CN114245307A - Positioning method and device for robot, electronic equipment and storage medium - Google Patents
Positioning method and device for robot, electronic equipment and storage medium Download PDFInfo
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- CN114245307A CN114245307A CN202111569169.5A CN202111569169A CN114245307A CN 114245307 A CN114245307 A CN 114245307A CN 202111569169 A CN202111569169 A CN 202111569169A CN 114245307 A CN114245307 A CN 114245307A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/08—Testing, supervising or monitoring using real traffic
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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Abstract
The disclosure relates to the technical field of robot positioning, and provides a positioning method and device for a robot, electronic equipment and a storage medium. The method includes detecting a network connection state of the robot; determining a target positioning method of the robot based on the network connection state; and acquiring the position information of the robot based on the target positioning method. The method for acquiring the position information based on the network connection state has the advantages that the robot acquires the position information of the robot by adopting the corresponding target positioning method under different network connection states, a positioning sensor is not required to be installed on the robot, and an acquisition way for the position information of the robot under different network connection states can be provided under the condition of low cost, so that the robot can be applied to a wide application range.
Description
Technical Field
The present disclosure relates to the field of robot positioning technologies, and in particular, to a positioning method and apparatus for a robot, an electronic device, and a storage medium.
Background
Robots used in some rooms or in certain areas are generally not provided with positioning devices, for example, positioning sensors such as GPS and beidou are not installed. In some scenarios requiring the use of the robot position information, the robot needs to be re-customized or additional equipment needs to be added to the robot to obtain the robot position information, which may increase the cost of the robot. In addition, different scenes have different requirements for the position information of the robot. Therefore, how to acquire position information from a machine to a robot to meet the requirements of different application scenarios for the robot without a positioning device is a technical problem to be solved in the field of robots at present.
Disclosure of Invention
In view of this, embodiments of the present disclosure provide a positioning method and apparatus for a robot, an electronic device, and a storage medium, so as to solve the problem in the prior art that how to obtain position information of a robot to meet requirements of different application scenarios for a robot without a positioning device.
In a first aspect of the disclosed embodiments, a positioning method for a robot is provided, including: detecting a network connection state of the robot; determining a target positioning method of the robot based on the network connection state; and acquiring the position information of the robot based on the target positioning method.
In a second aspect of the disclosed embodiments, there is provided a positioning device for a robot, including: a detection module configured to detect a network connection state of the robot; a determination module configured to determine a target positioning method of the robot based on the network connection state; a positioning module configured to acquire position information of the robot based on the target positioning method.
In a third aspect of the embodiments of the present disclosure, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above method when executing the computer program.
In a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor, implements the steps of the above-mentioned method.
Compared with the prior art, the embodiment of the disclosure has the following beneficial effects: the method comprises the steps of detecting the network connection state of the robot; determining a target positioning method of the robot based on the network connection state; based on the target positioning method, the position information of the robot is acquired, the effect that the robot acquires the position information of the robot by adopting the corresponding target positioning method under different network connection states is achieved, and the method for acquiring the position information based on the network connection state does not need to install a positioning sensor on the robot, can provide an acquisition way for the position information of the robot under different network connection states under the condition of low cost, and enables the robot to be applied to a wide application range.
Drawings
To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.
FIG. 1 is a scenario diagram of an application scenario of an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a positioning method for a robot according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram illustrating a method for mobile mileage positioning according to an embodiment of the present disclosure;
fig. 4 is a schematic flow chart of another positioning method for a robot according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a positioning device for a robot according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an electronic device provided in an embodiment of the present disclosure.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the disclosed embodiments. However, it will be apparent to one skilled in the art that the present disclosure may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.
A positioning method and apparatus for a robot according to an embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a scene schematic diagram of an application scenario of an embodiment of the present disclosure. The application scenario may include a robot 1, an AP access point 2, a location detection apparatus 3, a server 4, and a network 5.
The robot 1 may be a mobile robot applied in the scenes of hotels, factories, shopping malls, buildings, hospitals and the like. In particular, the robot 1 may comprise communication means and computing means. Wherein, the communication device is used for accessing the network, for example, the communication device may be a WiFi communication module; the computing device may be configured to compute the position information of the robot according to how the signal strength of the network is, and specifically, the robot 1 may be hardware or software. When the robot 1 is hardware, it may be various electronic devices supporting communication with the AP access point 2, including but not limited to a microcomputer, a programmable function module, or the like; when the robot 1 is software, it may be installed in the electronic apparatus as described above. The robot 1 may be implemented as a plurality of software or software modules, or may be implemented as a single software or software module, which is not limited by the embodiments of the present disclosure. Further, the robot 1 may have various applications installed thereon, such as a data processing application, an instant messaging tool, social platform software, a search-type application, a shopping-type application, and the like.
Further, the robot 1 may be a wheeled robot, which may move within the target area. In the running process of the robot, a running mileage detection device is arranged on a wheel to record the running mileage of the wheel by improving the wheel of the wheeled robot; in addition, the robot 1 itself is also provided with an angle sensor and a level sensor, and a computing device on the robot 1 can calculate data acquired by these angle sensor, level sensor and wheel mileage detection means to determine the travel displacement, direction, height, and the like of the robot 1. For example, if the coordinate system is established with a target area where the robot 1 travels, the computing device may determine the position information of the robot 1 in the target area according to the calculated travel displacement, direction, and height.
The AP access point 2 may allow the robot 1 and other electronic devices to connect with the AP access point to access the network 5 connected to the AP access point, for example, the network may be a wired network connected by a coaxial cable, a twisted pair cable and an optical fiber, or may be a wireless network that can interconnect various Communication devices without wiring, for example, Bluetooth (Bluetooth), Near Field Communication (NFC), Infrared (Infrared), and the like, which is not limited in the embodiment of the present disclosure.
The server 4 may be a server that provides various services, for example, a backend server that receives a request transmitted from a terminal device (including the robot 1 and the position detection apparatus 3 in fig. 1) with which a communication connection is established, and the backend server may receive and analyze the request transmitted from the terminal device, and generate a processing result. The server 4 may be one server, may also be a server cluster composed of a plurality of servers, or may also be a cloud computing service center, which is not limited in this disclosure.
The server 4 may be hardware or software. When the server 4 is hardware, it may be various electronic devices that provide various services to the robot 1. When the server 4 is software, it may be multiple software or software modules providing various services for the robot 1, or may be a single software or software module providing various services for the robot 1, which is not limited in the embodiment of the present disclosure.
The robot 1 may connect with the position detection apparatus 3 through the AP access point 2, or with the server 4 through the network 5 to which the AP access point is connected, to receive or transmit information or the like. When the robot 1 and the position detection device 3 are both connected to the AP access point 2, a local area network is formed, and data communication can be performed between the robot 1 and the position detection device. Specifically, the position detection device may include a radio frequency reader and a radio frequency electronic tag, the radio frequency electronic tag may be configured on the robot 1, the radio frequency reader is configured at a preset position of the target area, when the robot 1 passes through the preset position, the radio frequency reader may read tag information of the radio frequency electronic tag, and then determine the position of the robot 1 in the target area according to the tag signal; in addition, the position detection device may also include a ground sensing coil for being disposed in a preset area of the target area, and a ground sensing signal receiver connected to the computing device of the robot 1 through the AP access point or connected to the server 4 through the network 5, and when the robot 1 passes through the ground sensing coil, a corresponding signal may be generated and received by the ground sensing coil receiver, and then transmitted to the robot 1 or the server 4 to determine the position of the robot 1 in the target area.
Further, in addition to using the position detection device to obtain the position information of the robot 1, the robot 1 may also estimate the current position information of the robot 1 according to the strength of the network connection signal transmitted by the AP access points, and in practical applications, in order to improve the accuracy of the position information of the robot 1, the AP access points may be provided in plurality and respectively used for transmitting the network connection signal, so that the robot 1 calculates the position information of the robot 1 according to the strength of the network connection signal received by each AP access point.
It should be noted that the specific types, numbers and combinations of the machines 1, the AP access points 2, the position detection devices 3, the server 4 and the network 5 may be adjusted according to the actual requirements of the application scenario, and the embodiment of the present disclosure does not limit this.
Fig. 2 is a flowchart of a positioning method for a robot according to an embodiment of the present disclosure. The positioning method for a robot of fig. 2 may be performed by the robot 1 or the server 4 of fig. 1. As shown in fig. 2, the positioning method for a robot includes:
s201, detecting the network connection state of the robot;
s202, determining a target positioning method of the robot based on the network connection state;
s203, acquiring the position information of the robot based on the target positioning method.
In connection with fig. 1, the working principle of the positioning method for the robot in fig. 2 is that: the robot can determine a target positioning method of the position information of the robot according to the connection network state, so that the robot can acquire the position information by using different positioning methods in different network connection states, the robot can adapt to the positioning requirements of different scenes under the condition that a positioning sensor is not installed, and the use range of the robot is enlarged.
The embodiment of the disclosure detects the network connection state of the robot; determining a target positioning method of the robot based on the network connection state; based on the target positioning method, the position information of the robot is acquired, the effect that the robot acquires the position information of the robot by adopting the corresponding target positioning method under different network connection states is achieved, and the method for acquiring the position information based on the network connection state does not need to install a positioning sensor on the robot, can provide an acquisition way for the position information of the robot under different network connection states under the condition of low cost, and enables the robot to be applied to a wide application range.
In some embodiments, the detecting the network connection status of the robot includes: and detecting the signal intensity of the network connection of the robot, wherein the robot is connected with the network by receiving a WiFi signal transmitted by a WiFi transmitter preset in a target area.
Specifically, in connection with the application scenario of fig. 1, the WiFi generator preset in the target area may be an AP access point 2, the number of the AP access points may be one or more, that is, the target area may include one or more devices for transmitting WiFi signals, the robot 1 connects with the AP access point by receiving the WiFi signals, and at the same time, the robot 1 may detect the strength of the received WiFi signals, so as to obtain the location information of the robot 1 in the target area by using a WiFi positioning method.
In some embodiments, the target location method comprises a WiFi indoor location method.
Specifically, the WiFi indoor positioning method may include a triangulation algorithm and a fingerprint algorithm based on RSSI (Received Signal Strength Indicator, which is translated into a Strength Indicator of a Received Signal), and the like, which is not limited in this disclosure.
By way of example, taking a triangulation algorithm as an example, in conjunction with fig. 1, a plurality of AP access points 2 may be set in the target area, the AP access points 2 are known, then the distance from the robot 1 to each AP access point may be estimated by using a signal attenuation model, and circles are drawn according to the distances from the robot 1 to the surrounding AP access points, and the intersection point of the circles is the position of the robot 1 in the target area. Generally, the position information acquired by the triangulation algorithm in the case of network signals is accurate and has a small error range.
By way of example, taking a fingerprint algorithm as an example, and referring to fig. 1 as well, the robot 1 may divide a target area into grid areas in advance, establish sampling points (with an interval of 1-2 m) for the grid areas, then sample the sampling points one by one using wifi receiving equipment, record positions of the sampling points, acquired RSSI and AP addresses, perform model training after processing sampled data, move the robot 1 in the target area to acquire a current RSSI and AP address in real time, and upload the information to a server for matching (a matching algorithm may include NN, KNN, neural network, etc.), so as to obtain estimated position information.
The embodiment of the disclosure positions the position of the robot in the target area according to the network connection state of the robot receiving the WiFi signal strength, so as to acquire the position information of the robot.
In some embodiments, the method for determining the target location of the robot based on the network connection status comprises: and under the condition that the signal intensity of the robot network connection is greater than or equal to a preset signal intensity threshold value, acquiring the position information of the robot by using the WiFi indoor positioning method.
Specifically, the preset signal strength threshold may be a signal strength threshold set by the user according to empirical data, or may be a new signal strength threshold obtained by adjusting the preset signal strength threshold that has been set by the user according to the position and number of the WiFi signal generating devices in the target area, which is not limited in this disclosure.
According to the embodiment of the disclosure, the WiFi indoor positioning method is adopted as the target positioning method of the robot under the condition that the signal intensity of the network connection exceeds the threshold value, so that the robot can directly acquire the position information of the robot according to the intensity of the received WiFi signal, an additional positioning sensor is not required to be added on the robot, the cost is low, and the application range is very wide.
In some embodiments, the target location method comprises a mobile range location method.
Specifically, in a case where the network connection state is not good, for example, the strength of the WiFi signal received by the robot is weak, an error of network positioning using the WiFi signal strength may be large, and therefore, in the embodiment of the present disclosure, in addition to the WiFi indoor positioning method, a moving range positioning method may also be adopted as the target positioning method.
In some embodiments, the method for determining the target location of the robot based on the network connection status comprises: and under the condition that the signal intensity of the robot network connection is smaller than a preset signal intensity threshold value, acquiring the position information of the robot by using the mobile mileage positioning method.
Specifically, when the robot detects that the network connection state is not sufficient to meet the requirements of the WiFi indoor positioning method, the mobile mileage positioning method may be adopted as the target positioning method to obtain the position information of the robot.
In some embodiments, the obtaining the position information of the robot by using the mobile mileage positioning method includes: determining an initial position in a target area where the robot moves, and establishing a coordinate system with the initial position as an origin; recording the displacement change and the horizontal height change of the robot in the target area; and determining the position of the robot in the coordinate system based on the displacement change and the horizontal height change of the robot, and taking the position as the positioning position of the robot.
Specifically, fig. 3 is a schematic diagram illustrating the principle of the moving range positioning method provided by the embodiment of the present disclosure, and as shown in fig. 3, an origin may be set at any position of the target area, i.e., the coordinate point (0, 0, 0) in fig. 3. In this disclosure, the coordinate system established based on the preset position of the target area as the origin is a three-dimensional coordinate system, and certainly, in practical use, if the target area is a planar area, a planar coordinate system, that is, a two-dimensional coordinate system, may also be established based on a specified position of the target area as the origin, which is not limited in this disclosure. Further, referring to fig. 3, after determining the origin of the coordinate system, the center point, or the moving center point (which is not limited by the embodiment of the present disclosure) of the robot 1 is aligned with the origin of the coordinate system; after the robot starts moving from the position S1 in fig. 1 and continuously moves to the position S2, the position of the robot in the coordinate system, i.e., the position S2 in fig. 3, can be determined based on the displacement of the wheels recorded for the robot, the direction obtained by the angle sensor on the robot, and the horizontal height on the robot, and the position S2 in the coordinate system can be used as the position information of the robot. The method can calculate the position information of the robot by different networks or positioning sensors.
The embodiment of the disclosure aims at the situation that the robot is in a poor network connection state, the position information of the robot in the target area is acquired by adopting a mobile mileage positioning method, so that how to quickly acquire the position information of the robot without adding a positioning sensor when the network connection state of the robot is poor is made up, and the positioning capability of the robot is improved.
Further, in practical use, the two target positioning methods provided above, namely, the WiFi indoor positioning method and the mobile mileage positioning method, may be performed simultaneously on the robot or the server. In practical use, there is a certain error in the mobile mileage positioning method, and the error is of a type, so that the robot needs to be corrected periodically or aperiodically.
For example, in the application scenario of fig. 1, the robot may use the position detection devices connected to the same area network at the same time to correct the position information of the robot, for example, one or more ground induction coils are set up at the designated position of the target area in advance, and when the robot 1 passes through the ground induction coils, the accurate position of the robot in the map of the target area may be determined according to the designated position corresponding to the ground induction coils in advance. Specifically, assuming that the position information acquired by the robot based on the moving range positioning method is the first position information, and the position information acquired by the robot passing through the ground induction coil set at the specified position in the target area is the second position information, the first position information may be replaced with the second position information, so as to correct the position information acquired by the positioning of the robot. The example mode provided by the disclosure does not need to improve the positioning equipment of the robot, but corrects the position information of the robot through improving the external environment, so that the position information of the robot is more accurate.
In some embodiments, see fig. 4, which is a flowchart of another positioning method for a robot according to an embodiment of the present disclosure. As shown in fig. 4, the positioning method for a robot includes:
s401, detecting the network signal strength received by the robot, wherein the network signal strength comprises WiFi signal strength;
s402, determining to use a WiFi indoor positioning method to obtain the position information of the robot under the condition that the network signal strength received by the robot is greater than or equal to a preset signal strength threshold value;
and S403, determining to acquire the position information of the robot by using a mileage positioning method under the condition that the network signal strength of the robot network connection is smaller than a preset signal strength threshold value.
The embodiment of the disclosure realizes the effect that the robot acquires the position information of the robot by adopting the corresponding target positioning method under different network connection states by detecting the network signal strength received by the robot, wherein the network signal strength comprises WiFi signal strength, determining to acquire the position information of the robot by using a WiFi indoor positioning method under the condition that the network signal strength received by the robot is greater than or equal to a preset signal strength threshold value, and determining to acquire the position information of the robot by using a mileage positioning method under the condition that the network signal strength connected with the robot is less than the preset signal strength threshold value, and the method for acquiring the position information based on the network connection state can provide an acquisition way for the position information of the robot under different network connection states without installing a positioning sensor on the robot, so that the robot can be applied to a wide range of applications.
All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present application, and are not described herein again.
The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.
Fig. 5 is a schematic view of a positioning device for a robot according to an embodiment of the present disclosure. As shown in fig. 5, the positioning device for a robot includes:
a detection module 501 configured to detect a network connection status of the robot;
a determining module 502 configured to determine a target positioning method of the robot based on the network connection state;
a positioning module 503 configured to acquire position information of the robot based on the target positioning method.
The embodiment of the disclosure detects the network connection state of the robot; determining a target positioning method of the robot based on the network connection state; based on the target positioning method, the position information of the robot is acquired, the effect that the robot acquires the position information of the robot by adopting the corresponding target positioning method under different network connection states is achieved, and the method for acquiring the position information based on the network connection state does not need to install a positioning sensor on the robot, can provide an acquisition way for the position information of the robot under different network connection states under the condition of low cost, and enables the robot to be applied to a wide application range.
In some embodiments, the detection module 501 in fig. 5 detects the signal strength of the network connection of the robot, which connects to the network by receiving the WiFi signal transmitted by the WiFi transmitter preset in the target area.
In some embodiments, the target location method comprises a WiFi indoor location method.
In some embodiments, the determining module 502 in fig. 5 determines to acquire the location information of the robot using the WiFi indoor positioning method in case the signal strength of the robot network connection is greater than or equal to a preset signal strength threshold.
In some embodiments, the target location method comprises a mobile range location method.
In some embodiments, the determining module 502 in fig. 5 determines to acquire the position information of the robot using the mileage positioning method in case the signal strength of the robot network connection is less than a preset signal strength threshold.
In some embodiments, the positioning module 503 in fig. 5 determines an initial position in the target area where the robot moves, and establishes a coordinate system with the initial position as an origin; recording the displacement change and the horizontal height change of the robot in the target area; and determining the position of the robot in the coordinate system based on the displacement change and the horizontal height change of the robot, and taking the position as the positioning position of the robot.
In some embodiments, the detecting module 501 in fig. 5 is configured to detect network signal strength received by the robot, where the network signal strength includes WiFi signal strength; the determining module 502 in fig. 5 is configured to determine to acquire the position information of the robot by using a WiFi indoor positioning method, in a case that the network signal strength received by the robot is greater than or equal to a preset signal strength threshold; the positioning module 503 in fig. 5 is configured to determine to acquire the position information of the robot by using a mileage positioning method if the network signal strength of the robot network connection is less than a preset signal strength threshold.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.
Fig. 6 is a schematic diagram of an electronic device 6 provided by an embodiment of the present disclosure. The electronic device in fig. 6 may be the robot 1 or the server 4 in fig. 1. As shown in fig. 6, the electronic apparatus 6 of this embodiment includes: a processor 601, a memory 602, and a computer program 603 stored in the memory 602 and operable on the processor 601. The steps in the various method embodiments described above are implemented when the computer program 603 is executed by the processor 601. Alternatively, the processor 601 realizes the functions of each module/unit in the above-described apparatus embodiments when executing the computer program 603. Of course, if the electronic device in fig. 6 is the robot or the server in fig. 1, other components may be included. For example, if the electronic device is the robot 1, in the embodiment of the present disclosure, the electronic device 6 may further include a WiFi communication module, a pose sensor, a level sensor, a displacement sensor, and the like.
Illustratively, the computer program 603 may be partitioned into one or more modules/units, which are stored in the memory 602 and executed by the processor 601 to accomplish the present disclosure. One or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 603 in the electronic device 6.
The electronic device 6 may be a desktop computer, a notebook, a palm computer, a cloud server, or other electronic devices. The electronic device 6 may include, but is not limited to, a processor 601 and a memory 602. Those skilled in the art will appreciate that fig. 6 is merely an example of an electronic device 6, and does not constitute a limitation of the electronic device 6, and may include more or fewer components than shown, or combine certain components, or different components, e.g., the electronic device may also include input-output devices, network access devices, buses, etc.
The Processor 601 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 602 may be an internal storage unit of the electronic device 6, for example, a hard disk or a memory of the electronic device 6. The memory 602 may also be an external storage device of the electronic device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the electronic device 6. Further, the memory 602 may also include both internal storage units of the electronic device 6 and external storage devices. The memory 602 is used for storing computer programs and other programs and data required by the electronic device. The memory 602 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. 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 disclosure.
In the embodiments provided in the present disclosure, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other ways. For example, the above-described apparatus/electronic device embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, and multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
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 units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the present disclosure may implement all or part of the flow of the method in the above embodiments, and may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the above methods and embodiments. The computer program may comprise computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain suitable additions or additions that may be required in accordance with legislative and patent practices within the jurisdiction, for example, in some jurisdictions, computer readable media may not include electrical carrier signals or telecommunications signals in accordance with legislative and patent practices.
The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present disclosure, and are intended to be included within the scope of the present disclosure.
Claims (10)
1. A positioning method for a robot, comprising:
detecting a network connection state of the robot;
determining a target positioning method of the robot based on the network connection state;
and acquiring the position information of the robot based on the target positioning method.
2. The method of claim 1, wherein the detecting the network connection status of the robot comprises: and detecting the signal intensity of the network connection of the robot, wherein the robot is connected with the network by receiving a WiFi signal transmitted by a WiFi transmitter preset in a target area.
3. The method of claim 2, wherein the target location method comprises a WiFi indoor location method.
4. The method of claim 3, wherein determining the target location of the robot based on the network connection status comprises: and under the condition that the signal intensity of the robot network connection is greater than or equal to a preset signal intensity threshold value, acquiring the position information of the robot by using the WiFi indoor positioning method.
5. The method of claim 2, wherein the target location method comprises a mobile mileage location method.
6. The method of claim 5, wherein determining the target location of the robot based on the network connection status comprises: and under the condition that the signal intensity of the robot network connection is smaller than a preset signal intensity threshold value, acquiring the position information of the robot by using the mileage positioning method.
7. The method of claim 6, wherein the obtaining the positional information of the robot using the odometry positioning method comprises:
determining an initial position in a target area where the robot moves, and establishing a coordinate system with the initial position as an origin;
recording the displacement change and the horizontal height change of the robot in the target area;
and determining the position of the robot in the coordinate system based on the displacement change and the horizontal height change of the robot, and taking the position as the positioning position of the robot.
8. A positioning device for a robot, comprising:
a detection module configured to detect a network connection state of the robot;
a determination module configured to determine a target location method of the robot based on the network connection status;
a positioning module configured to acquire position information of the robot based on the target positioning method.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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