CN116908860A

CN116908860A - Robot positioning updating method and device, electronic equipment and readable storage medium

Info

Publication number: CN116908860A
Application number: CN202310897849.2A
Authority: CN
Inventors: 黄子少
Original assignee: Shenzhen Jizhi Intelligent Technology Co ltd
Current assignee: Shenzhen Jizhi Intelligent Technology Co ltd
Priority date: 2023-07-20
Filing date: 2023-07-20
Publication date: 2023-10-20

Abstract

The application discloses a robot positioning updating method, a device, electronic equipment and a readable storage medium, which are applied to a target robot carrying a laser sensor, wherein the robot positioning updating method comprises the following steps: acquiring a current positioning point position of a corresponding laser positioning point under a global coordinate system from a current position, wherein the current positioning point position is obtained by conversion according to a position conversion relation between the laser sensor and the target robot; determining whether positioning updating is needed according to the current positioning point position; and if the positioning updating is required, updating the global position of the robot of the target robot by updating the global position information of the positioning points in the laser positioning point set. The application solves the technical problem of low positioning precision of the robot.

Description

Robot positioning updating method and device, electronic equipment and readable storage medium

Technical Field

The present application relates to the field of robot positioning technologies, and in particular, to a method and apparatus for updating robot positioning, an electronic device, and a readable storage medium.

Background

With the continuous development of the robot positioning technology, more and more robots have an autonomous positioning function so as to perform task execution, wherein the reflector positioning technology with high positioning precision is widely applied.

The reflector positioning technology firstly deploys reflectors in a task execution space of a robot according to a certain rule, then the robot scans the surrounding environment through a laser sensor carried in the moving process, and after at least three reflectors are scanned, the position of the robot is determined through a triangular positioning method, however, as the actual position deviation of the robot possibly caused by wheel slipping or accumulated errors and the like in the task execution process, the position deviation between the position of the robot calculated by the reflector position calibrated under a global coordinate system and the actual position of the robot exists, so that the situation of task execution failure easily occurs, and the positioning precision of the current robot is low.

Disclosure of Invention

The application mainly aims to provide a robot positioning updating method, a device, electronic equipment and a readable storage medium, and aims to solve the technical problem of low positioning accuracy of robots in the prior art.

In order to achieve the above object, the present application provides a robot positioning update method applied to a target robot carrying a laser sensor, the robot positioning update method comprising:

acquiring a current positioning point position of a corresponding laser positioning point under a global coordinate system from a current position, wherein the current positioning point position is obtained by conversion according to a position conversion relation between the laser sensor and the target robot;

determining whether positioning updating is needed according to the current positioning point position;

and if the positioning updating is required, updating the global position of the robot of the target robot by updating the global position information of the positioning points in the laser positioning point set.

Optionally, the step of determining whether the positioning update is required according to the current positioning point position includes:

detecting whether the position deviation between the current positioning point position and the historical positioning point position of the laser positioning point under the global coordinate system is larger than a preset position deviation threshold value or not;

if the position is larger than the preset value, determining that the positioning updating is required;

if the position is less than or equal to the preset position, determining that the position is not required to be updated.

Optionally, the positioning point includes a first positioning point, a second positioning point and a third positioning point, and the step of determining whether the positioning update is required according to the current positioning point position includes:

calculating the current positioning point area under the global coordinate system, which is formed by the first positioning point, the second positioning point and the third positioning point together, according to the current positioning point position;

and determining whether positioning updating is needed or not according to the current positioning point area and the historical positioning point area, wherein the historical positioning point area is obtained by jointly calculating the position information of the first positioning point, the second positioning point and the third positioning point in a historical time step under a global coordinate system.

Optionally, the step of updating the global position of the target robot by updating the global position information of the positioning points in the laser positioning point set includes:

selecting abnormal positioning point constraints in a current positioning point constraint set formed by any two positioning points of the laser positioning point set, wherein the current positioning point constraint set comprises at least one current positioning point constraint, and the current positioning point constraint is obtained by constraining constraint points in a current time step by a reference point;

Clustering and fusing at least one historical locating point constraint corresponding to the abnormal locating point constraint to obtain a locating point clustering constraint, wherein the historical locating point constraint is obtained by constraining the constraint points by the datum point in a historical time step;

updating the positioning point global position information in the laser positioning point set according to the positioning point clustering constraint;

and after the global position information of the positioning points in the laser positioning point set is updated, carrying out positioning updating on the global position of the robot of the target robot.

Optionally, the step of selecting the abnormal positioning point constraint in the current positioning point constraint set formed by any two positioning points of the laser positioning point set includes:

for any one current anchor point constraint in the current anchor point constraint set, determining anchor point constraint variation between the current anchor point constraint and the anchor point constraint formed in the last time step;

and selecting abnormal positioning point constraints from the current positioning point constraint set according to the magnitude relation between the positioning point constraint variable quantity and a first preset constraint variable quantity threshold value.

Optionally, before the step of selecting the abnormal anchor point constraint from the current anchor point constraint set according to the magnitude relation between the anchor point constraint variable quantity and the first preset constraint variable quantity threshold, the robot positioning updating method further includes:

For any positioning point constraint variable quantity, if the positioning point constraint variable quantity is detected to be smaller than or equal to a second preset constraint variable quantity threshold value, taking the current positioning point constraint corresponding to the positioning point constraint variable quantity as a positioning point constraint to be selected, wherein the second preset constraint variable quantity threshold value is larger than the first preset constraint variable quantity threshold value;

and constructing the current positioning point constraint set according to the constraint of each positioning point to be selected.

Optionally, the step of performing positioning update on the global robot position of the target robot includes:

selecting a fourth positioning point, a fifth positioning point and a sixth positioning point which are closest to the target robot in the laser positioning point set, wherein the fourth positioning point, the fifth positioning point and the sixth positioning point are not positioned on the same straight line;

calculating the global position information of the robot of the target robot according to the global position information of the positioning points of the fourth positioning point, the fifth positioning point and the sixth positioning point;

and according to the global position information of the robot, carrying out positioning update on the global position of the robot.

In order to achieve the above object, the present application provides a robot positioning update apparatus applied to a target robot equipped with a laser sensor, the robot positioning update apparatus including:

The acquisition module is used for acquiring the current positioning point position of the corresponding laser positioning point under the global coordinate system at the current position, wherein the current positioning point position is obtained by conversion according to the position conversion relation between the laser sensor and the target robot;

the determining module is used for determining whether positioning updating is needed according to the current positioning point position;

and the positioning updating module is used for updating the global position of the robot of the target robot by updating the global position information of the positioning points in the laser positioning point set if the positioning updating module determines that the positioning updating is required.

Optionally, the determining module is further configured to:

Optionally, the positioning points include a first positioning point, a second positioning point, and a third positioning point, and the determining module is further configured to:

Optionally, the location updating module is further configured to:

Optionally, the robot positioning update module is further configured to:

Optionally, the robot positioning updating device is further configured to:

The application also provides an electronic device comprising: the robot positioning updating method comprises a memory, a processor and a program of the robot positioning updating method, wherein the program of the robot positioning updating method is stored in the memory and can run on the processor, and the steps of the robot positioning updating method can be realized when the program of the robot positioning updating method is executed by the processor.

The present application also provides a computer readable storage medium having stored thereon a program for implementing a robot positioning update method, which when executed by a processor implements the steps of the robot positioning update method as described above.

The application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of a robot positioning updating method as described above.

The application provides a robot positioning updating method, a device, electronic equipment and a readable storage medium, namely, a current positioning point position of a corresponding laser positioning point under a global coordinate system is obtained at a current position, wherein the current positioning point position is obtained by conversion according to a position conversion relation between a laser sensor and a target robot; determining whether positioning updating is needed according to the current positioning point position; and if the positioning updating is required, updating the global position of the robot of the target robot by updating the global position information of the positioning points in the laser positioning point set. The target robot can determine the current positioning point position of the laser positioning point in the global coordinate system in real time at the current position, the current positioning point position is obtained by converting the position conversion relation between the laser sensor and the target robot, namely, the real-time positioning point position of the laser positioning point in the global coordinate system is obtained by converting the position conversion relation and the distance between the target robot and the laser positioning point, and then the target robot can determine the position of the target robot in real time according to the current positioning point position of the laser positioning point in the moving process so as to determine whether positioning update is needed or not, and finally, the robot position of the target robot in the global coordinate system is subjected to positioning update by updating the positioning point global position information concentrated by the laser positioning point when the positioning update is needed, namely, the purpose of automatically carrying out the real-time positioning update on the position in the global coordinate system by the positioning point global position information when the positioning update is needed according to the real-time position condition of the laser positioning point is achieved. Instead of the positioning updating process of the robot, the positioning updating process can only be performed depending on the laser positioning point position calibrated in advance. Therefore, the technical defect that the position of the robot is calculated from the position of the reflecting plate calibrated under the global coordinate system and the actual position of the robot are caused to have the position deviation due to the fact that the actual position deviation possibly occurs to the robot due to wheel slipping or accumulated errors and the like in the task execution process is overcome, and further the situation that the task execution failure is easy to occur is overcome, and therefore the positioning precision of the robot is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.

Fig. 1 is a flowchart of a robot positioning updating method according to an embodiment of the present application;

fig. 2 is a schematic diagram of global coordinates of an updated laser positioning point in a robot positioning update method according to an embodiment of the present application;

fig. 3 is a flow chart of a robot positioning updating method according to a second embodiment of the present application;

fig. 4 is a schematic structural diagram of a robot positioning updating device according to a third embodiment of the present application;

fig. 5 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present application.

The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

In order to make the above objects, features and advantages of the present application more comprehensible, the following description of the embodiments accompanied with the accompanying drawings will be given in detail. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In the first embodiment of the present application, it should be understood that, first, the preparation of the front positioning procedure in the current robot positioning technology is usually complicated, taking the positioning of the reflector as an example, in the process of performing the positioning of the robot, a theoretical reflector list is first established, a measured reflector list is generated according to the detected reflectors, and then the measured reflector list library and the theoretical reflector list library are matched one by one, so as to finally obtain the position information of the effective reflector list for calculating the position information of the robot, so as to implement the positioning of the robot.

In a first embodiment of the present application, referring to fig. 1, a robot positioning update method is provided, which is applied to a target robot carrying a laser sensor, and includes:

step S10, acquiring the current positioning point position of a corresponding laser positioning point under a global coordinate system at the current position, wherein the current positioning point position is obtained by conversion according to the position conversion relation between the laser sensor and the target robot;

step S20, determining whether positioning updating is needed according to the current positioning point position;

and step S30, if the need of positioning update is determined, performing positioning update on the global position of the robot of the target robot by updating the positioning point global position information in the laser positioning point set.

In this embodiment, it should be noted that, the robot positioning update method is applied to a target robot carrying a laser sensor, where the target robot may be an AGV (Automated Guided Vehic, an automatic guided vehicle) or an AMR (Autonomous Mobile Robot, an autonomous mobile robot), etc., and when the target robot performs a task in a working space, the target robot will emit a pulse laser beam to a surrounding environment through the carried laser sensor, so as to position the target robot by reflected laser, where a laser positioning point is used to characterize a laser receiving point that receives the pulse laser beam emitted by the laser sensor, where a laser receiver may be disposed at the laser receiving point, the laser receiver may be a two-dimensional code or a reflector, etc., a current positioning point is used to characterize a current position of the laser positioning point, where the current positioning point is converted according to a positional conversion relation between the laser sensor and the target robot, for example, and in an embodiment, if the laser receiver is a reflector, then the reflector is labeled when the target robot detects a reflected pulse laser beam in a preset emission range in a navigation process, and a global coordinate conversion is performed on the reflector according to a coordinate conversion between the laser sensor and the target robot, where the global coordinate conversion is not performed in the present application.

In addition, it should be noted that, the target robot may record the position information of the laser positioning points at different time steps, the number of the laser positioning points may be one or more, in a different task execution scenario, the positions of all the laser receivers that receive and reflect the pulse laser beams may be used as the laser positioning points, or a specific number of laser positioning points may be selected from a plurality of positions, where the specific manner of selection may be a manner of selecting the positions by receiving the time sequence of the pulse laser beams reflected by each reflector, after determining the current positioning point position of the laser positioning points, it may be determined whether the target robot needs to perform positioning update based on the current positioning point position, for example, in an implementable manner, it is assumed that 4 laser positioning points are shared, and if the current positioning point positions of the 4 laser positioning points are different from the positioning point positions of the previous time step, it is determined that positioning update needs to be performed, and if the current positioning point positions of the 4 laser positioning points are the same as the positioning point positions of the previous time step, it is determined that the current positioning point positions of the current target robot do not need to perform positioning update, where the current positioning offset of the positioning points does not need to occur.

In addition, it should be noted that the set of laser positioning points is a set of all laser positioning points in the target robot working space, where the number of all laser positioning points is specifically determined by the requirement of the target robot to perform a task, the positioning point global position information is used to characterize the position information of the positioning point in the global coordinate system, specifically may be the coordinates of the positioning point in the global coordinate system, the robot global position information is used to characterize the position information of the target robot in the global coordinate system, specifically may be the coordinates of the target robot in the global coordinate system, where the origin and coordinate axes of the global coordinate system are set before the target robot performs the robot positioning update method, that is, when the target robot needs to perform positioning update, the coordinates of all laser positioning points in the laser positioning point set under the global coordinate system are updated, after the updating is completed, the global position of the robot of the target robot under the global coordinate system is updated based on the updated global coordinates of the positioning points, for example, in one implementation mode, assuming that the robot position of the target robot under the current position is (x 1, y 1), and the laser positioning points share A, B and C, the global position information of the three laser positioning points is (x 2, y 2), (x 3, y 3) and (x 4, y 4), the (x 2, y 2), (x 3, y 3) and (x 4, y 4) are correspondingly updated to (x 5, y 5), (x 6, y 6) and (x 7, y 7), and new coordinates (x 8) are obtained through the triangular positioning of (x 5, y 5), (x 6, y 6) and (x 7, y 7), y 8) and replacing the global robot position by (x 1, y 1) with (x 8, y 8), thereby realizing the update of the positioning of the target robot.

As an example, steps S10 to S30 include: determining a laser positioning point of the target robot in a preset working space through the laser sensor at the current position, and converting to obtain the current positioning point position of the laser positioning point in a global coordinate system based on the current relative distance and the current relative angle between the laser positioning point and the target robot in the global coordinate system; determining whether positioning updating is needed by detecting whether the current positioning point position is the same as the positioning point position of the laser positioning point at the last time step; if the need of positioning update is determined, updating the positioning point global coordinates in the laser positioning point set according to the current relative distance and the current relative angle, and performing positioning update on the robot global position of the target robot according to the updated positioning point global coordinates. According to the embodiment of the application, whether the positioning update is needed is autonomously determined through the position change condition of the laser positioning points under the global coordinate system, and if the positioning update is needed, the global coordinates of the target robot under the global coordinate system are updated through updating the global coordinates of all the laser positioning points under the global coordinate system, so that the purpose of autonomously positioning and correcting the position of the target robot according to the position change condition of the laser positioning points under the global coordinate system can be realized, and the positioning precision of the robot is improved.

In one implementation, assuming that the current positioning point position and the positioning point position of the laser positioning point at the last time step are the same, no positioning update is performed, and the target robot is controlled to continue to execute the current task.

Wherein, the step of determining whether the positioning update is required according to the current positioning point position includes:

step A10, detecting whether the position deviation between the current positioning point position and the historical positioning point position of the laser positioning point under the global coordinate system is larger than a preset position deviation threshold value or not;

step A20, if the position is larger than the preset value, determining that the position is required to be updated;

and step A30, if the position is smaller than or equal to the position, determining that the position is not required to be updated.

In this embodiment, it should be noted that, if there are multiple laser positioning points in the target robot, by comparing the position change conditions of the laser positioning points one by one, it is further determined whether to perform positioning update, which will cause a great amount of time to be consumed for determining whether to perform positioning update in the working scene where there are multiple laser positioning points, meanwhile, since the laser positioning points are fixedly deployed in the working scene, the coordinates of the laser positioning points in the global coordinate system tend to be stable, and the target robot inevitably generates a certain error due to hardware consumption and external environment in the moving process, and such error does not actually affect the normal execution of the task by the target robot, so whether to perform positioning update can be measured by the position change amounts of the laser positioning points in different time steps, where, since the target robot can record the global position of the laser positioning points in the global coordinate system in real time, and then can make the stored historical positioning point position and the current positioning point position, thereby determining whether to perform positioning update of the target robot quickly.

As an example, step a10 step a30 includes: the current positioning point position and the historical positioning point position of the laser positioning point under the global coordinate system are subjected to difference to obtain the position deviation of the laser positioning point between the current time step and the historical time step, and whether the position deviation is larger than a preset position deviation threshold value or not is detected; if the position deviation is detected to be larger than the preset position deviation threshold value, determining that positioning updating is needed; and if the position deviation is detected to be smaller than or equal to the preset position deviation threshold value, determining that the positioning updating is not needed.

The positioning point comprises a first positioning point, a second positioning point and a third positioning point, and the step of determining whether positioning update is needed according to the current positioning point position comprises the following steps:

step B10, calculating the current positioning point area under the global coordinate system, which is formed by the first positioning point, the second positioning point and the third positioning point together, according to the current positioning point position;

and step B20, determining whether positioning updating is needed or not according to the current positioning point area and the historical positioning point area, wherein the historical positioning point area is calculated by the position information of the first positioning point, the second positioning point and the third positioning point in a historical time step under a global coordinate system.

In this embodiment, it should be noted that, since the same laser positioning point makes the judgment reference for positioning update of the target robot single, and thus affects the positioning accuracy to a certain extent, when the laser positioning points are multiple, three positioning points may be selected to perform triangle area calculation, and the determination efficiency and the determination accuracy are considered through the area, for example, in one implementation manner, if the laser receiver corresponding to the laser positioning point is a reflector, three reflectors may be set, the side length formed by any two reflectors is calculated by using a halen formula through the position coordinates of the reflectors in different time steps under the global coordinate system, and then the positioning point area is calculated by the side lengths of the three, where the current positioning point area is calculated by the position coordinates of the first positioning point, the second positioning point and the third positioning point under the current time step, and the history positioning point area is calculated by the position information of the first positioning point, the second history positioning point and the third positioning point under the global coordinate system at the current time step, where when the three side lengths a, b and c are calculated, the area is calculated based on the following formulas:

As an example, steps B10 to B20 include: calculating the current positioning point area under the global coordinate system, which is formed by the first positioning point, the second positioning point and the third positioning point together, according to the current positioning point coordinates; and obtaining a locating point area deviation value which is formed by the first locating point, the second locating point and the third locating point together and is under different time steps for the worst current locating point area and the worst historical locating point area, determining that locating updating is needed if the locating point area deviation value is larger than a preset area deviation threshold value, and determining that locating updating is not needed if the locating point area deviation value is smaller than or equal to the preset area deviation threshold value.

The step of updating the global position of the target robot by updating the global position information of the positioning points in the laser positioning point set comprises the following steps:

step C10, selecting abnormal positioning point constraints in a current positioning point constraint set formed by any two positioning points of the laser positioning point set, wherein the current positioning point constraint set comprises at least one current positioning point constraint, and the current positioning point constraint is obtained by constraining constraint points in a current time step by a reference point;

Step C20, performing cluster fusion on at least one historical anchor point constraint corresponding to the abnormal anchor point constraint to obtain an anchor point cluster constraint, wherein the historical anchor point constraint is obtained by constraining the constraint points by the datum point in a historical time step;

step C30, updating the positioning point global position information in the laser positioning point set according to the positioning point clustering constraint;

and step C40, after the overall position information of the positioning points in the laser positioning point set is updated, the overall position of the robot of the target robot is updated in a positioning way.

In this embodiment, it should be noted that, the current positioning point constraint set includes at least one current positioning point constraint, where the current positioning point constraint is obtained by constraining a constraint point by a reference point in a current time step, and specifically includes a positioning point relative distance and a positioning point relative angle, for example, in an implementation manner, assuming that laser positioning points are D and E, the distance and angle of D relative to E may be referred to as a positioning point constraint, where D is a reference point, and E is a constraint point, when positioning update is required, since the positioning point constraint of each laser positioning point in different time steps is in dynamic change, and further cluster optimization processing needs to be performed on the positioning point constraint to obtain a new constraint, so as to ensure update accuracy of global positioning point position information.

Additionally, it should be noted that, the abnormal positioning point constraint is used for characterizing the positioning point constraint of the change abnormality in the moving process of the target robot, and is specifically defined by a preset positioning point constraint threshold, for example, in an implementation manner, it is assumed that three reflectors, namely F, G and H, are included, the reflectors detected by the laser sensor after F and G, the relative distance and the relative angle constraint of H with respect to F need to be recorded respectively, the relative distance and the relative angle constraint of H with respect to G need to be recorded respectively, a current positioning point constraint set is formed, the abnormal positioning point constraint is selected in the moving process of the target robot, the relative constraint between the laser positioning points corresponding to the abnormal positioning point constraint is updated through cluster fusion, so that the position coordinates of H and F in the global coordinate system are updated according to the position coordinates of the positioning point and the updated relative constraint, and H, F and G are updated in sequence, so that the global position coordinates of the positioning point concentrated by the laser positioning point are updated, and finally the global position coordinates of the robot are updated based on the updated positioning point global position coordinates.

As an example, steps C10 to C40 include: selecting abnormal positioning point constraints in a current positioning point constraint set formed by any two positioning points of the laser positioning point set; clustering and fusing at least one historical anchor point constraint corresponding to the abnormal anchor point constraint to obtain an anchor point clustering constraint; according to the locating point clustering constraint, sequentially updating global coordinates of the laser locating points in the laser locating point set; and after the global coordinates of the laser positioning points in the laser positioning point set are updated, carrying out positioning updating on the robot global coordinates of the target robot.

In one embodiment, referring to fig. 2, fig. 2 is a schematic diagram showing updating of global coordinates of a laser positioning point, after the constraint relation of the laser positioning point set with the laser positioning point is obtained by updating, the global coordinates of the laser positioning point are updated according to a relative angle and a relative distance, where d, e and f are all laser positioning points, p is a position where a target robot is located, and after knowing the global coordinates of d, e and f and the angles of a1 and a2, the global coordinates of the robot of p points can be calculated based on a geometric calculation formula: p2 sin (a 1) =d1 sin (a 3), P2 sin (a 2) =d2 sin (a 4), the angle values of a3, a4, a5 and a6 are sequentially obtained through the above formula, and then the vector Pa can be calculated after P1 is obtained, and finally the robot global coordinate is directly calculated.

The step of selecting abnormal positioning point constraints in the current positioning point constraint set formed by any two positioning points of the laser positioning point set comprises the following steps:

step D10, for any current anchor point constraint in the current anchor point constraint set, determining anchor point constraint variation between the current anchor point constraint and the anchor point constraint formed in the last time step;

And D20, selecting abnormal positioning point constraints from the current positioning point constraint set according to the magnitude relation between the positioning point constraint variable quantity and a first preset constraint variable quantity threshold value.

As an example, steps D10 to D20 include: for any one current anchor point constraint in the current anchor point constraint set, determining anchor point constraint variation between the current anchor point constraint and the anchor point constraint formed in the last time step; and for any positioning point constraint variable quantity, if the positioning point constraint variable quantity is detected to be larger than a first preset constraint variable quantity threshold, taking the current positioning point constraint corresponding to the positioning point constraint variable quantity as an abnormal positioning point constraint, and if the positioning point constraint variable quantity is detected to be smaller than or equal to the first preset constraint variable quantity threshold, not taking the current positioning point constraint corresponding to the positioning point constraint variable quantity as an abnormal positioning point constraint until all the positioning point constraint quantities are detected, and selecting the abnormal positioning point constraint from the current positioning point constraint set.

Wherein, before the step of selecting abnormal positioning point constraints in the current positioning point constraint set according to the magnitude relation between the positioning point constraint variable quantity and the first preset constraint variable quantity threshold, the robot positioning update method further comprises:

E10, regarding any positioning point constraint variable quantity, if the positioning point constraint variable quantity is detected to be smaller than or equal to a second preset constraint variable quantity threshold value, taking the current positioning point constraint corresponding to the positioning point constraint variable quantity as a positioning point constraint to be selected, wherein the second preset constraint variable quantity threshold value is larger than the first preset constraint variable quantity threshold value;

step E20, constructing the current locating point constraint set according to the constraints of each locating point to be selected

In this embodiment, it should be noted that, constraints between the laser positioning points are sequential, positioning point constraints (relative distance and/or relative angle) between different laser positioning points are determined according to a current task motion path of the target robot, and when the target robot needs to perform positioning update, if the positioning point constraint variation difference is too large, such constraints need to be filtered, and then clustering fusion is performed on the positioning points of the laser positioning points at different time steps to obtain more accurate positioning point clustering constraints, where the second preset constraint variation threshold is greater than the first preset constraint variation threshold, that is, the positioning point constraint variation to be filtered is greater than the abnormal positioning point constraint variation.

As an example, steps E10 to E20 include: for any positioning point constraint variable quantity, if the positioning point constraint variable quantity is detected to be smaller than or equal to a second preset constraint variable quantity threshold value, taking the current positioning point constraint corresponding to the positioning point constraint variable quantity as a positioning point constraint to be selected, wherein the positioning point constraint to be selected is used for representing a laser positioning point constraint waiting to be selected as an abnormal positioning point constraint; and constraining all the to-be-selected positioning points to form the current positioning point constraint set.

In one implementation manner, if the anchor point constraint variation is greater than a second preset constraint variation threshold, the current anchor point constraint corresponding to the anchor point constraint variation is directly filtered.

The embodiment of the application provides a robot positioning updating method, namely, a current positioning point position of a corresponding laser positioning point under a global coordinate system is obtained at a current position, wherein the current positioning point position is obtained by conversion according to a position conversion relation between a laser sensor and a target robot; determining whether positioning updating is needed according to the current positioning point position; and if the positioning updating is required, updating the global position of the robot of the target robot by updating the global position information of the positioning points in the laser positioning point set. The target robot can determine the current positioning point position of the laser positioning point in the global coordinate system in real time at the current position, the current positioning point position is obtained by converting the position conversion relation between the laser sensor and the target robot, namely, the real-time positioning point position of the laser positioning point in the global coordinate system is obtained by converting the position conversion relation and the distance between the target robot and the laser positioning point, and then the target robot can determine the position of the target robot in real time according to the current positioning point position of the laser positioning point in the moving process so as to determine whether positioning update is needed or not, and finally, the robot position of the target robot in the global coordinate system is subjected to positioning update by updating the positioning point global position information concentrated by the laser positioning point when the positioning update is needed, namely, the purpose of automatically carrying out the real-time positioning update on the position in the global coordinate system by the positioning point global position information when the positioning update is needed according to the real-time position condition of the laser positioning point is achieved. Instead of the positioning updating process of the robot, the positioning updating process can only be performed depending on the laser positioning point position calibrated in advance. Therefore, the technical defect that the position of the robot is calculated from the position of the reflecting plate calibrated under the global coordinate system and the actual position of the robot are caused to have the position deviation due to the fact that the actual position deviation possibly occurs to the robot due to wheel slipping or accumulated errors and the like in the task execution process is overcome, and further the situation that the task execution failure is easy to occur is overcome, and therefore the positioning precision of the robot is improved.

Further, referring to fig. 3, in the second embodiment of the present application, the same or similar contents as those of the first embodiment can be referred to the above description, and the description thereof will be omitted. On the basis, the step of carrying out positioning update on the global position of the target robot comprises the following steps:

step F10, selecting a fourth positioning point, a fifth positioning point and a sixth positioning point which are nearest to the target robot in the laser positioning point set, wherein the fourth positioning point, the fifth positioning point and the sixth positioning point are not positioned on the same straight line;

step F20, calculating the robot global position information of the target robot according to the positioning point global position information of the fourth positioning point, the fifth positioning point and the sixth positioning point;

and F30, carrying out positioning update on the global position of the robot according to the global position information of the robot.

In this embodiment, it should be noted that, when calculating the global coordinates of the robot, accurate calculation may be performed based on the triangulation locating method, to ensure the efficiency of locating update, three laser locating points closest to the target robot may be selected for locating calculation, where the fourth locating point, the fifth locating point and the sixth locating point are used for characterizing three locating points closest to the target robot and not located in the same line, and the manner of calculating the global coordinates of the robot by triangulation locating may be referred to above and will not be described herein.

As an example, steps E10 to E30 include: according to the time that the target robot receives the pulse laser beams reflected by all the laser positioning points in the laser positioning point set, a fourth positioning point, a fifth positioning point and a sixth positioning point which are nearest to the target robot are concentrated at the laser positioning point; calculating global coordinates of the target robot in a global coordinate system according to global coordinates of the fourth positioning point, the fifth positioning point and the sixth positioning point in the global coordinate system; and taking the global coordinate of the target robot under the global coordinate system as the current position of the target robot.

The embodiment of the application provides a robot positioning updating method. Namely, a fourth positioning point, a fifth positioning point and a sixth positioning point which are nearest to the target robot are selected from the laser positioning point set, wherein the fourth positioning point, the fifth positioning point and the sixth positioning point are not positioned on the same straight line; calculating the global position information of the robot of the target robot according to the global position information of the positioning points of the fourth positioning point, the fifth positioning point and the sixth positioning point; and according to the global position information of the robot, carrying out positioning update on the global position of the robot. According to the embodiment of the application, the three locating points which are closest to the target robot and are not located on the same straight line are selected, the global coordinates of the three locating points under the global coordinate system obtained after updating are calculated according to the global coordinates of the target robot under the global coordinate system of the current time step by the triangular locating algorithm, so that the target robot is located and updated, and as the triangular locating algorithm can accurately locate one global coordinate position, the locating deviation possibly introduced by laser in the transmission process can be avoided by the laser locating point closest to the target robot, and the locating precision of the target robot can be further improved.

A third embodiment of the present application further provides a robot positioning update apparatus applied to a target robot carrying a laser sensor, with reference to fig. 4, the robot positioning update apparatus including:

an obtaining module 101, configured to obtain, at a current location, a current location point position of a corresponding laser location point in a global coordinate system, where the current location point position is obtained by converting a position conversion relationship between the laser sensor and the target robot;

a determining module 102, configured to determine whether a positioning update is required according to the current positioning point position;

and the positioning updating module 103 is configured to update the global position of the target robot by updating the global position information of the positioning points in the laser positioning point set if it is determined that the positioning updating is required.

Optionally, the determining module 102 is further configured to:

Optionally, the anchor points include a first anchor point, a second anchor point, and a third anchor point, and the determining module 102 is further configured to:

Optionally, the updating module 103 is further configured to:

Optionally, the robot positioning updating device is further configured to:

The robot positioning updating device provided by the invention solves the technical problem of low positioning precision of the robot by adopting the robot positioning updating method in the embodiment. Compared with the prior art, the beneficial effects of the robot positioning updating device provided by the embodiment of the invention are the same as those of the robot positioning updating method provided by the embodiment, and other technical features of the robot positioning updating device are the same as those disclosed by the method of the embodiment, so that the description is omitted.

A fourth embodiment of the present invention provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the robot positioning updating method of the above-described embodiments.

Referring now to fig. 5, a schematic diagram of an electronic device suitable for use in implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 5 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.

As shown in fig. 5, the electronic device may include a processing apparatus 1001 (e.g., a central processing unit, a graphics processor, etc.), which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 1002 or a program loaded from a storage apparatus 1003 into a Random Access Memory (RAM) 1004. In the RAM1004, various programs and data required for the operation of the electronic device are also stored. The processing device 1001, the ROM1002, and the RAM1004 are connected to each other by a bus 1005. An input/output (I/O) interface 1006 is also connected to the bus.

In general, the following systems may be connected to the I/O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, and the like; an output device 1008 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage device 1003 including, for example, a magnetic tape, a hard disk, and the like; and communication means 1009. The communication means may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. While electronic devices having various systems are shown in the figures, it should be understood that not all of the illustrated systems are required to be implemented or provided. More or fewer systems may alternatively be implemented or provided.

In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication device 1009, or installed from the storage device 1003, or installed from the ROM 1002. The above-described functions defined in the method of the embodiment of the present disclosure are performed when the computer program is executed by the processing device 1001.

The electronic equipment provided by the invention solves the technical problem of low positioning accuracy of the robot by adopting the robot positioning updating method in the embodiment. Compared with the prior art, the beneficial effects of the electronic device provided by the embodiment of the invention are the same as those of the robot positioning updating method provided by the embodiment, and other technical features of the electronic device are the same as those disclosed by the method of the embodiment, so that the description is omitted herein.

It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the description of the above embodiments, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

The fifth embodiment provides a computer-readable storage medium having computer-readable program instructions stored thereon for performing the robot positioning updating method in the above-described embodiment.

The computer readable storage medium according to the embodiments of the present invention may be, for example, a usb disk, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this embodiment, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.

The above-described computer-readable storage medium may be contained in an electronic device; or may exist alone without being assembled into an electronic device.

The computer-readable storage medium carries one or more programs that, when executed by an electronic device, cause the electronic device to: acquiring a current positioning point position of a corresponding laser positioning point under a global coordinate system from a current position, wherein the current positioning point position is obtained by conversion according to a position conversion relation between the laser sensor and the target robot; determining whether positioning updating is needed according to the current positioning point position; and if the positioning updating is required, updating the global position of the robot of the target robot by updating the global position information of the positioning points in the laser positioning point set.

Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The modules described in the embodiments of the present disclosure may be implemented in software or hardware. Wherein the name of the module does not constitute a limitation of the unit itself in some cases.

The computer readable storage medium provided by the application stores the computer readable program instructions for executing the robot positioning updating method, and solves the technical problem of low positioning precision of the robot. Compared with the prior art, the beneficial effects of the computer readable storage medium provided by the embodiment of the application are the same as those of the robot positioning updating method provided by the above embodiment, and are not described in detail herein.

The sixth embodiment of the present application further provides a computer program product, which includes a computer program, where the computer program when executed by a processor implements the steps of the robot positioning update method as described above.

The computer program product provided by the application solves the technical problem of low positioning precision of the robot. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the application are the same as those of the robot positioning updating method provided by the embodiment, and are not repeated here.

The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein, or any application, directly or indirectly, within the scope of the application.

Claims

1. A robot positioning update method applied to a target robot equipped with a laser sensor, the robot positioning update method comprising:

2. The robot positioning update method of claim 1, wherein the step of determining whether a positioning update is required according to the current positioning point position comprises:

3. The robot positioning updating method of claim 1, wherein the positioning points include a first positioning point, a second positioning point, and a third positioning point,

the step of determining whether positioning update is needed according to the current positioning point position comprises the following steps:

4. The robot positioning updating method of claim 1, wherein the step of performing positioning updating on the robot global position of the target robot by updating positioning point global position information in a laser positioning point set comprises:

5. The robot positioning updating method of claim 4, wherein the step of selecting an abnormal positioning point constraint in a current positioning point constraint set consisting of any two positioning points of the laser positioning point set comprises:

6. The robot positioning update method of claim 5, wherein before the step of selecting an abnormal positioning point constraint from the current positioning point constraint set according to the magnitude relation between the positioning point constraint variable and a first preset constraint variable threshold, the robot positioning update method further comprises:

7. The robot positioning update method of claim 4, wherein the step of performing a positioning update of the robot global position of the target robot comprises:

8. A robot positioning update apparatus applied to a target robot equipped with a laser sensor, the robot positioning update apparatus comprising:

9. An electronic device, the electronic device comprising:

At least one processor; the method comprises the steps of,

a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of the robot positioning updating method of any of claims 1 to 7.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a program that implements a robot positioning update method, the program implementing the robot positioning update method being executed by a processor to implement the steps of the robot positioning update method according to any one of claims 1 to 7.