Robot positioning method and device

Abstract

The present disclosure relates to the field of robot technology, and provides a robot positioning method and device. The method includes: in a target area, multiple radio frequency identification tags are embedded according to preset rules, wherein each radio frequency identification tag operates at an ultra-high frequency radio wave; when the target robot is moving, the target tag information of the target radio frequency identification tag is obtained through an radio frequency identification module, wherein the radio frequency identification module is set on the target robot; the tag distribution information is obtained, and the first position of the target robot in the target area is determined according to the tag distribution information and the target tag information. The above technical means are adopted to solve the problems in the prior art that the existing robot positioning method is complex and has low accuracy in a network-free environment.

Description

Technical Field

[0001] The present disclosure relates to the field of robot technology, and in particular to a robot positioning method and device. Background Art

[0002] With the development of robot technology, robots are widely used in various fields. In the application of robots, robot positioning is bound to be involved. However, at present, robot positioning is either to obtain navigation services through networking or to use SLAM (Simultaneous Localization and Mapping) technology. Among them, obtaining navigation services through networking must be done under the condition of good network connection, and SLAM technology is too complicated. The existing technology lacks a simple and accurate robot positioning method.

[0003] In the process of realizing the concept of the present disclosure, the inventors discovered that there are at least the following technical problems in the related technology: in an environment without a network, the existing robot positioning method is complex and has low accuracy. Summary of the invention

[0004] In view of this, the embodiments of the present disclosure provide a robot positioning method, device, electronic device and computer-readable storage medium to solve the problems in the prior art that the existing robot positioning method is complex and has low accuracy in a network-free environment.

[0005] According to a first aspect of an embodiment of the present disclosure, a robot positioning method is provided, comprising: pre-embedding a plurality of radio frequency identification tags in a target area according to preset rules, wherein each radio frequency identification tag operates in an ultra-high frequency radio wave band; while the target robot is moving, acquiring target tag information of the target radio frequency identification tag through a radio frequency identification module, wherein the radio frequency identification module is disposed on the target robot; acquiring tag distribution information, and determining a first position of the target robot in the target area according to the tag distribution information and the target tag information.

[0006] According to a second aspect of an embodiment of the present disclosure, a robot positioning device is provided, comprising: a pre-embedding module, configured to pre-embed a plurality of radio frequency identification tags in a target area according to preset rules, wherein each radio frequency identification tag operates in an ultra-high frequency radio wave band; an acquisition module, configured to acquire target tag information of a target radio frequency identification tag through an radio frequency identification module when the target robot is moving, wherein the radio frequency identification module is disposed on the target robot; and a determination module, configured to acquire tag distribution information, and determine a first position of the target robot in the target area according to the tag distribution information and the target tag information.

[0007] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0008] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0009] Compared with the prior art, the disclosed embodiment has the following beneficial effects: in the target area, multiple RFID tags are embedded according to preset rules, wherein each RFID tag operates at a UHF radio wave; when the target robot is moving, the target tag information of the target RFID tag is obtained through the RFID module, wherein the RFID module is set on the target robot; the tag distribution information is obtained, and the first position of the target robot in the target area is determined based on the tag distribution information and the target tag information. The above technical means can solve the problems in the prior art that the existing robot positioning method is complex and has low accuracy in a network-free environment, thereby providing a simple and accurate robot positioning method. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0011] Figure 1 is a schematic diagram of an application scenario of an embodiment of the present disclosure;

[0012] Figure 2 is a flow chart of a robot positioning method provided by an embodiment of the present disclosure;

[0013] Figure 3 is a structural schematic diagram of a positioning device of a robot provided in an embodiment of the present disclosure;

[0014] Figure 4 It is a structural schematic diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0015] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present disclosure. However, it should be clear to those skilled in the art that the present disclosure may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obstructing the description of the present disclosure with unnecessary details.

[0016] A robot positioning method and device according to an embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0017] Figure 1 Schematic diagram of an application scenario of an embodiment of the present disclosure. The application scenario may include terminal devices 1, 2 and 3, a server 4 and a network 5.

[0018] Terminal devices 1, 2 and 3 can be hardware or software. When terminal devices 1, 2 and 3 are hardware, they can be various electronic devices with display screens and supporting communication with server 4, including but not limited to smart phones, tablet computers, laptop portable computers and desktop computers, etc.; when terminal devices 1, 2 and 3 are software, they can be installed in the above electronic devices. Terminal devices 1, 2 and 3 can be implemented as multiple software or software modules, or as a single software or software module, and the embodiments of the present disclosure are not limited to this. Furthermore, various applications can be installed on terminal devices 1, 2 and 3, such as data processing applications, instant messaging tools, social platform software, search applications, shopping applications, etc.

[0019] The server 4 may be a server that provides various services, for example, a background server that receives a request sent by a terminal device that establishes a communication connection with the server, and the background server may receive and analyze the request sent by the terminal device, and generate a processing result. The server 4 may be a single server, or a server cluster composed of several servers, or a cloud computing service center, which is not limited in the embodiments of the present disclosure.

[0020] It should be noted that the server 4 can be hardware or software. When the server 4 is hardware, it can be various electronic devices that provide various services for the terminal devices 1, 2, and 3. When the server 4 is software, it can be multiple software or software modules that provide various services for the terminal devices 1, 2, and 3, or it can be a single software or software module that provides various services for the terminal devices 1, 2, and 3, and the embodiments of the present disclosure are not limited to this.

[0021] The network 5 can be a wired network connected by coaxial cable, twisted pair and optical fiber, or it can be a wireless network that can interconnect various communication devices without wiring, such as Bluetooth, Near Field Communication (NFC), infrared, etc., which is not limited in the embodiments of the present disclosure.

[0022] The user can establish a communication connection with the server 4 via the network 5 through the terminal devices 1, 2 and 3 to receive or send information, etc. It should be noted that the specific types, quantities and combinations of the terminal devices 1, 2 and 3, the server 4 and the network 5 can be adjusted according to the actual needs of the application scenario, and the embodiments of the present disclosure are not limited to this.

[0023] Figure 2 It is a flow chart of a robot positioning method provided in an embodiment of the present disclosure. Figure 2 The positioning method of the robot can be obtained by Figure 1 The terminal device or server executes. Figure 2 As shown, the positioning method of the robot includes:

[0024] S201, in a target area, pre-embed a plurality of radio frequency identification tags according to a preset rule, wherein each radio frequency identification tag operates in a UHF radio wave band;

[0025] S202, while the target robot is moving, obtaining target tag information of a target radio frequency identification tag through a radio frequency identification module, wherein the radio frequency identification module is disposed on the target robot;

[0026] S203, acquiring label distribution information, and determining a first position of the target robot in the target area according to the label distribution information and the target label information.

[0027] The preset rules include: in the target area, RFID tags are embedded at preset intervals; in the turning positions, such as elevator rooms and corridors, the density of embedded RFID tags is higher, etc. The embedded RFID tags can be escalator columns, step sides, ground, etc. In addition to pre-embedded RFID tags, RFID tags can also be surface-mounted. The operating frequency band of each RFID tag is UHF radio waves, but the operating frequency band of each RFID tag is within the UHF band, but the operating frequency band of each RFID tag can be different. The tag distribution information records the corresponding numbers and positions of multiple RFID tags. The tag information of the RFID tag can be the number corresponding to the RFID tag. Then, according to the tag distribution information, the position of a certain numbered RFID tag can be determined. The present disclosure has appeared many times with target RFID tags and target tag information. In each embodiment, the target RFID tag and the target tag information can be different.

[0028] According to the technical solution provided by the embodiment of the present disclosure, in the target area, multiple radio frequency identification tags are pre-buried according to preset rules, wherein each radio frequency identification tag operates in a UHF radio frequency band; when the target robot is moving, the target tag information of the target radio frequency identification tag is obtained through the radio frequency identification module, wherein the radio frequency identification module is set on the target robot; the tag distribution information is obtained, and the first position of the target robot in the target area is determined based on the tag distribution information and the target tag information. The above technical means can solve the problems in the prior art that the existing robot positioning method is complex and has low accuracy in a network-free environment, thereby providing a simple and accurate robot positioning method.

[0029] After executing step S201, that is, after pre-embedding multiple RFID tags in the target area according to preset rules, the method further includes: while the target robot is moving, obtaining multiple target tag information of the multiple target RFID tags and multiple first detection times when the RFID module detects the multiple target RFID tags through the RFID module; obtaining tag distribution information, and determining a first position of the target robot in the target area according to the tag distribution information, the multiple target tag information and the first detection time corresponding to each target RFID tag.

[0030] In the previous embodiment, the position of the target robot in the target area is determined by a target RFID tag, which may have a large error. Therefore, the disclosed embodiment provides a method for determining the position of the target robot in the target area based on multiple target RFID tags. The multiple target tag information of the multiple target RFID tags is obtained by the RFID module, which can be obtained at different times, so the first detection time corresponding to each target RFID tag can be different.

[0031] The detection time is the time required for the RFID module to obtain the target tag information of the target RFID tag. Since the operating frequency of the target RFID tag is known, knowing the first detection time corresponding to each target RFID tag is equivalent to knowing the distance between the target robot and each target RFID tag. The disclosed embodiment actually determines the first position of the target robot in the target area through tag distribution information, multiple target tag information and the distance between the target robot and each target RFID tag.

[0032] After acquiring tag distribution information and determining a first position of the target robot in the target area according to the tag distribution information, multiple target tag information, and a first detection time corresponding to each target radio frequency identification tag, the method further includes: constructing a local map of the target area according to the first position, the tag distribution information, multiple target tag information, and a first detection time corresponding to each target radio frequency identification tag; acquiring a global map of the target area, and correcting the global map according to the local map.

[0033] Because the approximate spatial distribution of the target area can be determined based on the tag distribution information and multiple target tag information, a local map of the target area can be constructed based on the position of the target robot in the target area, the distance between the target robot and each target RFID tag, and the approximate spatial distribution of the target area. The global map of the target area can be obtained from a map database that stores the global map. The local map can be used to correct errors or loopholes in the global map, so in the process of realizing the positioning of the robot, map construction or map correction can also be achieved.

[0034] Before obtaining the global map of the target area, the method also includes: constructing a global map of the target area according to the following steps: first exploration: while the target robot is moving, constructing a global map of the target area according to the tag distribution information and multiple target tag information of multiple target radio frequency identification tags obtained by the radio frequency identification module; non-first exploration: while the robot is moving, updating the global map of the target area according to the tag distribution information and multiple target tag information of multiple new target radio frequency identification tags obtained by the radio frequency identification module.

[0035] The first exploration of the target robot may be that the target robot only explores the main sections of the target area, so the global map established by the first exploration of the target robot is a rough map of the target area; the non-first exploration of the target robot can be divided into multiple explorations, which may be other sections of the target area or parts of other sections that the target robot has not explored before. After exploring all spaces in the target area, the exploration can be stopped, and the global map obtained by the last update is used as the final map of the target area.

[0036] After executing step S201, that is, after pre-embedding multiple RFID tags in the target area according to preset rules, the method also includes: while the target robot is moving, obtaining target tag information of the target RFID tag and a second detection time when the RFID module detects the target RFID tag for the first time through the RFID module; after the target robot travels a preset distance, obtaining target tag information of the target RFID tag and a third detection time when the RFID module detects the target RFID tag for the second time through the RFID module; obtaining tag distribution information, and determining a first position of the target robot in the target area according to the tag distribution information, the target tag information, the preset distance, the second detection time and the third detection time.

[0037] If the first position of the target robot in the target area is determined based on multiple target tag information of multiple target RFID tags, then multiple RFID tags need to be arranged in advance, which requires a lot of work. The disclosed embodiment provides a method for more accurately determining the first position of the target robot in the target area based on only one target RFID tag. After the target robot travels a preset distance, the target tag information of the target RFID tag and the third detection time when the RFID module detects the target RFID tag are obtained for the second time through the RFID module. The target tag information of the target RFID tag is obtained this time in fact to determine the third detection time in the process of obtaining the target tag information of the target RFID tag. By obtaining the target tag information of the target RFID tag twice, the preset distance, the second detection time and the third detection time are obtained. Finally, the first position of the target robot in the target area is determined based on the tag distribution information, the target tag information, the preset distance, the second detection time and the third detection time.

[0038] After executing step S203, that is, obtaining label distribution information and determining the first position of the target robot in the target area based on the label distribution information and the target label information, the method also includes: while the target robot is moving, measuring the target area by means of a radar module to obtain a measurement result, wherein the radar module is arranged on the target robot; obtaining a global map of the target area, and determining the second position of the target robot in the target area based on the measurement result and the global map; and correcting the first position based on the second position.

[0039] The target area is measured by the radar module. Specifically, the radar module emits multiple laser beams to the surroundings, and then receives the returned laser beams of the emitted multiple laser beams to obtain the measurement results. The measurement results include the distances between the target robot and multiple objects in the target area. The second position of the target robot in the target area can be determined based on the measurement results and the global map. Correcting the first position based on the second position is actually to obtain a more accurate final position of the target robot in the target area based on the second position and the first position.

[0040] After executing step S203, that is, obtaining label distribution information, and determining the first position of the target robot in the target area based on the label distribution information and the target label information, the method also includes: while the target robot is moving, obtaining a regional image of the target area through an image module, wherein the image module is arranged on the target robot; inputting the regional image into a navigation model, and outputting a third position of the target robot in the target area, wherein the navigation model is modeled based on neural networks and statistical principles, and the navigation model has been trained to learn and save the correspondence between the regional image and the third position; and correcting the first position according to the third position.

[0041] Training the navigation model includes: obtaining multiple training images of the target area through an image module; obtaining a global map of the target area, and annotating the multiple training images according to the global map, wherein the annotation process is to indicate which part of the global map each training image belongs to, that is, the location of the scene corresponding to each training image in the target area; and training the navigation model using the annotated training images. Correcting the first position according to the third position is actually to obtain a more accurate final position of the target robot in the target area according to the third position and the first position.

[0042] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0043] The following are embodiments of the device disclosed herein, which can be used to execute the method embodiments disclosed herein. For details not disclosed in the device embodiments disclosed herein, please refer to the method embodiments disclosed herein.

[0044] Figure 3 Schematic diagram of a robot positioning device provided by an embodiment of the present disclosure. Figure 3 As shown, the positioning device of the robot includes:

[0045] The pre-embedding module 301 is configured to pre-embed a plurality of radio frequency identification tags in a target area according to a preset rule, wherein each radio frequency identification tag operates in a UHF radio wave band;

[0046] The acquisition module 302 is configured to acquire target tag information of a target RFID tag through an RFID module when the target robot is moving, wherein the RFID module is disposed on the target robot;

[0047] The determination module 303 is configured to obtain label distribution information, and determine a first position of the target robot in the target area according to the label distribution information and the target label information.

[0048] The preset rules include: in the target area, RFID tags are embedded at preset intervals; in the turning positions, such as elevator rooms and corridors, the density of embedded RFID tags is higher, etc. The embedded RFID tags can be escalator columns, step sides, ground, etc. In addition to pre-embedded RFID tags, RFID tags can also be surface-mounted. The operating frequency band of each RFID tag is UHF radio waves, but the operating frequency band of each RFID tag is within the UHF band, but the operating frequency band of each RFID tag can be different. The tag distribution information records the corresponding numbers and positions of multiple RFID tags. The tag information of the RFID tag can be the number corresponding to the RFID tag. Then, according to the tag distribution information, the position of a certain numbered RFID tag can be determined. The present disclosure has appeared many times with target RFID tags and target tag information. In each embodiment, the target RFID tag and the target tag information can be different.

[0049] According to the technical solution provided by the embodiment of the present disclosure, in the target area, multiple radio frequency identification tags are pre-buried according to preset rules, wherein each radio frequency identification tag operates in a UHF radio frequency band; when the target robot is moving, the target tag information of the target radio frequency identification tag is obtained through the radio frequency identification module, wherein the radio frequency identification module is set on the target robot; the tag distribution information is obtained, and the first position of the target robot in the target area is determined based on the tag distribution information and the target tag information. The above technical means can solve the problems in the prior art that the existing robot positioning method is complex and has low accuracy in a network-free environment, thereby providing a simple and accurate robot positioning method.

[0050] Optionally, the acquisition module 302 is also configured to acquire, through the radio frequency identification module, multiple target tag information of multiple target radio frequency identification tags and multiple first detection times when the radio frequency identification module detects the multiple target radio frequency identification tags while the target robot is moving; acquire tag distribution information, and determine the first position of the target robot in the target area according to the tag distribution information, the multiple target tag information and the first detection time corresponding to each target radio frequency identification tag.

[0051] In the previous embodiment, the position of the target robot in the target area is determined by a target RFID tag, which may have a large error. Therefore, the disclosed embodiment provides a method for determining the position of the target robot in the target area based on multiple target RFID tags. The multiple target tag information of the multiple target RFID tags is obtained by the RFID module, which can be obtained at different times, so the first detection time corresponding to each target RFID tag can be different.

[0052] The detection time is the time required for the RFID module to obtain the target tag information of the target RFID tag. Since the operating frequency of the target RFID tag is known, knowing the first detection time corresponding to each target RFID tag is equivalent to knowing the distance between the target robot and each target RFID tag. The disclosed embodiment actually determines the first position of the target robot in the target area through tag distribution information, multiple target tag information and the distance between the target robot and each target RFID tag.

[0053] Optionally, the acquisition module 302 is further configured to construct a local map of the target area according to the first position, tag distribution information, multiple target tag information and the first detection time corresponding to each target RFID tag; obtain a global map of the target area, and correct the global map according to the local map.

[0054] Because the approximate spatial distribution of the target area can be determined based on the tag distribution information and multiple target tag information, a local map of the target area can be constructed based on the position of the target robot in the target area, the distance between the target robot and each target RFID tag, and the approximate spatial distribution of the target area. The global map of the target area can be obtained from a map database that stores the global map. The local map can be used to correct errors or loopholes in the global map, so in the process of realizing the positioning of the robot, map construction or map correction can also be achieved.

[0055] Optionally, the acquisition module 302 is also configured to construct a global map of the target area according to the following steps: first exploration: during the movement of the target robot, a global map of the target area is constructed according to the tag distribution information and multiple target tag information of multiple target RFID tags obtained by the RFID module; non-first exploration: during the movement of the robot, the global map of the target area is updated according to the tag distribution information and multiple target tag information of multiple new target RFID tags obtained by the RFID module.

[0056] The first exploration of the target robot may be that the target robot only explores the main sections of the target area, so the global map established by the first exploration of the target robot is a rough map of the target area; the non-first exploration of the target robot can be divided into multiple explorations, which may be other sections of the target area or parts of other sections that the target robot has not explored before. After exploring all spaces in the target area, the exploration can be stopped, and the global map obtained by the last update is used as the final map of the target area.

[0057] Optionally, the acquisition module 302 is also configured to acquire the target tag information of the target RFID tag and the second detection time when the RFID module detects the target RFID tag for the first time through the RFID module while the target robot is moving; acquire the target tag information of the target RFID tag and the third detection time when the RFID module detects the target RFID tag for the second time through the RFID module after the target robot travels a preset distance; acquire the tag distribution information, and determine the first position of the target robot in the target area according to the tag distribution information, the target tag information, the preset distance, the second detection time and the third detection time.

[0058] If the first position of the target robot in the target area is determined based on multiple target tag information of multiple target RFID tags, then multiple RFID tags need to be arranged in advance, which requires a lot of work. The disclosed embodiment provides a method for more accurately determining the first position of the target robot in the target area based on only one target RFID tag. After the target robot travels a preset distance, the target tag information of the target RFID tag and the third detection time when the RFID module detects the target RFID tag are obtained for the second time through the RFID module. The target tag information of the target RFID tag is obtained this time in fact to determine the third detection time in the process of obtaining the target tag information of the target RFID tag. By obtaining the target tag information of the target RFID tag twice, the preset distance, the second detection time and the third detection time are obtained. Finally, the first position of the target robot in the target area is determined based on the tag distribution information, the target tag information, the preset distance, the second detection time and the third detection time.

[0059] Optionally, the determination module 303 is also configured to measure the target area through a radar module to obtain measurement results while the target robot is moving, wherein the radar module is set on the target robot; obtain a global map of the target area, and determine a second position of the target robot in the target area based on the measurement results and the global map; and correct the first position based on the second position.

[0060] The target area is measured by the radar module. Specifically, the radar module emits multiple laser beams to the surroundings, and then receives the returned laser beams of the emitted multiple laser beams to obtain the measurement results. The measurement results include the distances between the target robot and multiple objects in the target area. The second position of the target robot in the target area can be determined based on the measurement results and the global map. Correcting the first position based on the second position is actually to obtain a more accurate final position of the target robot in the target area based on the second position and the first position.

[0061] Optionally, the determination module 303 is also configured to obtain a regional image of the target area through an image module while the target robot is moving, wherein the image module is arranged on the target robot; input the regional image into a navigation model, and output a third position of the target robot in the target area, wherein the navigation model is modeled based on neural networks and statistical principles, and the navigation model has been trained to learn and save the correspondence between the regional image and the third position; and correct the first position according to the third position.

[0062] Training the navigation model includes: obtaining multiple training images of the target area through an image module; obtaining a global map of the target area, and annotating the multiple training images according to the global map, wherein the annotation process is to indicate which part of the global map each training image belongs to, that is, the location of the scene corresponding to each training image in the target area; and training the navigation model using the annotated training images. Correcting the first position according to the third position is actually to obtain a more accurate final position of the target robot in the target area according to the third position and the first position.

[0063] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.

[0064] Figure 4 Schematic diagram of an electronic device 4 provided in an embodiment of the present disclosure. Figure 4 As shown, the electronic device 4 of this embodiment includes: a processor 401, a memory 402, and a computer program 403 stored in the memory 402 and executable on the processor 401. When the processor 401 executes the computer program 403, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 401 executes the computer program 403, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0065] Exemplarily, the computer program 403 may be divided into one or more modules / units, which are stored in the memory 402 and executed by the processor 401 to complete the present disclosure. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 403 in the electronic device 4.

[0066] The electronic device 4 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 4 may include, but is not limited to, a processor 401 and a memory 402. Those skilled in the art will appreciate that Figure 4 It is only an example of the electronic device 4 and does not constitute a limitation of the electronic device 4. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0067] The processor 401 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0068] The memory 402 may be an internal storage unit of the electronic device 4, for example, a hard disk or memory of the electronic device 4. The memory 402 may also be an external storage device of the electronic device 4, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 4. Further, the memory 402 may also include both an internal storage unit and an external storage device of the electronic device 4. The memory 402 is used to store computer programs and other programs and data required by the electronic device. The memory 402 may also be used to temporarily store data that has been output or is to be output.

[0069] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0070] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0071] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

[0072] In the embodiments provided in the present disclosure, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. Multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0073] The units described 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.

[0074] In addition, each functional unit in each embodiment of the present disclosure 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.

[0075] If the integrated module / 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 present disclosure implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0076] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should all be included in the protection scope of the present disclosure.

Claims

1. A robot positioning method, characterized in that: include: In the target area, a plurality of radio frequency identification tags are embedded according to preset rules, wherein each of the radio frequency identification tags operates in a UHF radio wave band; When the target robot is moving, the target tag information of the target radio frequency identification tag is obtained by using a radio frequency identification module, wherein the radio frequency identification module is arranged on the target robot; Acquire label distribution information, and determine a first position of the target robot in the target area according to the label distribution information and the target label information; After acquiring the label distribution information and determining the first position of the target robot in the target area according to the label distribution information and the target label information, the method further includes: When the target robot is moving, an area image of the target area is obtained by an image module, wherein the image module is arranged on the target robot; The area image is input into a navigation model, and a third position of the target robot in the target area is output, wherein the navigation model is modeled according to a neural network and statistical principles, and the navigation model has been trained to learn and save the corresponding relationship between the area image and the third position, wherein the training process of the navigation model includes: obtaining a plurality of training images of the target area through an image module; obtaining a global map of the target area, and annotating the plurality of training images according to the global map, wherein the annotation process is used to characterize the position of each training image in the global map, and using the annotated training images to train the navigation model; The first position is corrected according to the third position.

2. The method according to claim 1, characterized in that After pre-embedding a plurality of radio frequency identification tags in the target area according to a preset rule, the method further includes: When the target robot is moving, the RFID module is used to obtain a plurality of target tag information of a plurality of target RFID tags and a plurality of first detection times when the RFID module detects the plurality of target RFID tags; The tag distribution information is acquired, and a first position of the target robot in the target area is determined according to the tag distribution information, the plurality of target tag information, and the first detection time corresponding to each target radio frequency identification tag.

3. The method according to claim 2, characterized in that After acquiring the tag distribution information and determining the first position of the target robot in the target area according to the tag distribution information, the plurality of target tag information and the first detection time corresponding to each target radio frequency identification tag, the method further includes: constructing a local map of the target area according to the first location, the tag distribution information, the plurality of target tag information, and the first detection time corresponding to each target RFID tag; A global map of the target area is obtained, and the global map is corrected according to the local map.

4. The method according to claim 3, characterized in that Before obtaining the global map of the target area, the method further includes: Construct the global map of the target area in the following steps: First exploration: while the target robot is moving, constructing a global map of the target area according to the tag distribution information and the multiple target tag information of the multiple target RFID tags acquired by the RFID module; Not the first exploration: when the robot is moving, the global map of the target area is updated according to the tag distribution information and the multiple target tag information of the multiple new target RFID tags acquired by the RFID module.

5. The method according to claim 1, characterized in that After pre-embedding a plurality of radio frequency identification tags in the target area according to a preset rule, the method further includes: When the target robot is moving, the target tag information of the target RFID tag is obtained by the RFID module for the first time and a second detection time when the RFID module detects the target RFID tag; After the target robot travels a preset distance, the target tag information of the target RFID tag and a third detection time when the RFID module detects the target RFID tag are acquired for a second time by the RFID module; The tag distribution information is acquired, and the first position of the target robot in the target area is determined according to the tag distribution information, the target tag information, the preset distance, the second detection time, and the third detection time.

6. The method according to claim 1, characterized in that After acquiring the label distribution information and determining the first position of the target robot in the target area according to the label distribution information and the target label information, the method further includes: When the target robot is moving, the target area is measured by a radar module to obtain a measurement result, wherein the radar module is arranged on the target robot; Acquire a global map of the target area, and determine a second position of the target robot in the target area according to the measurement result and the global map; The first position is corrected according to the second position.

7. A robot positioning device, characterized in that: include: The pre-embedding module is configured to pre-embed a plurality of radio frequency identification tags in a target area according to a preset rule, wherein each of the radio frequency identification tags operates in a UHF radio wave band; an acquisition module, configured to acquire target tag information of a target radio frequency identification tag through a radio frequency identification module when the target robot is moving, wherein the radio frequency identification module is disposed on the target robot; The determination module is configured to obtain label distribution information and determine a first position of the target robot in the target area according to the label distribution information and the target label information.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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