Indoor-oriented robot positioning method, electronic equipment, positioning system and medium

Abstract

The embodiment of the invention provides an indoor robot positioning method, electronic equipment, a positioning system and a medium, and belongs to the technical field of robot control. The method comprises the following steps: acquiring a target line drawing track, and performing pose data planning on the target line drawing track to obtain target pose data of a plurality of time steps; then distance data between the laser range finder and the paying-off robot and a laser point coordinate matrix of laser points are obtained, and pose data calculation is carried out according to the laser point coordinate matrix and the distance data to obtain initial pose data of the paying-off robot relative to the laser range finder in the target time step; performing error calculation according to the initial pose data and the target pose data of the target time step to obtain motion error data; and performing control signal generation on the motion error data through a preset prediction motion model to obtain an expected offset signal. And finally, the pay-off robot is controlled to move according to the expected offset signal. According to the embodiment of the invention, indoor accurate paying-off can be realized.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to an indoor robot positioning method, electronic equipment, positioning system and medium. Background Art

[0002] In the field of construction, laying out lines refers to marking out reference lines on the construction site according to the requirements of the design drawings. For indoor decoration applications, it is necessary to rely on manual positioning of the reference lines, or the environment perception sensor carried inside the robot, use the Simultaneous Localization and Mapping (SLAM) laser technology to perceive the decoration environment, and let the robot hardware be equipped with an automatic line drawing actuator to achieve line laying. However, manual line laying relies on the technical ability and experience of workers, which makes it impossible to guarantee the accuracy of line laying. During the perception and positioning process, the sensor will be affected by various interferences, such as sensor accuracy, environmental noise, and electromagnetic interference, which will cause errors in the robot movement. These errors continue to accumulate and superimpose during the construction process, which will eventually lead to excessive errors in line laying positioning. At the same time, due to the limitation of sensor accuracy, the final line laying accuracy does not meet the expected requirements.

[0003] Therefore, how to achieve accurate indoor layout has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The main purpose of the embodiments of the present application is to propose an indoor robot positioning method, electronic equipment, positioning system and medium, aiming to achieve accurate indoor positioning.

[0005] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application proposes a robot positioning method for indoor use, which is applied to a positioning system, wherein the positioning system includes a line-laying robot and a laser rangefinder, wherein the line-laying robot is equipped with a receiving screen, and the receiving screen is used to receive a laser beam emitted by a laser emitting module of the laser rangefinder, so that there is a laser point on the surface of the receiving screen; the method includes: Get the target line trajectory; Performing posture data planning on the target line drawing trajectory to obtain target posture data for multiple time steps; Acquire the distance data between the laser rangefinder and the wire-releasing robot and the laser point coordinate matrix of the laser point, and calculate the posture data according to the laser point coordinate matrix and the distance data to obtain the initial posture data of the wire-releasing robot relative to the laser rangefinder at a target time step, wherein the target time step belongs to a plurality of the time steps; Perform error calculation based on the initial posture data and the target posture data at the target time step to obtain motion error data; The motion error data is subjected to control signal generation through a preset predicted motion model to obtain a desired offset signal; The wire-laying robot is controlled to move according to the expected deviation signal, so that the moving trajectory formed by the wire-laying robot when drawing lines conforms to the target line-drawing trajectory.

[0006] In some embodiments, the laser rangefinder is further equipped with a turntable, which is connected to the laser emitting module to rotate the laser emitting module; the pose data is calculated according to the laser point coordinate matrix and the distance data to obtain the initial pose data of the wire-laying robot relative to the laser rangefinder at the target time step, including: Acquiring a screen image of the receiving screen; Performing laser point coordinate recognition on the screen image to obtain a laser point coordinate matrix of the laser point in a screen coordinate system; the screen coordinate system is a coordinate system with any point on the screen as the origin; Obtaining a turntable rotation angle of the turntable; Obtain the coordinates of the origin of the module coordinate system at the origin of the turntable coordinate system; the module coordinate system is a coordinate system with any point of the laser emission module as the origin, and the turntable coordinate system is a coordinate system with any point of the turntable as the origin; A conversion matrix is ​​calculated according to the turntable rotation angle and the origin conversion coordinates to obtain a first conversion matrix; wherein the first conversion matrix is ​​used to represent the conversion relationship between the turntable coordinate system and the module coordinate system; Acquire a beam coordinate matrix of the laser beam in the module coordinate system according to the distance data; A least squares operation is performed on the laser point coordinate matrix, the first conversion matrix and the beam coordinate matrix to obtain a second conversion matrix; the second conversion matrix is ​​used to represent the conversion relationship between the turntable coordinate system and the screen coordinate system; Perform posture parameter extraction on the second transformation matrix to obtain the initial posture data.

[0007] In some embodiments, the laser rangefinder is further equipped with a first image acquisition device; and obtaining the turntable rotation angle of the turntable includes: Acquiring a robot motion image captured by the first image acquisition device of the wire-laying robot; Performing laser point recognition on two robot motion images with adjacent time steps to obtain a coordinate change of the laser point; A first rotation angle is determined based on the coordinate change amount, and the first rotation angle is used as the turntable rotation angle.

[0008] In some embodiments, acquiring a beam coordinate matrix of the laser beam in the module coordinate system according to the distance data includes: Acquire a first angle between a light beam projection line and a horizontal axis, wherein the light beam projection line is a projection of the laser beam on a preset light source plane; Acquire a second angle between the laser beam and a normal axis, wherein the normal axis is perpendicular to the light source plane; The beam coordinate matrix is ​​obtained by performing geometric relationship calculation based on the distance data, the first angle, and the second angle.

[0009] In some embodiments, before obtaining the turntable rotation angle of the turntable, the method further includes: Obtaining the heading angle of the wire-releasing robot; determining a second rotation angle based on the heading angle, wherein the angular value of the second rotation angle is the same as the angular value of the heading angle, and the direction of the second rotation angle is opposite to the direction of the heading angle; The receiving screen is controlled to rotate according to the second rotation angle.

[0010] In some embodiments, the initial pose data includes initial position coordinates and an initial heading angle, and the target pose data includes expected coordinates and an expected heading angle; and performing error calculation based on the initial pose data and the target pose data at a target time step to obtain motion error data includes: Calculating the position difference between the initial position coordinates and the expected coordinates to obtain position error data; Calculating the angle difference between the initial heading angle and the desired heading angle to obtain heading angle error data; The motion error data is determined based on the position error data and the heading error data.

[0011] In some embodiments, the step of generating a control signal from the motion error data using a preset predicted motion model to obtain an expected offset signal includes: Obtaining the initial speed of the wire-releasing robot at a target time step, and obtaining the speed increment of the wire-releasing robot at the target time step and the previous time step; Performing error prediction on the initial pose data according to the predicted motion model to obtain predicted pose data corresponding to a plurality of consecutive time steps; For each time step, a prediction error is calculated based on the predicted posture data and the target posture data to obtain prediction error data; Performing integrated calculation according to a preset error weight matrix, a preset increment weight matrix, the motion error data, the prediction error data and the velocity increment to obtain tracking performance evaluation data; Numerically adjusting the speed increment according to the tracking performance evaluation data to obtain a target speed increment; Determine wheel speed data of the wire-releasing robot based on the target speed increment and the initial speed; A control signal is generated according to the wheel speed data to obtain the expected deviation signal.

[0012] To achieve the above-mentioned purpose, the second aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in the first aspect is implemented.

[0013] To achieve the above-mentioned purpose, a third aspect of an embodiment of the present application provides a positioning system, wherein the device comprises: An electronic device, a laser rangefinder and a wire-laying robot as described in the second aspect above; wherein the laser rangefinder is deployed with a first image acquisition device, a turntable and a laser emission module, and the wire-laying robot is deployed with a second image acquisition device, a receiving screen and a rotating motor; the second image acquisition device is used to acquire the screen image of the receiving screen, and the laser emission module is used to emit a laser beam; the first image acquisition device is used to acquire images of the wire-laying robot; the turntable is installed at the bottom of the laser emission module, and the turntable is used to rotate the laser emission module so that the laser beam is emitted to the receiving screen; the receiving screen is used to receive the laser beam; the rotating motor is installed at the bottom of the receiving screen, and the rotating motor is used to rotate the receiving screen so that the receiving screen is facing the laser emission module; the first image acquisition device, the second image acquisition device, the turntable, and the rotating motor are respectively connected to the electronic device for communication.

[0014] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect is implemented.

[0015] The indoor robot positioning method, electronic device, positioning system and medium proposed in this application first obtain the target line drawing trajectory by analyzing the design drawings to achieve the basis for accurate line laying. Subsequently, the pose data planning is performed on these trajectories, and the complex trajectories are decomposed into target pose data for multiple time steps, providing a detailed reference for subsequent precise control. Then, the distance data between the laser rangefinder and the line laying robot and the laser point coordinate matrix of the laser point are obtained, and the pose data is calculated based on the laser point coordinate matrix and the distance data to obtain the initial pose data of the line laying robot relative to the laser rangefinder at the target time step, and further calculate the motion error data by comparing the initial pose data and the target pose data. Then, the motion error data is processed by a preset predictive motion model to generate a control signal, that is, an expected offset signal, which realizes the prediction and compensation of possible errors, thereby adjusting the motion trajectory of the robot in advance to ensure its consistency with the target trajectory. Finally, the line-laying robot is controlled to move according to the generated expected offset signal, and the position and posture of the robot are adjusted in real time to ensure that its line-drawing trajectory strictly conforms to the target line-drawing trajectory. This closed-loop control process effectively reduces the line-laying deviation caused by manual operation. Compared with the technical solution of using a robot for line-laying using SLAM technology, since the initial pose data is the pose data of the line-laying robot relative to a fixed laser rangefinder, rather than relying on the robot's own continuous perception of the environment and map construction, the robot's initial pose data is not affected by the previous pose estimation error, and therefore no cumulative error is generated. Therefore, the embodiment of the present application can achieve precise line-laying and meet the demand for high-precision line-laying in the field of interior decoration construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a flow chart of an indoor robot positioning method provided by an embodiment of the present application; Figure 2 is a schematic diagram of the system structure of the positioning system provided in an embodiment of the present application; Figure 3 is a schematic structural diagram of a laser emission module according to an embodiment of the present application; Figure 4 is a structural schematic diagram of a line drawing mechanism according to an embodiment of the present application; Figure 5 yes Figure 1 Flow chart of step S103 in FIG. Figure 6 It is a schematic diagram of the positions of the turntable coordinate system, the module coordinate system and the screen coordinate system provided in the embodiment of the present application; Figure 7 yes Figure 5 Flow chart of step S503 in FIG. Figure 8 yes Figure 5 Flow chart of step S506 in FIG. Fig. 9 is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application; Fig.10 yes Figure 1 Flow chart of step S104 in FIG. Fig.11 yes Figure 1 Flow chart of step S105 in FIG. Fig.12 It is a schematic diagram of a calibration block structure provided in an embodiment of the present application; Fig.13 This is a schematic diagram of a scenario of the light beam origin calibration method provided in an embodiment of the present application; Fig.14 This is another scenario schematic diagram of the light beam origin calibration method provided in an embodiment of the present application; Fig.15 This is another scenario schematic diagram of the light beam origin calibration method provided in an embodiment of the present application; Fig.16 It is a schematic diagram of the hardware structure of the electronic device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0018] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0020] In the field of construction, laying out lines refers to marking out reference lines on the construction site according to the requirements of the design drawings. For large-scale and unconstrained outdoor scenes, existing positioning solutions that combine internal sensors and external references set references in the environment by setting external references such as road signs, total stations, or using three-dimensional drawing information, combined with the robot's internal sensors for precise positioning. However, these technologies are not completely applicable to indoor environments because they often require high economic costs, and the limitations of indoor space also make it difficult to deploy these large devices. Therefore, in the relevant technical solutions for indoor decoration, it is still common to rely on manual positioning of the reference line, or use the environmental perception sensors carried by the robot to perceive the decoration environment, such as the simultaneous localization and mapping (SLAM) laser technology, and let the robot hardware be equipped with automatic line drawing actuators to realize automatic laying out. However, manual laying out relies on the workers' technical ability and experience, and cannot guarantee the accuracy of laying out lines. In the process of perception and positioning, the sensor will be affected by various interferences, such as sensor accuracy, environmental noise, and electromagnetic interference, which will cause errors in robot movement. These errors continue to accumulate and superimpose during the construction process, and eventually lead to excessive errors in laying out positioning. Therefore, how to improve the accuracy of line laying has become a technical problem that needs to be solved urgently.

[0021] Based on this, the embodiments of the present application provide an indoor robot positioning method, electronic equipment, positioning system and medium, aiming to achieve precise indoor positioning.

[0022] The indoor robot positioning method, electronic device, positioning system and medium provided in the embodiments of the present application are specifically illustrated through the following embodiments. First, the indoor robot positioning method in the embodiments of the present application is described.

[0023] Figure 1 It is an optional flow chart of the indoor robot positioning method provided in the embodiment of the present application. The indoor robot positioning method provided in the embodiment of the present application is applied to the positioning system. The positioning system includes a wire-laying robot and a laser rangefinder. The wire-laying robot is deployed with a receiving screen. The receiving screen is used to receive the laser beam emitted by the laser emitting module of the laser rangefinder so that there is a laser point on the surface of the receiving screen. The specific structure of the positioning system will be specifically introduced in the following embodiments. Figure 1 The method may include but is not limited to steps S101 to S106.

[0024] Step S101, obtaining a target line drawing trajectory.

[0025] Step S102, performing posture data planning on the target line drawing trajectory to obtain target posture data of multiple time steps.

[0026] Step S103, obtaining the distance data between the laser rangefinder and the wire-laying robot and the laser point coordinate matrix of the laser point, and calculating the posture data based on the laser point coordinate matrix and the distance data to obtain the initial posture data of the wire-laying robot relative to the laser rangefinder at the target time step, where the target time step belongs to multiple time steps.

[0027] Step S104, performing error calculation based on the initial posture data and the target posture data at the target time step to obtain motion error data.

[0028] Step S105 , generating a control signal from the motion error data using a preset predicted motion model to obtain an expected offset signal.

[0029] Step S106, controlling the movement of the wire-laying robot according to the expected deviation signal, so that the moving trajectory formed by the wire-laying robot when drawing lines conforms to the target line-drawing trajectory.

[0030] Steps S101 to S106 shown in the embodiment of the present application, first, obtain the target line drawing trajectory by analyzing the design drawings to achieve the basis for accurate line laying. Subsequently, the pose data planning is performed on these trajectories, and the complex trajectories are decomposed into target pose data for multiple time steps, providing a detailed reference for subsequent precise control. Then, the distance data between the laser rangefinder and the line laying robot and the laser point coordinate matrix of the laser point are obtained, and the pose data is calculated based on the laser point coordinate matrix and the distance data to obtain the initial pose data of the line laying robot relative to the laser rangefinder at the target time step, and further calculate the motion error data by comparing the initial pose data and the target pose data. Then, the motion error data is processed by a preset predictive motion model to generate a control signal, that is, an expected offset signal, which realizes the prediction and compensation of possible errors, thereby adjusting the motion trajectory of the robot in advance to ensure its consistency with the target trajectory. Finally, the line-laying robot is controlled to move according to the generated expected offset signal, and the position and posture of the robot are adjusted in real time to ensure that its line-drawing trajectory strictly conforms to the target line-drawing trajectory. This closed-loop control process effectively reduces the line-laying deviation caused by manual operation. Compared with the technical solution of using a robot for line-laying using SLAM technology, since the initial pose data is the pose data of the line-laying robot relative to a fixed laser rangefinder, rather than relying on the robot's own continuous perception of the environment and map construction, the robot's initial pose data is not affected by the previous pose estimation error, and therefore no cumulative error is generated. Therefore, the embodiment of the present application can achieve precise line-laying and meet the demand for high-precision line-laying in the field of interior decoration construction.

[0031] In step S101 of some embodiments, the target line drawing trajectory is the specific line drawing trajectory that needs to be executed by the robot extracted from the construction design drawing, which may include the starting point and end point of the line and any specific bend or angle change.

[0032] In step S102 of some embodiments, the target line drawing trajectory is decomposed into multiple time steps in the time dimension, and each time step corresponds to a specific posture. In other words, the continuous line drawing task is decomposed into a series of discrete control points, and each control point defines the precise position and heading angle direction that the robot should reach at the end of a specific time step. The above control points are the target posture data.

[0033] It should be noted that the determination of the target posture data is carried out based on the reference coordinate system established by the laser rangefinder provided in the embodiment of the present application. That is to say, when the line-laying robot performs the line-drawing task, the predetermined position and posture that it should reach at the end of each time step are determined and calibrated relative to the coordinate system defined by the laser rangefinder. In order to more clearly understand the execution process of the robot positioning method of the embodiment of the present application, the positioning system provided in the embodiment of the present application will be described in conjunction with the following embodiments.

[0034] See also Figure 2 The embodiment of the present application also provides a positioning system, which includes an electronic device, a laser rangefinder and a line-laying robot for implementing the method provided in the embodiment of the present application.

[0035] Specifically, the laser rangefinder is equipped with a first image acquisition device, a turntable and a laser emission module. In the embodiment of the present application, the first image acquisition device is an infrared camera, and the laser emission module is assembled from three laser rangefinder units and a bracket, such as Figure 3 As shown, Figure 3 This is a schematic diagram of the structure of the laser emission module of an embodiment of the present application. The first image acquisition is used to capture images of the wire-laying robot. The device is installed on an L-shaped part. The L-shaped part can stabilize the first image acquisition device, thereby ensuring the quality of the captured image. The turntable is an electric turntable with two degrees of freedom. It is installed on the bottom of the laser emission module through a U-shaped part. The turntable is used to rotate the laser emission module. The bottom end of the bracket is designed as a T-shaped structure, which is firmly connected to the U-shaped part through a thread. The wire-laying robot is equipped with a second image acquisition device, a receiving screen, a rotating motor, a robot main control and a line drawing mechanism. The second image acquisition device is used to capture the screen image of the receiving screen. The receiving screen is installed on the top of the wire-laying robot, and a rotating motor is provided at the bottom of the receiving screen. The motion control of the wire-laying robot is controlled by the robot main control.

[0036] In some embodiments, a line drawing mechanism is provided in the middle of the chassis of the robot, please refer to Figure 4 , Figure 4 This is a schematic diagram of the structure of the line drawing mechanism of the embodiment of the present application. Specifically, the mechanism is composed of the following key components: a mounting base with a reinforcing rib structure, and two extension plates connected to the mounting base. At the ends of these extension plates, a pair of miniature small ball bearings are assembled, and these bearings are equipped with step flanges to fix the mounting base. During the line laying process, the reaction force generated by the contact between the brush and the ground causes the brush to bounce up and thus affects the uniformity of the line. Therefore, a copper column is placed between the two extension plates, and the copper column is connected to the through hole at the upper end of the rotating groove of the mounting base through a rubber band to form a torque application system. The function of this system is to provide the necessary torque for the brush to ensure the stability and reliability of the line drawing mechanism during the entire operation process.

[0037] In the process of executing the method provided in the embodiment of the present application, the laser emitting module emits a laser beam, and the turntable is used to rotate the laser emitting module so that the laser beam is emitted in parallel to the receiving screen. The receiving screen of the wire-laying robot is used to receive the laser beam so that there is a laser point on the surface of the receiving screen. The rotating motor is installed at the bottom of the receiving screen. The rotating motor can be a brushless DC motor, which is used to rotate the receiving screen so that the receiving screen is facing the laser emitting module. It should be noted that since it is necessary to calculate the posture of the receiving screen in the later stage, in order to determine the plane of the receiving screen, the number of laser points must be at least 3, so the number of laser ranging units is also correspondingly designed to be at least 3.

[0038] In some embodiments, the first image acquisition device, the second image acquisition device, the turntable, and the rotating motor are respectively connected to the electronic device for communication. It should be noted that the positioning system provided in the embodiment of the present application has a lower economic cost than the robot with a larger range and ultra-high precision in outdoor scenes.

[0039] The indoor robot positioning method provided in the embodiment of the present application can be applied to the terminal, can also be applied to the server side, and can also be software running in the terminal or the server side. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc.; the server side can be configured as an independent physical server, or a server cluster or distributed system composed of multiple physical servers, and can also be configured as a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application that implements the indoor robot positioning method, etc., but is not limited to the above forms.

[0040] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0041] In step S103 of some embodiments, the distance data between the laser rangefinder and the wire-laying robot and the laser point coordinate matrix of the laser point are obtained, and the pose data is calculated based on the laser point coordinate matrix and the distance data to obtain the initial pose data of the wire-laying robot relative to the laser rangefinder at the target time step. The target time step belongs to multiple time steps, and the initial pose data refers to the actual position and pose information of the wire-laying robot at the beginning of each target time step.

[0042] See also Figure 5 In some embodiments, for each target time step, step S103 may include but is not limited to steps S501 to S508: Step S501, acquiring the screen image of the receiving screen.

[0043] Step S502, performing laser point coordinate recognition on the screen image to obtain a laser point coordinate matrix of the laser point in the screen coordinate system.

[0044] Step S503, obtaining the turntable rotation angle of the turntable.

[0045] Step S504, obtaining the conversion coordinates of the origin of the module coordinate system in the origin of the turntable coordinate system.

[0046] Step S505 , calculating a transformation matrix according to the turntable rotation angle and the origin transformation coordinates to obtain a first transformation matrix.

[0047] Step S506, obtaining a beam coordinate matrix of the laser beam in the module coordinate system according to the distance data.

[0048] Step S507, performing a least squares operation on the laser point coordinate matrix, the first conversion matrix and the beam coordinate matrix to obtain a second conversion matrix.

[0049] Step S508, extracting posture parameters of the second transformation matrix to obtain initial posture data.

[0050] In step S501 of some embodiments, the receiving screen is used to receive the laser beam emitted by the laser emitting module of the laser rangefinder, so that there is a laser point on the surface of the receiving screen. The screen image is an image captured by the second image acquisition device on the receiving screen, and the screen image can be transmitted to the main node of the electronic device through the Robot Operating System Topics (ROS) topic.

[0051] In step S502 of some embodiments, the screen coordinate system is a coordinate system with any point on the screen as the origin, and the laser point coordinates are two-dimensional coordinates. For example, the coordinates of the three laser points in the screen coordinate system obtained by visual recognition technology are (x s1 ,y s1 ), (x s2 ,y s2 ) and (x s3 ,y s3 ), then the laser point coordinate matrix Ps can be expressed as .

[0052] In step S503 of some embodiments, since the turntable has two degrees of freedom, the turntable rotation angle includes the turntable deflection angle and turntable pitch angle , please refer to Figure 6 , turntable deflection angle is the angle of rotation around the YO axis of the turntable coordinate system O, and is the angle of rotation around the XO axis of the turntable coordinate system O. The turntable coordinate system O is a coordinate system with any point of the turntable as the origin. In this embodiment, the origin of the turntable coordinate system O is the center of the turntable base. Figure 7 In some embodiments, step S503 may include but is not limited to steps S701 to S703: Step S701, obtaining a robot motion image captured by a first image acquisition device for a wire-laying robot.

[0053] Step S702, performing laser point recognition on two robot motion images with adjacent time steps to obtain the coordinate change of the laser point.

[0054] Step S703: determine a first rotation angle based on the coordinate change amount, and use the first rotation angle as the turntable rotation angle.

[0055] In step S701 of some embodiments, the robot motion image is a real-time collected image of the line-laying robot. Since the laser emitted by the laser rangefinder is infrared light, the first imaging device can be an infrared camera, which can capture the laser point more effectively and maintain a good imaging effect even in bright ambient light.

[0056] In step S702 of some embodiments, the robot motion images collected in two consecutive time steps are analyzed to identify the coordinates of the laser points in the image. The change in the coordinates can be obtained by performing a difference calculation on the two laser point coordinate data, which reflects the adjustment of the motion direction of the wire-laying robot between the two time steps. For example, if the positive direction of the x-axis is horizontally to the right and the change in the x-coordinate is a negative value, it reflects that the wire-laying robot is moving to the left.

[0057] In step S703 of some embodiments, the angular direction of the first rotation angle needs to be determined based on the positive or negative value of the coordinate change. The angular value of the first rotation angle can be obtained by performing a specific geometric relationship calculation based on the coordinate change and the distance data between the laser rangefinder and the line-laying robot. It can also be a pre-set angle, as long as the laser beam emitted by the laser rangefinder can hit the receiving screen of the line-laying robot.

[0058] Steps S701 to S703 shown in the embodiment of the present application, through effective image acquisition by the first image acquisition device, accurate measurement of the change in the laser point coordinates, and calculation of the rotation angle based on these data, can ensure the high precision and high efficiency of the robot when performing the line drawing task, which not only improves the construction quality, but also significantly improves the level of automation of the operation.

[0059] In step S504 of some embodiments, the module coordinate system O L is a coordinate system with any point of the laser emitting module as the origin. In the embodiment of the present application, Figure 6 As shown, the module coordinate system O L The origin of the laser beam is the center of the bracket. Since the geometric relationship between the laser emission module and the turntable is predetermined, the module coordinate system O L The origin of the turntable coordinate system O is known.

[0060] In step S505 of some embodiments, the first transformation matrix is ​​used to represent the transformation of the turntable coordinate system O into the module coordinate system O L The conversion relationship, the first conversion matrix It can be expressed as , where (x, y, z) represents the origin transformation coordinates, represents the turntable deflection angle, and Indicates the turntable pitch angle.

[0061] In step S506 of some embodiments, since the laser beam will diverge as the emission distance increases, it is necessary to obtain the beam coordinate matrix of the laser beam in the module coordinate system. The beam coordinate matrix is ​​used to express the coordinate vector of the laser point relative to the module coordinate system. L See Figure 8 In some embodiments, step S506 may also include but is not limited to steps S801 to S803: Step S801, obtaining a first angle between a light beam projection line and a horizontal axis, where the light beam projection line is a projection of the laser beam on a preset light source plane.

[0062] Step S802, obtaining a second angle between the laser beam and the normal axis, where the normal axis is perpendicular to the light source plane.

[0063] Step S803, performing geometric relationship calculation based on the distance data, the angle of the first angle, and the second angle and angle to obtain a beam coordinate matrix.

[0064] In step S801 of some embodiments, the light source plane is the module coordinate system O L X L OY L Plane, horizontal axis and axis X L .

[0065] In step S803 of some embodiments, the normal axis is the axis Z L .

[0066] In step S803 of some embodiments, the beam coordinate matrix P L It can be expressed as , where D1, D2 and D3 represent the lengths of the three laser beams, respectively, and H1, H2 and H3 represent the beam origin distances of the three laser ranging units from the module coordinate system O L The height of the origin, L1, L2 and L3 respectively represent the distance of the beam origin of the three laser ranging units in the x-axis direction from the module coordinate system O L The distance from the origin, where L3 is 0, l1, l2 and l3 respectively represent the lengths of the beam projection lines corresponding to the three laser beams, a, b and c respectively represent the first angles corresponding to the three beam projection lines, and α, β and γ respectively represent the second angles between the three laser beams and the normal axis.

[0067] Steps S801 to S803 shown in the embodiment of the present application calculate the coordinate matrix of the laser point coordinate vector relative to the module coordinate system through a series of geometric relationships, which provides the necessary data basis for the subsequent calculation of the robot posture parameters.

[0068] In step S507 of some embodiments, the second transformation matrix The second transformation matrix is ​​used to represent the transformation relationship between the turntable coordinate system and the screen coordinate system. It can be expressed as , where θ, , Δx, Δy and Δz are all the posture parameters of the receiving screen, θ, , They represent the rotation angle, yaw angle and roll angle of the receiving screen respectively, and Δx, Δy and Δz are the position coordinate information.

[0069] It should be noted that the second transformation matrix Satisfies the following analytical formula (1): = (1), Among them, the laser point coordinate matrix is ​​expressed as , the first transformation matrix is ​​expressed as , the beam coordinate matrix is ​​expressed as The least squares operation can be performed using the Levenberg-Marquardt method on the second transformation matrix Calculate and get the final pose parameters.

[0070] In step S508 of some embodiments, the second transformation matrix θ in , , Δx, Δy, Δz parameters are used as the initial pose data of the target time step, that is, the robot pose at the current moment.

[0071] Steps S501 to S508 shown in the embodiment of the present application, by acquiring the screen image of the receiving screen, the embodiment of the present application can capture the laser point formed on the screen by the laser beam emitted by the laser rangefinder. Subsequently, by processing and analyzing these images, the coordinates of the laser point can be identified, and the coordinate changes between adjacent time steps can be calculated. These data provide an important basis for determining the rotation angle of the robot. Then, the embodiment of the present application uses these coordinate changes and known geometric relationships to calculate the rotation angle of the robot relative to the initial posture, that is, the turntable rotation angle. Through this series of steps, real-time tracking of the posture changes of the robot is achieved to ensure that it accurately performs tasks according to the predetermined path.

[0072] See also Fig. 9 In some embodiments, before step S503, the indoor robot positioning method further includes but is not limited to steps S901 to S903: Step S901, obtaining the heading angle of the line-releasing robot.

[0073] Step S902: determining a second rotation angle based on the heading angle.

[0074] Step S903, controlling the receiving screen to rotate according to the second rotation angle.

[0075] In step S901 of some embodiments, the heading angle of the wire-releasing robot may be acquired by an inertial measurement unit (IMU) of the robot.

[0076] In step S902 of some embodiments, the angular value of the second rotation angle is the same as the angular value of the heading angle, and the direction of the second rotation angle is opposite to the direction of the heading angle.

[0077] In step S903 of some embodiments, the rotating motor below the receiving screen may be controlled to rotate by a PID control algorithm.

[0078] In steps S901 to S903 shown in the embodiment of the present application, the receiving screen is adaptively controlled to rotate in the opposite direction by acquiring the heading angle of the wire-laying robot, thereby ensuring that the laser point can hit the receiving screen.

[0079] In step S104 of some embodiments, error calculation is performed based on the initial pose data and the target pose data of the target time step to obtain motion error data. It should be noted that the initial pose data includes initial position coordinates and initial heading angles, and the target pose data includes expected coordinates and expected heading angles.

[0080] See also Fig.10 In some embodiments, step S104 may include but is not limited to steps S1001 to S1003: Step S1001, calculating the position difference between the initial position coordinates and the expected coordinates to obtain position error data.

[0081] Step S1002, calculating the angle difference between the initial heading angle and the expected heading angle to obtain heading angle error data.

[0082] Step S1003: determining motion error data based on the position error data and the heading angle error data.

[0083] In step S1001 of some embodiments, the position error data, i.e., the difference between the actual position coordinates and the expected position coordinates of the wire-releasing robot, can be obtained by subtracting the expected coordinates from the initial position coordinates.

[0084] In step S1002 of some embodiments, the heading angle error data, i.e., the difference between the current heading of the wire-releasing robot and the desired heading, can be used to guide the wire-releasing robot on how to adjust its direction to move in the desired direction, which can be obtained by subtracting the desired heading angle from the initial heading angle.

[0085] In step S1003 of some embodiments, the position error data and the heading angle error data are integrated to obtain motion error data, and the motion error data may be in the form of a matrix.

[0086] In some embodiments, the initial position coordinates and initial heading angle of the wire-releasing robot are taken as a system state quantity, and the expected coordinates and expected heading angle are taken as the expected system state quantity, and the difference calculation is performed in matrix form to obtain motion error data.

[0087] Steps S1001 to S1003 shown in the embodiment of the present application obtain detailed motion error data by detecting the actual state of the robot in real time and comparing it with the preset target state, thereby providing a systematic method to accurately calculate and evaluate the position and direction deviation of the wire-laying robot during the task execution.

[0088] In step S105 of some embodiments, a control signal is generated for the motion error data by a preset predictive motion model to obtain an expected offset signal. The predictive motion model may be a model predictive controller (MPC). The expected offset signal is a control signal for controlling the moving direction of the wire-laying robot. In the embodiment of the present application, the wire-laying robot has two driving wheels, so the heading angle of the wire-laying robot can be controlled by controlling the speed difference of the left and right wheels.

[0089] See also Fig.11 In some embodiments, step S105 may include but is not limited to steps S1101 to S1107: Step S1101, obtaining the initial speed of the wire-releasing robot at a target time step, and obtaining the speed increment between the target time step and the previous time step.

[0090] Step S1102, performing error prediction on the initial pose data according to the predicted motion model to obtain predicted pose data corresponding to multiple consecutive time steps.

[0091] Step S1103, for each time step, a prediction error is calculated based on the predicted posture data and the target posture data to obtain prediction error data.

[0092] Step S1104, performing integrated calculations based on a preset error weight matrix, a preset increment weight matrix, motion error data, prediction error data and velocity increment to obtain tracking performance evaluation data.

[0093] Step S1105 , numerically adjusting the speed increment according to the tracking performance evaluation data to obtain a target speed increment.

[0094] Step S1106, determining the wheel speed data of the wire-releasing robot based on the target speed increment and the initial speed.

[0095] Step S1107: Generate a control signal according to the wheel speed data to obtain a desired offset signal.

[0096] In step S1101 of some embodiments, the speed increment can be obtained by subtracting the running speed of the previous time step from the current initial speed.

[0097] In step S1102 of some embodiments, the predicted continuous time steps are multiple continuous time steps in the future, and these time steps are used as the prediction time domain. The predicted posture data are the position coordinates and heading angles that the wire-laying robot may be in in the prediction time domain.

[0098] In step S1103 of some embodiments, the pose data of the future time step obtained by the predicted motion model is compared with the target pose data to calculate the error value at each future time step. The predicted error data is an array composed of the prediction errors of multiple time steps, reflecting the degree to which the system may deviate from the target trajectory without any additional control correction.

[0099] In step S1104 of some embodiments, the tracking performance evaluation data may be calculated according to the following analytical formula (2): (2), Among them, the tracking performance evaluation data is represented by J, the current time step is represented by k, the time step index is represented by j, the length of the predicted time domain is represented by Np, the error weight matrix is ​​represented by Q, the incremental weight matrix is ​​represented by R, and the predicted motion error data is represented by , the velocity increment is expressed as The speed increment is the wheel speed increment of the left and right wheels of the wire-releasing robot.

[0100] In step S1105 of some embodiments, the analytical expression (2) is converted into a standard quadratic programming form and solved. The constraint on the speed increment during the optimization function is expressed as the following analytical expression (3): (3), Among them, Δumin is the lower limit of the speed increment, Δumax is the upper limit of the speed increment, i is the time step index of the current optimization, Nc is the length of the control time domain, which means how many time steps in the future the control input will be optimized during the optimization process of the MPC controller. Nc is usually less than Np. In other words, Nc determines the number of time steps that MPC actively adjusts the control input in the prediction time domain.

[0101] In step S1106 of some embodiments, the target speed increment is added to the initial speed to obtain wheel speed data of the wire-releasing robot. The wheel speed data includes the left wheel speed and the right wheel speed, and the difference between the left and right wheel speeds is controlled to a desired value, thereby controlling the moving direction of the wire-releasing robot.

[0102] In step S1107 of some embodiments, the expected offset signal, i.e., the finally generated control signal, is sent to the robot master control to implement subsequent robot motion control.

[0103] In the steps S1001 to S1007 shown in the embodiment of the present application, through the gradually optimized control method, the moving direction and speed of the wire-laying robot in the future time step can be accurately adjusted, so that the difference in wheel speed between the left and right wheels is controlled within the expected range, ensuring that the robot moves along the predetermined trajectory. Finally, the generated expected offset signal acts on the robot's drive system, guiding the robot to correct the current deviation through the difference in left and right wheel speeds, and achieve accurate tracking of the target position. This embodiment significantly improves the motion accuracy and stability of the wire-laying robot through the combination of closed-loop feedback and predictive control, ensuring that the robot can efficiently complete the wire-laying task in a complex environment.

[0104] In step S106 of some embodiments, the line-laying robot is controlled to move according to the expected offset signal so that the moving trajectory formed by the line-laying robot in drawing the line conforms to the target line-drawing trajectory. The expected offset signal is applied by the robot main control to the drive motors of the left and right wheels, driving the robot to perform corresponding speed adjustments to guide the robot to move in the target direction and correct the deviation between the current position and the target position.

[0105] In some embodiments, in the process of obtaining the robot posture parameters, it is necessary to use the beam origins of the three laser ranging units in the module coordinate system O L The coordinate data in the image will directly affect the accuracy of obtaining the robot's position. Therefore, it is very necessary to calibrate the position relationship between the laser rangefinder's beam origin and the hardware housing of the laser rangefinder unit in advance. The calibration method of the beam origin will be introduced in detail in conjunction with the following embodiments.

[0106] First, the calibration block structure used in the embodiment of the present application is introduced, such as Fig.12 As shown, Fig.12A schematic diagram of a calibration block structure provided in an embodiment of the present application. In some embodiments, the bottom surface of the calibration block is fixed on a horizontal platform, the calibration surface C is perpendicular to the bottom surface, the angle between the calibration surface A and the calibration surface C can be 15°, and the angle between the calibration surface B and the calibration surface C can be 15°.

[0107] Please refer to Fig.13 , Fig.13 A schematic diagram of a scenario of the beam origin calibration method provided in an embodiment of the present application. The laser ranging unit is placed on a coordinate measuring platform, the bottom surface of the calibration block is fixed on a horizontal micro-motion platform, and a three-coordinate measuring machine is used to measure the midpoint of the front edge of the laser ranging unit, and a coordinate system with the midpoint as the origin is established, wherein the direction along the edge is the x-axis direction, the normal direction of the top surface is the z-axis direction, and the direction perpendicular to the x-axis is the y-axis direction.

[0108] Next, manually adjust the position of the micro-motion stage so that the laser emitted by the laser ranging unit hits the calibration surface C, and obtain the laser beam length D at this time. C1 , use a three-dimensional coordinate measuring machine to measure surface C and obtain the surface C equation. According to the laser beam length DC1 and the surface C equation, the surface C1 equation is obtained, as shown in analytical formula (4): (4), Among them, A C1 x+B C1 y+C C1 z=0 is the equation of surface C, D C1 is the laser beam length.

[0109] Then adjust the micro-motion stage so that the laser hits the intersection of calibration surface C and calibration surface A, and obtain the laser beam length D at this time. AC .like Fig.14 As shown, Fig.14 Another schematic diagram of the beam origin calibration method provided in the embodiment of the present application. Using a three-dimensional coordinate measuring machine to measure the surface C and the surface A at this time, the equation of the edge line of the intersection of the surface C and the surface A can be obtained. At this time, the surface AC is the plane obtained by translating the edge of the intersection of the calibration surface C and the calibration surface A along the direction of the laser beam. The plane equation of the surface AC is shown in the analytical formula (5): (5), Among them, A AC , B AC , and C AC are all known constants, D AC is the laser beam length.

[0110] Continue to adjust the micro-motion stage so that the laser hits the intersection of calibration surface C and calibration surface B, and obtain the laser beam length D at this time. BC .like Fig.15 As shown, Fig.15 Another scenario schematic diagram of the beam origin calibration method provided in the embodiment of the present application. Using a three-dimensional coordinate measuring machine to measure the surface C and surface B at this time, the equation of the intersection line of surface C and surface B can be obtained. At this time, the straight line of the intersection of the two surfaces is translated along the direction of the beam to obtain surface BC. The plane equation of surface BC is shown in analytical formula (6): (6), Among them, A BC , B BC , and C BC are all known constants, D BC is the laser beam length.

[0111] By combining equations (4), (5) and (6), the coordinates of the intersection of the three planes are obtained, which are the coordinates of the beam origin. Finally, the calibration of the beam origin is achieved.

[0112] The embodiment of the present application also provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the above-mentioned indoor robot positioning method when executing the computer program. The electronic device can be any intelligent terminal including a tablet computer, a car computer, etc.

[0113] See also Fig.16 , Fig.16 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes: The processor 1601 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application; The memory 1602 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1602 can store an operating system and other application programs. When the technical solution provided in the embodiments of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1602, and the processor 1601 calls and executes the indoor robot positioning method of the embodiment of the present application; Input / output interface 1603, used to implement information input and output; Communication interface 1604, used to realize communication interaction between the device and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.); A bus 1605 that transmits information between the various components of the device (e.g., the processor 1601, the memory 1602, the input / output interface 1603, and the communication interface 1604); The processor 1601 , the memory 1602 , the input / output interface 1603 and the communication interface 1604 are connected to each other in communication within the device via the bus 1605 .

[0114] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned indoor robot positioning method is implemented.

[0115] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0116] The indoor robot positioning method, electronic device, positioning system and storage medium provided in the embodiment of the present application firstly obtain the target line drawing trajectory by analyzing the design drawings to realize the basis of accurate line laying. Subsequently, the pose data planning is performed on these trajectories, and the complex trajectories are decomposed into target pose data of multiple time steps, which provides a detailed reference for subsequent precise control. Then, the distance data between the laser rangefinder and the line laying robot and the laser point coordinate matrix of the laser point are obtained, and the pose data is calculated according to the laser point coordinate matrix and the distance data to obtain the initial pose data of the line laying robot relative to the laser rangefinder at the target time step, and further calculate the motion error data by comparing the initial pose data and the target pose data. Then, the motion error data is processed by a preset predictive motion model to generate a control signal, that is, an expected offset signal, which realizes the prediction and compensation of possible errors, thereby adjusting the motion trajectory of the robot in advance to ensure its consistency with the target trajectory. Finally, the line-laying robot is controlled to move according to the generated expected offset signal, and the position and posture of the robot are adjusted in real time to ensure that its line-drawing trajectory strictly conforms to the target line-drawing trajectory. This closed-loop control process effectively reduces the line-laying deviation caused by manual operation. Compared with the technical solution of using a robot for line-laying using SLAM technology, since the initial pose data is the pose data of the line-laying robot relative to a fixed laser rangefinder, rather than relying on the robot's own continuous perception of the environment and map construction, the robot's initial pose data is not affected by the previous pose estimation error, and therefore no cumulative error is generated. Therefore, the embodiment of the present application can achieve precise line-laying and meet the demand for high-precision line-laying in the field of interior decoration construction.

[0117] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0118] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0119] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0120] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0121] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0122] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0123] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0124] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] In addition, each functional unit in each embodiment of the present application 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-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0126] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0127] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A robot positioning method for indoor use, characterized in that: Applied to a positioning system, the positioning system includes a wire-laying robot and a laser rangefinder, the wire-laying robot is equipped with a receiving screen, the receiving screen is used to receive a laser beam emitted by a laser emitting module of the laser rangefinder, so that there is a laser point on the surface of the receiving screen; the method includes: Get the target line trajectory; Performing posture data planning on the target line drawing trajectory to obtain target posture data for multiple time steps; Acquire the distance data between the laser rangefinder and the wire-releasing robot and the laser point coordinate matrix of the laser point, and calculate the posture data according to the laser point coordinate matrix and the distance data to obtain the initial posture data of the wire-releasing robot relative to the laser rangefinder at a target time step, wherein the target time step belongs to a plurality of the time steps; Perform error calculation based on the initial posture data and the target posture data at the target time step to obtain motion error data; The motion error data is subjected to control signal generation through a preset predicted motion model to obtain a desired offset signal; The wire-laying robot is controlled to move according to the expected deviation signal, so that the moving trajectory formed by the wire-laying robot when drawing lines conforms to the target line-drawing trajectory.

2. The method according to claim 1, characterized in that The laser rangefinder is also equipped with a turntable, which is connected to the laser emitting module to rotate the laser emitting module; the pose data is calculated according to the laser point coordinate matrix and the distance data to obtain the initial pose data of the wire-laying robot relative to the laser rangefinder at the target time step, including: Acquiring a screen image of the receiving screen; Performing laser point coordinate recognition on the screen image to obtain a laser point coordinate matrix of the laser point in a screen coordinate system; the screen coordinate system is a coordinate system with any point on the screen as the origin; Obtaining a turntable rotation angle of the turntable; Obtain the coordinates of the origin of the module coordinate system at the origin of the turntable coordinate system; the module coordinate system is a coordinate system with any point of the laser emission module as the origin, and the turntable coordinate system is a coordinate system with any point of the turntable as the origin; A conversion matrix is ​​calculated according to the turntable rotation angle and the origin conversion coordinates to obtain a first conversion matrix; wherein the first conversion matrix is ​​used to represent the conversion relationship between the turntable coordinate system and the module coordinate system; Acquire a beam coordinate matrix of the laser beam in the module coordinate system according to the distance data; A least squares operation is performed on the laser point coordinate matrix, the first conversion matrix and the beam coordinate matrix to obtain a second conversion matrix; the second conversion matrix is ​​used to represent the conversion relationship between the turntable coordinate system and the screen coordinate system; Perform posture parameter extraction on the second transformation matrix to obtain the initial posture data.

3. The method according to claim 2, characterized in that The laser rangefinder is also equipped with a first image acquisition device; the step of obtaining the rotation angle of the turntable includes: Acquiring a robot motion image captured by the first image acquisition device of the wire-laying robot; Performing laser point recognition on two robot motion images with adjacent time steps to obtain a coordinate change of the laser point; A first rotation angle is determined based on the coordinate change amount, and the first rotation angle is used as the turntable rotation angle.

4. The method according to claim 2, characterized in that: The step of acquiring a beam coordinate matrix of the laser beam in the module coordinate system according to the distance data includes: Acquire a first angle between a light beam projection line and a horizontal axis, wherein the light beam projection line is a projection of the laser beam on a preset light source plane; Acquire a second angle between the laser beam and a normal axis, wherein the normal axis is perpendicular to the light source plane; The beam coordinate matrix is ​​obtained by performing geometric relationship calculation based on the distance data, the first angle, and the second angle.

5. The method according to claim 2, characterized in that: Before obtaining the turntable rotation angle of the turntable, the method further includes: Obtaining the heading angle of the wire-releasing robot; determining a second rotation angle based on the heading angle, wherein the angular value of the second rotation angle is the same as the angular value of the heading angle, and the direction of the second rotation angle is opposite to the direction of the heading angle; The receiving screen is controlled to rotate according to the second rotation angle.

6. The method according to any one of claims 1 to 5, characterized in that: The initial posture data includes initial position coordinates and initial heading angles, and the target posture data includes expected coordinates and expected heading angles; the error calculation is performed based on the initial posture data and the target posture data of the target time step to obtain motion error data, including: Calculating the position difference between the initial position coordinates and the expected coordinates to obtain position error data; Calculating the angle difference between the initial heading angle and the desired heading angle to obtain heading angle error data; The motion error data is determined based on the position error data and the heading error data.

7. The method according to any one of claims 1 to 5, characterized in that: The step of generating a control signal for the motion error data by using a preset predicted motion model to obtain an expected offset signal includes: Obtaining the initial speed of the wire-releasing robot at a target time step, and obtaining the speed increment of the wire-releasing robot at the target time step and the previous time step; Performing error prediction on the initial pose data according to the predicted motion model to obtain predicted pose data corresponding to a plurality of consecutive time steps; For each time step, a prediction error is calculated based on the predicted posture data and the target posture data to obtain prediction error data; Performing integrated calculation according to a preset error weight matrix, a preset increment weight matrix, the motion error data, the prediction error data and the velocity increment to obtain tracking performance evaluation data; Numerically adjusting the speed increment according to the tracking performance evaluation data to obtain a target speed increment; Determine wheel speed data of the wire-releasing robot based on the target speed increment and the initial speed; A control signal is generated according to the wheel speed data to obtain the expected deviation signal.

8. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

9. A positioning system, characterized in that: The positioning system includes the electronic device, laser rangefinder and wire-laying robot as described in claim 8; wherein, the laser rangefinder is deployed with a first image acquisition device, a turntable and a laser emission module, and the wire-laying robot is deployed with a second image acquisition device, a receiving screen and a rotating motor; the second image acquisition device is used to acquire the screen image of the receiving screen, and the laser emission module is used to emit a laser beam; the first image acquisition device is used to acquire images of the wire-laying robot; the turntable is installed at the bottom of the laser emission module, and the turntable is used to rotate the laser emission module so that the laser beam is emitted to the receiving screen; the receiving screen is used to receive the laser beam; the rotating motor is installed at the bottom of the receiving screen, and the rotating motor is used to rotate the receiving screen so that the receiving screen is facing the laser emission module; the first image acquisition device, the second image acquisition device, the turntable, and the rotating motor are respectively connected to the electronic device for communication.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images