WO2019183795A1

WO2019183795A1 - Robot localization method and robot

Info

Publication number: WO2019183795A1
Application number: PCT/CN2018/080659
Authority: WO
Inventors: 王加加; 王可可; 沈剑波
Original assignee: 深圳市神州云海智能科技有限公司
Priority date: 2018-03-27
Filing date: 2018-03-27
Publication date: 2019-10-03

Abstract

Provided are a robot localization method and a robot, applicable to the technical field of robots. The method comprises obtaining contour information of either side of a corridor where a robot is currently located, and determining a first distance between the robot and either side of the corridor according to the contour information; obtaining a signal strength value of a signal sent by a wireless node provided at the end of the corridor, and obtaining a unique identifier of the wireless node carried by the signal; determining a second distance between the robot and the wireless node according to the signal strength value; and determining current position information of the robot according to the first distance, the unique identifier, and the second distance. Horizontal and vertical distances of a robot with respect to a corridor are separately determined by combining a laser scanning apparatus with a wireless node, so as to obtain current position information of the robot more accurately, in particular, to improve the accuracy of robot travel control when the robot is operating in a single corridor environment.

Description

Robot positioning method and robot

Technical field

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

Background technique

With the development of the robot industry, autonomous cleaning robots have also entered people's lives. Autonomous cleaning robots need to cover the entire cleaning environment, so the positioning accuracy is high, and many mature solutions are available. However, in a single and special environment of the corridor, achieving full coverage to clean the entire environment also requires higher precision positioning.

In the prior art, positioning is mostly achieved by laser positioning, such as installing a reflector in an environment, positioning by detecting the position of the reflector, or creating an environmental map based on Simultaneous Localization and Mapping (SLAM). Use contour matching for real-time positioning. However, the solution for installing the reflector needs to be modified to the environment, and the number of reflectors is large, and the installation position has certain requirements, which is very troublesome in application. However, when using SLAM technology for positioning, in the relatively single and long corridor environment, due to the limitation of the distance and angular resolution of the laser scanning radar, the robot cannot be accurately positioned in the corridor environment, and thus cannot be controlled. The robot travels with precision.

technical problem

In view of this, the embodiments of the present invention provide a method and a robot for positioning a robot, so as to solve the problem that the robot cannot be accurately positioned in the corridor environment in the prior art, and thus the robot cannot accurately control the robot.

Technical solution

A first aspect of the embodiments of the present invention provides a method for robot positioning, including:

Obtaining contour information on both sides of the corridor where the robot is currently located, and determining a first distance between the robot and the two sides of the corridor according to the contour information;

Obtaining a signal strength value of a signal sent by a wireless node disposed at an end of the corridor, and acquiring a unique identifier of the wireless node carried by the signal;

Determining a second distance between the robot and the wireless node based on the signal strength value;

Determining current location information of the robot according to the first distance, the unique identifier, and the second distance.

A second aspect of the embodiments of the present invention provides a robot, including:

a first distance determining unit, configured to acquire contour information on both sides of the corridor where the robot is currently located, and determine a first distance between the robot and the two sides of the corridor according to the contour information;

a signal acquiring unit, configured to acquire a signal strength value of a signal sent by a wireless node disposed at an end of the corridor, and obtain a unique identifier of the wireless node carried by the signal;

a second distance determining unit, configured to determine a second distance between the robot and the wireless node according to the signal strength value;

And a unit for determining location information, configured to determine current location information of the robot according to the first distance, the unique identifier, and the second distance.

A third aspect of the embodiments of the present invention provides a robot, including: a processor, an input device, an output device, and a memory, wherein the processor, the input device, the output device, and the memory are connected to each other, wherein the memory is used for storing A computer program supporting a device for performing the above method, the computer program comprising program instructions, the processor being configured to invoke the program instructions to perform the method of the first aspect above.

A fourth aspect of an embodiment of the present invention provides a computer readable storage medium storing a computer program, the computer program including program instructions, the program instructions causing the processing when executed by a processor The method of the first aspect described above is performed.

Beneficial effect

Compared with the prior art, the embodiment of the present invention has the beneficial effects of: determining the first distance between the robot and the two sides of the corridor according to the contour information by acquiring contour information on both sides of the corridor where the robot is currently located; a signal strength value of a signal sent by the wireless node disposed at the end of the corridor, and a unique identifier of the wireless node carried by the signal; and determining a second distance between the robot and the wireless node according to the signal strength value And determining current location information of the robot according to the first distance, the unique identifier, and the second distance. By combining the laser scanning device with the wireless node, the distance between the parallel and perpendicular to the corridor is determined respectively, and the current position information of the robot is obtained more accurately, especially when the robot is carried out in a single corridor environment, the accuracy of controlling the traveling of the robot is improved. .

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only the present invention. For some embodiments, other drawings may be obtained from those of ordinary skill in the art in light of the inventive workability.

1 is a flowchart of a method for positioning a robot according to an embodiment of the present invention;

2 is a schematic diagram of a walking path of a robot in a corridor according to an embodiment of the present invention;

3 is a flowchart of a method for positioning a robot according to another embodiment of the present invention;

4 is a schematic diagram of robot contour information matching according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of determining robot position information according to an embodiment of the present invention; FIG.

FIG. 6 is a schematic diagram of a robot according to an embodiment of the present invention; FIG.

FIG. 7 is a schematic diagram of a robot according to another embodiment of the present invention; FIG.

FIG. 8 is a schematic diagram of a robot according to still another embodiment of the present invention.

Embodiments of the invention

In the following description, for purposes of illustration and description However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the invention.

In order to explain the technical solution described in the present invention, the following description will be made by way of specific embodiments.

Example 1

Referring to FIG. 1, FIG. 1 is a flowchart of a method for positioning a robot according to an embodiment of the present invention. The execution body of the method for positioning the robot in this embodiment is a robot. The method of robot positioning as shown in FIG. 1 may include the following steps:

S101: Obtain contour information on both sides of the corridor where the robot is currently located, and determine a first distance between the robot and the two sides of the corridor according to the contour information.

With the advancement of technology and the improvement of living conditions, robots are increasingly entering daily life, replacing people doing such repeated and mechanical work, for example, autonomous cleaning robots. At present, autonomous small-scale sweeping machines are becoming more and more common, and it is now possible to carry out full-coverage self-cleaning in residential homes. At present, there are still many technical problems in the public places and in the large-scale environment to achieve self-cleaning. Especially for a single corridor environment, such as office buildings, dormitories, hotels, etc., many positioning technologies can not adapt well to the corridor environment, and the positioning of the robot in the corridor is not accurate enough. Since the autonomous cleaning robot needs to cover the entire cleaning environment, the positioning accuracy is high, and many mature solutions are available. However, in a single and special environment of the corridor, achieving full coverage to clean the entire environment also requires higher precision positioning.

When the robot is in the corridor, obtain the contour information on both sides of the corridor where the robot is currently located. The time when the robot acquires the contour information may be when the robot is traveling, or when the robot is stationary at a certain position, which is not limited herein.

After obtaining the contour information on both sides of the corridor where the robot is currently located, the first distance between the robot and the two sides of the corridor is determined according to the contour information. By determining the distance between the robot and the two sides of the corridor, the robot can proceed parallel to the corridor according to the fixed left and right distances while determining the left and right distance from the corridor.

For example, please refer to FIG. 2 . FIG. 2 is a schematic diagram of a walking path of a robot in a corridor according to an embodiment of the present invention. When the robot is cleaning the robot, the dotted line in Figure 2 is the cleaning route of the cleaning robot, and the entire corridor can be covered after multiple round trips. Assuming that the width of the cleaning robot can be 1/4 of the corridor, the cleaning of the entire corridor can be covered by cleaning 4 times. Moreover, each route must be as shown in FIG. 2. According to the determined left and right distances in the first distance, the width of the previous route translation robot is the second cleaning route, and is maintained in real time until the end of the corridor. In this case, the cleaning robot must be accurate in real time in the direction of the vertical corridor according to the first distance to cover the entire corridor.

S102: Acquire a signal strength value of a signal sent by a wireless node set at an end of the corridor, and obtain a unique identifier of the wireless node carried by the signal.

A wireless node is set at the end of the corridor to send a signal to the robot. Since the end of the corridor includes many conditions, such as corners or intersections, the wireless node is set at the end of the corridor to remind the robot of the current position when the robot travels there, so that the robot can turn or turn around. .

For example, the wireless node may be a Bluetooth device, a WI-FI WI-FI device, a Zigbee device, or a Radio Frequency Identification (RFID) device, which is not limited herein. .

It should be noted that the number of wireless nodes set in the corridor may be one or more, and the specific number is set according to the specific conditions of the corridor, the configuration information of the robot, or the needs of the user. Except for the total number of corners and corners of the corridor, there are five wireless nodes, which are located at the end of each corridor and at the corner.

Since there may be more than one wireless node in the corridor, the signals received by the robot may come from multiple wireless nodes and the source of the received signal cannot be determined. Therefore, if the number of wireless nodes set in the corridor is greater than one, a unique identifier is set for all wireless nodes, and when transmitting signals to the robot, the unique identifier is carried at the same time.

Since the wireless node transmits a signal with a limited distance and the further away from the wireless node, the received signal strength value is smaller. The robot acquires the signal transmitted by the wireless node with different signal strength values at different positions, and the unique identifier of the wireless node, so that the robot determines the current region where it is located.

S103: Determine a second distance between the robot and the wireless node according to the signal strength value.

Since the wireless node transmits a signal with a limited distance and the further away from the wireless node, the received signal strength value is smaller. Therefore, the signal strength value can be used to determine the second distance between the robot and the wireless node.

Illustratively, in an embodiment, the second distance between the robot and the wireless node can be calculated by equation (1):

d=10 ^(|R|-A)/10n (1)

Where d represents the second distance; R represents the signal strength value of the signal received by the robot; A represents the signal strength when the wireless node is separated from the robot by 1 meter; and n represents the environmental attenuation factor. It should be noted that the parameters of the corresponding parameters of each wireless node are different due to different environments. For the accuracy of the calculation, each parameter in the formula should be experimentally obtained before the actual application.

Since the wireless node is installed at the end of the corridor, by determining the second distance between the robot and the wireless node, the distance of the robot from the end of the corridor can be determined.

In another embodiment, the preset correspondence between the distance value and the signal strength value is pre-stored in the robot. Therefore, when acquiring the signal strength value of the signal sent by the wireless node, the robot may according to the distance value and the signal strength. A preset correspondence between the values determines a distance value corresponding to a signal strength value of the currently received signal, thereby determining a second distance between the robot and the wireless node.

Further, by setting a distance threshold, the control robot performs a corresponding operation when the second distance is less than the distance threshold. For example, if the distance threshold is set to 0.5 m, when the current second distance of the robot is less than 0.5 m, the U-turn is performed to avoid the collision of the robot while traveling, and the safety of the robot during the operation is ensured.

S104: Determine current location information of the robot according to the first distance, the unique identifier, and the second distance.

After determining the first distance between the robot and the two sides of the corridor and the second distance from the end of the corridor, determining the node position of the wireless node according to the unique identifier, determining the current region of the robot according to the node position; determining the vertical of the robot according to the first distance The position information of the corridor; determining the position information of the robot parallel to the corridor according to the second distance; determining the current position information of the robot according to the position information of the robot perpendicular to the corridor and the position information of the robot parallel to the corridor.

Specifically, the robot determines, according to the obtained unique identifier, which wireless node sends the node location, and determines the node location of the node. By determining the node location of the wireless node, the robot can determine the current location of the robot according to the communication range of the wireless node. The area to prevent location confusion caused by multiple locations when simultaneously receiving signals transmitted by multiple wireless nodes. Then, according to the left distance and the right distance in the first distance, the distance between the robot and the two sides of the corridor is determined, that is, the position information of the robot perpendicular to the corridor. The distance of the robot wireless node is determined according to the second distance, that is, the position information of the robot parallel to the corridor. Finally, the current position information of the robot is determined according to the position information of the robot perpendicular to the corridor and the position information parallel to the corridor.

Optionally, after step S104, the method may further include:

Matching the contour information with a preset map to determine a shape of the corridor at the current position of the robot;

If it is determined according to the shape of the corridor that the robot is currently located at the end of the corridor, the U-turn is performed according to the first distance and the signal strength value;

If it is determined according to the shape of the corridor that the robot is currently located at a corner of the corridor, the turning is performed according to the first distance and the signal strength value.

Referring to FIG. 2 together, after determining the current position information of the robot, the contour information is matched with the preset map information to determine the shape of the corridor at the current position of the robot. Among them, the shape of the corridor includes L-shaped, cross-shaped, T-shaped corridors or the end of the corridor, etc., and is not limited herein.

If it is determined according to the shape of the corridor that the robot is currently at the end of the corridor, the robot needs to make a U-turn to avoid collision. Since the first distance includes the left and right distances of the robot and the sides of the corridor wall, according to the radius of the arc required by the robot to turn the head, the left and right distances of the robot when the U-turn is controlled are controlled, and the robot is determined to turn around according to the signal strength value. The distance from the front wall, so that the robot can control the U-turn in the horizontal and vertical directions to prevent the robot from colliding with the front wall. Similarly, if the robot is currently located at the corner of the corridor according to the shape of the corridor, according to the first distance And the signal strength value is turned.

Optionally, after the contour information is matched with the preset map, and determining the shape of the corridor at the current position of the robot, the method may further include: if the accurate position of the robot cannot be obtained by using the contour information, according to the A distance travels straight parallel to the corridor.

If it is impossible to determine the exact position of the robot parallel to the corridor, it means that there is no obstacle such as L-shaped, cross-shaped, T-shaped corridor or the end of the corridor in front of the robot, and then the straight line runs parallel to the corridor according to the first distance. To ensure the smooth progress of the robot's travel process and improve the efficiency of the robot's travel.

In the above solution, by obtaining contour information on both sides of the corridor where the robot is currently located, determining a first distance between the robot and the two sides of the corridor according to the contour information; and acquiring a signal of a signal sent by the wireless node disposed at the end of the corridor An intensity value, and a unique identifier of the wireless node carried by the signal; determining a second distance between the robot and the wireless node according to the signal strength value; according to the first distance, the unique identifier, and The second distance determines current location information of the robot. In the embodiment of the present invention, the distance between the parallel and perpendicular to the corridor is determined by the laser scanning device and the wireless node, and the current position information of the robot is obtained more accurately according to the determined distance, especially when the robot is in the environment. Improves the accuracy of the control robot's travel while in a single corridor environment.

Example 2

Referring to FIG. 3, FIG. 3 is a flowchart of a method for positioning a robot according to another embodiment of the present invention. The execution subject of the method of robot positioning in this embodiment is a robot. The method of robot positioning as shown in FIG. 3 may include the following steps:

S301: Scan the radar by the laser scanning radar disposed on the robot to scan contour information on both sides of the corridor where the robot is currently located.

A laser scanning radar is preset on the robot for scanning contour information on both sides of the corridor where the robot is currently located. The laser scanning radar in this embodiment uses a laser as a signal source, and a laser emits a pulsed laser to hit a wall around the robot to cause scattering. A part of the light wave is reflected to the receiver of the laser scanning radar, and the pulse laser continuously scans the target. The object can obtain the data of all the target points on the target object, and after using the data for imaging processing, the contour information on both sides of the corridor wall can be obtained accurately.

S302: Calculate the matching credibility of each particle in the preset map.

After acquiring the contour information on both sides of the corridor at the current location, the robot determines the pose of each particle. Among them, the pose includes the abscissa value, the ordinate value and the heading angle of the particle. The matching credibility of each particle is calculated according to the contour information and the preset map by the abscissa value and the ordinate value in the contour information corresponding to each particle.

Specifically, calculating the matching credibility in step S302 can be calculated in the following manner:

Calculate the matching credibility of each particle in the preset map according to formula (2):

Where R _v represents the matching credibility of each particle in the preset map; N represents the number of laser beams; (x _i , y _i ) represents the coordinates of the i-th laser beam; P(x _i , y _i And a mapping pixel value between the contour information and the obstacle point of the preset map whose coordinates are (x _i , y _i ).

Please refer to FIG. 4, which is a schematic diagram of robot contour information matching according to an embodiment of the present invention. The coordinate axis is established at an angle of the corridor. The x-axis of the horizontal axis is parallel to the direction of the corridor, and the y-axis of the vertical axis is perpendicular to the direction of the corridor. The left side of the corridor wall is the wall A side, and the right side is the wall B surface. The dotted line in the figure indicates the laser contour range that can be acquired by the laser scanning radar on the robot. A certain number of particles are randomly selected as the target particles in the contour information, the number is N, and the poses of the target particles are respectively (x ₁ , y ₁ , θ ₁ ), (x ₂ , y ₂ , θ ₂ ), ..., (x _N , y _N , θ _N ), where x ₁ , x ₂ , ..., x _N represent values of the target particles in a direction parallel to the corridor, y ₁ , y ₂ ,...,y _N represents the value of the target particle in the direction perpendicular to the corridor, θ ₁ , θ ₂ ,..., θ _N represents the angle between the target particle and the direction parallel to the corridor, which can be parallel to the corridor The value in the direction is calculated from the tangent of the value perpendicular to the direction of the corridor, and can also be obtained by laser scanning radar.

In the maximum error range of the particle pose in the contour information, the image matching based on the Monte Carlo method is performed by using the round-trip information acquired by the current laser scanning radar and the preset raster map, that is, the particle filtering method is used to obtain the most particles. The good pose (x, y, θ) and its matching credibility with the particles in the preset map.

Specifically, based on the pose of the target particle in the current contour information, the contour information is mapped to the preset map, and the pose of the N target particles is calculated to map the pixel sum on the original raster map, and normalized to obtain credibility. Degree parameter dis_temp. That is, the credibility parameter dis_temp is calculated by the formula (3):

Wherein N represents the number of laser beams; (x _i , y _i ) represents the coordinates of the ith laser beam; P(x _i , y _i ) represents the coordinates of the contour information and the preset map (x) _i , y _i ) The mapped pixel value between the obstacle points.

Assume that the black pixel in the preset map is an obstacle, the pixel value is 0; the white pixel is an obstacle-free object, and the pixel value is 255, so the range of dis_temp is 0-255. Since the obstacle pixel value is 0 in the two-dimensional raster map, the smaller the dis_temp is, the more accurate the pose is. In order to adapt to the meaning of matching credibility, the matching credibility is calculated by formula (4):

Therefore, the greater the confidence of the match, the more accurate the pose of the particle.

S303: Identify coordinates of the particles in the contour information corresponding to the highest matching reliability as coordinates of the robot.

By calculating the matching credibility of all particles, in the target particle, the particle corresponding to the maximum matching credibility is determined as the optimal particle, and the corresponding pose of the optimal particle is (x, y, θ), that is, the optimal pose The pose is recognized as the coordinates of the robot.

S304: Calculate a first distance between the robot and the two sides of the corridor according to the coordinates of the robot and the width of the corridor.

Referring to FIG. 5, FIG. 5 is a schematic diagram of determining robot position information according to an embodiment of the present invention. 4 and FIG. 5, the corresponding y value in the optimal pose (x, y, θ) is the ordinate value of the robot, that is, d _{2 in} FIG. 5 , which is also the right distance in the first distance. After the right distance is determined, the left distance d ₁ in the first distance is calculated from the right distance and the width of the corridor.

After determining the left and right distances in the first distance at the current position of the robot, the robot's current distance perpendicular to the corridor can be determined. When the robot is in a straight line parallel to the corridor, only the robot must be controlled to maintain the left distance. And the right distance is unchanged, then the robot can be controlled to maintain a precise straight walking route for the parallel corridor, which is the straight line L of the A and B sides of the parallel corridor in FIG.

This robotic control method is especially important in corridor cleaning robots, which allows the robot to maintain precise route travel during cleaning operations, ensuring that every floor in the corridor can be cleaned. Moreover, if the control robot performs effective turning and U-turn, the cleaning task can be completed in the shortest time, avoiding repeated cleaning, thereby improving the working efficiency of the cleaning robot and improving the utilization rate of the robot energy.

In the above solution, the laser scanning radar disposed on the robot scans the contour information on both sides of the corridor where the robot is currently located; calculates the matching credibility of each particle in the preset map; corresponding to the highest matching reliability The coordinates of the particles in the contour information are identified as the coordinates of the robot; and the first distance between the robot and the two sides of the corridor is calculated according to the coordinates of the robot and the width of the corridor. In the embodiment of the present invention, the matching credibility between the two is calculated according to the particles in the contour information on both sides of the corridor wall acquired by the laser scanning radar and the particles in the preset map, and then the matching reliability is determined according to the matching reliability. The pose of the highest particle determines the left and right distances of the robot and the two sides of the corridor, which improves the accuracy of the distance between the robot and the two sides of the corridor, and ensures the accuracy and reliability of the robot positioning.

Example 3

Referring to FIG. 6, FIG. 6 is a schematic diagram of a robot according to an embodiment of the present invention. The units included in the robot 600 of the present embodiment are used to perform the steps in the embodiment corresponding to FIG. 1. For details, please refer to the related description in the embodiment corresponding to FIG. 1 and FIG. The robot 600 of the present embodiment includes a first distance determining unit 601, a signal acquiring unit 602, a second distance determining unit 603, and a position information determining unit 604.

The first distance determining unit 601 is configured to acquire contour information on both sides of the corridor where the robot is currently located, and determine a first distance between the robot and the two sides of the corridor according to the contour information;

The signal acquiring unit 602 is configured to acquire a signal strength value of a signal sent by a wireless node disposed at an end of the corridor, and obtain a unique identifier of the wireless node carried by the signal;

a second distance determining unit 603, configured to determine a second distance between the robot and the wireless node according to the signal strength value;

The location information determining unit 604 is configured to determine current location information of the robot according to the first distance, the unique identifier, and the second distance.

Specifically, the location information determining unit 604 further includes:

a region determining unit, configured to determine a node location of the wireless node according to the unique identifier, and determine an area where the robot is currently located according to the node location;

a horizontal and vertical distance determining unit, configured to determine position information of the robot perpendicular to the corridor according to the first distance; and determine position information of the robot parallel to the corridor according to the second distance;

a position determining unit, configured to determine current position information of the robot according to position information of the robot perpendicular to the corridor and position information of the robot parallel to the corridor.

Specifically, the robot further includes:

a contour matching unit, configured to match the contour information with a preset map, and determine a shape of a corridor at a current position of the robot;

a U-turn control unit, configured to: if the robot is currently located at the end of the corridor according to the shape of the corridor, perform a U-turn according to the first distance and the signal strength value;

And a turning control unit, configured to perform turning according to the first distance and the signal strength value if it is determined that the robot is currently located at a corner of the corridor according to the shape of the corridor.

The straight line traveling unit is configured to travel along a straight line parallel to the corridor according to the first distance if the accurate position of the robot cannot be acquired by the contour information.

In the above solution, by obtaining contour information on both sides of the corridor where the robot is currently located, determining a first distance between the robot and the two sides of the corridor according to the contour information; and acquiring a signal of a signal sent by the wireless node disposed at the end of the corridor An intensity value, and a unique identifier of the wireless node carried by the signal; determining a second distance between the robot and the wireless node according to the signal strength value; according to the first distance, the unique identifier, and The second distance determines current location information of the robot. In the embodiment of the present invention, the distance between the parallel and perpendicular to the corridor is determined by the laser scanning device and the wireless node, and the current position information of the robot is obtained more accurately according to the determined distance, especially when the robot is in the environment. Improve the accuracy of robot travel while in a single corridor environment.

Example 4

Referring to FIG. 7, FIG. 7 is a schematic diagram of a robot according to an embodiment of the present invention. The units included in the robot 700 of the present embodiment are used to perform the steps in the embodiment corresponding to FIG. 2 . For details, please refer to the related description in the embodiment corresponding to FIG. 2 and FIG. 2 , and details are not described herein. The robot 700 of the present embodiment includes a contour acquiring unit 701, a parameter calculating unit 702, a coordinate determining unit 703, and a distance determining unit 704.

a contour acquiring unit 701, configured to scan, by using a laser scanning radar disposed on the robot, contour information on both sides of the corridor where the robot is currently located;

a parameter calculation unit 702, configured to calculate a matching credibility of each particle in a preset map;

a coordinate determining unit 703, configured to identify coordinates of the particles in the contour information corresponding to the highest matching reliability as coordinates of the robot;

The distance determining unit 704 is configured to calculate a first distance between the robot and the two sides of the corridor according to the coordinates of the robot and the corridor width.

Specifically, the parameter calculation unit 702 is further configured to

Calculate the matching credibility of each particle in the preset map;

It should be understood that the size of the sequence of the steps in the above embodiments does not imply a sequence of executions, and the order of execution of the processes should be determined by its function and internal logic, and should not be construed as limiting the implementation of the embodiments of the present invention.

Example 5

Referring to FIG. 8, FIG. 8 is a schematic diagram of a robot according to still another embodiment of the present invention. The robot 800 in this embodiment as shown in FIG. 8 may include a processor 801, a memory 802, and a computer program 803 stored in the memory 802 and operable on the processor 801. The processor 801, when executing the computer program 803, implements the steps in the various method embodiments described above for robot positioning. Memory 802 is used to store computer programs, including program instructions. The processor 801 is configured to execute program instructions stored by the memory 802. The processor 801 is configured to invoke the program instruction to perform the following operations:

The processor 801 is configured to acquire contour information on both sides of the corridor where the robot is currently located, and determine a first distance between the robot and the two sides of the corridor according to the contour information;

The processor 801 is further configured to acquire a signal strength value of a signal sent by a wireless node disposed at an end of the corridor, and obtain a unique identifier of the wireless node carried by the signal;

The processor 801 is further configured to determine a second distance between the robot and the wireless node according to the signal strength value;

The processor 801 is further configured to determine current location information of the robot according to the first distance, the unique identifier, and the second distance.

The processor 801 is specifically configured to match the contour information with a preset map to determine a shape of a corridor at a current location of the robot;

The processor 801 is specifically configured to: if the robot is currently located at the end of the corridor according to the shape of the corridor, perform a U-turn according to the first distance and the signal strength value;

The processor 801 is specifically configured to: if the robot is currently located at a corner of the corridor according to the shape of the corridor, perform a turn according to the first distance and the signal strength value.

The processor 801 is specifically configured to scan, by using a laser scanning radar disposed on the robot, contour information on both sides of the corridor where the robot is currently located;

The processor 801 is specifically configured to calculate a matching credibility of each particle in a preset map.

The processor 801 is specifically configured to identify coordinates of the particles in the contour information corresponding to the highest matching reliability as coordinates of the robot;

The processor 801 is specifically configured to calculate a first distance between the robot and two sides of the corridor according to the coordinates of the robot and the width of the corridor.

The processor 801 is specifically configured to

Calculate the matching credibility of each particle in the preset map;

The processor 801 is specifically configured to determine, according to the unique identifier, a node location of the wireless node, and determine, according to the node location, an area where the robot is currently located;

The processor 801 is specifically configured to determine location information of the robot perpendicular to the corridor according to the first distance, and determine location information of the robot parallel to the corridor according to the second distance;

The processor 801 is specifically configured to determine current position information of the robot according to position information of the robot perpendicular to the corridor and position information of the robot parallel to the corridor.

The processor 801 is specifically configured to: if the accurate position of the robot cannot be acquired by using the contour information, proceed according to the first distance and parallel to the straight line of the corridor.

It should be understood that, in the embodiment of the present invention, the processor 801 may be a central processing unit (CPU), and the processor may also be another general-purpose processor, a digital signal processor (DSP). , Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like.

The memory 802 can include read only memory and random access memory and provides instructions and data to the processor 801. A portion of the memory 802 may also include a non-volatile random access memory. For example, the memory 802 can also store information of the device type.

In a specific implementation, the processor 801, the memory 802, and the computer program 803 described in the embodiments of the present invention may implement the first embodiment and the implementation manner described in the second embodiment of the method for positioning a robot provided by an embodiment of the present invention. The implementation of the robot described in the embodiment of the present invention may also be implemented, and details are not described herein again.

In another embodiment of the present invention, a computer readable storage medium is stored, the computer readable storage medium storing a computer program comprising program instructions, the program instructions being implemented by a processor to:

Further, when the computer program is executed by the processor, it is further implemented:

Scanning radar on the robot to scan the contour information on both sides of the corridor where the robot is currently located;

Calculate the matching credibility of each particle in the preset map;

Identifying coordinates of the particles in the contour information corresponding to the highest matching reliability as coordinates of the robot;

Calculating a first distance between the robot and the two sides of the corridor according to the coordinates of the robot and the width of the corridor.

according to

Calculate the matching credibility of each particle in the preset map;

Determining, according to the unique identifier, a node location of the wireless node, and determining, according to the node location, an area where the robot is currently located;

Determining, according to the first distance, position information of the robot perpendicular to the corridor; determining, according to the second distance, position information of the robot parallel to the corridor;

The current position information of the robot is determined according to the position information of the robot perpendicular to the corridor and the position information of the robot parallel to the corridor.

If the accurate position of the robot cannot be acquired by the contour information, the first distance is linearly parallel to the corridor according to the first distance.

The computer readable storage medium may be an internal storage unit of the robot as described in any of the preceding embodiments, such as a hard disk or a memory of the robot. The computer readable storage medium may also be an external storage device of the robot, such as a plug-in hard disk equipped on the robot, a smart memory card (SMC), and a Secure Digital (SD) card. , Flash Card, etc. Further, the computer readable storage medium may also include both an internal storage unit of the robot and an external storage device. The computer readable storage medium is for storing the computer program and other programs and data required by the robot. The computer readable storage medium can also be used to temporarily store data that has been output or is about to be output.

Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both, for clarity of hardware and software. Interchangeability, the composition and steps of the various examples have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the solution. A person skilled in the art can use different methods for implementing the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present invention.

A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the robot and the unit described above can refer to the corresponding process in the foregoing method embodiments, and details are not described herein again.

In the several embodiments provided by the present application, it should be understood that the disclosed robot and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, or an electrical, mechanical or other form of connection.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the embodiments of the present invention.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention contributes in essence or to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

The above is only the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any equivalent person can be easily conceived within the technical scope of the present invention by any person skilled in the art. Modifications or substitutions are intended to be included within the scope of the invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

A method for robot positioning, comprising:

Obtaining contour information on both sides of the corridor where the robot is currently located, and determining a first distance between the robot and the two sides of the corridor according to the contour information;

Obtaining a signal strength value of a signal sent by a wireless node disposed at an end of the corridor, and acquiring a unique identifier of the wireless node carried by the signal;

Determining a second distance between the robot and the wireless node based on the signal strength value;

Determining current location information of the robot according to the first distance, the unique identifier, and the second distance.
The method for positioning a robot according to claim 1, wherein the determining the current position information of the robot according to the first distance, the unique identifier, and the second distance further includes:

Matching the contour information with a preset map to determine a shape of the corridor at the current position of the robot;

If it is determined according to the shape of the corridor that the robot is currently located at the end of the corridor, the U-turn is performed according to the first distance and the signal strength value;

If it is determined according to the shape of the corridor that the robot is currently located at a corner of the corridor, the turning is performed according to the first distance and the signal strength value.
The method for positioning a robot according to claim 1 or 2, wherein the acquiring contour information on both sides of the corridor where the robot is currently located, and determining the first sides of the robot and the corridor according to the contour information Distances include:

Scanning radar on the robot to scan the contour information on both sides of the corridor where the robot is currently located;

Calculate the matching credibility of each particle in the preset map;

Identifying coordinates of the particles in the contour information corresponding to the highest matching reliability as coordinates of the robot;

Calculating a first distance between the robot and the two sides of the corridor according to the coordinates of the robot and the width of the corridor.
The method for positioning a robot according to claim 3, wherein the calculating the matching credibility of each particle in the preset map comprises:

according to
Calculate the matching credibility of each particle in the preset map;

Where R v represents the matching credibility of each particle in the preset map; N represents the number of laser beams; (x i , y i ) represents the coordinates of the i-th laser beam; P(x i , y i And a mapping pixel value between the contour information and the obstacle point of the preset map whose coordinates are (x i , y i ).
The method of robot positioning according to claim 1, wherein said unique identifier corresponds to a node position of said wireless node; said said first distance, said unique identifier, and said second distance, Determining the current location information of the robot, including:

Determining, according to the unique identifier, a node location of the wireless node, and determining, according to the node location, an area where the robot is currently located;

Determining, according to the first distance, position information of the robot perpendicular to the corridor; determining, according to the second distance, position information of the robot parallel to the corridor;

The current position information of the robot is determined according to the position information of the robot perpendicular to the corridor and the position information of the robot parallel to the corridor.
The method for positioning a robot according to claim 2, wherein the matching the contour information with the preset map to determine the terrain of the corridor at the current position of the robot further comprises:

If the accurate position of the robot cannot be acquired by the contour information, the first distance is linearly parallel to the corridor according to the first distance.
A robot characterized by comprising:

a first distance determining unit, configured to acquire contour information on both sides of the corridor where the robot is currently located, and determine a first distance between the robot and the two sides of the corridor according to the contour information;

a signal acquiring unit, configured to acquire a signal strength value of a signal sent by a wireless node disposed at an end of the corridor, and obtain a unique identifier of the wireless node carried by the signal;

a second distance determining unit, configured to determine a second distance between the robot and the wireless node according to the signal strength value;

The location information determining unit is configured to determine current location information of the robot according to the first distance, the unique identifier, and the second distance.
The method of positioning a robot according to claim 7, wherein the first distance determining unit comprises:

a contour acquiring unit, configured to scan contour information on both sides of the corridor where the robot is currently located by using a laser scanning radar disposed on the robot;

a parameter calculation unit, configured to calculate a matching credibility of each particle in a preset map;

a coordinate determining unit, configured to identify coordinates of the particles in the contour information corresponding to the highest matching reliability as coordinates of the robot;

The distance determining unit is configured to calculate a first distance between the robot and the two sides of the corridor according to the coordinates of the robot and the width of the corridor.
A robot comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, wherein the processor executes the computer program as claimed in claims 1 to 6 The steps of any of the methods described.
A computer readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the steps of the method of any one of claims 1 to 6.