor robot positioning methods mainly include laser radar positioning, laser ranging positioning, camera machine vision positioning, UWB-based positioning and other methods, but the methods all have the following problems:

1) the laser radar positioning has good obstacle avoidance effect, can calculate the three-dimensional model of the current environment in real time, and has small influence on the positioning by the movement of objects or personnel when the laser radar is indoors.

2) The laser ranging positioning is characterized in that ranging is carried out on the right front side and the right side, and judgment is carried out according to data returned by laser from the wall surface, so that the cost is low, but the positioning method must ensure that an indoor object is static and no person walks, otherwise, a larger positioning error can occur.

3) The camera machine vision positioning is generally combined with other positioning systems for positioning, when the camera machine vision positioning is applied to indoor environment, the camera machine vision positioning is not influenced by the movement of indoor objects or people, but the positioning method has higher requirements on the performances of a camera and a processor, and has the defects of large calculation amount and high cost.

4) Based on UWB positioning, 3 base stations are required to be placed near a positioning place, one base station is installed on the robot, then the distance measurement is carried out through an ultra-wideband distance measurement technology, and the current coordinate is obtained through an algorithm, so that the cost is high, the influence of signal physical properties is easily caused, and the positioning accuracy is reduced when a wall body exists between the base station and the robot; in addition, the UWB-based positioning method is limited to single-room indoor use, and when a plurality of devices are simultaneously positioned, a base station needs to be added, which not only occupies an additional indoor space, but also increases economic cost.

Disclosure of Invention

The invention aims to provide a two-dimensional autonomous positioning method, a two-dimensional autonomous positioning system, indoor robot two-dimensional autonomous positioning equipment and an indoor robot two-dimensional autonomous positioning medium based on a gray sensor and grid lines, which not only can simultaneously position a plurality of robots, but also have simple logic and strong anti-interference capability, so that the method for positioning the indoor robot is low in power consumption, low in cost and high in precision.

In order to solve the technical problems, the invention provides a two-dimensional autonomous positioning method, a two-dimensional autonomous positioning system, indoor robot equipment and an indoor robot medium.

In a first aspect, the invention provides a two-dimensional autonomous positioning method for an indoor robot, which comprises the following steps:

acquiring a position coordinate of a robot, wherein a positioning device is arranged at the bottom of the robot and is arranged in an indoor grid area with a coordinate system;

detecting whether the robot sends a moving signal in real time, if the robot sends the moving signal, acquiring initial level signals in all directions of the positioning device, and controlling the robot to start moving;

detecting whether the positioning device causes a trigger signal, if so, determining the direction of the positioning device causing the trigger signal, judging whether the initial level signal in the direction is a high level, and if not, updating the position coordinate of the robot according to a preset rule;

if the current level is high level, judging whether the direction of the trigger signal caused this time is the same as that caused the trigger signal at the previous time when the positioning device runs along the coordinate axis corresponding to the direction of the trigger signal caused, and obtaining a direction judgment result;

according to the direction judgment result, comparing the preset moving direction with the direction causing the trigger signal so as to determine whether to update the position coordinate of the robot according to a preset rule;

wherein, the trigger signal is that the positioning device has a transition from high level to low level in a certain direction.

In a further embodiment, the positioning device comprises a square frame and a gray sensor group fixed on each side of the square frame, each gray sensor group comprises four parallel gray sensors with equal intervals and a logic and gate connected with signal ends of the four gray sensors;

in each group of gray level sensors, when the level signals output by the four gray level sensors are all high level, the output end of the logic AND gate outputs high level, otherwise, the output end of the logic AND gate outputs low level.

In a further embodiment, the step of updating the position coordinates of the robot according to a preset rule comprises:

negating a direction variable in the positioning device that caused the trigger signal direction;

judging whether the values of the direction variables of the positioning device in the opposite directions are simultaneously equal to a direction variable threshold value, if so, clearing all the values of the direction variables in the opposite directions;

and judging the direction faced by the robot according to the preset value of the rotation variable, and updating the position coordinate of the robot according to the direction faced by the robot and the direction variable in the direction causing the trigger signal.

In a further embodiment, the step of determining whether the direction of the trigger signal is the same as the previous direction of the trigger signal when the positioning device runs along the coordinate axis corresponding to the direction of the trigger signal, and obtaining the direction determination result includes:

judging whether the coordinate value of the coordinate axis corresponding to the direction of the trigger signal caused this time is an integer, and if so, judging that the direction of the trigger signal caused this time is different from that caused the previous time; if the number is not an integer, the trigger signal is judged to be in the same direction as the trigger signal caused at the previous time.

In a further embodiment, the step of comparing the preset moving direction with the direction of the triggering signal caused at this time according to the direction determination result to determine whether to update the position coordinates of the robot according to a preset rule includes:

when the direction of the trigger signal caused by the current time is different from the direction of the trigger signal caused by the previous time, judging whether the preset moving direction is the same as the direction of the trigger signal caused by the positioning device, if so, updating the position coordinate of the robot according to a preset rule; if not, the position coordinates of the robot are not updated;

when the direction of the triggering signal caused by the current time is the same as that caused by the previous time, judging whether the preset moving direction is opposite to the direction of the triggering signal caused by the positioning device, if so, updating the position coordinate of the robot according to a preset rule; and if not, not updating the position coordinates of the robot.

In a further embodiment, further comprising: detecting a level signal sequence of the positioning device in two opposite directions when the robot moves one grid in an indoor grid area;

judging whether the level signal sequence meets the following two conditions:

(1) the level signal sequences of the positioning devices in opposite directions are the same;

(2) the level signal sequences of the positioning device in the opposite direction are standard level signal sequences;

if the signal sequence does not meet any condition, judging whether the robot is inclined clockwise or not according to the level signal sequence of the positioning device in two opposite directions, and if so, correcting the position of the robot anticlockwise by a preset correction angle; if not, the position of the robot is corrected clockwise by a preset correction angle.

In a further embodiment, the method further comprises the step of accurately positioning the robot through an accurate coordinate system, specifically:

based on the established accurate coordinate system, acquiring an accurate stopping position of the grid area by utilizing threading positioning and clamping positioning in advance;

searching and moving to an accurate parking position closest to the preset parking position according to the preset target parking position of the robot;

calculating the offset between the target parking position and the accurate parking position, and controlling the robot to move to the target parking position according to the offset;

the accurate stopping positions comprise a thread passing accurate stopping position and a thread clamping accurate stopping position;

the accurate stopping position of the grid area is obtained by pre-utilizing the wire passing positioning and the wire clamping positioning, and the method specifically comprises the following steps:

when the robot moves in the grid area, acquiring the position coordinates of any direction of the positioning device when a trigger signal is caused, and taking the position coordinates as an accurate stopping position of the passing line;

when the robot crosses the grid line and moves to a certain position, if the level signal sequences of the positioning device in all directions are detected to be preset wire clamping level signal sequences, the position coordinate of the position is obtained and is used as a wire clamping accurate stopping position.

In a second aspect, the present invention provides a two-dimensional autonomous positioning system for an indoor robot, the system comprising:

the positioning system establishing module is used for acquiring the position coordinates of the robot, and the bottom of the robot is provided with a positioning device and is arranged in an indoor grid area with a coordinate system;

the initial signal acquisition module is used for detecting whether the robot sends a moving signal in real time, acquiring initial level signals in all directions of the positioning device if the robot sends the moving signal, and controlling the robot to start moving;

the first position updating module is used for detecting whether the positioning device causes a trigger signal or not, if so, determining the direction of the trigger signal in the positioning device, judging whether the initial level signal in the direction is a high level or not, and if not, updating the position coordinate of the robot according to a preset rule;

the second position updating module is used for judging whether the direction of the triggering signal caused this time is the same as the direction of the triggering signal caused the previous time when the positioning device runs along a coordinate axis corresponding to the direction of the triggering signal when detecting that the initial level signal in the direction of the triggering signal is high level, so as to obtain a direction judgment result, and comparing the preset moving direction with the direction of the triggering signal caused the previous time according to the direction judgment result so as to determine whether to update the position coordinate of the robot according to a preset rule;

In a third aspect, the present invention further provides a computer device, including a processor and a memory, where the processor is connected to the memory, the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory, so that the computer device executes the steps for implementing the method.

In a fourth aspect, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the above method.

The invention provides a two-dimensional autonomous positioning method, a system, computer equipment and a medium for an indoor robot based on a gray sensor and grid lines, wherein the current position coordinate of the robot can be determined through a gray sensor group and the grid lines in a positioning device, the robot can advance more accurately through position correction, and the high-precision stop of the robot is realized through line passing positioning, so that the indoor robot can be better applied to the field with high positioning precision, and has better market value and application prospect. Compared with the existing robot autonomous positioning method, the method realizes intelligent positioning of the indoor robot through simple logic control, can realize information processing without using an expensive central processing unit, has low operation cost and is not easily influenced by light.

Drawings

Fig. 1 is a schematic flow chart of a two-dimensional autonomous positioning method for an indoor robot according to an embodiment of the present invention;

FIG. 2 is a schematic two-dimensional view of a positioning device provided in an embodiment of the present invention;

fig. 3 is a schematic front-back side view of a grayscale sensor provided by an embodiment of the present invention;

fig. 4 is a schematic connection diagram of the logic and gates in each group of gray sensors according to the embodiment of the present invention;

FIG. 5 is a schematic diagram of a grid simulation provided by an embodiment of the present invention;

fig. 6 is a schematic diagram illustrating a process of updating position coordinates of a robot according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a robot crossing grid lines according to an embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating a movement of a robot after crossing grid lines according to an embodiment of the present invention;

FIG. 9 is a schematic view of a robot in a wire clamping position according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of two situations of robot position deviation according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a precise coordinate system provided by an embodiment of the present invention;

FIG. 12 is a schematic diagram of a precise stopping position for threading according to an embodiment of the present invention;

FIG. 13 is a schematic view of a precise stopping position for clamping the wire according to the embodiment of the present invention;

fig. 14 is a schematic structural diagram of a two-dimensional autonomous positioning system of an indoor robot according to an embodiment of the present invention;

fig. 15 is a schematic structural diagram of a computer device according to an embodiment of the present invention.

Detailed Description

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which are given solely for the purpose of illustration and are not to be construed as limitations of the invention, including the drawings which are incorporated herein by reference and for illustration only and are not to be construed as limitations of the invention, since many variations thereof are possible without departing from the spirit and scope of the invention.

An embodiment of the present invention provides a two-dimensional autonomous positioning method for an indoor robot, which can be applied to a grid line region having a color different from a main plane, as shown in fig. 1, and the method includes:

s1, acquiring position coordinates of the robot, wherein a positioning device is installed at the bottom of the robot and is arranged in an indoor grid area with a coordinate system.

In one embodiment, grid lines different from the color of the main plane are laid on the indoor ground in advance to obtain a grid area, a two-dimensional coordinate system is established for the laid grid area to obtain a grid coordinate system, and the intersection point of the central lines of the two grid lines at the leftmost end and the bottommost end in the grid area is used as the origin of coordinates; in addition, the positioning device is arranged at the bottom of the robot, and the distance between the positioning device and the ground is preferably 1 cm; it should be noted that, for convenience of description, in this embodiment, only the movement of the positioning device in the grid area is given, and actually the robot drives the positioning device to move, and this embodiment specifies that the forward direction facing the robot can only be the positive x-axis direction, the negative x-axis direction, the positive y-axis direction, and the negative y-axis direction, and the forward direction facing the robot does not represent the moving direction of the robot.

In this embodiment, since when the positioning device crosses the grid lines, if the width of the grid lines is smaller than 10mm, the gray sensor will not detect the color change, thereby causing a false determination, the width of the grid lines should be set to be larger than 10mm, in this embodiment, the width of the grid lines is preferably set to be 20mm, and a person skilled in the art can adjust the width of the grid lines according to the specific implementation situation.

In one embodiment, the two-dimensional schematic size diagram of the positioning device shown in fig. 2 includes a square frame and gray sensor groups installed on each side of the square frame, each gray sensor group includes four parallel gray sensors with equal spacing, in fig. 2, the square frame has a size of 140 × 140mm, and in each gray sensor group, two adjacent gray sensors have a spacing of 20 mm; in the embodiment, the front direction facing the robot is set as the front direction, and the rear direction, the left direction and the right direction are sequentially set according to the front direction, and accordingly, four groups of gray scale sensors are sequentially set as a front gray scale sensor group, a rear gray scale sensor group, a left gray scale sensor group and a right gray scale sensor group.

In this embodiment, the size of the square frame should not exceed the size of each grid in the grid area; fig. 3 is a schematic front-back side view of a grayscale sensor provided in an embodiment of the present invention, where a back side of each grayscale sensor includes two lamp beads, one of the lamp beads is used to emit white light, and the other lamp bead is used to receive light, when the white light emitted by one lamp bead is irradiated on the ground, if the ground is light-colored, such as white, then a large amount of light will be reflected to the other lamp bead because the reflection coefficient of the light-colored ground is high; if the ground is dark, for example black, at the moment, because the reflection coefficient of the dark ground is low, most light can be absorbed by the dark color, only a small amount of light can be reflected to another lamp bead, the gray sensor detects whether the ground is light or dark according to the intensity of the received reflected light, different level signals are output through the signal end, and the ground color can be judged by the single chip microcomputer by detecting the level of the level signals; for convenience of explanation, the present embodiment sets the grid lines to black and the ground surface except for the grid lines in the grid area to white, and at this time, each of the grayscale sensors outputs a high level when black is detected and outputs a low level when white is detected.

Because the four gray level sensors in a certain gray level sensor group all have high and low level changes when the robot crosses the grid line, if the single chip is used to detect the level signals of the four gray level sensors in a certain direction at the same time, the level signals cannot be kept consistent in time, and more IO ports and calculation resources of the single chip are occupied, therefore, as shown in fig. 4, each group of gray level sensors further includes a logic and gate connected to the signal ends of the four gray level sensors.

Compared with the prior art in which one gray sensor is adopted for detection, the embodiment in which four groups of gray sensors are adopted not only avoids the situation that a white area is identified as black due to dirty ground, reduces the probability of erroneous judgment and improves the detection accuracy, but also can strictly ensure that the robot is parallel and perpendicular to the grid lines in the subsequent position correction process, and technicians in the field can adjust the number of each group of gray sensors according to specific implementation situations; it should be noted that, when the number of the grayscale sensors included in each grayscale sensor group is less than four, the positioning accuracy of the robot is reduced, and when the number of the grayscale sensors included in each grayscale sensor group is greater than four, not only the hardware cost is increased, but also the positioning accuracy of the robot is hardly improved.

In one embodiment, the present embodiment places the robot within the grid area and reads the position coordinates where the robot starts within the grid area.

In one embodiment, the robot is a robot that uses universal wheels for movement, such as: with the mecanum wheels as the wheels of the robot, it should be noted that the robot can move obliquely in the grid area when moving with universal wheels, but the facing direction directly in front of the robot must be kept constant when moving.

S2, detecting whether the robot sends a moving signal in real time, if the robot sends the moving signal, acquiring initial level signals in all directions of the positioning device, and controlling the robot to start moving.

In one embodiment, whether the robot sends a moving signal is detected through a central processing unit of the robot, if the robot sends the moving signal is detected, current level signals of the front gray sensor group, the rear gray sensor group, the left gray sensor group and the right gray sensor group in the positioning device are collected and used as initial level signals of the gray sensor groups in all directions of the positioning device, and meanwhile the robot is controlled to start moving.

The present embodiment is described by way of example with a robot operating in the grid simulation diagram shown in fig. 5, and the grid simulation diagram shown in fig. 5 has a total of nine grids, which are grids (1, 1), (1, 2), (1, 3), (2, 1), (2, 2), (2, 3), (3, 1), (3, 2), and (3, 3).

And S3, detecting whether the positioning device causes a trigger signal, if so, determining the direction of the trigger signal in the positioning device, judging whether the initial level signal in the direction is a high level, and if not, updating the position coordinate of the robot according to a preset rule.

In one embodiment, when the robot moves, it is detected in real time whether any gray sensor group in the positioning device generates a trigger signal, where the trigger signal is that the gray sensor group in a certain direction makes a transition from high level to low level, and if the gray sensor group in a certain direction makes a transition from high level to low level, it indicates that the direction has crossed from a black grid line to a white area, and the gray sensor group in the direction crosses a black grid line.

In this embodiment, if the trigger signal is not detected, the four groups of gray sensors in the positioning device are continuously detected to determine whether there exists a gray sensor group that causes the trigger signal; if the fact that a certain gray sensor group causes a trigger signal is detected, the direction corresponding to the gray sensor group causing the trigger signal is obtained, meanwhile, whether the initial level signal of the gray sensor group in the direction is high level or not is judged, and if the initial level signal is low level, the position coordinate of the robot is updated according to a preset rule.

In an embodiment, as shown in fig. 6, the updating the position coordinates of the robot according to the preset rule specifically includes:

negating a preset direction variable in the direction of the trigger signal in the positioning device;

judging whether the values of the direction variables in the opposite directions in the positioning device are simultaneously direction variable threshold values, and if so, clearing all the values of the direction variables in the opposite directions;

For ease of understanding, before updating the position coordinates of the robot according to the preset rule, the present embodiment first defines global variables x and y as the position coordinates of the robot, and simultaneously defines four integer variables: qian, Hou, Zuo, and You, and the four integer variables are respectively used as direction variables of the front gray sensor group, the rear gray sensor group, the left gray sensor group, and the right gray sensor group, where the default direction variables Qian, Hou, Zuo, and You are set to 0.

Since it is detected that the gray sensor group in a certain direction causes a trigger signal when the position coordinate of the robot is updated according to the preset rule, when the position coordinate of the robot starts to be updated, the embodiment first negates the variable value of the gray sensor in the direction, specifically:

if a trigger signal is generated for the front gray sensor group, the front gray sensor group crosses a black line, and at this time, an inversion operation is performed on a direction variable Qian, that is, the direction variable Qian is! Qian;

if the trigger signal is generated for the rear gray sensor group, the rear gray sensor group crosses a black line, and at this time, the inversion operation is performed on the direction variable Hou, that is, Hou! Hou;

if the trigger signal is generated for the left gray sensor group, it indicates that the left gray sensor group crosses a black line, and at this time, the direction variable Zuo is inverted, that is, Zuo ═! Zuo;

if the trigger signal is generated for the right gray sensor group, the right gray sensor group crosses a black line, and at this time, the direction variable You is inverted, that is, You! You.

Such as: in this embodiment, if a trigger signal is generated for the pre-gray sensor group and the direction variable Qian is 0 before the inversion operation is performed, the direction variable is inverted and then the Qian is 1.

Then, it is determined whether the directional variable values in the opposite direction in the positioning apparatus are simultaneously equal to a directional variable threshold, and if yes, all the directional variable values in the opposite direction are cleared, where in this embodiment, the directional variable threshold is 1, specifically:

if the direction variable Qian and the direction variable Hou are simultaneously equal to 1, resetting all the direction variables Qian and Hou, namely:

when { Qian ═ Hou ═ 1}, clearing the two directional variables to obtain { Qian ═ 0; hou ═ 0 };

if the direction variable Zuo and the direction variable You are equal to 1 at the same time, clearing all the direction variables Zuo and You, namely:

when { Zuo ═ You ═ 1}, clearing the two directional variables to obtain { Zuo ═ 0; you ═ 0 }.

It should be noted that, when the position coordinate of the robot is updated according to the preset rule, the step of determining whether the directional variable values in the relative directions in the positioning device are simultaneously the directional variable threshold value is not limited to the sequence shown in this embodiment, that is: in this embodiment, the step of determining whether the directional variable values in the opposite direction in the positioning device are simultaneously the directional variable threshold is the highest priority.

In an embodiment, the determining, according to a preset value of a rotation variable, a direction in which the robot faces, and updating the position coordinates of the robot according to the direction in which the robot faces and the direction causing the trigger signal include:

before updating the position coordinates of the robot, the embodiment further defines a rotation variable C, and the direction of the positive front facing the robot can be judged according to the value of the rotation variable C, and since the embodiment specifies that the direction of the positive front facing the robot can only be the positive x-axis direction, the negative x-axis direction, the positive y-axis direction and the negative y-axis direction, the embodiment assigns different values to the rotation variables corresponding to the positive x-axis direction, the negative x-axis direction, the positive y-axis direction and the negative y-axis direction; in the present embodiment, an example is described in which the value of the rotational variable corresponding to the robot in the x-axis positive direction is 1, the value of the rotational variable corresponding to the robot in the x-axis negative direction is 2, the value of the rotational variable corresponding to the y-axis positive direction is 3, and the value of the rotational variable corresponding to the y-axis negative direction is 4, and the present embodiment is divided into the following cases according to the detected values of the rotational variables:

when the value of the detected rotation variable is 1, the updating the position coordinates of the robot is specifically as follows:

if the front gray sensor group causes the trigger signal, judging the value of a direction variable Qian, and if the Qian is 1, x is x + 0.5; if Qian is 0, then x is x-0.5;

if the trigger signal is caused by the rear gray sensor group, judging the value of the direction variable Hou, and if Hou is 1, x is x-0.5; if Hou is 0, x is x + 0.5;

if the left gray sensor group causes the trigger signal, judging the value of the direction variable Zuo, and if Zuo is equal to 1, y is equal to y + 0.5; if Zuo is 0, then y is y-0.5;

if the right gray sensor group is used for generating the trigger signal, judging the value of the direction variable You, and if You is 1, y is y-0.5; if You is 0, y is y + 0.5.

When the value of the rotation variable is detected to be 2, the updating of the position coordinates of the robot is specifically as follows:

if the front gray sensor group causes the trigger signal, judging the value of a direction variable Qian, and if the Qian is 1, x is x-0.5; if Qian is 0, x is x + 0.5;

if the trigger signal is caused by the rear gray sensor group, judging the value of the direction variable Hou, and if Hou is 1, x is x + 0.5; if Hou is 0, x is x-0.5;

if the trigger signal is caused by the left gray sensor group, judging the value of the direction variable Zuo, and if Zuo is equal to 1, y is equal to y-0.5; if Zuo is 0, y is y + 0.5;

if the right gray sensor group is used for generating the trigger signal, judging the value of the direction variable You, and if You is 1, y is y + 0.5; if You is 0, y is y-0.5.

When the value of the detected rotation variable is 3, the updating the position coordinates of the robot is specifically as follows:

if the front gray sensor group causes the trigger signal, judging the value of a direction variable Qian, and if the Qian is 1, y is y + 0.5; if Qian is 0, then y is y-0.5;

if the trigger signal is caused by the rear gray sensor group, judging the value of the direction variable Hou, and if Hou is 1, y is y-0.5; if Hou is 0, y is y + 0.5;

if the left gray sensor group is used for generating the trigger signal, judging the value of the direction variable Zuo, and if Zuo is equal to 1, x is equal to x-0.5; if Zuo is 0, x is x + 0.5;

if the right gray sensor group is used for generating the trigger signal, judging the value of the direction variable You, and if You is 1, x is x + 0.5; if You is 0, x is x-0.5.

When the value of the detected rotation variable is 4, the updating of the position coordinates of the robot is specifically as follows: :

if the front gray sensor group causes the trigger signal, judging the value of a direction variable Qian, and if the Qian is 1, y is y-0.5; if Qian is 0, then y is y + 0.5;

if the trigger signal is caused by the rear gray sensor group, judging the value of the direction variable Hou, and if Hou is 1, y is y + 0.5; if Hou is 0, y is y-0.5;

if the left gray sensor group is used for generating the trigger signal, judging the value of the direction variable Zuo, and if Zuo is equal to 1, x is equal to x + 0.5; if Zuo is 0, then x is x-0.5;

if the right gray sensor group is used for generating the trigger signal, judging the value of the direction variable You, and if You is 1, x is x-0.5; if You is 0, x is x + 0.5.

In the simulation diagram shown in fig. 2, the present embodiment is exemplified by the operation of the simulation robot to move from the grid (1, 1) to the grid (2, 1):

in this embodiment, a robot is placed in a grid (1, 1), where the starting position of the robot is recorded as x 1 and y 1, the positive direction of the x axis is taken as the front side of the robot, and the values of the direction variables corresponding to the front grayscale sensor group, the rear grayscale sensor group, the left grayscale sensor group, and the right grayscale sensor group are as follows: qian is 0, Hou is 0, Zuo is 0, You is 0.

After detecting that the robot sends a moving signal, reading the level signal output by the grayscale sensor group in each direction, as shown in fig. 7, because the robot is located in the grid (1, 1) before moving, the level signal output by the grayscale sensor group in each direction is low level, the robot starts to move forward in the positive direction of the x axis, when moving to the position after moving as shown in fig. 7, the embodiment detects that the trigger signal is caused by the front grayscale sensor group in the positioning device, which indicates that the front grayscale sensor group crosses a black line at this time, then, negating the directional variable Qian, so that Qian is 1, and because the directional variable Qian and the directional variable Hou are not 1 at the same time, no clear operation is performed; next, in this embodiment, since it is detected that the value of the rotation variable is 1 and it is the pre-grayscale sensor group that has caused the trigger signal, the value of the direction variable Qian is determined, where Qian is 1, x is x +0.5, and x is 1.5, and at this time, the position coordinate after the robot update is (1.5, 1).

It should be noted that, in this embodiment, the arrows shown in fig. 7 to 12 only represent the right-front direction that the robot faces, and do not represent the direction in which the robot runs, for example: when the robot faces the positive x-axis direction, it moves in the positive y-axis direction.

Next, if the robot continues to move forward, as shown in fig. 8, when it is detected that the rear grayscale sensor set in the positioning device causes a trigger signal, it indicates that the rear grayscale sensor set crosses a black line, at this time, the direction variable Hou is inverted, Hou is made to be 1, and after the direction variable Hou is inverted, since the direction variable Qian and the direction variable Hou are both 1, the zero clearing operation is preferentially performed on the direction variable Qian and the direction variable Hou; meanwhile, since the value of the detected rotation variable is 1 and the rear gray sensor group is used to generate the trigger signal, the value of the direction variable Hou is determined, and in this case, Hou is 0, x is x +0.5, and x is 2, and in this case, the position coordinate after the robot update is (2, 1).

However, when the robot moves to the position with coordinates of (1.5, 1), if the robot moves backwards, the front gray sensor group in the positioning device will again generate a trigger signal, at this time, the directional variable Qian is inverted, so that Qian is 0, and since the variable Qian and the variable Hou are both 0, no clear operation is performed; then, since it is detected that the value of the rotation variable is 1 and it is the pre-gradation sensor group that has caused the trigger signal, the value of the direction variable Qian is determined, where Qian is 0, x is x-0.5, and x is 1, and where the position coordinate after the robot update is (1, 1).

In this embodiment, after the grid (1, 1) of the robot is moved to the grid (2, 1), due to the zero clearing operation with the highest priority, the direction variable Qian and the direction variable Hou are initialized to 0, which is the same as the state of the robot at the position coordinate (1, 1).

And S4, if the voltage level is high, judging whether the direction of the trigger signal caused this time is the same as that caused the trigger signal at the previous time when the positioning device runs along the coordinate axis corresponding to the direction of the trigger signal, and obtaining a direction judgment result.

In this embodiment, if it is detected that the initial level signal in the direction of causing the trigger signal is high level, a coordinate axis corresponding to the direction of causing the trigger signal this time is determined, and it is determined whether the direction of causing the trigger signal this time is the same as the direction of causing the trigger signal the previous time when the positioning apparatus is operated along the coordinate axis, and a direction determination result is obtained.

In one embodiment, the determining whether the direction of the trigger signal is the same as the previous direction of the trigger signal when the positioning apparatus runs along the coordinate axis corresponding to the direction of the trigger signal, and obtaining the direction determination result specifically includes:

The direction judgment result comprises that when the positioning device runs along a coordinate axis corresponding to the direction of the trigger signal, the direction of the trigger signal caused this time is different from that caused the previous time, and the direction of the trigger signal caused this time is the same as that caused the previous time; in the embodiment, whether the direction of the trigger signal caused by the positioning device when the positioning device operates along the coordinate axis corresponding to the direction of the trigger signal in the last time is the same as the direction of the trigger signal caused in the current time is judged in all the operation processes of the robot.

And S5, comparing the preset moving direction with the direction causing the trigger signal according to the direction judgment result to determine whether to update the position coordinate of the robot according to a preset rule.

In an embodiment, as shown in fig. 6, comparing the preset moving direction with the direction of the trigger signal caused this time according to the direction determination result to determine whether to update the position coordinate of the robot according to a preset rule, specifically includes:

when the direction of the trigger signal caused by the current time is different from the direction of the trigger signal caused by the previous time, the coordinate value of the coordinate axis corresponding to the direction of the trigger signal caused by the positioning device is an integer, at the moment, whether the preset moving direction is the same as the direction of the trigger signal caused by the positioning device is judged, and if yes, the position coordinate of the robot is updated according to a preset rule; if not, the position coordinates of the robot are not updated;

when the direction of the trigger signal caused in the current time is the same as the direction of the trigger signal caused in the previous time, the coordinate value of the coordinate axis corresponding to the direction of the trigger signal caused in the positioning device is a non-integer, at the moment, whether the preset moving direction is opposite to the direction of the trigger signal caused in the positioning device is judged, and if yes, the position coordinate of the robot is updated according to a preset rule; and if not, not updating the position coordinates of the robot.

In this embodiment, before the robot moves, a moving direction register S carried by the robot itself is assigned, and the moving direction of the robot is determined according to the value of the moving direction register S, for example: the present embodiment defines { advance S ═ 1; retreating S is 2; left shift S ═ 3; right shift S ═ 4; resetting S to be 0 after the movement is finished; it should be noted that, in the process of controlling the robot to start the movement task, the value of the movement direction register S is assigned once from the start of the movement task, and is cleared when the movement task is ended, and before the movement task is not ended, if there are other interrupt tasks with high priority, the robot changes the movement direction, for example: when the robot moves forwards or backwards through position correction, the value of the moving direction register S does not change, and the value of the moving direction register S does not change along with the change of the actual moving direction of the robot, that is, the preset moving direction is not necessarily the same as the actual moving direction of the robot.

It should be noted that, as shown in fig. 9, when the robot moves and stops in the positive x-axis direction for the first time, the front grayscale sensor group of the positioning device stops right on the black grid line and does not cause a trigger signal, i.e., the front grayscale sensor does not detect the transition from the black grid line to the white region, the direction variable Qian is still 0, at this point, if the robot moves backward back to grid (1, 1), the front gray sensor group detects that the signal is from white- > black- > white, triggers a trigger signal, in practice, the robot does not perform grid movement, and therefore, it is necessary to determine whether or not the coordinate value of the coordinate axis corresponding to the direction of the trigger signal in the positioning device is an integer to obtain a direction determination result, then, whether the position coordinate of the robot is updated according to a preset rule is further determined according to the direction judgment result; in this embodiment, the updating of the position coordinates of the robot according to the preset rule is the same as the method described above, and will not be described herein again.

In the embodiment, the motion direction of the indoor robot can be deduced reversely by judging whether the coordinate value of the coordinate axis corresponding to the direction causing the trigger signal is an integer; the embodiment realizes the autonomous positioning of the robot by utilizing the grid coordinate system, improves the positioning speed of the robot while ensuring the positioning precision of the robot, and is beneficial to improving the working efficiency of the operation work of the robot; the autonomous positioning method provided by the embodiment is simple, convenient to operate, low in cost, strong in adaptability, good in social and economic benefits, and applicable to various fields of indoor positioning.

When the robot moves, the robot may deviate due to ground friction, at this time, the correction detection needs to be performed by using the grayscale sensor group in the opposite direction, and in order to prevent the robot from deviating from the route seriously, the correction detection is performed once when the robot walks one grid.

The two-dimensional autonomous positioning method for the indoor robot provided by the embodiment further comprises the following steps:

detecting a level signal sequence of the positioning device in two opposite directions when the robot moves one grid in an indoor grid area;

judging whether the level signal sequence meets the following two conditions:

In this embodiment, the level signal sequence in a certain direction in the positioning device is: a sequence of level signals detected by each gray sensor in the direction; the standard level signal sequence comprises: { high, low }, { low, high, low }, { low, high, low }, { low, high }, { low, low }; for ease of understanding, the present embodiment exemplifies the position correction:

fig. 10 (a) is a schematic diagram of a situation in which the robot has a positional deviation, and in the left grayscale sensor group, the level signal of each grayscale sensor from left to right is: low, high, low; in the right gray sensor group, the level signal of each gray sensor from left to right is: low, high, low; if the low level is represented as 0 and the high level is represented as 1, then:

the level signal sequence of the left gray sensor group is as follows: 0010;

the level signal sequence of the right gray sensor group is as follows: 0100;

at this time, the level signal sequences of the left and right gray sensor groups belong to the standard level signal sequence, but the level signal sequences of the left and right gray sensor groups are different, and the second element in the level signal sequence of the left gray sensor group is smaller than the second element in the level signal sequence of the right gray sensor group, and the third element in the level signal sequence of the left gray sensor group is larger than the third element in the level signal sequence of the right gray sensor group, so that it can be determined that the robot is tilted clockwise, and at this time, the position of the robot is corrected counterclockwise by a preset correction angle until the above two conditions are met, in this embodiment, the correction angle is preferably set to 1^°。

The embodiment realizes the monitoring of the position change of the robot in the operation process by correcting and positioning the position in real time, effectively improves the position management of the robot in the operation process, and avoids the robot from deviating from a correct route seriously, thereby effectively improving the positioning precision and accuracy, and the robot positioned by using the method of the embodiment can be put into practical application better.

In this embodiment, if the difference between the width of a single bead in the grayscale sensor and the width of the grid line is large, when the level signal sequence in the relative direction in the positioning device satisfies the above two conditions, and the level signal sequence in the relative direction in the positioning device is not 0000, it may also happen that the advancing direction of the robot is not strictly perpendicular or parallel to the coordinate axis, for example: as shown in fig. 10(b), the robot moves forward in the x-axis positive direction, and the level signal sequences of the left grayscale sensor group and the right grayscale sensor group are both: 0100, the advancing direction of the robot is not parallel to the x axis; at this time, if the level signal sequences in the opposite directions are: 1000 or 0100, controlling the robot to retreat, and if the level signal sequences in the opposite directions are all as follows: 0010 or 0001, the robot is controlled to move forward, then, whether the level signal sequences in the two directions are the same or not is judged, if yes, and if not, the robot is continuously controlled to move forward or backward by using the method; and if the difference is not the same, correcting the position of the robot by a preset correction angle.

In one embodiment, a two-dimensional autonomous positioning method for an indoor robot further includes:

carry out accurate location to the robot through accurate coordinate system, specifically do:

based on the established accurate coordinate system, acquiring an accurate parking position of the grid area by utilizing the threading positioning and the clamping positioning in advance, and storing the accurate parking position in a central processing unit;

the accurate stopping position comprises a wire passing accurate stopping position and a wire clamping accurate stopping position.

The accurate stopping position of the grid area is obtained by utilizing the wire passing positioning and the wire clamping positioning, and the method specifically comprises the following steps:

when the robot crosses the grid line and moves to a certain position, if the level signal sequences in all directions in the positioning device are detected to be preset wire clamping level signal sequences, acquiring the position coordinate of the position, and taking the position coordinate as a wire clamping accurate stopping position; in this embodiment, the clamp level signal sequence is { low, low }, and the level signal sequence in this embodiment is: and the gray sensor group comprises a sequence of level signals output by the gray sensors from left to right.

As shown in fig. 11, in the present embodiment, an accurate coordinate system is established with 1mm as a unit length by taking an intersection point of central lines of two grid lines at the leftmost end and the bottommost end in a grid region as a coordinate origin, and a side length of a white region in each grid is set to be 180mm, which is equal to a peripheral dimension of a positioning device, so that a dimension of each grid is 200mm, as shown in fig. 2, in each gray sensor group, a distance between two adjacent gray sensors is 20mm, a width of a grid line is set to be 20mm, a width of a lamp bead in each gray sensor is 5mm, and thus a total width of two lamp beads is 10 mm; in addition, the present embodiment uses the center point of the positioning device as the position positioning point of the robot, and in fig. 11, the coordinate value of the center point of the robot on the x-axis is 175 mm.

In an embodiment, the searching and moving to the accurate parking position closest to the preset target parking position of the robot according to the preset target parking position specifically includes:

and searching the accurate stopping position which is closest to the target stopping position of the robot, and judging whether the accurate stopping position which is closest to the target stopping position of the robot is the accurate stopping position of the passing line.

If the accurate stopping position is the accurate stopping position for the wire passing, controlling the robot to move to the accurate stopping position for the wire passing according to the difference value between the starting position of the robot and the closest accurate stopping position; and then, calculating the offset between the target parking position of the robot and the closest accurate parking position, and controlling the robot to move to the target parking position according to the offset.

If the accurate stopping position is not the thread passing accurate stopping position, controlling the robot to move to the thread clamping accurate stopping position according to the difference value between the starting position of the robot and the closest accurate stopping position; then, detecting whether level signal sequences in the positioning device in the direction perpendicular to the movement direction of the robot are the same and whether the level signal sequences are preset wire clamping level signal sequences to obtain a wire clamping detection result, and performing novel adjustment on the position of the robot through position correction according to the wire clamping detection result to ensure wire clamping; and finally, calculating the offset between the target parking position of the robot and the closest accurate parking position, and controlling the robot to move to the target parking position according to the offset.

For ease of understanding, the present embodiment illustrates the accurate stopping position of the cross-line using the cross-line positioning to obtain the grid area:

in the precise coordinate system, the front side facing the robot is set to be the positive direction of an x axis, the robot moves in the positive direction of the x axis, grid lines parallel to a y axis are sequentially a first grid line and a second grid line from left to right, the robot starts to move, when the robot detects a trigger signal at the first grid line for the first time, a position positioning point x is 100mm through calculation, and position positioning points when the front gray level sensor group and the rear gray level sensor group trigger the trigger signal when the robot passes through the second grid line are sequentially calculated, wherein x is 130mm, and x is 300mm respectively; such as: when the robot moves to the position shown in fig. 12, the rear gray sensor group just triggers a trigger signal, and at this time, the coordinate of the position on the x axis is 300mm, and the position is taken as a threading accurate parking position.

In this embodiment, the accurate stop position of crossing line is the position that the robot can stably stop, and to the robot that positioning accuracy requires high, the accurate stop position of crossing line that this embodiment provided can make its accurate stop at a certain position, and the error is minimum, for example: and (5) carrying work of the logistics transfer robot.

When the robot crosses a grid line and moves to a position shown in fig. 11, level signal sequences output from left to right by four gray sensors in a left gray sensor group and a right gray sensor group in a direction perpendicular to the moving direction are all converted from { low, high } to { low, low }, at this time, the grid line is just between two adjacent gray sensors, the level signal sequences in each direction in the positioning device are all preset clip line level signal sequences, a position coordinate of the position is obtained and is used as a clip line accurate parking position, the clip line accurate parking position when the robot crosses the grid line is detected in the embodiment, and therefore, the situation that the positioning device is completely in a white area is not considered; by analogy, the accurate stopping positions of the clipping lines in the grid area are obtained, as shown in fig. 13, the accurate positions of the clipping lines when the robot passes through the second grid line are obtained in sequence in this embodiment, five accurate stopping positions of the clipping lines can be obtained, which are x 150mm, x 175mm, x 200mm, x 225mm, and x 250mm, and the specific position calculation is not described herein again.

According to the obtained accurate stopping position, when the robot runs in one running period, the stepping precision of the robot can reach 20-30 mm, and in the embodiment, the requirement of the wire passing accurate stopping position is stricter than that of the wire clamping accurate stopping position.

When the robot is in when accurate parking position, this embodiment control robot carries out minute displacement and removes, can make the robot park the optional position on the map, for example, when carrying out minute displacement, if for the robot that adopts wheel motion, then the robot can remove the distance in 15mm more accurately, and the error is no longer than 5mm, for example: when the robot adopts the wheels controlled by the stepping motor, the error is not more than 1 mm; in addition, the present embodiment can achieve the accurate moving distance by measuring the relationship curve between the time of the motor being electrified and the moving distance, and thus controlling the time of the motor being electrified.

The positioning method provided by the embodiment has low requirement on hardware, saves cost, and greatly improves indoor positioning accuracy through the precision coordinate system; in addition, the method is insensitive to scene dynamic change and light intensity, and has strong scene adaptability.

Compared with the existing indoor positioning method, the two-dimensional autonomous positioning method for the indoor robot provided by the embodiment realizes accurate positioning and coordinate updating only through four groups of gray level sensors, and is low in hardware cost; in addition, this embodiment utilizes the line location to realize the accurate berth of robot, makes its in the work that requires accurate berth such as commodity circulation transport high accuracy location, has better market value and application prospect.

It should be noted that, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation to the implementation process of the embodiment of the present application.

In one embodiment, as shown in fig. 14, there is provided an indoor robot two-dimensional autonomous positioning system, the system comprising:

the positioning system establishing module 101 is used for placing the robot with the positioning device installed at the bottom in a grid area with a coordinate system and determining the position coordinates of the robot.

The initial signal acquisition module 102 is used for detecting whether the robot sends a moving signal, and if not, continuously detecting whether the robot sends the moving signal; if so, acquiring initial level signals in all directions of the positioning device, and controlling the robot to start moving.

The first position updating module 103 is configured to detect whether the positioning device causes a trigger signal, if so, obtain a direction in which the positioning device causes the trigger signal, determine whether the initial level signal in the direction is a high level, and if so, update the position coordinate of the robot according to a preset rule.

And a second position updating module 104, configured to, when it is detected that the initial level signal in the direction of causing the trigger signal is a high level, determine whether the current direction is the same as the previous direction of causing the trigger signal when the positioning apparatus runs on the coordinate axis corresponding to the direction of causing the trigger signal, to obtain a direction determination result, and compare, according to the direction determination result, the preset moving direction with the current direction of causing the trigger signal, so as to determine whether to update the position coordinate of the robot according to a preset rule.

For specific limitations of the two-dimensional autonomous positioning system of the indoor robot, reference may be made to the above limitations of the two-dimensional autonomous positioning method of the indoor robot, and details are not repeated here. Those of ordinary skill in the art will appreciate that the various modules and steps described in connection with the embodiments disclosed herein may be implemented as hardware, software, or combinations of both. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

Compared with the existing method for positioning the robot by adopting a laser radar, infrared distance measurement and the like, the two-dimensional autonomous positioning system for the indoor robot is not influenced by light intensity, and can perform high-precision positioning even under strong light; in addition, the system provided by the embodiment has the advantages of very small computation amount and concise hardware, and can simultaneously position a plurality of robots in the same area without additionally adding equipment, so that the economic cost is greatly reduced, the positioning device in the embodiment is not influenced by distance and obstacles, and the anti-interference capability is strong.

FIG. 15 is a computer device including a memory, a processor, and a transceiver connected by a bus according to an embodiment of the present invention; the memory is used to store a set of computer program instructions and data and may transmit the stored data to the processor, which may execute the program instructions stored by the memory to perform the steps of the above-described method.

Wherein the memory may comprise volatile memory or nonvolatile memory, or may comprise both volatile and nonvolatile memory; the processor may be a central processing unit, a microprocessor, an application specific integrated circuit, a programmable logic device, or a combination thereof. By way of example, and not limitation, the programmable logic devices described above may be complex programmable logic devices, field programmable gate arrays, general array logic, or any combination thereof.

In addition, the memory may be a physically separate unit or may be integrated with the processor.

It will be appreciated by those of ordinary skill in the art that the architecture shown in fig. 15 is a block diagram of only a portion of the architecture associated with the present solution and is not intended to limit the computing devices to which the present solution may be applied, and that a particular computing device may include more or less components than those shown, or may combine certain components, or have the same arrangement of components.

In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned method.

According to the two-dimensional autonomous positioning method, the two-dimensional autonomous positioning system, the two-dimensional autonomous positioning equipment and the storage medium of the indoor robot, the two-dimensional autonomous positioning method of the indoor robot realizes autonomous positioning of the robot only through a simple positioning device, hardware cost can be greatly reduced, and the two-dimensional autonomous positioning method can be better applied to the commercial and civil fields; meanwhile, the embodiment of the invention has the advantages of small volume, no need of occupying extra space and strong anti-interference capability.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in, or transmitted from one computer-readable storage medium to another computer-readable storage medium, the computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device including one or more available media, such as a magnetic medium (e.g., floppy disks, hard disks, magnetic tapes), an optical medium (e.g., DVDs), or a semiconductor medium (e.g., SSDs), etc.

Those skilled in the art will appreciate that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and the computer program can include the processes of the embodiments of the methods described above when executed.

The above-mentioned embodiments only express some preferred embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these should be construed as the protection scope of the present application. Therefore, the protection scope of the present patent shall be subject to the protection scope of the claims.

Claims

1. A two-dimensional autonomous positioning method for an indoor robot is characterized by comprising the following steps:

2. The two-dimensional autonomous positioning method of the indoor robot of claim 1, characterized in that:

the positioning device comprises a square frame and a gray sensor group fixed on each side of the square frame, wherein each gray sensor group comprises four parallel gray sensors at equal intervals and a logic AND gate connected with signal ends of the four gray sensors;

3. The two-dimensional autonomous positioning method of indoor robots according to claim 1, wherein the step of updating the position coordinates of the robots according to the preset rules comprises:

4. The two-dimensional autonomous positioning method of an indoor robot of claim 1, wherein the step of determining whether the positioning device is running along a coordinate axis corresponding to the direction of the trigger signal, and the direction of the trigger signal is the same as the previous trigger signal, comprises:

5. The two-dimensional autonomous positioning method of indoor robots of claim 4, wherein the step of comparing the preset moving direction with the direction of the triggering signal caused at this time according to the direction determination result to determine whether to update the position coordinates of the robot according to the preset rule comprises:

6. The two-dimensional autonomous positioning method of an indoor robot of claim 1, further comprising: detecting a level signal sequence of the positioning device in two opposite directions when the robot moves one grid in an indoor grid area;

judging whether the level signal sequence meets the following two conditions:

7. The two-dimensional autonomous positioning method of an indoor robot of claim 1, further comprising performing accurate positioning of the robot by an accurate coordinate system, specifically:

8. An indoor robot two-dimensional autonomous positioning system, the system comprising:

9. A computer device, characterized by: comprising a processor coupled to a memory for storing a computer program and a memory for executing the computer program stored in the memory to cause the computer device to perform the method of any of claims 1 to 7.

10. A computer-readable storage medium characterized by: the computer-readable storage medium has stored thereon a computer program which, when executed, implements the method of any of claims 1 to 7.