WO2020133982A1 - Procédé et appareil de positionnement de robot et dispositif électronique - Google Patents

Procédé et appareil de positionnement de robot et dispositif électronique Download PDF

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Publication number
WO2020133982A1
WO2020133982A1 PCT/CN2019/093199 CN2019093199W WO2020133982A1 WO 2020133982 A1 WO2020133982 A1 WO 2020133982A1 CN 2019093199 W CN2019093199 W CN 2019093199W WO 2020133982 A1 WO2020133982 A1 WO 2020133982A1
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WO
WIPO (PCT)
Prior art keywords
robot
positioning
time point
positioning mark
positioning marks
Prior art date
Application number
PCT/CN2019/093199
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English (en)
Chinese (zh)
Inventor
杨洁
何东杰
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中国银联股份有限公司
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Filing date
Publication date
Application filed by 中国银联股份有限公司 filed Critical 中国银联股份有限公司
Publication of WO2020133982A1 publication Critical patent/WO2020133982A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations

Definitions

  • the invention relates to the technical field of data processing, in particular to a robot positioning method and device, and electronic equipment.
  • the intelligent inspection robot in the computer room is a key frontier innovative technology that major financial companies need to conduct in-depth research and application. After understanding, at present, large domestic banks have started the research of intelligent inspection robots in the computer room. The robot needs to locate the robot during the inspection. When it is required to complete a specific recognition task, such as a certain position for the location of a cabinet, this requires more precise positioning of the robot.
  • the present application provides a signal light recognition method and device, and electronic equipment to improve the accuracy of robot positioning.
  • the positioning marks of the cabinet and determine the position information of the positioning marks are at least two; the number of the positioning marks is the same as the number of the cabinets, wherein one positioning mark corresponds to one cabinet , The positioning mark is set on the ground in front of the cabinet;
  • For a positioning mark determine the distance between the robot and the positioning mark, and the angle between the travel direction of the robot and the line between the robot and the positioning mark;
  • the total number of the positioning marks is the same as the number of the cabinets, wherein one positioning mark corresponds to one cabinet, and the distance between each positioning mark and the corresponding cabinet is equal, and two adjacent The distance between the positioning marks is equal.
  • the identification of the positioning marks of the cabinet includes:
  • the determining the actual position of the robot includes:
  • the method further includes:
  • the traveling direction of the robot is corrected.
  • the robot is provided with an RFID reader, and the cabinet is provided with an RFID tag;
  • the determination of the actual position of the robot includes:
  • the method further includes:
  • An embodiment of the present invention also provides a robot positioning device, including:
  • the identification unit is used for identifying the positioning marks of the cabinet, and the number of the identified positioning marks is at least two, and the position information of each positioning mark is determined; the number of the positioning marks is plural, and the positioning marks are provided at on the ground;
  • a determining unit configured to determine the distance between the robot and the positioning mark for one positioning mark, and the included angle between the travel direction of the robot and the line connecting the robot and the positioning mark;
  • the calculation unit is used to calculate the angle between the robot's direction of travel and the line between the robot and the positioning mark according to the position information of at least two positioning marks, the distance between the robot and each positioning mark To determine the actual position of the robot.
  • the total number of the positioning marks is the same as the number of the cabinets, wherein one positioning mark corresponds to one cabinet, and the distance between each positioning mark and the corresponding cabinet is equal, and two adjacent The distance between the positioning marks is equal.
  • the recognition unit is specifically used for recognizing positioning marks during the robot's traveling process, and the angle between the orientation of the robot's camera and the traveling direction of the robot does not change ;
  • the calculation unit is specifically configured to determine the first actual position of the robot at a first time point and determine the second actual position of the robot at a second time point;
  • a correction unit is further included for correcting the traveling direction of the robot based on the relative relationship between the first actual position and the second actual position.
  • the robot is provided with an RFID reader, and the cabinet is provided with an RFID tag;
  • the calculation unit is specifically configured to determine that the robot is located at a third position where the RFID reader starts to read the RFID tag;
  • the calculation unit is also used to:
  • An embodiment of the present invention also provides an electronic device, including:
  • At least one processor and,
  • a memory communicatively connected to the at least one processor; wherein,
  • the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method as described above.
  • An embodiment of the present invention further provides a non-transitory computer-readable storage medium, where the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the method as described above.
  • multiple positioning marks are provided on the ground.
  • the positioning marks are identified, and the number of the identified positioning marks is at least two, and the position information of each positioning mark is determined.
  • For a positioning mark determine the distance between the robot and the positioning mark, and the angle between the robot's direction of travel and the line between the robot and the positioning mark.
  • the actual position of the robot is determined according to the position information of at least two positioning marks, the distance between the robot and each positioning mark, and the included angle between the direction of travel of the robot and the line between the robot and the positioning mark.
  • the embodiment of the invention utilizes the relative position between the robot and at least two positioning marks to accurately calculate the current position of the robot, thereby achieving precise positioning of the robot.
  • FIG. 1 is a schematic flowchart of a robot positioning method according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a positional relationship between a robot and positioning marks in an embodiment of the present invention
  • FIG. 3 is a schematic diagram of positions determined by a robot separated by ⁇ t time during traveling in an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a robot reading an RFID tag in an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of the trajectory of the robot along the two-dimensional code in the embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a robot positioning device according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
  • the intelligent inspection robot in the computer room is a key frontier innovative technology that major financial companies need to conduct in-depth research and application. After understanding, at present, large domestic banks have started the research of intelligent inspection robots in the computer room. The robot needs to locate the robot during the inspection. When it is required to complete specific tasks, such as certain requirements for the location of a cabinet, this requires more precise positioning of the robot.
  • an embodiment of the present invention provides a robot positioning method. As shown in FIG. 1, the robot positioning method provided by the embodiment of the present invention includes the following steps:
  • Step 101 Identify the positioning marks of the cabinet. At the same time, the number of the identified positioning marks is at least two, and the position information of each positioning mark is determined; the number of the positioning marks is multiple, and the positioning marks are set on the ground .
  • Step 102 For a positioning mark, determine the distance between the robot and the positioning mark, and the angle between the travel direction of the robot and the line connecting the robot and the positioning mark.
  • Step 103 Determine according to the position information of at least two positioning marks, the distance between the robot and each positioning mark, and the angle between the travel direction of the robot and the line connecting the robot and the positioning mark to determine The actual position of the robot.
  • multiple positioning marks are provided on the ground.
  • the positioning marks are identified, and the number of the identified positioning marks is at least two, and the position information of each positioning mark is determined.
  • For a positioning mark determine the distance between the robot and the positioning mark, and the angle between the robot's direction of travel and the line between the robot and the positioning mark.
  • the actual position of the robot is determined according to the position information of at least two positioning marks, the distance between the robot and each positioning mark, and the included angle between the direction of travel of the robot and the line between the robot and the positioning mark.
  • the embodiment of the invention utilizes the relative position between the robot and at least two positioning marks to accurately calculate the current position of the robot, thereby achieving precise positioning of the robot.
  • the total number of the positioning marks is the same as the number of the cabinets, where one positioning mark corresponds to one For cabinets, the distance between each positioning mark and the corresponding cabinet is equal, and the distance between two adjacent positioning marks is equal.
  • positioning marks can be set in the machine room on the ground in front of the cabinet in advance.
  • the positioning mark in the embodiment of the present invention is a two-dimensional code label.
  • the positioning label may also be in other forms.
  • the form of the positioning label in the embodiment of the present invention is only an example and is not limited.
  • the total number of two-dimensional codes is the same as the number of the cabinets.
  • One two-dimensional code corresponds to one cabinet.
  • the two-dimensional code label may contain information such as the location of the label, the cabinet corresponding to the label, and the serial number of the label.
  • the robot recognizes the two-dimensional code label by installing a camera in the center position, and obtains the information contained in the two-dimensional code label.
  • the camera can be installed in the same direction of the robot, and it can be recognized when the light in the computer room is bright.
  • the robot can not only determine the exact location where it is, but also directly identify the cabinet corresponding to the two-dimensional code label, so as to perform the specific tasks set for the cabinet.
  • FIG. 2 shows a schematic diagram of the positional relationship between the robot and the positioning mark.
  • the image acquisition system is used to identify the two-dimensional code image set on the ground, in this case, two-dimensional code A and two-dimensional code B.
  • the information in the two-dimensional code is used to determine the coordinate information of each two-dimensional code.
  • the coordinates of the two-dimensional code A are (a1, a2)
  • the coordinates of the two-dimensional code B are (b1, b2).
  • the position of the two-dimensional code label in the image is used to obtain the distance between the robot and each two-dimensional code, and the angle between the robot's traveling direction and the line connecting the robot and the positioning mark.
  • the distance between the robot and the two-dimensional code A is a
  • the distance between the robot and the two-dimensional code B is b.
  • the angle between the robot travel direction and the line between the robot and the QR code A is ⁇
  • the angle between the robot travel direction and the line between the robot and the QR code B is ⁇ . Therefore, the positional relationship between the point O and the two-dimensional code A, and the point O and the two-dimensional code B can be determined according to the above information, and the current position of the robot can be further calculated, expressed as coordinates (x, y).
  • the two-dimensional code can be recognized at certain time intervals during the robot's travel, so as to correct the robot's orientation and movement trajectory by calculating the robot's position.
  • the identification of the positioning marks of the cabinet includes:
  • the determining the actual position of the robot includes:
  • the method further includes:
  • the traveling direction of the robot is corrected.
  • the robot recognizes the two nearest two-dimensional codes every ⁇ t time while traveling, and determines the position information of the robot.
  • FIG. 3 shows a schematic diagram of positions determined by the robot at intervals of ⁇ t during traveling. As shown in Fig. 3, in the set trajectory, the robot should move from point O to position P after ⁇ t time, but after two-dimensional code recognition, it is determined that the robot actually moved from point O to point Q after ⁇ t time. By comparing OP and OQ, the actual trajectory of the robot can be corrected. At the same time, the direction of the robot can be calibrated according to the standard direction of AB and the positional relationship between point P and point Q, and the real-time direction of the robot can be adjusted.
  • RFID tag identification can be added on the basis of identifying two two-dimensional codes.
  • determine the actual position of the robot including:
  • the robot By identifying the two-dimensional code tag, it is determined that the robot is located at the third position where the RFID reader starts to read an RFID tag, the first time point of the robot at the third position is determined, and then combined with the robot's traveling direction and traveling speed, it can be calculated Out the fourth position of the robot at the second time point.
  • the path of the robot may also be set to be parallel to the cabinet along the two-dimensional code in front of the cabinet, as shown in FIG. 5.
  • the center position coordinates of the cabinet are stored in the RFID tag, and the corresponding center position information is obtained by reading.
  • the horizontal displacement of the robot movement is obtained by the speed of the robot*time, and then the center position of the cabinet is used to calculate the exact position of the robot.
  • An embodiment of the present invention also provides a robot positioning device, as shown in FIG. 6, including:
  • the identification unit 601 is used to identify the positioning marks of the cabinet, and the number of the identified positioning marks is at least two, and the position information of each positioning mark is determined; the number of the positioning marks is plural, and the positioning marks are set On the ground
  • the determining unit 602 is configured to determine the distance between the robot and the positioning mark and the included angle between the travel direction of the robot and the line between the robot and the positioning mark for a positioning mark;
  • the calculation unit 603 is configured to clamp a line connecting the robot travel direction and the robot and the positioning mark according to the position information of at least two positioning marks, the distance between the robot and each positioning mark Angle to determine the actual position of the robot.
  • the total number of the positioning marks is the same as the number of the cabinets, wherein one positioning mark corresponds to one cabinet, the distance between each positioning mark and the corresponding cabinet is equal, and the distance between two adjacent positioning marks The distance is equal.
  • the identification unit 601 is specifically configured to identify positioning marks during the robot's traveling process, and the angle between the orientation of the robot's camera and the traveling direction of the robot does not change;
  • the calculation unit 603 is specifically configured to determine the first actual position of the robot at a first time point and determine the second actual position of the robot at a second time point;
  • a correction unit 604 is further included for correcting the traveling direction of the robot based on the relative relationship between the first actual position and the second actual position.
  • the robot is provided with an RFID reader
  • the cabinet is provided with an RFID tag
  • the calculation unit 603 is specifically configured to determine that the robot is located at a third position where the RFID reader starts to read the RFID tag;
  • the calculation unit 603 is also used to:
  • the present invention also provides an electronic device, as shown in FIG. 7, including:
  • It includes a processor 701, a memory 702, a transceiver 703, and a bus interface 704, where the processor 701, the memory 702, and the transceiver 703 are connected through a bus interface 704;
  • the processor 701 is configured to read the program in the memory 702 and execute the following methods:
  • the number of the identified positioning marks is at least two, and the position information of each positioning mark is determined; the number of the positioning marks is plural, and the positioning marks are set on the ground;
  • For a positioning mark determine the distance between the robot and the positioning mark, and the angle between the travel direction of the robot and the line between the robot and the positioning mark;
  • each flow and/or block in the flowchart and/or block diagram and a combination of the flow and/or block in the flowchart and/or block diagram may be implemented by computer program instructions.
  • These computer program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, embedded processing machine, or other programmable data processing device to produce a machine that enables the generation of instructions executed by the processor of the computer or other programmable data processing device
  • These computer program instructions may also be stored in a computer readable memory that can guide a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, the instructions
  • the device implements the functions specified in one block or multiple blocks of the flowchart one flow or multiple flows and/or block diagrams.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operating steps are performed on the computer or other programmable device to produce computer-implemented processing, which is executed on the computer or other programmable device
  • the instructions provide steps for implementing the functions specified in one block or multiple blocks of the flowchart one flow or multiple flows and/or block diagrams.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

Les modes de réalisation de l'invention concernent le domaine technique du traitement de données et, en particulier, un procédé et un appareil de positionnement de robot et un dispositif électronique utilisé pour améliorer la précision de positionnement d'un robot. Les modes de réalisation de l'invention consistent à : identifier des marqueurs de positionnement d'armoires, au moins deux marqueurs de positionnement étant identifiés simultanément, et déterminer les informations de position de chaque marqueur de positionnement, sachant qu'il y a de multiples marqueurs de positionnement et que les marqueurs de positionnement sont agencés sur le sol ; déterminer, par rapport à un marqueur de positionnement donné, une distance entre un robot et le marqueur de positionnement, et un angle inclus d'une direction d'avancement du robot et d'une droite reliant le robot et le marqueur de positionnement ; et déterminer la position réelle du robot selon les informations de position d'au moins deux marqueurs de positionnement, la distance entre le robot et chaque marqueur de positionnement, et les angles inclus des directions d'avancement du robot et les droites reliant le robot et les marqueurs de positionnement.
PCT/CN2019/093199 2018-12-29 2019-06-27 Procédé et appareil de positionnement de robot et dispositif électronique WO2020133982A1 (fr)

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CN109711503A (zh) * 2018-12-29 2019-05-03 中国银联股份有限公司 一种机器人定位方法及装置
CN110221608B (zh) * 2019-05-23 2021-10-01 中国银联股份有限公司 一种巡检设备的方法及装置
CN113268063A (zh) * 2021-06-03 2021-08-17 北京京东乾石科技有限公司 机器人的控制方法、装置和非易失性计算机可读存储介质
CN115047874B (zh) * 2022-06-02 2023-09-15 北京三快在线科技有限公司 机器人接驳方法、储物柜、机器人、系统和电子设备
CN116934700B (zh) * 2023-07-17 2024-05-28 农芯(南京)智慧农业研究院有限公司 松材线虫病疫木除治管控方法、装置、设备及存储介质

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