WO2019205001A1

WO2019205001A1 - Method and apparatus for positioning robot

Info

Publication number: WO2019205001A1
Application number: PCT/CN2018/084331
Authority: WO
Inventors: 郑小威; 陈旭东; 朱俊安
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-04-25
Filing date: 2018-04-25
Publication date: 2019-10-31
Also published as: CN110546462A

Abstract

A method and apparatus for positioning a robot (100). An encoder is installed on the robot (100). The robot (100) matches with a predetermined rail (200). A fitting member (210) adapted to the encoder is provided on the predetermined rail (200). The method comprises: controlling the robot (100) to move along the predetermined rail (200); obtaining a movement path of the robot (100) based on the encoder; when the encoder meets a trigger condition, calibrating the path according to position information of the fitting member (210); and determining the real-time position of the robot (100) according to the real-time path of the encoder. By means of the method and apparatus for positioning a robot (100), the accumulative error of the encoder is eliminated by matching the encoder on the robot (100) with the fitting member (210) on the predetermined rail (200), the accurate positioning of the robot (100) is achieved, and it is beneficial to the subsequent execution of an executive strategy of the robot (100) (such as base defense and fortress fight), and the cost is low.

Description

Robot positioning method and device

Technical field

The present invention relates to the field of robot positioning, and in particular, to a robot positioning method and device.

Background technique

In recent years, in order to popularize robot practice education and guide participants to learn multi-domain knowledge points, various robots will compete in competitions at home and abroad. In the robot confrontation competition, some robots can run on a dedicated single track and can launch projectiles. The accuracy of the robot positioning affects the accuracy of the robot.

At present, all robots are positioned using GPS, lidar scan map positioning or UWB indoor positioning. Since the robots are mostly played indoors, the GPS will be affected indoors. The laser radar scanning position is first costly. Secondly, the robot confrontation competition limits the size and weight of the robot, and the laser radar scan map is positioned. There is a certain demand for space, which is difficult to meet; UWB indoor positioning requires a base station to operate, and the robot can only use the specified UWB positioning in the competition. If the team wants to debug before the game, it needs to purchase the package by itself, and the cost is high.

Summary of the invention

The invention provides a robot positioning method and device.

Specifically, the present invention is achieved by the following technical solutions:

According to a first aspect of the present invention, a robot positioning method is provided, wherein an encoder is mounted on a robot, wherein the robot cooperates with a predetermined track, and the predetermined track is provided with a fitting member adapted to the encoder; The method includes:

Controlling the robot to move along the predetermined orbit;

Acquiring a distance of the robot motion based on the encoder;

When the encoder meets the trigger condition, the route is calibrated according to the position information of the fitting;

The real-time position of the robot is determined based on the real-time distance of the encoder.

According to a second aspect of the present invention, there is provided a robot positioning apparatus comprising an encoder and a processor each mounted on the robot, wherein the encoder is electrically connected to the processor, the robot and a predetermined a track fit, the predetermined track being provided with a fitting member adapted to the encoder;

The processor includes one or more, operating separately or collectively; the processor is configured to:

Controlling the robot to move along the predetermined orbit;

Acquiring a distance of the robot motion based on the encoder;

According to a third aspect of the present invention, a computer readable storage medium having stored thereon is a computer program that, when executed by a processor, implements the following steps:

Controlling the robot to move along the predetermined orbit;

Acquiring a distance of the robot motion based on the encoder;

It can be seen from the technical solutions provided by the embodiments of the present invention that the present invention eliminates the cumulative error of the encoder by the cooperation of the encoder on the robot and the matching component on the predetermined track, thereby realizing the precise positioning of the robot and facilitating the execution strategy of the subsequent robot. (such as base defense, combating the fortress and other decisions) implementation; lower cost.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a diagram showing an application scenario of a robot in an embodiment of the present invention;

2 is a flow chart of a method for positioning a robot according to an embodiment of the present invention;

3 is a diagram showing an application scenario of a robot in another embodiment of the present invention;

4 is a block diagram showing the structure of a robot positioning device in an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The robot positioning method and apparatus of the present invention will be described in detail below with reference to the accompanying drawings. The features of the embodiments and embodiments described below may be combined with each other without conflict.

The robot 100 of the embodiment of the present invention is provided with an encoder. Referring to Fig. 1, the robot 100 cooperates with a predetermined rail 200, and the predetermined rail 200 is provided with a fitting 210 adapted to the encoder. The mating member 210 may be disposed at an intermediate position of the preset track along the length direction, or may be disposed at other positions of the predetermined track 200. Further, the mating component 210 may be directly mounted on the predetermined rail 200 or may be mounted on other structures but on the predetermined rail 200. Referring to FIG. 3, the fitting member 210 is located above the predetermined rail 200. In the embodiment, the predetermined rail 200 includes a rail body and a support column for supporting the predetermined rail 200, and the mating member 210 is assembled on The support post is aligned with a certain position of the track body. Optionally, the fitting 210 is hung on the support column. The fitting 210 may include one or at least two. When the fitting member 210 includes at least two, at least two fitting members 210 are disposed at different positions of the predetermined rail 200.

The position of the encoder mounted on the robot 100 is not specifically limited in this embodiment. For example, in an embodiment, the robot 100 includes a first driving wheel and a second driving wheel that are sandwiched on both sides of the predetermined rail 200. The encoder is mounted between the first drive wheel and the second drive wheel.

In addition, the robot 100 of the embodiment may further include a referee lamp post for monitoring parameters such as the blood volume of the robot 100. When the robot 100 of the embodiment is mounted to the predetermined track 200, the referee lamp post faces outward, so that the back end monitors the referee lamp post of the current robot 100 in real time.

In this embodiment, when the robot 100 is in a straight section (the rails are parallel on both sides), the two first driving wheels and the second driving wheel are parallelly sandwiched on both sides of the straight section, the first driving wheel The line between the second drive wheel and the second drive wheel (e.g., the center line of the first drive wheel and the second drive wheel) is nearly vertical and the sides of the straight section are vertical.

FIG. 2 is a flowchart of a method for positioning a robot according to an embodiment of the present invention. The execution body of the robot positioning method of the embodiment is a processor, and the processor may be a central controller of the robot 100 or a separately set controller. As shown in FIG. 2, the method may include the following steps:

Step S201: controlling the robot 100 to move along the predetermined track 200;

In this embodiment, the processor drives the drive wheel to move along the predetermined track 200 by a drive mechanism. Wherein, the driving mechanism may comprise a motor, the processor drives the driving wheel to rotate by controlling the rotation of the motor, and the control mode of the processor controlling the rotation of the motor may select any existing control mode. In this embodiment, the first drive wheel and the second drive wheel are driven by respective drive mechanisms.

Further, in the embodiment, step S201 specifically includes: controlling the robot 100 to start moving along the predetermined track 200 from a specific position of the predetermined track 200. The robot 100 of the present embodiment starts the movement with the specific position of the predetermined track 200 as a starting point, thereby using the specific position as a reference to facilitate subsequent positioning. In other embodiments, the robot 100 can also be controlled to move back and forth on the predetermined track 200 to calibrate the position of the robot 100.

In addition, in the embodiment, step S201 further includes: controlling the robot 100 to reciprocate along a specific area range of the predetermined track 200. Wherein, the specific area range may be set according to the game requirements, for example, in some examples, the specific area range is the entire track. In other examples, the particular area ranges to a certain area of the predetermined track 200.

Step S202: Acquire a path of movement of the robot 100 based on the encoder;

The encoder of this embodiment may be a quadrature encoder (ie, a photoelectric rotary incremental encoder), may also be a Hall element, or may be other encoders, such as an absolute encoder (relative to incremental). , electromagnetic encoder (relative to photoelectric).

Step S203: When the encoder meets the trigger condition, the route is calibrated according to the location information of the mating component 210;

In an embodiment, the encoder is a quadrature encoder, and the occlusion cooperation of the quadrature encoder and the mating member 210 determines whether the robot 100 is running to the position where the mating member 210 is located, which is low in cost. In this embodiment, when it is determined that the orthogonal encoder is occluded by the fitting 210, it is determined that the encoder satisfies a trigger condition.

Further, determining that the encoder satisfies a trigger condition comprises detecting that the quadrature encoder generates a hopping signal. In some examples, when the quadrature encoder is unoccluded, the output is low; when the quadrature encoder is occluded, the output is high. In this embodiment, when the robot 100 passes through the mating component 210, the infrared light emitted by the quadrature encoder is blocked by the mating component 210 for a period of time, and the output of the quadrature encoder jumps from a low level to a high level. Therefore, detecting that the quadrature encoder generates the hopping signal includes detecting that the quadrature encoder jumps from a low level to a high level. In other embodiments, the quadrature encoder outputs a high level when the quadrature encoder is unoccluded, and outputs a low level when the quadrature encoder is occluded. In this embodiment, when the robot 100 passes the mating component 210, the quadrature encoder is blocked by the mating component 210 for a period of time, and the output of the quadrature encoder jumps from a high level to a low level.

In another embodiment, the encoder is a Hall element, and the mating member 210 is a magnet, and the cooperation of the Hall element and the magnet determines whether the current robot 100 is running to the position of the magnet. In this embodiment, when it is determined that the Hall element is in alignment with the magnet, it is determined that the encoder satisfies a trigger condition.

Further, determining that the encoder satisfies a trigger condition comprises detecting that the Hall element generates a hopping signal. In some examples, when the Hall element is not aligned with the magnet, a low level is output; when the Hall element is aligned with the magnet, a high level is output. In this embodiment, detecting that the Hall element generates a transition signal includes: detecting The Hall element transitions from a low level to a high level. In other examples, when the Hall element is not aligned with the magnet, a high level is output; when the Hall element is aligned with the magnet, a low level is output. In this embodiment, detecting that the Hall element generates a transition signal includes: detecting The Hall element transitions from a high level to a low level.

In this embodiment, the calibrating the route according to the position information of the mating component 210 includes: determining an error correction value according to the route and the position information of the mating component 210; and according to the error correction value, The route is corrected. Optionally, the position information of the fitting 210 refers to the distance between the fitting 210 and the specific position. The control robot 100 starts to move from a specific position. When the robot 100 passes the mating member 210 for the first time, the encoder obtains the path S1, and the position information of the mating member 210 is S2, the error correction value can be determined according to S1 and S2. ΔS, S1 is corrected according to ΔS, that is, the calibration of the path is realized.

Step S204: Determine the real-time location of the robot 100 according to the real-time path of the encoder.

The present embodiment divides the predetermined track 200 into a plurality of segments in the length direction according to a preset rule. For example, in some examples, the predetermined track 200 is divided along the length direction according to the shape of the predetermined track 200. Optionally, the predetermined track 200 includes a straight section and a curved section. In other examples, the predetermined track 200 is formed by a plurality of track splicings (such as welding), and the present embodiment divides the predetermined track 200 into a plurality of segments according to the splicing position.

In this embodiment, the specific position is located on a specific segment of the plurality of tracks, and the mating member 210 is disposed at a designated position of the specific segment of the track. For example, in an embodiment, the particular location is an end location of the particular segment of track, the designated location being a central location of the particular segment of the track.

Further, before controlling the robot 100 to start moving along the predetermined track 200 from a specific position of the predetermined track 200, the method further includes: acquiring a length of each segment of the track.

The manner of acquiring the length of each segment of the track may be selected according to requirements. In an embodiment, acquiring the length of each segment of the track specifically includes: controlling the robot 100 to run along each segment of the track; and detecting the track of each segment based on the encoder. length. In other embodiments, other existing ranging methods may also be used to measure the length of each segment of the track.

Step S204 specifically includes determining a real-time location of the robot 100 according to the real-time path of the encoder, the length of each segment of the track, and the location information of the specific location.

In this embodiment, the length of each track is saved in advance as a coordinate reference, and the position of the current robot 100 can be calculated by combining the length of each segment and the current value of the encoder. For example, referring to FIG. 3, the predetermined track 200 includes a track 1, a track 2, a track 3, a track 4, and a track 5, and the track 1 is connected to the track 2, and the track 2 is connected to the track 3 away from one end of the track 1, and the track 3 is away from One end of the rail 2 is connected to the rail 4, and one end of the rail 4 away from the rail 3 is connected to the rail 5. Wherein, the length of the track 1 is 4000 mm, and the control robot 100 starts from the end of the track 1 away from the track 2, and the encoder value is 0 before the robot 100 operates. In the process of controlling the operation of the robot 100, if the path detected by the encoder is 2000 mm, it is determined that the robot 100 is located in the middle of the track 1. If the encoder detects a path greater than 4000 mm and less than 4000 mm + the length of the track 2, it can be determined that the robot 100 has entered the track 2.

In the embodiment of the present invention, by the cooperation of the encoder on the robot 100 and the mating component 210 on the predetermined track 200, the cumulative error of the encoder is eliminated, and the precise positioning of the robot 100 is realized, which is beneficial to the execution strategy of the subsequent robot 100 (such as the base). Execution of defense, combating fortresses, etc.; lower cost.

Referring to FIG. 4, an embodiment of the present invention further provides a robot 100 positioning device, which includes an encoder and a processor respectively mounted on the robot 100, wherein the encoder and the processor are electrically Connected, the robot 100 cooperates with a predetermined track 200, and the predetermined track 200 is provided with a fitting 210 adapted to the encoder;

The processor includes one or more, operating separately or collectively; the processor is configured to control movement of the robot 100 along the predetermined track 200; obtaining a path of movement of the robot 100 based on the encoder; When the encoder satisfies the trigger condition, the route is calibrated according to the position information of the fitting 210; and the real-time position of the robot 100 is determined according to the real-time distance of the encoder.

The specific principles and implementations of the positioning device of the robot 100 provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 2, and details are not described herein again.

In this embodiment, the processor may be a central processing unit (CPU). The processor may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.

Further, the robot 100 positioning device may further include a storage device. The storage device may include a volatile memory such as a random-access memory (RAM); the storage device may also include a non-volatile memory such as a flash memory. (flash memory), hard disk drive (HDD) or solid-state drive (SSD); the first storage device may further include a combination of the above types of memories. Optionally, the storage device is configured to store program instructions. The processor may invoke the program instructions to implement a cornering control method applied to the robot 100 as in the above embodiment.

For the device embodiment, since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

The embodiment of the invention further provides a computer readable storage medium, on which a computer program is stored, which is implemented by the processor to implement the steps of the robot positioning method shown in FIG. 2.

The description of the "specific examples", or "some examples" and the like are intended to be included in the particular features, structures, materials or features described in connection with the embodiments or examples. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a particular logical function or process. And the scope of the preferred embodiments of the present invention includes additional implementations in which the functions may be performed in a substantially simultaneous manner or in the reverse order, depending on the order in which they are illustrated. It will be understood by those skilled in the art to which the embodiments of the present invention pertain.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer readable medium, Used in conjunction with, or in conjunction with, an instruction execution system, apparatus, or device (eg, a computer-based system, a system including a processor, or other system that can fetch instructions and execute instructions from an instruction execution system, apparatus, or device) Or use with equipment. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.

It should be understood that portions of the invention may be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented with any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

A person skilled in the art can understand that all or part of the steps carried in implementing the above implementation method can be completed by a program to instruct related hardware, and the program can be stored in a computer readable storage medium, and the program is executed. Including one or a combination of the steps of the method embodiments.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. The integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.

The above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like. Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.

Claims

A robot positioning method is characterized in that an encoder is mounted on a robot, wherein the robot cooperates with a predetermined track, and the predetermined track is provided with a fitting matched with the encoder; the method includes:

Controlling the robot to move along the predetermined orbit;

Acquiring a distance of the robot motion based on the encoder;

When the encoder meets the trigger condition, the route is calibrated according to the position information of the fitting;

The real-time position of the robot is determined based on the real-time distance of the encoder.
The method of claim 1 wherein said encoder is a quadrature encoder.
The method according to claim 2, wherein the encoder satisfies a trigger condition, including:

It is determined that the quadrature encoder is blocked by the mating member.
The method according to claim 2, wherein the encoder satisfies a trigger condition, including:

The quadrature encoder is detected to generate a hopping signal.
The method according to claim 4, wherein said detecting said quadrature encoder to generate a hopping signal comprises:

The quadrature encoder is detected to transition from a low level to a high level.
The method of claim 1 wherein said encoder is a Hall element and said mating member is a magnet.
The method according to claim 6, wherein the encoder satisfies a trigger condition, including:

It is determined that the Hall element is in alignment with the magnet.
The method according to claim 6, wherein the encoder satisfies a trigger condition, including:

The Hall element is detected to generate a hopping signal.
The method of claim 8 wherein said detecting said Hall element to generate a hopping signal comprises:

The Hall element is detected to transition from a low level to a high level.
The method according to claim 1, wherein the calibrating the route according to the position information of the fitting comprises:

Determining an error correction value according to the distance and the position information of the fitting;

The path is corrected based on the error correction value.
The method of claim 1 wherein said controlling said robot to move along said predetermined orbit comprises:

Controlling the robot to move along the predetermined orbit from a particular position of the predetermined track.
The method according to claim 11, wherein the positional information of the fitting member refers to a distance between the fitting member and the specific position.
The method according to claim 11, wherein the predetermined track is divided into a plurality of segments along a length direction according to a preset rule;

The specific location is located on a particular segment of the plurality of segments of the track, and the mating member is disposed at a designated location of the particular segment of the track.
The method of claim 13 wherein said particular location is an end location of said particular segment of track and said designated location is a central location of said particular segment of orbit.
The method according to claim 13, wherein the preset rule comprises:

The predetermined track is divided along the length direction according to the shape of the predetermined track.
The method according to claim 13, wherein before the controlling the robot to start moving along the predetermined orbit from a specific position of the predetermined track, the method further comprises:

Get the length of each track.
The method according to claim 16, wherein the obtaining the length of each segment of the track comprises:

Controlling the robot to run along each segment of the track;

The length of each segment of the track is detected based on the encoder.
The method according to claim 17, wherein the determining the real-time location of the robot according to the real-time path of the encoder comprises:

The real-time position of the robot is determined according to the real-time path of the encoder, the length of each track, and the position information of the specific position.
The method of claim 1 wherein said controlling said robot to move along said predetermined orbit comprises:

The robot is controlled to reciprocate along a particular range of the predetermined track.
The method of claim 19 wherein said specific area ranges from the entire track.
A robot positioning device, comprising: an encoder and a processor each mounted on the robot, wherein the encoder is electrically connected to the processor, and the robot cooperates with a predetermined track, a fitting member adapted to the encoder is provided on the predetermined track;

The processor includes one or more, operating separately or collectively; the processor is configured to:

Controlling the robot to move along the predetermined orbit;

Acquiring a distance of the robot motion based on the encoder;

When the encoder meets the trigger condition, the route is calibrated according to the position information of the fitting;

The real-time position of the robot is determined based on the real-time distance of the encoder.
The apparatus of claim 21 wherein said encoder is a quadrature encoder.
The apparatus according to claim 22, wherein the processor determines that the encoder satisfies a trigger condition, and includes:

It is determined that the quadrature encoder is blocked by the mating member.
The apparatus according to claim 22, wherein the processor determines that the encoder satisfies a trigger condition, and includes:

The quadrature encoder is detected to generate a hopping signal.
The apparatus according to claim 24, wherein said processor detects that said quadrature encoder generates a hopping signal, comprising:

The quadrature encoder is detected to transition from a low level to a high level.
The device according to claim 21, wherein said encoder is a Hall element and said mating member is a magnet.
The apparatus according to claim 26, wherein said processor determines that the encoder satisfies a trigger condition, and comprises:

It is determined that the Hall element is in alignment with the magnet.
The apparatus according to claim 26, wherein said processor determines that the encoder satisfies a trigger condition, and comprises:

The Hall element is detected to generate a hopping signal.
The apparatus according to claim 28, wherein said processor detects that said Hall element generates a hopping signal, comprising:

The Hall element is detected to transition from a low level to a high level.
The device according to claim 21, wherein the processor calibrates the route according to the location information of the mating component, including:

Determining an error correction value according to the distance and the position information of the fitting;

The path is corrected based on the error correction value.
The apparatus of claim 21 wherein said processor is operative to:

Controlling the robot to move along the predetermined orbit from a particular position of the predetermined track.
The device according to claim 31, wherein the positional information of the fitting member refers to a distance between the fitting member and the specific position.
The apparatus according to claim 31, wherein the predetermined track is divided into a plurality of segments along a length direction according to a preset rule;

The specific location is located on a particular segment of the plurality of segments of the track, and the mating member is disposed at a designated location of the particular segment of the track.
The apparatus according to claim 33, wherein said specific position is an end position of said specific segment track, and said designated position is a middle position of said specific segment track.
The device according to claim 33, wherein the preset rule comprises:

The predetermined track is divided along the length direction according to the shape of the predetermined track.
The apparatus according to claim 33, wherein said processor is further configured to: before controlling said robot to start moving along said predetermined orbit from said specific position of said predetermined track;

Get the length of each track.
The apparatus of claim 36 wherein said processor is operative to:

Controlling the robot to run along each segment of the track;

The length of each segment of the track is detected based on the encoder.
The apparatus according to claim 37, wherein said processor is configured to:

The real-time position of the robot is determined according to the real-time path of the encoder, the length of each track, and the position information of the specific position.
The apparatus of claim 21 wherein said processor is operative to:

The robot is controlled to reciprocate along a particular range of the predetermined track.
The apparatus of claim 39 wherein said specific area ranges from the entire track.
A computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor to implement the steps of the robot positioning method according to any one of claims 1 to 20.