Robot positioning method, system, device, equipment and storage medium

Abstract

This disclosure provides a robot localization method, system, apparatus, device, and storage medium, relating to the field of computer technology. The method includes: determining the position information of the target robot at various points by using a monocular vision system while the target robot moves within a target space; acquiring data collected by multiple sensors on the target robot as it moves to each point; and correcting the position information determined by the monocular vision system based on the data collected by the multiple sensors to obtain the actual position of the target robot within the target space. This disclosure enables accurate robot localization in a low-cost context.

Description

Background Art

[0002] With the rapid development of intelligent warehousing, warehousing logistics robots have received more and more attention due to the large-scale, short-cycle warehousing needs and complex resource environment. Warehouse logistics robots are a type of indoor mobile robots with the functions of autonomous sorting, handling, depalletizing and stacking of goods, and are important equipment for realizing unmanned warehousing. At present, the key technologies for research on warehousing logistics robots are mainly concentrated in indoor positioning, autonomous navigation, motion control and collaborative operation. Among them, indoor positioning technology is the basis and prerequisite for warehousing logistics robots to complete other tasks. In the related technology, the three-dimensional detection method based on monocular vision realizes indoor positioning, which requires the pre-deployment of signs and symbols in the warehousing environment, and has a strong dependence on signs and symbols, resulting in poor positioning flexibility. There is a problem of low positioning accuracy; the three-dimensional detection method based on binocular vision realizes indoor positioning, but due to the huge amount of image processing, it requires a high-level processor and has a high cost problem.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] The present disclosure provides a robot positioning method, system, device, equipment and storage medium, which at least to a certain extent overcome the problems of low positioning accuracy and high cost of indoor positioning methods implemented by robots in related technologies.

[0005] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by the practice of the present disclosure.

[0006] According to one aspect of the present disclosure, a robot positioning method is provided, comprising: when a target robot moves in a target space, determining position information of the target robot moving to each position point through a monocular vision system; when the target robot moves to each position point, acquiring data collected by multiple sensors on the target robot, and correcting the position information determined by the monocular vision system based on the data collected by the multiple sensors on the target robot to obtain the actual position of the target robot moving in the target space.

[0007] In one embodiment of the present disclosure, the data collected by multiple sensors on the target robot are obtained, and the position information determined by the monocular vision system is corrected according to the data collected by the multiple sensors on the target robot to obtain the actual position of the target robot moving in the target space, including: collecting environmental information of the target robot moving to each position point through an infrared sensor provided on the target robot; for each position point in the target space, when the environmental information collected by the infrared sensor is consistent with the pre-collected environmental information, performing error correction on the distance information of the target robot moving to the position point through the odometer provided on the target robot, and performing error correction on the angle information of the target robot moving to the position point through the gyroscope provided on the target robot to obtain the actual position of the target robot at the position point.

[0008] In one embodiment of the present disclosure, the monocular vision system determines the position information of the target robot moving to each position point by the following formula:

[0009]

[0010] Among them, L 当前 (x, y) represents the current position, T k4 represents the rotation coefficient, k c represents the influence of physical parameters of the monocular vision system, f6 represents the function after the translation and heading angle are superimposed, f4 represents the position function after adding the course angle, x∠ 航向 Indicates obtaining the position information of the heading angle in the x-axis direction, y∠ 航向 Indicates the position information after obtaining the y-axis heading angle, f5 indicates the position function after translation, x r Indicates the position after translation in the x-axis direction, y r Indicates the position after translation in the y-axis direction.

[0011] In one embodiment of the present disclosure, the distance information of the target robot moving to each position point is corrected by the following formula:

[0012] Δ1∠ 航向 =∠ 航向 -∠ 航向误 ;

[0013]

[0014] Among them, Δ1∠ 航向 Indicates the heading angle change after error correction, ∠ 航向 Represents the heading angle obtained by dead reckoning, ∠ 航向误 represents the heading angle, f6 represents the function of the superposition of translation and heading angle, L 里(x 里 ,y 里 ) represents the position after error correction of distance information, ∠ 航向里 represents the heading angle after error correction of the distance information, k e represents the factors affecting the actual road conditions, k5 represents the error constant of the wheelbase, d1 represents the wheelbase difference, k6 represents the error constant of the wheel diameter, d 直 represents the wheel diameter, f represents the position function, L 当前 Indicates the current position, x 初 represents the initial x coordinate, Δx represents the odometer data at the x coordinate, y 初 represents the initial y coordinate, and Δy represents the odometer data at the y coordinate.

[0015] In one embodiment of the present disclosure, the angle information of the target robot moving to the position point is corrected by the following formula:

[0016] Δ2∠ 航向 =k7×ΔT×G 2 ;

[0017] Δ3∠ 航向 =Δ1∠ 航向 -Δ2∠ 航向 ;

[0018]

[0019] Among them, Δ2∠ 航向 represents the change of gyroscope angle error, k7 represents the error constant of the gyroscope, ΔT represents the sampling period of the gyroscope, G represents the standard deviation of the angular velocity output by the gyroscope in static state, Δ3∠ 航向 Indicates the heading angle change after the angle information error is corrected, L 终 (x 终 ,y 终 ) represents the final position after error correction of the angle information, ∠ 航向终 represents the error constant of the gyroscope, k m represents the error constant of the gyroscope, and f7 represents the function after the heading angle is superimposed.

[0020] In one embodiment of the present disclosure, the environmental information includes: the distance between the target robot and each obstacle when the target robot moves to each position point.

[0021] According to another aspect of the present disclosure, there is provided a robot positioning system, characterized in that it includes: a monocular vision system, an infrared sensor, an odometer, a gyroscope, and a processing device;

[0022] Among them, the monocular vision system is used to locate the position information of the target robot moving to each position point when the target robot moves in the target space; the infrared sensor is used to collect environmental information of the target robot moving to each position point, the odometer is used to perform error correction on the distance information of the target robot moving to the position point, and the gyroscope is used to perform error correction on the angle information of the target robot moving to the position point; the processing device is used to obtain data collected by multiple sensors on the target robot when the target robot moves to each position point, and correct the position information determined by the monocular vision system according to the data collected by multiple sensors on the target robot to obtain the actual position of the target robot moving in the target space.

[0023] According to another aspect of the present disclosure, a robot positioning device is provided, characterized in that it includes: a robot positioning module, which is used to determine the position information of the target robot moving to each position point through a monocular vision system when the target robot moves in the target space; a positioning result correction module, which is used to obtain data collected by multiple sensors on the target robot when the target robot moves to each position point, and correct the position information determined by the monocular vision system according to the data collected by the multiple sensors on the target robot to obtain the actual position of the target robot moving in the target space.

[0024] According to another aspect of the present disclosure, there is provided an electronic device, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above-mentioned robot positioning method by executing the executable instructions.

[0025] According to another aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned robot positioning method is implemented.

[0026] A robot positioning method provided by an embodiment of the present disclosure first determines the position information of the target robot through a monocular vision system, and then corrects the position information determined by the monocular vision system in combination with data collected by multiple sensors, so as to accurately locate the position of the robot. In the embodiment of the present disclosure, multiple sensors are used to correct the positioning of the monocular vision system, which reduces the complexity of the precise positioning operation while enabling precise positioning, and saves the cost of achieving precise positioning of the robot.

[0027] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0029] Figure 1 A flow chart of a robot positioning method in an embodiment of the present disclosure is shown;

[0030] Figure 2 A flow chart of a method for correcting position information determined by a monocular vision system in an embodiment of the present disclosure is shown;

[0031] Figure 3 A schematic diagram of a robot positioning system in an embodiment of the present disclosure is shown;

[0032] Figure 4 A schematic diagram of a robot positioning device in an embodiment of the present disclosure is shown;

[0033] Figure 5 A structural block diagram of a computer device according to an embodiment of the present disclosure is shown;

[0034] Figure 6 A schematic diagram showing a computer-readable storage medium in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the disclosure will be more comprehensive and complete and to fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0036] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0037] The present exemplary implementation is described in detail below with reference to the accompanying drawings and embodiments.

[0038] First, a robot positioning method is provided in an embodiment of the present disclosure, and the method can be executed by any electronic device with computing and processing capabilities.

[0039] Figure 1 A flow chart of a robot positioning method in an embodiment of the present disclosure is shown as follows: Figure 1 As shown, the robot positioning method provided in the embodiment of the present disclosure includes the following steps:

[0040] S102, when the target robot moves in the target space, the position information of each position point moved by the target robot is determined by a monocular vision system.

[0041] It should be noted that the target robot may be a robot capable of autonomous positioning. Optionally, the target robot in the disclosed embodiment may be any type of actively positioned target robot such as a warehouse logistics robot or a sweeping robot. The target space may be a physical space with length, width, and height, such as a warehouse, a room, etc. The monocular vision system may be a system that uses a camera device to complete visual tasks, capable of visual positioning, etc.

[0042] In one embodiment, the present disclosure can be applied to the positioning of a warehousing logistics robot (equivalent to the above-mentioned target robot) in a storage space. First, the SLAM (Simultaneous Localization And Mapping) technology is used to construct the entire storage space map into a grid map, and a single shelf or cargo occupies one or more grid points (equivalent to the above-mentioned position points). The storage warehouse can be constructed as a rectangular grid map, and each indicator beacon represents a grid. In the map construction design, indicator beacons should be used, and then the beacons are neatly arranged at equal intervals on the horizontal ground. The robot recognizes the beacons by carrying a camera perpendicular to the ground. Each beacon contains a unique number (equivalent to the above-mentioned position information), the corresponding position information in the coordinate system (equivalent to the above-mentioned position information), and the distance between adjacent beacons (equivalent to the above-mentioned position information), thereby establishing a world coordinate system for the positioning of the warehousing logistics robot.

[0043] In one embodiment, when the warehouse logistics robot moves and works within the range of the above-mentioned world coordinate system, the warehouse logistics robot observes the surroundings through the camera and obtains the position information in the indicator beacon according to the following steps: The first step is to initially segment the image and use a Quick Response Code (QR Code) as a visual label (equivalent to the above-mentioned indicator beacon). The recognition process of the QR code requires image processing. This process is computationally intensive. In order to reduce the requirements for device hardware, the image is initially cut using the edge projection method. First, the Sobel operator is used to detect the edge of the image, and then the image is projected in the vertical and horizontal directions respectively. The values ​​of the edge image in each column and row are calculated and normalized. The image area with richer edges is segmented by selecting an appropriate threshold value and identified as the QR Code area. The area after the initial image segmentation is not accurate, and the precise heading angle (using ∠ 航向 The second step is to extract the positioning information. The present disclosure adopts the QR Code classic algorithm to identify the code value. By determining the three square positioning modules contained in the code, that is, the three large black square pixels commonly seen on the QR code, the initial segmented beacon image is accurately cut, and then the beacon information is extracted to obtain accurate heading angle information. The coordinates of each indicator beacon (expressed by L 信标 (x, y)) can be determined by the settings after establishment. When the rotation of the warehouse logistics robot relative to the world coordinate system is obtained through the monocular vision system (expressed by T k4 By using the information of the position of the warehouse logistics robot in the world coordinate system (denoted by r) and the translation information (denoted by k), the position of the warehouse logistics robot in the world coordinate system can be inferred, and then it can be accurately cut, while referring to the physical parameters of the monocular camera (denoted by k c The current location information L of the logistics robot is calculated by the following formula (1): 当前 (x,y) is:

[0044]

[0045] Among them, T k4 represents the rotation coefficient, f6 represents the function after the translation and heading angle are superimposed, f4 represents the position function after adding the course angle, x∠ 航向 Indicates obtaining the position information of the heading angle in the x-axis direction, y∠ 航向 Indicates the position information after obtaining the y-axis heading angle, f5 indicates the position function after translation, x r Indicates the position after translation in the x-axis direction, y r Indicates the position after translation in the y-axis direction.

[0046] S104, when the target robot moves to each position point, the data collected by various sensors on the target robot are obtained, and the position information determined by the monocular vision system is corrected according to the data collected by various sensors on the target robot to obtain the actual position of the target robot moving in the target space.

[0047] It should be noted that the above-mentioned sensor can be a detection device that can sense the information being measured and can convert the sensed information into electrical signals or other required forms of information output according to a certain rule to meet the requirements of information transmission, processing, storage, display, recording and control. The sensor in the embodiment of the present disclosure can be an infrared sensor, an odometer, a gyroscope, etc.

[0048] Since the monocular vision method cannot measure the distance in the true sense and has low accuracy, some low-cost sensors can be used to correct the position information determined by the monocular vision system to obtain accurate positioning. The present disclosure is based on the fusion of lower-cost monocular vision technology and multiple sensors, which saves the cost of achieving indoor positioning to a greater extent and also improves the accuracy of positioning.

[0049] To further illustrate that the data collected by multiple sensors corrects the position information determined by the monocular vision system, in one embodiment of the present disclosure, Figure 2 As shown, the robot positioning method provided in the embodiment of the present disclosure can correct the position information determined by the monocular vision system through the following steps, and can accurately measure the position of the target robot in the target space:

[0050] S202, collecting environmental information of the target robot moving to various positions through infrared sensors provided on the target robot.

[0051] It should be noted that the above-mentioned infrared sensor may be a sensor that uses infrared rays to perform data processing. Optionally, the infrared sensor in the embodiment of the present disclosure may be an infrared ranging sensor, which is a device that uses infrared rays as a medium to measure distance.

[0052] In one embodiment, an infrared ranging sensor (equivalent to the above-mentioned infrared sensor) is installed at the highest level of the robot (or other parts where obstacle avoidance is required) to achieve obstacle avoidance and auxiliary monocular vision ranging functions. Obstacles (goods, shelves, etc.) in the robot's action area are marked in advance (by marking the position points by beacons, and the environmental information is manually entered in advance to facilitate infrared sensor-assisted ranging). Then, the infrared ranging sensor signal sending end on the robot transmits an infrared signal, and the signal is reflected after hitting the obstacle mark and captured by the robot's infrared ranging sensor receiving end, thereby realizing the ranging of the infrared ranging sensor. The ranging result is then compared with the monocular vision positioning result of the previous module (the comparison is the position information determined by the displacement information and the heading angle. The above monocular vision system can know the displacement data and heading angle according to the indicator beacon, and the infrared ranging sensor can also measure the displacement data and heading angle). If they are consistent, the infrared ranging sensor assists in verifying the successful positioning; otherwise, it is judged as a positioning failure, and the positioning measurement result is regarded as an invalid result. Because the results are inconsistent, it may be due to the ground environment, obstacle movement, label changes, etc., which causes the difference between the monocular measurement result and the infrared measurement result. Therefore, the positioning result error is extremely large and is invalid data. The present invention uses an infrared ranging sensor to assist in monocular vision positioning to improve the accuracy of monocular vision positioning.

[0053] In specific implementation, infrared sensor ranging can be achieved through the following three steps: the first step is that after the storage logistics robot enters the new storage environment, it first stores the location information of all the position points on the ground in the current environment (including visual beacons) and the distance information of the surrounding environment of all the position points; the second step is that when the robot moves in the working environment, the infrared sensor-assisted monocular vision technology is used to obtain, collect, mark and record the environmental distance information of the mobile surroundings; the third step is to match the surrounding environment distance information collected by the robot during the movement with the location information of the location points in the environment collected previously. If the match is successful, it will enter the next matching task (equivalent to the comparison of the above-mentioned monocular vision positioning results). If it fails, the environmental distance information is corrected to ensure real-time updating of the environmental distance information and to assist in improving the accuracy of the monocular vision positioning technology. Among them, the first step of the above-mentioned infrared sensor ranging requires the warehouse logistics robot to first determine the starting point of the environment, and then walk through the entire environment through a map traversal algorithm. During the traversal process, n position points are determined by the set moving step length. Every time the warehouse logistics robot arrives at a position point, it needs to collect and obtain the surrounding environment position information and distance information; the second step of the infrared sensor ranging requires the warehouse logistics robot to sample the distance information of the surrounding environment at its location through a 360-degree omnidirectional infrared sensor during the mobile working process, and at the same time perform analog-to-digital conversion and Fourier transform on the data to obtain the environmental distance data information of the location (equivalent to the above-mentioned environmental information).

[0054] In one embodiment, the above environmental information may include: the distance between the target robot and each obstacle when the target robot moves to each position point.

[0055] S204, for each position point in the target space, when the environmental information collected by the infrared sensor is consistent with the pre-collected environmental information, the distance information of the target robot moving to the position point is corrected by the odometer provided on the target robot, and the angle information of the target robot moving to the position point is corrected by the gyroscope provided on the target robot to obtain the actual position of the target robot at the position point.

[0056] It should be noted that the odometer can be a device for measuring travel, such as a wheel odometer. The gyroscope can be an angular motion detection device, such as a sensor gyroscope, which serves as a horizontal, vertical, pitch, heading and angular velocity sensor.

[0057] In one embodiment, based on the actual working data collection of the warehouse logistics robot, the mileage calculation error is mainly related to the wheelbase difference (expressed by d1), wheel diameter size (expressed by d 直 denoted by k), and factors such as the actual road conditions (denoted by k e If all these factors are taken into account, combined with the ideal position information of the current logistics robot obtained by the above formula (1), the distance information of the warehouse logistics robot moving to each position point is corrected by the following formulas (2) and (3):

[0058] Δ1∠ 航向 =∠ 航向 -∠ 航向误 (2)

[0059]

[0060] Among them, Δ1∠ 航向 Indicates the heading angle change after error correction, ∠ 航向 Represents the heading angle obtained by dead reckoning. The above dead reckoning is an algorithm that estimates the position at the next moment by measuring the distance and direction moved under the condition that the current moment position is known. ∠ 航向误 represents the heading angle, f6 represents the function of the superposition of translation and heading angle, L 里 (x 里 ,y 里 ) represents the position after error correction of distance information, ∠ 航向里 represents the heading angle after error correction of the distance information, k5 represents the error constant of the wheelbase, k6 represents the error constant of the wheel diameter, f represents the position function, L 当前 Indicates the current position, x 初represents the initial x coordinate, Δx represents the odometer data at the x coordinate, y 初 represents the initial y coordinate, and Δy represents the odometer data at the y coordinate.

[0061] In one embodiment, since the gyroscope obtains the angular positioning information by integrating the angular velocity, the error is caused by zero bias, noise (k m As the operation time of the logistics robot increases, the angular velocity integral deviation will continue to accumulate. Assuming the sampling period is ΔT, G represents the standard deviation of the angular velocity output by the gyroscope in static state, and the angular error change within ΔT is calculated by the following formula (4):

[0062] Δ2∠ 航向 =k7×ΔT×G 2 (4)

[0063] The Δ1∠ after the odometer error is corrected 航向 After taking this into account, the final robot heading angle change within ΔT is calculated by the following formula (5):

[0064] Δ3∠ 航向 =Δ1∠ 航向 -Δ2∠ 航向 (5)

[0065] The gyroscope angle error accumulates over time, and the odometer angle error increases when the dynamic steering angle changes over a large range. Considering the above error factors and the above formula (2), the final robot position information assisted by the gyroscope is calculated by the following formula (6):

[0066]

[0067] Among them, Δ2∠ 航向 represents the change of gyroscope angle error, k7 represents the error constant of the gyroscope, ΔT represents the sampling period of the gyroscope, G represents the standard deviation of the angular velocity output by the gyroscope in static state, Δ3∠ 航向 Indicates the heading angle change after the angle information error is corrected, L 终 (x 终 ,y 终 ) represents the final position after error correction of the angle information, ∠ 航向终 represents the error constant of the gyroscope, k m represents the error constant of the gyroscope, and f7 represents the function after the heading angle is superimposed.

[0068] The present invention performs angle calculation after variance weighted fusion, which makes up for the defects of a single sensor, maximizes and combines the characteristics of infrared sensors, gyroscopes and odometers, reduces angle errors, and obtains accurate robot positioning.

[0069] Based on the same inventive concept, the present disclosure also provides a robot positioning system, as described in the following embodiments. Since the principle of solving the problem in the system embodiment is similar to that in the above method embodiment, the implementation of the system embodiment can refer to the implementation of the above method embodiment, and the repeated parts will not be repeated.

[0070] Figure 3 A schematic diagram of a robot positioning system in an embodiment of the present disclosure is shown. Figure 3 As shown, the system includes:

[0071] Monocular vision system 301 , infrared sensor 302 , odometer 303 , gyroscope 304 and processing device 305 .

[0072] Among them, the monocular vision system 301 is used to locate the position information of the target robot moving to each position point when the target robot moves in the target space; the infrared sensor 302 is used to collect the environmental information of the target robot moving to each position point, the odometer 303 is used to perform error correction on the distance information of the target robot moving to the position point, and the gyroscope 304 is used to perform error correction on the angle information of the target robot moving to the position point; the processing device 305 is used to obtain the data collected by various sensors on the target robot when the target robot moves to each position point, and correct the position information determined by the monocular vision system according to the data collected by various sensors on the target robot to obtain the actual position of the target robot moving in the target space.

[0073] In one embodiment, the monocular vision system determines the position information of the target robot moving to each position point through the above formula (1).

[0074] In one embodiment, the odometer performs error correction on the distance information of the target robot moving to each position point using the above formula (2) and formula (3).

[0075] In one embodiment, the gyroscope performs error correction on the angle information of the target robot moving to the position point through the above formula (4), formula (5), and formula (6).

[0076] Based on the same inventive concept, the present disclosure also provides a robot positioning device in the following embodiments. Since the principle of solving the problem in the device embodiment is similar to that in the above method embodiment, the implementation of the device embodiment can refer to the implementation of the above method embodiment, and the repeated parts will not be repeated.

[0077] Figure 4 A schematic diagram of a robot positioning device in an embodiment of the present disclosure is shown. Figure 4 As shown, the device comprises:

[0078] The robot positioning module 401 is used to determine the position information of the target robot moving to each position point through a monocular vision system when the target robot moves in the target space;

[0079] The positioning result correction module 402 is used to obtain data collected by various sensors on the target robot when the target robot moves to various position points, and to correct the position information determined by the monocular vision system based on the data collected by various sensors on the target robot to obtain the actual position of the target robot moving in the target space.

[0080] In one embodiment of the present disclosure, the positioning result correction module specifically includes: collecting environmental information of the target robot moving to each position point through an infrared sensor set on the target robot; for each position point in the target space, when the environmental information collected by the infrared sensor is consistent with the pre-collected environmental information, performing error correction on the distance information of the target robot moving to the position point through the odometer set on the target robot, and performing error correction on the angle information of the target robot moving to the position point through the gyroscope set on the target robot, so as to obtain the actual position of the target robot at the position point.

[0081] In one embodiment of the present disclosure, the robot positioning module may determine the position information of the target robot moving to each position point by using the above formula (1).

[0082] In one embodiment of the present disclosure, the positioning result correction module can perform error correction on the distance information of the target robot moving to each position point by using the above formula (2) and formula (3).

[0083] In one embodiment of the present disclosure, the positioning result correction module performs error correction on the angle information of the target robot moving to the position point through the above formula (4), formula (5), and formula (6).

[0084] In one embodiment of the present disclosure, the environmental information in the positioning result correction module includes: the distance between the target robot and each obstacle when the target robot moves to each position point.

[0085] Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods or program products. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as "circuits", "modules" or "systems".

[0086] Refer to the following Figure 5The electronic device 500 according to this embodiment of the present disclosure is described. Figure 5 The electronic device 500 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0087] like Figure 5 As shown, the electronic device 500 is in the form of a general computing device. The components of the electronic device 500 may include but are not limited to: at least one processing unit 510, at least one storage unit 520, and a bus 530 connecting different system components (including the storage unit 820 and the processing unit 810).

[0088] The storage unit stores program codes, which can be executed by the processing unit 510, so that the processing unit 510 executes the steps described in the above “Exemplary Method” section of this specification according to various exemplary embodiments of the present disclosure.

[0089] For example, the processing unit 510 can execute the following steps of the above-mentioned method embodiment: when the target robot moves in the target space, the position information of the target robot moving to each position point is determined by the monocular vision system; when the target robot moves to each position point, the data collected by various sensors on the target robot are obtained, and according to the data collected by various sensors on the target robot, the position information determined by the monocular vision system is corrected to obtain the actual position of the target robot moving in the target space.

[0090] For example, the processing unit 510 can execute the following steps of the above-mentioned method embodiment: using the infrared sensor set on the target robot, collecting environmental information of the target robot moving to each position point; for each position point in the target space, when the environmental information collected by the infrared sensor is consistent with the pre-collected environmental information, using the odometer set on the target robot to perform error correction on the distance information of the target robot moving to the position point, and using the gyroscope set on the target robot to perform error correction on the angle information of the target robot moving to the position point, so as to obtain the actual position of the target robot at the position point.

[0091] For example, the processing unit 510 may execute the following steps of the above method embodiment: determine the position information of the target robot moving to each position point by using the above formula (1).

[0092] For example, the processing unit 510 may execute the following steps of the above method embodiment: performing error correction on the distance information from the target robot to each position point using the above formulas (2) and (3).

[0093] For example, the processing unit 510 may execute the following steps of the above method embodiment: performing error correction on the angle information of the target robot moving to the position point using the above formulas (4), (5), and (6).

[0094] The storage unit 520 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 5201 and / or a cache storage unit 5202 , and may further include a read-only storage unit (ROM) 5203 .

[0095] The storage unit 520 may also include a program / utility 5204 having a set (at least one) of program modules 5205, such program modules 5205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0096] Bus 530 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0097] The electronic device 500 may also communicate with one or more external devices 540 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 800, and / or may communicate with any device that enables the electronic device 500 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 550. Furthermore, the electronic device 500 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 560. As shown, the network adapter 560 communicates with other modules of the electronic device 500 via a bus 530. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0098] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0099] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is further provided, which may be a readable signal medium or a readable storage medium. Figure 6 A schematic diagram of a computer-readable storage medium in an embodiment of the present disclosure is shown. Figure 6 As shown, a program product capable of implementing the above method of the present disclosure is stored on the computer-readable storage medium 600. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present disclosure described in the above “Exemplary Method” section of this specification.

[0100] For example, when the program product in the embodiment of the present disclosure is executed by a processor, the following steps are implemented: when the target robot moves in the target space, the position information of the target robot moving to each position point is determined by a monocular vision system; when the target robot moves to each position point, data collected by multiple sensors on the target robot is obtained, and based on the data collected by multiple sensors on the target robot, the position information determined by the monocular vision system is corrected to obtain the actual position of the target robot moving in the target space.

[0101] In some embodiments, the program product in the embodiments of the present disclosure can also implement the following method steps when executed by a processor: using an infrared sensor set on the target robot, collecting environmental information of the target robot moving to each position point; for each position point in the target space, when the environmental information collected by the infrared sensor is consistent with the pre-collected environmental information, using the odometer set on the target robot to perform error correction on the distance information of the target robot moving to the position point, and using the gyroscope set on the target robot to perform error correction on the angle information of the target robot moving to the position point, so as to obtain the actual position of the target robot at the position point.

[0102] In some embodiments, when the program product in the embodiments of the present disclosure is executed by a processor, the following method can also be implemented: the position information of the target robot moving to each position point is determined by the above formula (1).

[0103] In some embodiments, when the program product in the embodiments of the present disclosure is executed by a processor, the following method can also be implemented: error correction is performed on the distance information of the target robot moving to each position point using the above formula (2) and formula (3).

[0104] In some embodiments, when the program product in the embodiments of the present disclosure is executed by a processor, the following method can also be implemented: error correction is performed on the angle information of the target robot moving to the position point using the above formulas (4), (5), and (6).

[0105] More specific examples of computer-readable storage media in the present disclosure may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0106] In the present disclosure, a computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, wherein a readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A readable signal medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0107] Alternatively, the program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0108] In a specific implementation, the program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0109] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0110] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0111] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0112] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A robot positioning method, characterized in that: include: When the target robot moves in the target space, the position information of each position point of the target robot is determined by the monocular vision system; When the target robot moves to various positions, data collected by various sensors on the target robot are obtained, and the position information determined by the monocular vision system is corrected according to the data collected by various sensors on the target robot to obtain the actual position of the target robot moving in the target space, wherein obtaining the actual position of the target robot moving in the target space includes: collecting environmental information of the target robot moving to various positions through an infrared sensor provided on the target robot; for each position point in the target space, when the environmental information collected by the infrared sensor is consistent with the pre-collected environmental information, performing error correction on the distance information of the target robot moving to the position point through the odometer provided on the target robot, and performing error correction on the angle information of the target robot moving to the position point through the gyroscope provided on the target robot to obtain the actual position of the target robot at the position point; The distance information of the target robot moving to each position point is corrected by the following formula: Δ1∠ 航向 =∠ 航向 -∠ 航向误 ; Among them, Δ1∠ 航向 Indicates the heading angle change after error correction, ∠ 航向 Represents the heading angle obtained by dead reckoning, ∠ 航向误 represents the heading angle, f6 represents the function of the superposition of translation and heading angle, L 里 (x 里 ,y 里 ) represents the position after error correction of distance information, ∠ 航向里 represents the heading angle after error correction of the distance information, k e represents the factors affecting the actual road conditions, k5 represents the error constant of the wheelbase, d1 represents the wheelbase difference, k6 represents the error constant of the wheel diameter, d 直 represents the wheel diameter, f represents the position function, L 当前 Indicates the current position, x 初 represents the initial x coordinate, Δx represents the odometer data at the x coordinate, y 初 represents the initial y coordinate, and Δy represents the odometer data at the y coordinate.

2. The robot positioning method according to claim 1, characterized in that: The monocular vision system determines the position information of the target robot moving to each position point through the following formula: Among them, L 当前 (x, y) represents the current position, T k4 represents the rotation coefficient, k c represents the influence of physical parameters of the monocular vision system, f6 represents the function after the translation and heading angle are superimposed, f4 represents the position function after adding the course angle, x∠ 航向 Indicates obtaining the position information of the heading angle in the x-axis direction, y∠ 航向 Indicates the position information after obtaining the y-axis heading angle, f5 indicates the position function after translation, x r Indicates the position after translation in the x-axis direction, y r Indicates the position after translation in the y-axis direction.

3. The robot positioning method according to claim 1, characterized in that: The error correction of the angle information of the target robot moving to the position point is performed using the following formula: Δ2∠ 航向 =k7×ΔT×G 2 ; Δ3∠ 航向 =Δ1∠ 航向 -Δ2∠ 航向 ; Among them, Δ2∠ 航向 represents the change of gyroscope angle error, k7 represents the error constant of the gyroscope, ΔT represents the sampling period of the gyroscope, G represents the standard deviation of the angular velocity output by the gyroscope in static state, Δ3∠ 航向 Indicates the heading angle change after the angle information error is corrected, L 终 (x 终 ,y 终 ) represents the final position after error correction of the angle information, ∠ 航向终 represents the error constant of the gyroscope, k m represents the error constant of the gyroscope, and f7 represents the function after the heading angle is superimposed.

4. The robot positioning method according to claim 1, characterized in that: The environmental information includes: the distance between the target robot and each obstacle when the target robot moves to each position point.

5. A robot positioning system, characterized in that: include: Monocular vision system, infrared sensor, odometer, gyroscope and processing equipment; Wherein, the monocular vision system is used to locate the position information of the target robot moving to each position point when the target robot moves in the target space; The infrared sensor is used to collect environmental information of the target robot moving to each position point, the odometer is used to perform error correction on the distance information of the target robot moving to the position point, and the gyroscope is used to perform error correction on the angle information of the target robot moving to the position point; The processing device is used to obtain data collected by multiple sensors on the target robot when the target robot moves to various positions, and correct the position information determined by the monocular vision system based on the data collected by the multiple sensors on the target robot to obtain the actual position of the target robot moving in the target space, wherein obtaining the actual position of the target robot moving in the target space includes: collecting environmental information of the target robot moving to various positions through the infrared sensor provided on the target robot; for each position point in the target space, when the environmental information collected by the infrared sensor is consistent with the pre-collected environmental information, performing error correction on the distance information of the target robot moving to the position point through the odometer provided on the target robot, and performing error correction on the angle information of the target robot moving to the position point through the gyroscope provided on the target robot, to obtain the actual position of the target robot at the position point; The distance information of the target robot moving to each position point is corrected by the following formula: Δ1∠ 航向 =∠ 航向 -∠ 航向误 ; Among them, Δ1∠ 航向 Indicates the heading angle change after error correction, ∠ 航向 Represents the heading angle obtained by dead reckoning, ∠ 航向误 represents the heading angle, f6 represents the function of the superposition of translation and heading angle, L 里 (x 里 ,y 里 ) represents the position after error correction of distance information, ∠ 航向里 represents the heading angle after error correction of the distance information, k e represents the factors affecting the actual road conditions, k5 represents the error constant of the wheelbase, d1 represents the wheelbase difference, k6 represents the error constant of the wheel diameter, d 直 represents the wheel diameter, f represents the position function, L 当前 Indicates the current position, x 初 represents the initial x coordinate, Δx represents the odometer data at the x coordinate, y 初 represents the initial y coordinate, and Δy represents the odometer data at the y coordinate.

6. A robot positioning device, characterized in that: include: A robot positioning module is used to determine the position information of the target robot moving to each position point through a monocular vision system when the target robot moves in the target space; A positioning result correction module is used to obtain data collected by various sensors on the target robot when the target robot moves to various position points, and correct the position information determined by the monocular vision system according to the data collected by various sensors on the target robot to obtain the actual position of the target robot moving in the target space, wherein obtaining the actual position of the target robot moving in the target space includes: collecting environmental information of the target robot moving to various position points through an infrared sensor provided on the target robot; for each position point in the target space, when the environmental information collected by the infrared sensor is consistent with the pre-collected environmental information, performing error correction on the distance information of the target robot moving to the position point through the odometer provided on the target robot, and performing error correction on the angle information of the target robot moving to the position point through the gyroscope provided on the target robot, to obtain the actual position of the target robot at the position point; The distance information of the target robot moving to each position point is corrected by the following formula: Δ1∠ 航向 =∠ 航向 -∠ 航向误 ; Among them, Δ1∠ 航向 Indicates the heading angle change after error correction, ∠ 航向 Represents the heading angle obtained by dead reckoning, ∠ 航向误 represents the heading angle, f6 represents the function of the superposition of translation and heading angle, L 里 (x 里 ,y 里 ) represents the position after error correction of distance information, ∠ 航向里 represents the heading angle after error correction of the distance information, k e represents the factors affecting the actual road conditions, k5 represents the error constant of the wheelbase, d1 represents the wheelbase difference, k6 represents the error constant of the wheel diameter, d 直 represents the wheel diameter, f represents the position function, L 当前 Indicates the current position, x 初 represents the initial x coordinate, Δx represents the odometer data at the x coordinate, y 初 represents the initial y coordinate, and Δy represents the odometer data at the y coordinate.

7. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; Wherein, the processor is configured to execute the robot positioning method according to any one of claims 1 to 4 by executing the executable instructions.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the robot positioning method according to any one of claims 1 to 4 is implemented.

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