CN114279461A - Mileage positioning method, unit, device, equipment and storage medium of robot - Google Patents
Mileage positioning method, unit, device, equipment and storage medium of robot Download PDFInfo
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- CN114279461A CN114279461A CN202210195111.7A CN202210195111A CN114279461A CN 114279461 A CN114279461 A CN 114279461A CN 202210195111 A CN202210195111 A CN 202210195111A CN 114279461 A CN114279461 A CN 114279461A
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Abstract
The application relates to a mileage positioning method, a mileage positioning unit, a mileage positioning device, mileage positioning equipment and a mileage positioning storage medium of a robot, wherein the method comprises the following steps: in the moving process of the robot, controlling a distance measuring device arranged on the robot to send a measuring signal according to a preset time interval; receiving a reflected signal returned by each marker in the marker unit according to the measuring signal; according to the receiving time and the receiving sequence of the reflected signals, sequentially calculating the calibration distance between each marker in the marking unit and the robot, and combining the calibration distances to obtain a calibration distance group corresponding to the marking unit; and converting the calibration distance group into a distance code value group according to a preset conversion rule, and obtaining the mileage position of the robot according to the distance code value group. The problem that mileage is missed to read due to interference of antenna radiation in the prior art can be solved.
Description
Technical Field
The present application relates to the field of intelligent positioning technologies, and in particular, to a method, a unit, an apparatus, a device, and a storage medium for mileage positioning of a robot.
Background
Currently, a common Positioning method is GPS (Global Positioning System) Positioning, but since an indoor GPS Positioning signal is weak, the Positioning method is generally only used for outdoor Positioning, and it is difficult to meet the Positioning requirements of special scenes such as underground tunnels.
In the prior art, a mode of reading an electronic tag serving as a position marking point by using an RFID (Radio Frequency Identification) is generally adopted to position a robot walking on a guide rail of an underground tunnel, however, in an implementation process, the electronic tag used for reading the RFID is often attached to the surface of a metal guide rail, and antenna radiation in the underground tunnel interferes with the reading of the RFID through the metal guide rail, so that the reading of the electronic tag fails, and the problem of missing reading of mileage occurs.
Disclosure of Invention
The application mainly aims to provide a method, a unit, a device, equipment and a storage medium for positioning mileage of a robot, and aims to solve the problem that mileage is missed to be read due to interference of antenna radiation in the prior art.
In order to achieve the above object, the present application provides a method for locating a mileage of a robot, comprising the steps of:
in the moving process of the robot, controlling a distance measuring device arranged on the robot to send a measuring signal according to a preset time interval;
receiving a reflected signal returned by each marker in a marker unit according to the measuring signal, wherein the marker unit is arranged on a traveling route of the robot, the marker unit comprises at least one marker with a preset length, and the markers are all arranged towards a traveling track of the robot;
sequentially calculating the calibration distance between each marker in the marker unit and the robot according to the receiving time and the receiving sequence of the reflected signals, and combining the calibration distances to obtain a calibration distance group corresponding to the marker unit;
and converting the calibration distance group into a distance code value group according to a preset conversion rule, and obtaining the mileage position of the robot according to the distance code value group.
As an improvement of the above solution, the obtaining the mileage position of the robot according to the distance code value group includes:
inquiring a first standard code value group corresponding to the distance code value group in a preset database;
and when a first standard code value group corresponding to the distance code value group is inquired in the database, taking the mileage position corresponding to the first standard code value group as the mileage position of the robot, and judging the traveling state of the robot as forward traveling.
As an improvement of the above, when at least two markers are included in the marking unit, the obtaining the mileage position of the robot according to the distance code value group includes:
when the first standard code value group corresponding to the distance code value group is not inquired in the database, the distance code value groups are reversely arranged to obtain a reverse code value group, and a second standard code value group corresponding to the reverse code value group is inquired in the database again;
and when a second standard code value set corresponding to the reverse code value set is inquired in the database, judging the traveling state of the robot as reverse traveling.
As an improvement of the above solution, the sequentially calculating calibration distances between each marker in the marking units and the robot according to the receiving time and the receiving sequence of the reflected signals, and combining the calibration distances to obtain a calibration distance group corresponding to the marking units includes:
sequentially calculating the calibration distance between each marker in the marking unit and the robot according to the receiving time of the reflected signal;
sequencing each calibration distance according to the receiving sequence of the reflection signals;
acquiring time intervals between receiving times corresponding to adjacent reflection signals;
when the time interval meets a preset threshold range, adding an initial distance value between calibration distances corresponding to adjacent reflection signals to obtain a new arrangement sequence;
and combining the calibration distances according to the new arrangement sequence to obtain a calibration distance group corresponding to the marking unit.
The application also provides a marking unit for mileage positioning of a robot, wherein the marking unit is arranged on a traveling route of the robot;
the marking unit comprises at least one marker with a preset length, and the markers are arranged towards the traveling track of the robot and used for returning a reflection signal according to a measurement signal sent by the robot.
As a refinement of the above, the marker is a cylinder, wherein the cross-sectional diameter of the cylinder is not less than 10 mm.
As an improvement of the above scheme, each of the marking units includes at least two of the markers, and the preset lengths corresponding to different markers are different.
The application also provides a mileage positioner of robot, includes:
the distance measuring module is used for controlling a distance measuring device arranged on the robot to send measuring signals according to a preset time interval in the moving process of the robot;
the signal receiving module is used for receiving a reflected signal returned by each marker in a marking unit according to the measuring signal, wherein the marking unit is arranged on a traveling route of the robot, the marking unit comprises at least one marker with a preset length, and the markers are all arranged towards a traveling track of the robot;
the distance calibration module is used for sequentially calculating the calibration distance between each marker in the marking units and the robot according to the receiving time and the receiving sequence of the reflected signals, and combining the calibration distances to obtain a calibration distance group corresponding to the marking units;
and the mileage positioning module is used for converting the calibration distance group into a distance code value group according to a preset conversion rule and obtaining the mileage position of the robot according to the distance code value group.
The application also provides a computer device, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the robot mileage positioning method when executing the computer program.
The present application also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of range finding for a robot as described in any of the above.
According to the mileage positioning method, the mileage positioning unit, the mileage positioning device, the mileage positioning equipment and the mileage positioning storage medium of the robot, the distance from the top end of the marker to the distance measuring device is changed by changing the length of the marker, the calibration distances corresponding to the marker are arranged through receiving time and receiving sequence, distance code value groups with different digits and sizes are obtained according to the calibration distance groups, and the robot is positioned according to the distance parameters read by the distance measuring device.
Drawings
FIG. 1 is a schematic illustration of a method for locating mileage of a robot according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a marking unit for mileage positioning of a robot according to an embodiment of the present application;
FIG. 3 is a block diagram of a mileage positioning device of a robot according to an embodiment of the present application;
fig. 4 is a block diagram schematically illustrating a structure of a computer device according to an embodiment of the present application.
In fig. 2: 1. a distance measuring device; 2. and marking the unit.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Referring to fig. 1, a schematic diagram of a method for locating a mileage of a robot according to an embodiment of the present application includes:
s1, controlling a distance measuring device arranged on the robot to send measuring signals according to a preset time interval in the moving process of the robot;
s2, receiving a reflected signal returned by each marker in a marker unit according to the measuring signal, wherein the marker unit is arranged on the traveling route of the robot, the marker unit comprises at least one marker with a preset length, and the markers are all arranged towards the traveling track of the robot;
s3, sequentially calculating the calibration distance between each marker in the marking units and the robot according to the receiving time and the receiving sequence of the reflected signals, and combining the calibration distances to obtain a calibration distance group corresponding to the marking units;
and S4, converting the calibration distance group into a distance code value group according to a preset conversion rule, and obtaining the mileage position of the robot according to the distance code value group.
For step S1, the distance measuring device may be an ultrasonic distance measuring device or a laser displacement sensor, where the laser displacement sensor generally includes a light source, an imaging array, and a receiving lens, emits laser light to the surface of the object to be measured, and then reflects the laser light to be received by the laser displacement sensor, and obtains the distance between the object to be measured and the laser displacement sensor through internal micro-processing analysis. The main parameters of the laser displacement sensor adopted in the embodiment are as follows: measuring the center distance: 200 mm; measurement range: plus or minus 80 mm; repetition precision: 200 um; response time: 1.5ms/5ms/50 ms; high-speed measurement speed: 2.8M/S. The robot is usually an inspection robot for an underground tunnel, and the inspection robot is provided with the laser displacement sensor.
For step S2, when the robot is a robot traveling on the ground, the marking unit may be disposed above the robot and the detection direction of the distance measuring device is also directed upward toward the marking unit; when the robot is a robot traveling in the air, the marking unit may be disposed below the robot, and the detection direction of the distance measuring device also points downward to the marking unit, referring to fig. 2, the marking unit includes a plurality of markers, the distances from the markers to the distance measuring device may be the same or different, and the distance from each marker to the distance measuring device is controlled within the range of the distance measuring device. Specifically, a bottom plate may be provided as the bottom of the marking unit, the distance from the bottom plate to the distance measuring device is 100mm, and at this time, 4 kinds of length markers, that is, 80mm, 60mm, 40mm, and 20mm, may be set, and it is understood that when the 4 kinds of markers are fixed on the same bottom plate, the distance measuring device may measure the distances to the markers to be 20mm, 40mm, 60mm, and 80mm, respectively, and the distance measured at the position on the bottom plate where the marker is not installed is 100 mm.
For step S3, obtaining a calibrated distance from each marker to the distance measuring device according to the time when the reflected signal is received; and since the distance measuring device sequentially transmits the measuring signals, the receiving sequence can be regarded as the arrangement sequence of the markers along the advancing direction of the robot, and exemplarily, taking the marking unit as an example, if the lengths of the markers in the marking unit are 20mm, 80mm and 40mm sequentially, the obtained calibration distance group is [80mm, 20mm and 60mm ]. For step S4, five calibration distances of 20mm, 40mm, 60mm, 80mm, and 100mm can be obtained according to the difference of the markers and whether the markers are installed or not, in this example, the calibration distance corresponding to the earliest received reflection signal in one marker unit is taken as the unit distance, the calibration distance corresponding to the second received reflection signal is taken as the ten-bit distance, the calibration distance corresponding to the third received reflection signal is taken as the hundred-bit distance, and so on; in this case, the distance code values corresponding to the five nominal distances are defined as 0, 2, 4, 6, 8 in units, 0, 1, 2, 3, 4 in tens, and 5, 6, 7, 8, 9 in hundreds. For example, if the calibration distance group is [80mm, 20mm, 60mm ], then the ones are 80mm, i.e. 6, the tens are 20mm, i.e. 0, and the hundreds are 60mm, i.e. 7, so that the corresponding distance code value group is 706, and since the marking unit is set on the travel path in advance, the position corresponding to 706, which is set in advance, can be used as the current mileage position of the robot.
In summary, the distance from the top end of the marker to the ranging device is changed by changing the length of the marker, and the calibration distances corresponding to the marker are arranged according to the receiving time and the receiving sequence, so that distance code value groups with different digits and sizes are obtained according to the calibration distance groups, and the robot is positioned according to the distance parameters read by the ranging device.
Further, the obtaining the mileage position of the robot according to the distance code value group includes:
inquiring a first standard code value group corresponding to the distance code value group in a preset database;
and when a first standard code value group corresponding to the distance code value group is inquired in the database, taking the mileage position corresponding to the first standard code value group as the mileage position of the robot, and judging the traveling state of the robot as forward traveling.
Specifically, after obtaining the distance code value group according to the calibration distance group, the distance code value group 706 may be queried in a preset database, and for example, if the first standard code value group 706 is queried in the database and the marking unit corresponding to the first standard code value group 706 is disposed at a position 500m away from the starting point, it may be known that the mileage position of the robot at the time is 500m, and since the setting and reading sequence of each marker is set according to the forward traveling direction, it may be considered that the robot travels forward when the correct code value is read.
Specifically, since the present embodiment is generally applied to an underground pipe gallery tunnel, and the mileage of the underground pipe gallery tunnel is generally within 1000m, the present embodiment takes 1000m as a standard, sets a position mark point, where the position mark point represents a specific value of a mileage position, for example, one mileage point is set every 20m, the starting point is 0, and the starting point is 20m, 40m, 60m, 80m, 100m, and 120m in sequence from bottom to the end point of 1000 m.
Further, when at least two markers are included in the marking unit, the obtaining the mileage position of the robot according to the distance code value group further includes:
when the first standard code value group corresponding to the distance code value group is not inquired in the database, the distance code value groups are reversely arranged to obtain a reverse code value group, and a second standard code value group corresponding to the reverse code value group is inquired in the database again;
and when a second standard code value group corresponding to the reverse code value group is inquired in the database, taking the mileage position corresponding to the second standard code value group as the mileage position of the robot, and judging the traveling state of the robot to be reverse traveling.
Specifically, taking the distance code value group 706 as an example, if the first standard code value group 706 cannot be queried in the database, the original distance code value group 706 is subjected to reverse order processing to obtain a reverse order code value group 607; if the second standard code value set 607 can be queried in the database at this time, and the marker unit corresponding to the second standard code value set 607 is set at a position 300m away from the starting point, it can be known that the mileage position of the robot at this time is 300m, and since the setting and reading sequence of each marker is set according to the forward direction of travel, when the code value read by the distance measuring device is opposite to that in the database, the robot can be considered to travel in the reverse direction. It should be noted that, in a specific embodiment, the code values of the symmetric relationship are not usually set in the database and the markers, for example, after setting 102, the code value of 201 is not set; meanwhile, code values which are symmetrical, such as the code values 303 and 676, are not set, so that the traveling directions can be distinguished.
Further, the sequentially calculating calibration distances between each marker in the marking unit and the robot according to the receiving time and the receiving sequence of the reflected signals, and combining the calibration distances to obtain a calibration distance group corresponding to the marking unit includes:
sequentially calculating the calibration distance between each marker in the marking unit and the robot according to the receiving time of the reflected signal;
sequencing each calibration distance according to the receiving sequence of the reflection signals;
acquiring time intervals between receiving times corresponding to adjacent reflection signals;
when the time interval meets a preset threshold range, adding an initial distance value between calibration distances corresponding to adjacent reflection signals to obtain a new arrangement sequence;
and combining the calibration distances according to the new arrangement sequence to obtain a calibration distance group corresponding to the marking unit.
Specifically, in the case of a long travel path, if too many markers are arranged in one marker unit, the problem that the marker unit is difficult to transport and install may be caused, so that the markers in one marker unit can be arranged on more than two base plates, and the two base plates are installed at a certain distance, and at this time, the position between the two base plates exceeds the range of the distance measuring device, so that a certain reading neutral position exists in the reading of the distance measuring device; therefore, in this embodiment, when there are two spaced base plates in the marking unit, the mileage value is determined through the continuous relationship between the two base plates, and if the time interval between two adjacent front and back reflection signals satisfies the preset threshold range, it is considered that the space between the base plates passes through at this time, so that an initial distance value is added between the two reflection signals, the initial distance value may be 0m, and the distance code value corresponding to the initial distance value may be represented by a symbol such as "-", "", or the like.
In summary, the distance from the top end of the marker to the ranging device is changed by changing the length of the marker, and the calibration distances corresponding to the marker are arranged according to the receiving time and the receiving sequence, so that distance code value groups with different digits and sizes are obtained according to the calibration distance groups, and the robot is positioned according to the distance parameters read by the ranging device.
Referring to fig. 2, a marking unit for mileage positioning of a robot in an embodiment of the present application is provided on a travel route of the robot;
the marking unit comprises at least one marker with a preset length, and the markers are arranged towards the traveling track of the robot and used for returning a reflection signal according to a measurement signal sent by the robot.
Specifically, the robot is usually an inspection robot for an underground tunnel, the inspection robot is provided with the laser displacement sensor, and the laser displacement sensor adopted in the embodiment has the following main parameters: measuring the center distance: 200 mm; measurement range: plus or minus 80 mm; repetition precision: 200 um; response time: 1.5ms/5ms/50 ms; high-speed measurement speed: 2.8M/S. The marking unit is generally disposed at a side of a traveling route of the robot, and when the robot travels in the air, the marking unit may be disposed below the robot, referring to fig. 2, the marking unit includes a plurality of markers, distances from the markers to the distance measuring device may be the same or different, and a distance from each marker to the distance measuring device is controlled within a range of the distance measuring device. Specifically, a bottom plate may be provided as the bottom of the marking unit, the distance from the bottom plate to the distance measuring device is 100mm, and at this time, 4 kinds of length markers, that is, 80mm, 60mm, 40mm, and 20mm, may be set, and it is understood that when the 4 kinds of markers are fixed on the same bottom plate, the distance measuring device may measure the distances to the markers to be 20mm, 40mm, 60mm, and 80mm, respectively, and the distance measured at the position on the bottom plate where the marker is not installed is 100 mm.
Further, the marker is a cylinder, wherein the cross-sectional diameter of the cylinder is not less than 10 mm.
Specifically, in order to ensure the accuracy of reading and the high-speed reading efficiency, the cross-sectional diameter of the marker is set to 10mm or more, and the interval of the divided values of the specific reading object distance is set to 20mm, so that even if there is a deviation in the reading on the distance, the distance can be corrected to a fixed value, the distance accuracy is 200um, and the interval value is far smaller than 20 mm.
Specifically, the marker used in this embodiment and the bottom plate together form a marking unit fixed on the guide rail, the laser displacement sensor is fixed on the robot, the robot travels on the guide rail in a high-speed wheel type manner, the highest speed reaches 2M/S, that is, 2mm/ms, in a specific embodiment, the residence time of the laser on the marker is 10mm/(2mm/ms) =5ms, which is greater than the response time of 1.5ms, so that the value of the mileage point read by the laser sensor can be used as the basis of positioning analysis after the robot operation processing, and the method has practicability.
Furthermore, each marking unit comprises at least two markers, and the preset lengths corresponding to different markers are different.
Specifically, different preset lengths are set for different markers in the same marking unit, so that certain length differences exist among different markers, sufficient reflection time difference values are provided for the distance measuring device, and the influence of distance measuring errors on positioning is reduced.
Specifically, the preset length may be selected from 80mm, 60mm, 40mm and 20mm, and the length of the marker is set according to the difference between 20mm and 60mm, in a specific embodiment, if the length of the travel route of the robot is 1000m, two marking units may be respectively disposed at a portion of 0-480m, 2 marking units are disposed at a portion of 500 + 980m, and the special mileage point may also be set with other objects having a distance to mark, such as a start point or an end point, and four positions, etc., which is not described in detail in this embodiment.
Referring to fig. 3, which is a block diagram illustrating a structure of a mileage positioning apparatus of a robot according to an embodiment of the present application, the apparatus includes:
the distance measuring module 100 is used for controlling a distance measuring device arranged on the robot to send a measuring signal according to a preset time interval in the moving process of the robot;
a signal receiving module 200, configured to receive a reflected signal returned by each marker in a marker unit according to the measurement signal, where the marker unit is disposed on a travel route of the robot, the marker unit includes at least one marker with a preset length, and the markers are all disposed toward a travel track of the robot;
a distance calibration module 300, configured to sequentially calculate a calibration distance between each marker in the marking units and the robot according to the receiving time and the receiving sequence of the reflected signals, and combine the calibration distances to obtain a calibration distance group corresponding to the marking units;
and the mileage positioning module 400 is configured to convert the calibration distance group into a distance code value group according to a preset conversion rule, and obtain the mileage position of the robot according to the distance code value group.
Further, the mileage positioning module 400 is further configured to:
inquiring a first standard code value group corresponding to the distance code value group in a preset database;
and when a first standard code value group corresponding to the distance code value group is inquired in the database, taking the mileage position corresponding to the first standard code value group as the mileage position of the robot, and judging the traveling state of the robot as forward traveling.
Further, the mileage positioning module 400 is further configured to:
when the first standard code value group corresponding to the distance code value group is not inquired in the database, the distance code value groups are reversely arranged to obtain a reverse code value group, and a second standard code value group corresponding to the reverse code value group is inquired in the database again;
when a second standard code value group corresponding to the reverse code value group is inquired in the database, the distance code value groups are reversely arranged to obtain the reverse code value group, and the second standard code value group corresponding to the reverse code value group is inquired in the database again;
and taking the mileage position corresponding to the second standard code value set as the mileage position of the robot, and judging the traveling state of the robot as reverse traveling.
Further, the distance calibration module 300 is further configured to:
sequentially calculating the calibration distance between each marker in the marking unit and the robot according to the receiving time of the reflected signal;
sequencing each calibration distance according to the receiving sequence of the reflection signals;
acquiring time intervals between receiving times corresponding to adjacent reflection signals;
when the time interval meets a preset threshold range, adding an initial distance value between calibration distances corresponding to adjacent reflection signals to obtain a new arrangement sequence;
and combining the calibration distances according to the new arrangement sequence to obtain a calibration distance group corresponding to the marking unit.
Referring to fig. 4, a computer device, which may be a server and whose internal structure may be as shown in fig. 4, is also provided in the embodiment of the present application. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer designed processor is used to provide computational and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing mileage positioning data and the like of the robot. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method for odometry positioning of a robot, comprising: in the moving process of the robot, controlling a distance measuring device arranged on the robot to send a measuring signal according to a preset time interval; receiving a reflected signal returned by each marker in a marker unit according to the measuring signal, wherein the marker unit is arranged on a traveling route of the robot, the marker unit comprises at least one marker with a preset length, and the markers are all arranged towards a traveling track of the robot; sequentially calculating the calibration distance between each marker in the marker unit and the robot according to the receiving time and the receiving sequence of the reflected signals, and combining the calibration distances to obtain a calibration distance group corresponding to the marker unit; and converting the calibration distance group into a distance code value group according to a preset conversion rule, and obtaining the mileage position of the robot according to the distance code value group.
Those skilled in the art will appreciate that the architecture shown in fig. 4 is only a block diagram of some of the structures associated with the present solution and is not intended to limit the scope of the present solution as applied to computer devices.
An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing a method for mileage positioning of a robot. It is to be understood that the computer-readable storage medium in the present embodiment may be a volatile-readable storage medium or a non-volatile-readable storage medium.
In summary, according to the method, the unit, the device, the apparatus and the storage medium for positioning the mileage of the robot provided in the embodiment of the present application, the distance from the top end of the marker to the distance measuring device is changed by changing the length of the marker, and the calibration distances corresponding to the marker are arranged by the receiving time and the receiving sequence, so that distance code value groups with different digits and sizes are obtained according to the calibration distance groups, and the robot is positioned according to the distance parameters read by the distance measuring device.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium provided herein and used in the examples may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double-rate SDRAM (SSRSDRAM), Enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.
The above description is only for the preferred embodiment of the present application and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.
Claims (10)
1. A method for mileage positioning of a robot, the method comprising:
in the moving process of the robot, controlling a distance measuring device arranged on the robot to send a measuring signal according to a preset time interval;
receiving a reflected signal returned by each marker in a marker unit according to the measuring signal, wherein the marker unit is arranged on a traveling route of the robot, the marker unit comprises at least one marker with a preset length, and the markers are all arranged towards a traveling track of the robot;
sequentially calculating the calibration distance between each marker in the marker unit and the robot according to the receiving time and the receiving sequence of the reflected signals, and combining the calibration distances to obtain a calibration distance group corresponding to the marker unit;
and converting the calibration distance group into a distance code value group according to a preset conversion rule, and obtaining the mileage position of the robot according to the distance code value group.
2. The method of claim 1, wherein the obtaining the range position of the robot according to the set of range code values comprises:
inquiring a first standard code value group corresponding to the distance code value group in a preset database;
and when a first standard code value group corresponding to the distance code value group is inquired in the database, taking the mileage position corresponding to the first standard code value group as the mileage position of the robot, and judging the traveling state of the robot as forward traveling.
3. The method for locating mileage of a robot according to claim 2, wherein when at least two markers are included in the marking unit, the obtaining of the mileage position of the robot from the set of distance code values further comprises:
when the first standard code value group corresponding to the distance code value group is not inquired in the database, the distance code value groups are reversely arranged to obtain a reverse code value group, and a second standard code value group corresponding to the reverse code value group is inquired in the database again;
and when a second standard code value group corresponding to the reverse code value group is inquired in the database, taking the mileage position corresponding to the second standard code value group as the mileage position of the robot, and judging the traveling state of the robot to be reverse traveling.
4. The method for locating the mileage of the robot according to claim 3, wherein the step of sequentially calculating the calibration distance between each marker in the marker unit and the robot according to the receiving time and the receiving sequence of the reflected signal, and combining the calibration distances to obtain the calibration distance group corresponding to the marker unit comprises:
sequentially calculating the calibration distance between each marker in the marking unit and the robot according to the receiving time of the reflected signal;
sequencing each calibration distance according to the receiving sequence of the reflection signals;
acquiring time intervals between receiving times corresponding to adjacent reflection signals;
when the time interval meets a preset threshold range, adding an initial distance value between calibration distances corresponding to adjacent reflection signals to obtain a new arrangement sequence;
and combining the calibration distances according to the new arrangement sequence to obtain a calibration distance group corresponding to the marking unit.
5. A marking unit for mileage positioning of a robot, wherein the marking unit is provided on a traveling route of the robot;
the marking unit comprises at least one marker with a preset length, and the markers are arranged towards the traveling track of the robot and used for returning a reflection signal according to a measurement signal sent by the robot.
6. The marking unit for mileage positioning of robot of claim 5, wherein the marker is a cylinder, wherein a cross-sectional diameter of the cylinder is not less than 10 mm.
7. The marking unit for mileage positioning of robot as claimed in claim 5, wherein each of the marking units comprises at least two of the markers, and the preset lengths corresponding to different ones of the markers are different.
8. A mileage positioning apparatus of a robot, comprising:
the distance measuring module is used for controlling a distance measuring device arranged on the robot to send measuring signals according to a preset time interval in the moving process of the robot;
the signal receiving module is used for receiving a reflected signal returned by each marker in a marking unit according to the measuring signal, wherein the marking unit is arranged on a traveling route of the robot, the marking unit comprises at least one marker with a preset length, and the markers are all arranged towards a traveling track of the robot;
the distance calibration module is used for sequentially calculating the calibration distance between each marker in the marking units and the robot according to the receiving time and the receiving sequence of the reflected signals, and combining the calibration distances to obtain a calibration distance group corresponding to the marking units;
and the mileage positioning module is used for converting the calibration distance group into a distance code value group according to a preset conversion rule and obtaining the mileage position of the robot according to the distance code value group.
9. A computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method according to any of claims 1 to 4.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.
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