Positioning mark detection method, electronic device, storage medium and program product

Abstract

The present application provides a positioning marker detection method, electronic device, storage medium, and program product, relating to the field of navigation technology. The method obtains the final position of a mobile robot in the process of moving to a target positioning marker according to a planned path in a navigation map, and based on the final position, determines whether the target positioning marker is actually deployed incorrectly. In this way, error detection of the actually deployed positioning marker can be performed. Compared with manual detection methods, this method can detect through the movement information of the mobile robot, and has higher detection efficiency.

Description

Technical Field

[0001] This application relates to the field of navigation technology, and more specifically, to a positioning marker detection method, electronic device, storage medium, and program product. Background Technology

[0002] Localization is the most fundamental step in the navigation process of mobile robots. The accuracy of the localization result directly affects whether the mobile robot can navigate accurately along the planned path. Most mobile robots use a conservative localization method, such as AGV (Automated Guided Vehicle) robots, which mainly use positioning markers on the navigation path for localization and movement. The positioning markers set in the actual application site must be consistent with the planned positioning markers; otherwise, the stability of the mobile robot's movement will be affected.

[0003] When workers set up positioning markers on the ground, their accuracy mainly relies on high-precision ranging instruments and other auxiliary equipment. However, this method cannot be ruled out that the positioning markers may be set incorrectly in some places due to human error or other accidental factors. In this case, in order to ensure accuracy, it is necessary to manually check each positioning marker multiple times to ensure that it is set accurately, but this method is inefficient. Summary of the Invention

[0004] The purpose of this application is to provide a location marker detection method, electronic device, storage medium, and program product to improve the inefficiency of existing methods that rely on manual detection of location markers for errors.

[0005] In a first aspect, embodiments of this application provide a location marker detection method, the method comprising:

[0006] The endpoint of the mobile robot's journey to the destination location marker is obtained by following the planned path in the navigation map.

[0007] Based on the destination location, determine whether the destination positioning marker is actually incorrectly deployed.

[0008] In the above implementation process, by obtaining the endpoint position of the mobile robot as it moves to the target positioning mark according to the planned path in the navigation map, the system determines whether the target positioning mark is actually deployed incorrectly based on the endpoint position. This allows for error detection of the actually deployed positioning mark. Compared with manual detection, this method can detect errors through the movement information of the mobile robot, resulting in higher detection efficiency.

[0009] Optionally, determining whether the destination positioning marker is actually incorrectly deployed based on the destination location includes:

[0010] The actual location of the target positioning identifier is detected;

[0011] Based on the destination location and the actual location, determine whether the destination positioning marker is actually incorrectly deployed.

[0012] In the above implementation process, by detecting the actual position of the destination positioning marker and combining it with the destination position of the mobile robot, it is possible to accurately determine whether the destination positioning marker is incorrect.

[0013] Optionally, determining whether the destination positioning marker is actually incorrectly deployed based on the endpoint location and the actual location includes:

[0014] Obtain the distance difference and / or angle difference between the endpoint position and the actual position;

[0015] If the distance difference is greater than a set distance threshold, it is determined that the target positioning marker is actually incorrectly deployed, and / or, if the angle difference is greater than a set angle threshold, it is determined that the target positioning marker is actually incorrectly deployed.

[0016] In the above implementation process, the distance difference and / or angle difference can be used to more accurately measure whether the actual placement of the target positioning marker is incorrect.

[0017] Optionally, determining whether the destination positioning marker is actually incorrectly deployed based on the destination location includes:

[0018] If the robot does not detect the destination location marker at the destination position, it is determined that the destination location marker was actually incorrectly deployed. This situation indicates that the destination location marker should have been deployed at the destination position, but it may not have been deployed due to human error.

[0019] Optionally, the mobile robot is equipped with multiple positioning sensors to obtain the endpoint position of the mobile robot during its movement to the target positioning marker, including:

[0020] The initial endpoint position of the mobile robot during its movement to the target positioning mark is obtained using each positioning sensor installed on the mobile robot, and a total of multiple initial endpoint positions are obtained.

[0021] Based on the accuracy of each positioning sensor, the multiple initial endpoint positions are weighted and fused to obtain the final endpoint position.

[0022] In the above implementation process, multiple positioning sensors are used to locate the endpoint of the mobile robot, so that the positioning results of multiple positioning sensors can be combined to obtain more accurate positioning information.

[0023] Optionally, after determining that the target location marker is actually incorrectly deployed, the method further includes:

[0024] The mobile robot outputs alarm notification information.

[0025] And / or, the mobile robot reports the information of the destination location identifier to the host computer, which then marks the destination location identifier on the navigation map and outputs an alarm message.

[0026] In the above implementation process, alarm prompts are output by the mobile robot and / or the host computer, which can alert on-site and / or remote staff to erroneous positioning information, thereby enabling staff to correct the erroneous positioning in a timely manner and ensure the normal operation of the mobile robot.

[0027] Optionally, obtaining the endpoint position of the mobile robot as it moves to the destination location marker along the planned path in the navigation map includes:

[0028] The system iterates through multiple location markers in the navigation map, using a specified location marker as the starting location marker and any one of the location markers as the destination location marker, and controls the mobile robot to move along the planned path between the starting location marker and the destination location marker.

[0029] Obtain the endpoint position of the mobile robot during its movement to the target location marker.

[0030] In the above implementation process, the mobile robot is controlled to move by traversing multiple positioning markers in the navigation map. This allows for error detection of each positioning marker, improving detection efficiency.

[0031] Secondly, embodiments of this application provide a positioning marker detection device, the device comprising:

[0032] The location acquisition module is used to acquire the endpoint position of the mobile robot as it moves to the destination location marker according to the planned path in the navigation map.

[0033] An error detection module is used to determine, based on the endpoint location, whether the destination positioning marker is actually incorrectly deployed.

[0034] Thirdly, embodiments of this application provide an electronic device, including a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps of the method provided in the first aspect above are performed.

[0035] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the steps of the method provided in the first aspect above.

[0036] Fifthly, embodiments of this application provide a computer program product, including computer program instructions, which, when read and executed by a processor, perform the steps of the method provided in the first aspect above.

[0037] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing embodiments of this application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0038] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 A flowchart illustrating a location marker detection method provided in this application embodiment;

[0040] Figure 2 This is a schematic diagram illustrating the output of alarm notification information by a host computer, as provided in an embodiment of this application.

[0041] Figure 3 A structural block diagram of a positioning marker detection device provided in an embodiment of this application;

[0042] Figure 4 This is a schematic diagram of the structure of an electronic device for performing a location marker detection method, provided in an embodiment of this application. Detailed Implementation

[0043] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0044] It should be noted that the terms "system" and "network" in the embodiments of this invention can be used interchangeably. "Multiple" refers to two or more; therefore, in the embodiments of this invention, "multiple" can also be understood as "at least two". "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / ", unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0045] This application provides a location marker detection method. The method obtains the endpoint position of a mobile robot as it moves to the target location marker according to the planned path in the navigation map. Based on the endpoint position, it determines whether the target location marker is actually deployed incorrectly. This method can detect errors in the actually deployed location markers. Compared with manual detection, this method can detect errors through the movement information of the mobile robot, which is more efficient.

[0046] Please refer to Figure 1 , Figure 1 A flowchart of a location marker detection method provided in this application embodiment, the method including the following steps:

[0047] Step S110: Obtain the endpoint position of the mobile robot as it moves to the destination location marker according to the planned path in the navigation map.

[0048] Mobile robots can refer to various types of AGVs, such as lifting, roller, belt-driven, and lurking AGVs. Mobile robots can also be forklifts, four-way shuttles, etc., as long as they can move under the control of a host computer or under their own control.

[0049] The execution subject of the positioning marker detection method in this application embodiment can be a mobile robot or a host computer. If it is executed by a mobile robot, the mobile robot can determine whether the target positioning marker is actually deployed incorrectly based on the destination position. If it is executed by a host computer, the mobile robot can report the destination position to the host computer, and the host computer can determine whether the target positioning marker is actually deployed incorrectly based on the destination position.

[0050] For ease of description, the following embodiments will use a mobile robot as the executing entity. The host computer can store a navigation map for controlling the movement of the mobile robot. This navigation map contains multiple positioning markers, which instruct the mobile robot to move along a planned path. The host computer can send corresponding control commands to the mobile robot based on the planned path in the navigation map, controlling the mobile robot to move according to the commands. For example, after the mobile robot moves to a positioning marker, the host computer can control the mobile robot to move forward 1 meter to the next positioning marker. In this case, the distance between the two positioning markers planned in the navigation map is 1 meter. However, in actual applications, due to human error, the distance between the two positioning markers placed on the ground may have some error. Therefore, after the mobile robot moves forward 1 meter, the destination may not be the location of the next positioning marker. In this embodiment, the movement position of the mobile robot can be used to detect whether the positioning markers are incorrectly placed.

[0051] Therefore, the endpoint position of a mobile robot moving along the planned path in the navigation map to its destination marker refers to the position the mobile robot is in after moving according to the control instructions from the host computer. This endpoint position is what the mobile robot considers to be its current location. The destination marker can be any next destination marker that the mobile robot needs to reach.

[0052] Understandably, navigation maps can also be stored in mobile robots, and mobile robots can also control their movement. For example, a mobile robot can obtain its current location in real time and move according to the planned path in the navigation map. The planned path is pre-set, such as the distance and direction required to reach the next location from the current location. The mobile robot can then move according to this information.

[0053] In addition, the aforementioned positioning markers can refer to QR code markers affixed to the ground for positioning. Mobile robots can locate themselves using these QR code markers, and the information carried within them can be deciphered to determine the robot's position and direction of movement. QR codes, due to their rich text information and strong resistance to smudges, are particularly suitable as positioning markers for mobile robots to assist in their movement and positioning. Understandably, other markers can also be used, such as barcodes, signs, and marker poles, etc., without specific limitations here.

[0054] Step S120: Based on the destination location, determine whether the destination positioning marker is actually incorrectly deployed.

[0055] Mobile robots can determine their position after movement using their own installed positioning sensors; this is what the robot considers its destination. For example, if a host computer controls the robot to move forward 1 meter to a target location marker, the robot will move forward 1 meter according to the control command. Its position after moving 1 meter is its destination. Based on this destination, the robot can then determine whether the target location marker has been correctly positioned.

[0056] In theory, if the host computer controls the mobile robot to move forward 1 meter according to the planned path on the navigation map, the destination should be the location of the target positioning mark. However, if there is an error in the actual deployment of the target positioning mark, or if the target positioning mark is missed during manual deployment, the destination of the mobile robot after moving forward 1 meter may not be the location of the target positioning mark.

[0057] Therefore, after reaching the destination, the mobile robot can scan using its onboard camera, such as scanning a QR code sticker on the ground. If no QR code is detected within a certain range, it indicates that the destination location marker is not present at the current location, suggesting an error in its placement, possibly due to a human error during installation. Alternatively, if the mobile robot detects a QR code within a certain range, it can use the location of the QR code and the current destination location to determine whether the location marker was incorrectly placed.

[0058] Misplacement can be understood as an error in the construction of positioning markers. For example, during construction, workers may place the markers incorrectly, such as the QR code being posted in the wrong position or orientation, resulting in the QR code being offset from its center or facing the wrong direction.

[0059] In other words, in some implementations, after the mobile robot obtains the destination location, it can detect the destination positioning marker at the destination location. If no destination positioning marker is detected at the destination location, it can be determined that the destination positioning marker is actually deployed incorrectly. Conversely, if a destination positioning marker is detected at the destination location, it can be determined that the destination positioning marker is actually deployed correctly. Alternatively, after detecting the destination positioning marker at the destination location, the actual position of the destination positioning marker can be used to determine whether the destination positioning marker is actually deployed incorrectly.

[0060] Understandably, in practical applications, the detection method for target positioning markers by mobile robots is not limited to the camera scanning method mentioned above. Other detection methods, such as image recognition and radio frequency signal detection, can also be used.

[0061] In the above implementation process, the method obtains the endpoint position of the mobile robot as it moves to the target positioning mark according to the planned path in the navigation map. Based on the endpoint position, it determines whether the target positioning mark is actually deployed incorrectly. In this way, error detection can be performed on the actually deployed positioning mark. Compared with the manual detection method, this method can detect errors through the movement information of the mobile robot, which is more efficient.

[0062] Based on any embodiment of this application, in order to more accurately locate the mobile robot, multiple positioning sensors can be installed on the mobile robot. In the method of obtaining the destination position of the mobile robot, each positioning sensor installed on the mobile robot can be used to obtain the initial destination position of the mobile robot during the process of moving to the destination positioning mark, and multiple initial destination positions can be obtained. Then, according to the accuracy of each positioning sensor, the multiple initial destination positions are weighted and fused to obtain the final destination position.

[0063] The multiple positioning sensors can include encoder positioning sensors, IMU (Inertial Measurement Unit) sensors, radar sensors, and other sensors. These sensors can be used to locate the mobile robot. For example, after the mobile robot has moved under the control command of the host computer and reached the destination position, the processor in the mobile robot can control these positioning sensors to perform position positioning. Each positioning sensor can obtain the corresponding position information, that is, the initial destination position.

[0064] In some methods, the initial endpoint position obtained by the positioning sensor with the highest accuracy can be used as the final endpoint position. In other methods, multiple initial endpoint positions can be weighted and fused to obtain the final endpoint position. The weighted fusion method can be to sum and average the multiple initial endpoint positions.

[0065] Of course, to obtain a more accurate endpoint location, the accuracy of each positioning sensor can be considered. For example, the weight of a high-accuracy positioning sensor can be set higher, and the weight of a low-accuracy positioning sensor can be set lower. Therefore, the appropriate weights can be determined based on the accuracy of each positioning sensor. The weighted fusion formula can be expressed as follows: Where X represents the final destination position, x i Let a represent the initial endpoint position obtained by the i-th positioning sensor. i The weight of the i-th positioning sensor is indicated by k, where the weight of the positioning sensor with higher accuracy is greater.

[0066] Based on any embodiment of this application, in order to perform error detection on all positioning markers in the navigation map, the mobile robot can also traverse multiple positioning markers in the navigation map during the movement process, using a specified positioning marker as the starting positioning marker and any one of the positioning markers as the destination positioning marker, and control the mobile robot to move along the planned path between the starting positioning marker and the destination positioning marker, and then obtain the endpoint position of the mobile robot in the process of moving to the destination positioning marker.

[0067] The designated positioning identifier can be understood as one of multiple positioning identifiers that is determined to be correctly positioned. Alternatively, it can be a positioning identifier that has been corrected after being incorrectly positioned. For example, if a positioning identifier is determined to be incorrectly positioned after testing according to the method of this application embodiment, and then is manually adjusted to be correct, this positioning identifier can also be used as the designated positioning identifier. For the first test, the designated positioning identifier can be a correctly positioned positioning identifier manually designated. For subsequent tests, it can be one of the correctly marked positioning identifiers randomly selected by the mobile robot, or it can be manually designated.

[0068] After each detection, the mobile robot can traverse the navigation map and find the next location marker to be detected according to its planned path. The next location marker to be detected can be an undetected location marker adjacent to the current location marker. For example, according to the planned path, the mobile robot's movement trajectory is location marker 1 -> location marker 2 -> location marker 3. If the mobile robot has already detected location marker 2, then location marker 3 can be used as the destination location marker.

[0069] If location marker 2 is an erroneous location marker, then location marker 2 can be used as the starting location marker. If location marker 2 is an erroneous location marker, while location marker 1 is an erroneous location marker, then location marker 1 can be used as the starting location marker. Of course, when the mobile robot moves to the location of location marker 3, it does not need to return to location marker 1 to move again. Instead, it can continue to move from location marker 2 to location marker 3. However, when judging whether location marker 3 is erroneous, the path between location marker 1 and location marker 3 will be used for judgment, because the path from location marker 1 to location marker 3 will also pass through location marker 2.

[0070] Therefore, the endpoint position obtained here can refer to the position after the mobile robot moves along the planned path from positioning marker 1 to positioning marker 3.

[0071] In the above implementation process, the mobile robot is controlled to move by traversing multiple positioning markers in the navigation map. This allows for error detection of each positioning marker, improving detection efficiency.

[0072] Based on the above embodiments, in the method of detecting whether the target positioning mark is actually deployed incorrectly, the actual position of the target positioning mark can also be used for detection. For example, the mobile robot can detect and obtain the actual position of the target positioning mark, and then determine whether the target positioning mark is actually deployed incorrectly based on the mobile robot's endpoint position and the actual position.

[0073] The actual location of the target positioning marker can be determined by scanning with a camera mounted on the mobile robot, as described in the above embodiments, or by image recognition methods. For example, after the mobile robot reaches the destination, it can take pictures of a certain range using its camera. Since QR code markers are usually pasted on the ground, the camera on the bottom of the mobile robot can be used to take pictures. If the position of the QR code marker is only slightly off, the center position of the captured image will deviate from the center position of the captured QR code marker. In this case, the actual position of the QR code marker can be calculated using a corresponding algorithm.

[0074] Of course, if the location marker is not a QR code image, but other markers, such as an RFID chip, the mobile robot can determine the actual location of the marker using RFID signals. Then, by comparing the mobile robot's current destination location with its actual location, it can be determined whether the destination location marker is incorrect.

[0075] In some implementations, the distance difference and / or angle difference between the destination location and the actual location can be obtained. If the distance difference is greater than a set distance threshold, it is determined that the target positioning marker is actually deployed incorrectly; conversely, if the distance difference is less than or equal to the set distance threshold, it is determined that the target positioning marker is actually deployed correctly. And / or, if the angle difference is greater than a set angle threshold, it is determined that the target positioning marker is actually deployed incorrectly; conversely, if the angle difference is less than or equal to the set angle threshold, it is determined that the target positioning marker is actually deployed correctly.

[0076] The distance or angle threshold can be flexibly set according to actual needs. For example, if the distance threshold is set to 0.1 meters, and the distance difference between the destination and the actual location is greater than 0.1 meters, the actual location of the target positioning marker is determined to be incorrect. If the distance difference is less than or equal to 0.1 meters, the actual location of the target positioning marker is determined to be within the allowable error range and the location is correct. Similarly, if the angle threshold is set to 10°, when obtaining the angle difference, the mobile robot can obtain an angle based on the actual location of the target positioning marker (which is a QR code) after scanning a QR code. Then, the positioning sensor (such as an IMU or encoder) installed on the mobile robot measures another angle. The difference between these two angles is used as the angle difference value. If this angle difference is greater than 10°, the actual location of the target positioning marker is determined to be incorrect. If the angle difference is less than or equal to 10°, the actual location of the target positioning marker is determined to be within the allowable error range and the location is correct.

[0077] For example, in the above embodiment, when positioning marker 1 is used as the starting positioning marker and positioning marker 3 is used as the destination positioning marker, positioning marker 1 is taken as the reference. For instance, the planned distance between positioning marker 1 and positioning marker 3 on the navigation map is 3 meters. That is to say, theoretically, the mobile robot only needs to move 3 meters to reach positioning marker 3. The distance between positioning marker 1 and positioning marker 2 is 1 meter. If the mobile robot moves 1 meter from positioning marker 1 to positioning marker 2, and the distance difference detection determines that positioning marker 2 is incorrect, the mobile robot will then detect positioning marker 3. The host computer can continue to control the mobile robot to move forward 2 meters. If the distance difference between the mobile robot's destination position after moving forward 2 meters and the actual position of positioning marker 3 is greater than a set distance threshold, and / or the angle difference between the mobile robot's destination position and the actual position of positioning marker 3 is greater than a set angle threshold, then positioning marker 3 is considered to be incorrectly positioned. Of course, in this case, positioning marker 1 is considered to be correct.

[0078] It should be noted that if it is difficult to obtain the actual position of the target positioning mark in the above embodiments, the distance difference and / or angle difference between the endpoint position of the mobile robot and the actual position of the target positioning mark can also be determined by image recognition method. For example, the distance difference and angle difference can be determined by the QR code image captured by the mobile robot. If there is a deviation in the QR code mark, the center position of the QR code image captured by the mobile robot will be different from the center position of the QR code mark. The distance difference between the endpoint position and the actual position can be calculated by the distance difference between the center positions of the two, and the difference between the angle obtained from the center position of the QR code image and the angle measured by the positioning sensor can be used as the angle difference between the endpoint position and the actual position.

[0079] Based on the above embodiments, in order to enable on-site personnel to correct incorrectly deployed positioning markers in a timely manner so that the mobile robot can work normally, after determining that the target positioning marker is incorrectly deployed, the mobile robot can output an alarm message, and / or the mobile robot can report the target positioning marker information to the host computer, which can then mark the target positioning marker on the navigation map and output an alarm message.

[0080] For example, if the mobile robot detects that the positioning marker 3 is incorrectly deployed, it can output an alarm message through the sound and light alarm installed on the mobile robot to remind the on-site staff that the positioning marker 3 is incorrectly deployed. Thus, the on-site staff can correct the positioning marker 3 in a timely manner after seeing the alarm message from the mobile robot.

[0081] And / or, the mobile robot can report relevant information about positioning identifier 3 to the host computer, such as the location, serial number, and error magnitude of positioning identifier 3. The host computer can then locate positioning identifier 3 on the navigation map, mark it, and output an alarm message. This marking can be done by displaying the distance difference and deviation direction of positioning identifier 3 on the navigation map, such as... Figure 2 As shown, the positioning marker 3 can also be selected by boxing. When the staff clicks the box, the corresponding distance difference and deviation direction (i.e., angle difference) will be displayed. In this way, even if the staff on site do not notice the alarm prompts output by the mobile robot, they can know which positioning markers are incorrectly deployed through the alarm prompts output by the host computer, and then promptly notify the staff on site to correct the incorrectly deployed positioning markers.

[0082] Of course, in order to ensure that all incorrectly deployed positioning tags can be corrected in a timely manner, the mobile robot can report the incorrectly deployed positioning tags to the host computer after outputting the alarm message. The host computer will count and save all the incorrect positioning tags, and after the count is completed, it can uniformly output the information to the on-site staff for correction.

[0083] Based on the above embodiments, to ensure the accuracy of detection, the host computer sends a control command to the mobile robot for the first time to control the robot's movement for detecting positioning markers. After receiving the control command, the mobile robot can initialize the parameters of the error detection module (which is used to perform error detection on each positioning marker according to the detection method described above). Because the parameter settings may differ in different application scenarios in actual applications, the parameters in the error detection module can be initialized before each detection. This ensures that the current detection is based on the current detection logic to determine whether the positioning marker is erroneous. Parameter initialization here can be understood as setting the distance threshold, detection logic, and distance between two positioning markers in the error detection module.

[0084] Therefore, the detection method provided in this application embodiment can control the movement of the mobile robot through the host computer to detect whether there are any errors in the various positioning markers manually set on the ground. When there are errors, alarm prompts can be output through the mobile robot and / or the host computer, thereby reminding the staff to correct the erroneous positioning markers in a timely manner to ensure the normal operation of the mobile robot.

[0085] Please refer to Figure 3 , Figure 3 This is a structural block diagram of a positioning marker detection device 200 provided in an embodiment of this application. The device 200 can be a module, program segment, or code on an electronic device. It should be understood that this device 200 is similar to the one described above. Figure 1 The method implementation corresponds to this and can be executed. Figure 1 The various steps involved in the method embodiment and the specific functions of the device 200 can be found in the description above. To avoid repetition, detailed descriptions are omitted here.

[0086] Optionally, the device 200 includes:

[0087] The location acquisition module 210 is used to acquire the endpoint position of the mobile robot as it moves to the destination positioning mark according to the planned path in the navigation map.

[0088] The error detection module 220 is used to determine whether the destination positioning marker is actually incorrectly deployed based on the destination location.

[0089] Optionally, the error detection module 220 is used to detect the actual location of the target positioning marker; and to determine whether the target positioning marker is actually incorrectly deployed based on the destination location and the actual location.

[0090] Optionally, the error detection module 220 is used to obtain the distance difference and / or angle difference between the endpoint position and the actual position; if the distance difference is greater than a set distance threshold, it is determined that the target positioning marker is actually deployed incorrectly, and / or, if the angle difference is greater than a set angle threshold, it is determined that the target positioning marker is actually deployed incorrectly.

[0091] Optionally, the error detection module 220 is used to determine that the target positioning marker is actually incorrectly deployed if the robot does not detect the target positioning marker at the destination position.

[0092] Optionally, the mobile robot is equipped with multiple positioning sensors. The position acquisition module 210 is used to acquire the initial endpoint position of the mobile robot as it moves to the target positioning mark using each positioning sensor installed on the mobile robot, thereby acquiring multiple initial endpoint positions. Based on the accuracy of each positioning sensor, the multiple initial endpoint positions are weighted and fused to obtain the final endpoint position.

[0093] Optionally, the device 200 further includes:

[0094] The alarm output module is used to output alarm prompt information through the mobile robot after determining that the actual deployment of the target positioning mark is incorrect; and / or, to report the information of the target positioning mark to the host computer through the mobile robot, wherein the host computer is used to mark the target positioning mark in the navigation map and then output alarm prompt information.

[0095] Optionally, the location acquisition module 210 is used to traverse multiple location markers in the navigation map, using a specified location marker as the starting location marker and any one of the location markers as the destination location marker, and control the mobile robot to move along the planned path between the starting location marker and the destination location marker; and to acquire the endpoint position of the mobile robot during the process of moving to the destination location marker.

[0096] It should be noted that those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0097] Please refer to Figure 4 , Figure 4This is a schematic diagram of an electronic device for performing a location marker detection method, provided in an embodiment of this application. The electronic device may include: at least one processor 310, such as a CPU; at least one communication interface 320; at least one memory 330; and at least one communication bus 340. The communication bus 340 is used to enable direct communication between these components. In this embodiment, the communication interface 320 is used for signaling or data communication with other node devices. The memory 330 may be a high-speed RAM or non-volatile memory, such as at least one disk storage device. Optionally, the memory 330 may also be at least one storage device located remotely from the aforementioned processor. The memory 330 stores computer-readable instructions. When these computer-readable instructions are executed by the processor 310, the electronic device performs the aforementioned... Figure 1 The method and process are shown.

[0098] I understand. Figure 4 The structure shown is for illustrative purposes only; the electronic device may also include components that are more advanced than those shown. Figure 4 The more or fewer components shown, or having the same Figure 4 The different configurations shown. Figure 4 The components shown can be implemented using hardware, software, or a combination thereof.

[0099] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, performs the following... Figure 1 The method process executed by the electronic device in the illustrated method embodiment.

[0100] This embodiment discloses a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the methods provided in the above-described method embodiments. For example, it includes: obtaining the endpoint position of a mobile robot moving to a destination positioning marker according to a planned path in a navigation map; and determining, based on the endpoint position, whether the destination positioning marker is actually incorrectly deployed.

[0101] In summary, the embodiments of this application provide a location marker detection method, electronic device, storage medium, and program product. This method obtains the endpoint position of a mobile robot moving to the target location marker according to the planned path in the navigation map. Based on the endpoint position, it determines whether the target location marker is actually deployed incorrectly. In this way, error detection can be performed on the actually deployed location marker. Compared with manual detection, this method can detect errors through the movement information of the mobile robot, which is more efficient.

[0102] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0103] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0104] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0105] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0106] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for detecting location markers, characterized in that, The method includes: The endpoint of the mobile robot's journey to the destination location marker is obtained by following the planned path in the navigation map. Based on the destination location, determine whether the destination positioning marker is actually incorrectly deployed; The step of obtaining the endpoint position of the mobile robot as it moves to the destination location marker according to the planned path in the navigation map includes: The system iterates through multiple location markers in the navigation map, using a specified location marker as the starting location marker and any one of the location markers as the destination location marker, and controls the mobile robot to move along the planned path between the starting location marker and the destination location marker. Obtain the endpoint position of the mobile robot during its movement to the target location marker.

2. The method according to claim 1, characterized in that, The step of determining whether the destination positioning marker is actually incorrectly deployed based on the destination location includes: The actual location of the target positioning identifier is detected; Based on the destination location and the actual location, determine whether the destination positioning marker is actually incorrectly deployed.

3. The method according to claim 2, characterized in that, The step of determining whether the destination positioning marker is actually incorrectly deployed based on the endpoint location and the actual location includes: Obtain the distance difference between the endpoint location and the actual location; If the distance difference is greater than the set distance threshold, it is determined that the target positioning marker is actually incorrectly deployed.

4. The method according to claim 1, characterized in that, The step of determining whether the destination positioning marker is actually incorrectly deployed based on the destination location includes: If the robot does not detect the destination location marker at the destination position, it is determined that the destination location marker is actually incorrectly positioned.

5. The method according to claim 1, characterized in that, The mobile robot is equipped with multiple positioning sensors to obtain the endpoint position of the mobile robot as it moves to the target positioning marker, including: The initial endpoint position of the mobile robot during its movement to the target positioning mark is obtained using each positioning sensor installed on the mobile robot, and a total of multiple initial endpoint positions are obtained. Based on the accuracy of each positioning sensor, the multiple initial endpoint positions are weighted and fused to obtain the final endpoint position.

6. The method according to any one of claims 1-5, characterized in that, After determining that the target location marker is actually incorrectly deployed, the method further includes: The mobile robot outputs alarm notification information. And / or, the mobile robot reports the information of the destination location identifier to the host computer, which then marks the destination location identifier on the navigation map and outputs an alarm message.

7. An electronic device, characterized in that, It includes a processor and a memory, the memory storing computer-readable instructions that, when executed by the processor, perform the method as described in any one of claims 1-6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it performs the method as described in any one of claims 1-6.

9. A computer program product, characterized in that, It includes computer program instructions, which, when read and executed by a processor, perform the method as described in any one of claims 1-6.

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