A robot positioning method, device, storage medium and robot

Abstract

The present invention belongs to the technical field of robot positioning, and particularly relates to a robot positioning method, device, storage medium and robot. The robot positioning method includes: obtaining a first distance, where the first distance is the distance between a first component of the robot and a front partition; obtaining a second distance, where the second distance is the distance between a second component of the robot and the front partition; obtaining a third distance, where the third distance is the distance between a third component of the robot and a rear partition; obtaining a fourth distance, where the fourth distance is the distance between a fourth component of the robot and the rear partition; and determining the position of the robot in the air cabin according to the first distance, the second distance, the third distance and the fourth distance.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot positioning, and in particular relates to a robot positioning method, device, terminal device, storage medium and robot. Background Art

[0002] The air chamber is a long and narrow enclosed structure on both sides of the ship, about 40 meters long, and is usually divided into independent small compartments about 2 meters long by partitions (steel plates). The partition thickness of the compartment is 1 cm, the partition plates are parallel to each other, and the small compartments are connected by narrow small door openings in the middle of the partition plates. Among them, the size of the door opening is about 50 cm x 35 cm, and it is about 40 cm from the bottom of the compartment.

[0003] During the obstacle crossing process, the wheel-legged obstacle crossing robot passes through the door opening by changing its posture. When the wheel-legged obstacle crossing robot itself crosses the obstacle, the width of its posture is usually 28 cm. However, the width of the door opening is usually only 35 cm, which is very narrow relative to the robot. In addition, the body length of the wheel-legged obstacle crossing robot is 75 cm. During the period when the wheel-legged obstacle crossing robot passes through the door opening, if the body deviates slightly, it will get stuck in the door opening. Therefore, it is necessary to position the wheel-legged obstacle crossing robot when passing through the air chamber to determine whether the wheel-legged obstacle crossing robot deviates when passing through the door opening.

[0004] At present, when positioning the wheel-legged obstacle crossing robot, the wheels are intermittently in contact with the ground during the obstacle crossing process, and the ground is oily and slippery, which easily causes the wheel encoder odometer not to be used. However, the existing positioning methods generally use the Global Positioning System (GPS) or lidar and other methods. However, the positioning accuracy of lidar cannot meet the requirements and cannot meet the positioning needs of the robot. In addition, the cabin is made of steel and completely shields external signals, and the GPS signal cannot enter. Therefore, it is also impossible to position the robot through GPS. Summary of the Invention

[0005] The present invention provides a robot positioning method, device, storage medium and robot, which can solve the problem of low positioning accuracy of the robot when passing through the door opening of the air chamber in the prior art.

[0006] In a first aspect, an embodiment of the present invention provides a robot positioning method for the robot to perform measurement and positioning when passing through an air chamber. The air chamber includes a front partition located in front of the robot and a rear partition located behind the robot. The robot positioning method includes: obtaining a first distance, where the first distance is the distance between a first component of the robot and the front partition; obtaining a second distance, where the second distance is the distance between a second component of the robot and the front partition; obtaining a third distance, where the third distance is the distance between a third component of the robot and the rear partition; obtaining a fourth distance, where the fourth distance is the distance between a fourth component of the robot and the rear partition; and determining the position of the robot in the air chamber according to the first distance, the second distance, the third distance, and the fourth distance.

[0007] Optionally, after obtaining the first distance, the second distance, the third distance, and the fourth distance, it further includes: when the difference between the first distance and the second distance exceeds a threshold, determining that the robot yaws, where there is a distance interval between the first component and the second component; and / or when the difference between the third distance and the fourth distance exceeds a threshold, determining that the robot yaws, where there is a distance interval between the third component and the fourth component.

[0008] Optionally, after determining that the robot yaws, it further includes: adjusting the heading of the robot.

[0009] In a second aspect, an embodiment of the present invention provides a robot positioning device for the robot to perform measurement and positioning when passing through an air chamber. The air chamber includes a front partition located in front of the robot and a rear partition located behind the robot. The robot positioning device includes: a first obtaining module for obtaining a first distance, where the first distance is the distance between a first component of the robot and the front partition; a second obtaining module for obtaining a second distance, where the second distance is the distance between a second component of the robot and the front partition; a third obtaining module for obtaining a third distance, where the third distance is the distance between a third component of the robot and the rear partition; a fourth obtaining module for obtaining a fourth distance, where the fourth distance is the distance between a fourth component of the robot and the rear partition; and a first determining module for determining the position of the robot in the air chamber according to the first distance, the second distance, the third distance, and the fourth distance.

[0010] Optionally, the robot positioning device further includes: a second determination module, configured to determine that the robot yaws when the difference between the first distance and the second distance exceeds a threshold, where there is a distance interval between the first component and the second component; and / or, a third determination module, configured to determine that the robot yaws when the difference between the third distance and the fourth distance exceeds a threshold, where there is a distance interval between the third component and the fourth component.

[0011] Optionally, the robot positioning device further includes: an adjustment module, configured to adjust the heading of the robot.

[0012] In a third aspect, an embodiment of the present invention provides a robot for performing measurement and positioning when passing through an air chamber. The air chamber includes a front partition located in front of the robot and a rear partition located behind the robot. The robot includes a robot positioning device, and the robot positioning device is configured to execute the method described in the first aspect above.

[0013] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the method described in the first aspect above is implemented.

[0014] In a fifth aspect, an embodiment of the present invention provides a robot for performing measurement and positioning when passing through an air chamber. The air chamber includes a front partition located in front of the robot and a rear partition located behind the robot. The robot includes: a first distance measuring sensor for measuring a first distance between a first component of the robot and the front partition; a second distance measuring sensor for measuring a second distance between a second component of the robot and the front partition; a third distance measuring sensor for measuring a third distance between a third component of the robot and the rear partition; a fourth distance measuring sensor for measuring a fourth distance between a fourth component of the robot and the rear partition. Wherein, there is a distance interval between the first distance measuring sensor and the second distance measuring sensor, and / or, there is a distance interval between the third distance measuring sensor and the fourth distance measuring sensor; a processor for obtaining the first distance measured by the first distance measuring sensor, the second distance measured by the second distance measuring sensor, the third distance measured by the third distance measuring sensor, and the fourth distance measured by the fourth distance measuring sensor, and determining the position of the robot in the air chamber according to the first distance, the second distance, the third distance, and the third distance, and determining whether the robot yaws.

[0015] Optionally, the processor is further configured to adjust the heading of the robot when it is determined that the robot yaws.

[0016] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows: Through the above steps, the position of the robot in the air chamber can be determined according to the first distance, the second distance, the third distance, and the fourth distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic flowchart of a robot positioning method provided by an embodiment of the present invention;

[0019] Figure 2 It is a schematic structural diagram of a robot positioning device provided by an embodiment of the present invention;

[0020] Figure 3 It is a schematic structural diagram of a robot and an air chamber provided by an embodiment of the present invention;

[0021] Figure 4 It is a schematic structural diagram of a robot and an air chamber provided by another embodiment of the present invention;

[0022] Figure 5 It is a schematic structural diagram of a robot and an air chamber provided by still another embodiment of the present invention;

[0023] Figure 6 It is a schematic structural diagram of a robot and an air chamber provided by yet another embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The following will describe the present invention in detail with reference to the accompanying drawings.

[0025] In order to enable those skilled in the art of the present technology to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so as to implement the embodiments of the present invention described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily limit to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0027] Referring to Figure 3 , a robot positioning method provided by the present invention is used for an air cabin, and the air cabin has a plurality of small compartments. Adjacent two of the small compartments are separated by a partition 4, and a door opening 40 is formed on the partition 4.

[0028] It should be noted that the so-called "front partition" in the present invention refers to the partition in the air cabin in front of the body of the robot 5, and the so-called "rear partition" in the present invention refers to the partition in the air cabin behind the body of the robot 5. Corresponding to Figure 3 in which the body of the robot 5 is in one of the small compartments, the "front partition" refers to the middle partition 4, and the "rear partition" refers to the leftmost partition 4. Corresponding to Figure 6 in which the body of the robot 5 is in a state of straddling the door opening 40, the "front partition" refers to the leftmost partition 4, and the "rear partition" refers to the rightmost partition 4.

[0029] Referring to Figure 1 , Figure 1 shows a flowchart of the implementation of the robot positioning method provided by the embodiment of the present invention. The robot positioning method is used for the robot to perform measurement and positioning when passing through the air cabin. The air cabin includes a front partition in front of the robot and a rear partition behind the robot. The method includes the following steps:

[0030] S101. Obtain a first distance, where the first distance is the distance between a first component of the robot and the front partition;

[0031] S102. Obtain a second distance, where the second distance is the distance between a second component of the robot and the front partition;

[0032] S103. Obtain a third distance, where the third distance is the distance between a third component of the robot and the rear partition;

[0033] S104. Obtain a fourth distance, where the fourth distance is the distance between a fourth component of the robot and the rear partition;

[0034] S105. Determine the position of the robot in the air chamber according to the first distance, the second distance, the third distance, and the fourth distance.

[0035] In an application, the acquisition order of the first distance, the second distance, the third distance, and the fourth distance is not sequential.

[0036] Specifically, referring to Figure 4 , let the length of the air chamber (i.e., the distance between the rear partition and the front partition) be L, and the length of the robot body be L5. The robot is provided with a first component 61, a second component 62, a third component 63, and a fourth component 64. Let the distance between the left front leg (the first component) and the front partition be L1, the distance between the right front leg (the second component) and the front partition be L2, the distance between the left rear leg (the third component) and the rear partition be L3, and the distance between the right rear leg (the fourth component) and the rear partition be L4. Then the length of the air chamber L = (L1 + L2) * 0.5 + (L3 + L4) * 0.5 + L5. That is to say, the length of the air chamber L is equal to the average value of the distances between the left and right front legs and the front partition + the average value of the distances between the left and right rear legs and the rear partition + the length of the robot. The length of the air chamber can be calculated through the above formula.

[0037] Referring to Figure 5 , when the first group of front legs (the first component, the second component) of the robot are lifted, the ranging sensors on the left and right of the front legs are turned off because no data can be measured. At this time, the distance between the first group of front legs (the first component, the second component) and the front partition is equal to the length of the air chamber minus the average value of the distances between the left and right rear legs (the third component, the fourth component) and the rear partition, minus the length of the robot body, that is, (L1 + L2) * 0.5 = L - (L3 + L4) * 0.5 - L5. Thus, the position of the robot in the air chamber can be determined.

[0038] Referring to Figure 6 , when the robot crosses a doorway, the length of the air chamber L is equal to the average value of the distances between the left and right front legs (the first component, the second component) and the front partition + the average value of the distances between the left and right rear legs (the third component, the fourth component) and the rear partition + the length of the robot body. That is, the length of the air chamber L = (L1 + L2) * 0.5 + (L3 + L4) * 0.5 + L5.

[0039] Through the above steps, the position of the robot in the air chamber can be determined according to the first distance, the second distance, the third distance, and the fourth distance.

[0040] In an embodiment, after acquiring the first distance, the second distance, the third distance, and the fourth distance, it further includes:

[0041] When the difference between the first distance and the second distance exceeds a threshold, it is determined that the robot is yawing, where there is a distance interval between the first component and the second component;

[0042] And / or, when the difference between the third distance and the fourth distance exceeds a threshold, it is determined that the robot is yawing, where there is a distance interval between the third component and the fourth component.

[0043] In an application, the order of determining the position of the robot in the air chamber and determining the yaw of the robot is not sequential.

[0044] In one embodiment, after determining that the robot is yawing, it further includes:

[0045] Adjust the heading of the robot.

[0046] Specifically, refer to Figure 3 、 Figure 4 , there are a first component 31, a second component 32, a third component 33, and a fourth component 34 on the robot. Let the distance between the left front leg (the first component) and the front partition be L1, the distance between the right front leg (the second component) and the front partition be L2, the distance between the left hind leg (the third component) and the rear partition be L3, and the distance between the right hind leg (the fourth component) and the rear partition be L4. When the length difference between L1 and L2 exceeds the threshold, it is determined that the robot is yawing. In the case of determining that the robot is yawing, the robot body rotates towards the side with the shorter length (L1 or L2).

[0047] Or, when the length difference between L3 and L4 exceeds the threshold, it is determined that the robot is yawing. In the case of determining that the robot is yawing, the robot body rotates towards the side with the shorter length (L3 or L4).

[0048] As Figure 2 shown, this embodiment further provides a robot positioning device 200 for measuring and positioning the robot when passing through the air chamber. The air chamber includes a front partition in front of the robot and a rear partition behind the robot. The robot positioning device 200 includes:

[0049] A first acquisition module S201 for acquiring a first distance, where the first distance is the distance between the first component of the robot and the front partition;

[0050] A second acquisition module S202 for acquiring a second distance, where the second distance is the distance between the second component of the robot and the front partition;

[0051] A third acquisition module S203, configured to acquire a third distance, where the third distance is the distance between a third component of the robot and the rear partition board;

[0052] A fourth acquisition module S204, configured to acquire a fourth distance, where the fourth distance is the distance between a fourth component of the robot and the rear partition board;

[0053] A first determination module S205, configured to determine the position of the robot in the air cabin according to the first distance, the second distance, the third distance, and the fourth distance.

[0054] In one embodiment, the robot positioning device 200 further includes:

[0055] A second determination module, configured to determine that the robot yaws when the difference between the first distance and the second distance exceeds a threshold, where there is a distance interval between the first component and the second component;

[0056] And / or, a third determination module, configured to determine that the robot yaws when the difference between the third distance and the fourth distance exceeds a threshold, where there is a distance interval between the third component and the fourth component.

[0057] In one embodiment, the robot positioning device 200 further includes:

[0058] An adjustment module, configured to adjust the heading of the robot.

[0059] An embodiment of the present invention further provides a robot, configured to perform measurement and positioning when passing through an air cabin. The air cabin includes a front partition board located in front of the robot and a rear partition board located behind the robot. The robot includes a robot positioning device, and the robot positioning device is configured to execute the steps in each of the above method embodiments.

[0060] An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in each of the above method embodiments can be implemented.

[0061] When 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, to implement all or part of the processes in the above-described embodiment methods of this application, it can also be completed by a computer program instructing relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-described method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc.

[0062] Refer to Figure 3 、 Figure 4 Another embodiment of the present invention provides a robot 5 for measuring and positioning when passing through an air chamber. The air chamber includes a front partition located in front of the robot 5 and a rear partition located behind the robot. The robot 5 includes:

[0063] A first distance measurement sensor 61 for measuring a first distance between a first component 31 of the robot and the front partition;

[0064] A second distance measurement sensor 62 for measuring a second distance between a second component 32 of the robot and the front partition;

[0065] A third distance measurement sensor 63 for measuring a third distance between a third component 33 of the robot and the rear partition;

[0066] A fourth distance measurement sensor 64 for measuring a fourth distance between a fourth component 34 of the robot and the rear partition. Among them, there is a distance interval between the first distance measurement sensor 61 and the second distance measurement sensor 62, and / or there is a distance interval between the third distance measurement sensor 63 and the fourth distance measurement sensor 64;

[0067] A processor for obtaining a first distance L1 measured by the first distance measurement sensor 61, a second distance L2 measured by the second distance measurement sensor 62, a third distance L3 measured by the third distance measurement sensor 63, and a fourth distance L4 measured by the fourth distance measurement sensor. Based on the first distance L1, the second distance L2, the third distance L3, and the third distance L4, determine the position of the robot 5 in the air chamber and determine whether the robot 5 is yawing.

[0068] In one embodiment, the first distance measuring sensor 61, the second distance measuring sensor 62, the third distance measuring sensor 63, and the fourth distance measuring sensor 64 can be selected from an ultrasonic distance measuring sensor, a laser distance measuring sensor, and an infrared distance measuring sensor.

[0069] In one embodiment, the first distance measuring sensor 61, the second distance measuring sensor 62, the third distance measuring sensor 63, and the fourth distance measuring sensor 64 can adopt a TOF distance measuring sensor. The TOF distance measuring sensor has high ranging accuracy, long ranging distance, and fast response. The distance measuring sensor can also adopt other types of sensors. As long as it can be used to measure the distance between the robot and the front partition and the rear partition.

[0070] In one embodiment, the processor is further configured to adjust the heading of the robot when it is determined that the robot is yawing.

[0071] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot positioning method is applied to a robot. The robot performs measurement and positioning when passing through an air chamber. The air chamber includes a front partition located in front of the robot and a rear partition located behind the robot. The method is characterized in that, The robot positioning method includes: Obtaining a first distance, where the first distance is the distance between a first component of the robot and the front partition; Obtaining a second distance, where the second distance is the distance between a second component of the robot and the front partition; Obtaining a third distance, where the third distance is the distance between a third component of the robot and the rear partition; Obtaining a fourth distance, where the fourth distance is the distance between a fourth component of the robot and the rear partition; Wherein, assuming the length of the air chamber is L and the length of the robot body is L5; assuming the distance between the first component and the front partition is L1, the distance between the second component and the front partition is L2, the distance between the third component and the rear partition is L3, and the distance between the fourth component and the rear partition is L4, then the length of the air chamber is L = (L1 + L2) * 0.5 + (L3 + L4) * 0.5 + L5, and determining the length of the air chamber; Wherein, when the first component and the second component of the robot are lifted, the distance between the first component and the second component and the front partition is (L1 + L2) * 0.5 = L - (L3 + L4) * 0.5 - L5, and determining the position of the robot in the air chamber; Wherein, when the robot is crossing a door opening, the length L of the air chamber is L = (L1 + L2) * 0.5 + (L3 + L4) * 0.5 + L5, and determining the length of the air chamber; Determining the position of the robot in the air chamber according to the first distance, the second distance, the third distance, and the fourth distance.

2. The robot positioning method according to claim 1, wherein, After obtaining the first distance, the second distance, the third distance, and the fourth distance, it further includes: When the difference between the first distance and the second distance exceeds a threshold, determining that the robot is yawing, where there is a distance interval between the first component and the second component; And / or, when the difference between the third distance and the fourth distance exceeds a threshold, determining that the robot is yawing, where there is a distance interval between the third component and the fourth component.

3. The robot positioning method according to claim 2, wherein After determining that the robot is yawing, it further includes: Adjusting the heading of the robot.

4. A robot positioning device is used for the robot to perform measurement and positioning when passing through an air chamber. The air chamber includes a front partition located in front of the robot and a rear partition located behind the robot. It is characterized in that, The robot positioning device is used to execute the method according to any one of claims 1 - 3, and the robot positioning device includes: A first acquisition module for acquiring a first distance, where the first distance is the distance between a first component of the robot and the front partition; A second acquisition module for acquiring a second distance, where the second distance is the distance between a second component of the robot and the front partition; A third acquisition module for acquiring a third distance, where the third distance is the distance between a third component of the robot and the rear partition; A fourth acquisition module for acquiring a fourth distance, where the fourth distance is the distance between a fourth component of the robot and the rear partition; A first determination module for determining the position of the robot in the air chamber according to the first distance, the second distance, the third distance, and the fourth distance.

5. The robot positioning device according to claim 4, characterized in that The robot positioning device further includes: A second determination module, configured to determine that the robot yaws when the difference between the first distance and the second distance exceeds a threshold, where there is a distance interval between the first component and the second component; And / or, a third determination module, configured to determine that the robot yaws when the difference between the third distance and the fourth distance exceeds a threshold, where there is a distance interval between the third component and the fourth component.

6. The robot positioning device according to claim 5, characterized in that, The robot positioning device further includes: An adjustment module, configured to adjust the heading of the robot.

7. A robot for performing measurement and positioning when passing through an air chamber, the air chamber including a front partition located in front of the robot and a rear partition located behind the robot, characterized in that, The robot includes a robot positioning device, and the robot positioning device is configured to execute the method according to any one of claims 1-3.

8. A computer-readable storage medium storing a computer program, characterized in that, The computer program, when executed by a processor, implements the method according to any one of claims 1-3.

9. A robot, characterized in that, For performing measurement and positioning when passing through an air chamber, the air chamber includes a front partition located in front of the robot and a rear partition located behind the robot, the robot is configured to execute the method according to any one of claims 1-3, and the robot includes: A first distance measurement sensor, configured to measure a first distance between a first component of the robot and the front partition; A second distance measurement sensor, configured to measure a second distance between a second component of the robot and the front partition; A third distance measurement sensor, configured to measure a third distance between a third component of the robot and the rear partition; A fourth distance measurement sensor, configured to measure a fourth distance between a fourth component of the robot and the rear partition, where there is a distance interval between the first distance measurement sensor and the second distance measurement sensor, and / or, there is a distance interval between the third distance measurement sensor and the fourth distance measurement sensor; A processor, configured to obtain the first distance measured by the first distance measurement sensor, the second distance measured by the second distance measurement sensor, the third distance measured by the third distance measurement sensor, and the fourth distance measured by the fourth distance measurement sensor, determine the position of the robot in the air chamber according to the first distance, the second distance, the third distance, and the third distance, and determine whether the robot yaws.

10. The robot according to claim 9, characterized in that, The processor is further configured to adjust the heading of the robot when it is determined that the robot yaws.

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