Robot positioning navigation control method, device, equipment and medium

Abstract

The present invention discloses a robot positioning navigation control method, device, equipment and medium, the method comprising: obtaining scanning data obtained by scanning a radar module in a robot in a building box, constructing an environment map based on the scanning data; obtaining the corner column position coordinates corresponding to the four corner columns of the building box based on a preset corner column matching strategy and the environment map; generating a robot movement path corresponding to the environment map based on the corner column position coordinates corresponding to the four corner columns of the building box; obtaining a target operation position based on the robot movement path; controlling the robot to move to the target operation position based on the robot movement path and a preset path tracking strategy. The present invention can realize the functions of autonomous positioning and navigation, autonomous path planning, and autonomous search for operation positions of the robot in the building box by integrating radar navigation, thereby improving the accuracy of robot positioning and the operation efficiency of the robot.

Description

Technical Field

[0001] The present invention relates to the field of positioning and navigation technology, and in particular to a robot positioning and navigation control method, device, equipment and medium. Background Art

[0002] With the continuous development of science and technology, robots have gradually become the new favorite of the construction industry, but there are still many areas for improvement in the existing robots used in the construction industry. For example, in the construction industry, modular buildings are usually referred to as specific building systems of volume units. They are buildings that are assembled on the construction site using factory-made integrated modules. Due to its standardized design, factory production, and assembly construction, modular buildings are more economical than traditional construction methods. However, in the production process of modular box-type buildings, existing robots lack positioning and navigation, and do not have the ability to map the environment and autonomously plan paths. Summary of the invention

[0003] The purpose of the present invention is to address the defects and shortcomings of the prior art. The embodiments of the present invention provide a robot positioning and navigation control method, device, equipment and medium, which can realize the functions of autonomous positioning and navigation, autonomous path planning and autonomous search for operating positions of the robot in a building box.

[0004] In a first aspect, an embodiment of the present invention provides a robot positioning and navigation control method, comprising:

[0005] Obtaining scanning data obtained by a radar module in the robot scanning inside the building box, and constructing an environment map based on the scanning data;

[0006] Based on a preset corner column matching strategy and the environment map, obtaining corner column position coordinates corresponding to four corner columns of the building box respectively;

[0007] Generate a robot movement path corresponding to the environment map based on the corner column position coordinates corresponding to the four corner columns of the building box;

[0008] Obtaining a target operating position based on the robot movement path;

[0009] The robot is controlled to move to the target operating position based on the robot moving path and a preset path tracking strategy.

[0010] In a second aspect, an embodiment of the present invention provides a robot positioning navigation control device, which includes:

[0011] An environment map construction unit, used to obtain scan data obtained by a radar module in the robot scanning inside the building box, and to construct an environment map based on the scan data;

[0012] A corner column position acquisition unit, configured to obtain corner column position coordinates corresponding to four corner columns of the building box based on a preset corner column matching strategy and the environment map;

[0013] A moving path generating unit, configured to generate a robot moving path corresponding to the environment map based on the position coordinates of the corner columns respectively corresponding to the four corner columns of the building box;

[0014] An operation position acquisition unit, used for acquiring a target operation position based on the movement path of the robot;

[0015] A mobile control unit is used to control the robot to move to the target operating position based on the robot's moving path and a preset path tracking strategy.

[0016] In a third aspect, an embodiment of the present invention further provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the robot positioning and navigation control method described in the first aspect when executing the computer program.

[0017] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor enables the processor to execute the robot positioning and navigation control method described in the first aspect above.

[0018] The embodiment of the present invention provides a robot positioning navigation control method, device, equipment and medium, the method comprising: obtaining scanning data obtained by scanning a radar module in a robot in a building box, and constructing an environment map based on the scanning data; obtaining the corner column position coordinates corresponding to the four corner columns of the building box based on a preset corner column matching strategy and the environment map; generating a robot movement path corresponding to the environment map based on the corner column position coordinates corresponding to the four corner columns of the building box; obtaining a target operation position based on the robot movement path; and controlling the robot to move to the target operation position based on the robot movement path and a preset path tracking strategy. By integrating radar navigation, the present invention can realize the functions of autonomous positioning and navigation, autonomous path planning, and autonomous search for operation positions of the robot in the building box, thereby improving the accuracy of robot positioning and the operation efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0020] Figure 1 A schematic flow chart of a robot positioning and navigation control method provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of a planar moving path provided by an embodiment of the present invention;

[0022] Figure 3 A schematic flow chart of a robot positioning and navigation control method provided by another embodiment of the present invention;

[0023] Figure 4 A schematic block diagram of a robot positioning and navigation control device provided by an embodiment of the present invention;

[0024] Figure 5 A schematic block diagram of a computer device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0027] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0028] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0029] See also Figures 1 to 3 , Figure 1 A schematic flow chart of a robot positioning and navigation control method provided by an embodiment of the present invention; Figure 2 A schematic diagram of a planar moving path provided by an embodiment of the present invention; Figure 3 A schematic flow chart of a robot positioning navigation control method provided by another embodiment of the present invention. The robot positioning navigation control method provided by the embodiment of the present invention is mainly used in the scenario where the robot performs nailing operations on building boxes.

[0030] See also Figure 1 The robot positioning and navigation control method provided by the embodiment of the present invention includes steps S11 to S15.

[0031] S11, obtaining scanning data obtained by a radar module in the robot scanning inside the building box, and constructing an environment map based on the scanning data.

[0032] In this embodiment, a radar module is provided on the robot, and the robot uses the radar module as a core sensor, and the radar module can be an indoor laser radar. Preferably, the scanning range of the radar module is 360° and the scanning radius is 20m. The robot can use the Cartorgrapher algorithm for positioning and mapping. The algorithm proposes a new loop detection method based on laser data, which can reduce the amount of calculation, meet the mapping needs of large spaces, and optimize large-scale data in real time. The radar module is fixed to the center position of the robot so that the radar module coordinate system and the robot coordinate system coincide. Among them, by controlling the robot to move to the preset robot initial position in the building box, starting the radar module and controlling the robot to move one circle in the building box from the robot initial position, the radar module is used to complete the scanning of the internal environment information of the building box during the movement of the robot, and then the environmental map is constructed according to the Cartorgrapher algorithm and the scanning data of the radar module, thereby constructing the basic information of the robot's operating environment.

[0033] In one embodiment, before step S11, the robot positioning and navigation control method provided by the embodiment of the present invention further includes:

[0034] Controlling the robot to initialize;

[0035] If it is detected that the communication status of the robot is abnormal, an abnormal prompt message is generated.

[0036] In this embodiment, before executing step S11, the robot needs to be powered on and initialized, and the communication status between the modules in the robot is checked during the initialization process to detect whether the modules can communicate normally. If an abnormality is detected in the communication status of the robot, an abnormal prompt message is generated to check the abnormal problem according to the abnormal prompt message, and the robot is reinitialized after the abnormal problem is solved. For example, if the serial port number of the control module in the robot and the radar module for communication are inconsistent with the program, an abnormal prompt message of "communication abnormal error" is reported.

[0037] S12. Based on a preset corner column matching strategy and the environment map, obtain the corner column position coordinates corresponding to the four corner columns of the building box.

[0038] In this embodiment, after the environment map is constructed according to the scanning data of the radar module, the corner column position coordinates corresponding to the four corner columns of the building box on the environment map are obtained according to the environment map and the preset corner column matching strategy, so as to establish a connection between the building box and the environment map with the four corner columns of the building box as feature information, and calculate the position of the building box on the environment map, so that the robot can obtain the position of the robot in the internal environment of the building box by matching the data collected in real time by the radar module with the environment map, so as to accurately understand its own position in the building box, determine the relative relationship between the four corner columns of the building box and the robot in the radar module coordinate system, and enable the robot to achieve self-positioning.

[0039] In one embodiment, step S12 includes:

[0040] Acquire the coordinates of an initial point corresponding to a preset initial position of the robot in the building box from the environmental map;

[0041] According to the coordinates of the initial point, the initial distances between the four corner columns of the building box and the radar initial point are obtained respectively, and an initial distance set is formed; wherein the radar initial point is the position corresponding to the radar module when the robot is located at the initial position of the robot in the building box;

[0042] Based on the corner column matching strategy, the initial point coordinates and the initial distance set, the corner column position coordinates corresponding to the four corner columns of the building box on the environment map are obtained.

[0043] In this embodiment, specifically, the conditions corresponding to the corner column matching strategy are expressed as follows:

[0044] ;

[0045] Among them, (x i ,y i ) is the corner column position coordinate of the i-th corner column, D i is the initial distance between the i-th corner column and the initial point of the radar in the initial distance set, p(x i ,y i ) is the environment map (x i ,y i ) is the grayscale value of the coordinates, (x0,y0) is the coordinates of the initial point.

[0046] Since the environmental map is constructed based on the scan data obtained by the radar module during the robot's movement of one circle in the building box starting from the robot's initial position, the initial point coordinates corresponding to the preset robot initial position in the building box can be obtained from the environmental map, and the initial point coordinates are coordinates in the radar module coordinate system. The radar module is set on the robot. When the robot is located at the robot's initial position inside the building box, the position where the radar module is located at this time is the radar initial point. When the robot is located at the robot's initial position inside the building box, the initial distances between the four corner columns of the building box and the radar initial point in the building box can be obtained through the scanning data of the radar module and stored. After obtaining the initial point coordinates, the stored initial distances between the four corner columns of the building box and the radar initial point in the building box are obtained according to the initial point coordinates, and the obtained initial distances are combined into an initial distance set. Based on the corner column matching strategy, the initial point coordinates and the initial distance set, the corner column position coordinates corresponding to the four corner columns of the building box on the environment map can be obtained. The corner column matching strategy is used to obtain the corner column position coordinates corresponding to the four corner columns of the building box on the environment map. Among them, (x, y) is pre-set as the coordinate point on the environment map, and p(x, y) is the gray value of the (x, y) point on the environment map. Then the coordinate points on the environment map are divided into three types, namely unknown points p(x, y) = 0, unobstructed p(x, y) = 1, and obstacles p(x, y) = 100. p(x, y) is used to determine whether the point is an obstacle. When (x, y) on the environment map meets the conditions corresponding to the corner column matching strategy, the (x, y) that meets the conditions corresponding to the corner column matching strategy is the corner column position coordinates of the corresponding corner column. For example, the initial distance between the first corner column in the initial distance set and the radar initial point is D1, and the obtained initial point coordinates are (x0, y0). According to the conditions corresponding to the corner column matching strategy, the coordinate points on the environment map whose distance from the initial point coordinates is the initial distance D1 are first screened out, and then the coordinate points of the obstacle type are selected from these screened coordinate points as the candidate value coordinates corresponding to the first corner column. Then, this process is repeated until the candidate value coordinates corresponding to the second corner column, the third corner column and the fourth corner column are obtained respectively. Finally, it is ensured that the candidate value coordinates corresponding to these corner columns are perpendicular to the candidate value coordinates corresponding to the adjacent corner columns. Then, the corner column position coordinates corresponding to the four corner columns of the building box on the environment map can be screened out from these candidate value coordinates.

[0047] S13. Generate a robot movement path corresponding to the environment map based on the corner column position coordinates corresponding to the four corner columns of the building box.

[0048] In this embodiment, since the position of the building box can be calculated on the environmental map through the corner column position coordinates corresponding to the four corner columns of the building box, the robot movement path corresponding to the environmental map can be generated according to the corner column position coordinates corresponding to the four corner columns of the building box, that is, the robot movement path is generated on the environmental map, thereby completing the planning of the operation path, determining the movement path of the robot in the building box, so that the robot can move along the robot movement path in the building box and traverse the operation positions in the entire building box, and then complete the corresponding operation operations at all operation positions. Among them, the operation operation refers to the nailing operation, and the robot movement path is specifically the movement path of the robot to complete the nailing operation of the building box. At the same time, the robot movement path can be further optimized by considering factors such as the nailing interval and the robot turning space.

[0049] In one embodiment, step S13 includes:

[0050] Acquire box information of the building box, and generate a box plan according to the box information;

[0051] Acquire the center coordinates of the corner columns corresponding to the four corner columns of the building box on the box plan, and generate a plan moving path based on the box plan and the center coordinates of the corner columns corresponding to the four corner columns of the building box;

[0052] The plan view moving path is mapped onto the environment map according to the corner column position coordinates and the corner column center coordinates respectively corresponding to the four corner columns of the building box to obtain the robot moving path.

[0053] In this embodiment, see Figure 2 , obtain the box information of the building box, and generate the box plan according to the box information, wherein the box information can be pre-stored or obtained from BIM (Building Information Modeling), and the box information includes box size, bottom beam spacing, nailing interval and other information. In addition, since the operation position (i.e., nailing position) of the building box is concentrated on the bottom beam and secondary beam of the box, and the operation spacing is uniform, by extracting the bottom beam center line and the secondary beam center line of the box plan, for example, Figure 2The solid lines in (c) and (d) in the figure, taking the center line of the bottom beam and the center line of the secondary beam as the key data of the box plan, can tell the robot's moving path and the operating points are all on these center lines. Since the operating positions corresponding to the operating points are distributed on the center line of the bottom beam and the center line of the secondary beam, that is, the operating positions are fixed relative to the positions of the corner columns, it is possible to obtain the center coordinates of the corner columns corresponding to the four corner columns of the building box on the box plan, and obtain all the operating positions distributed on the center line of the bottom beam and the center line of the secondary beam on the box plan based on the obtained center coordinates of the corner columns, and then generate the plan movement path corresponding to the box plan, and obtain the nail head movement path on the box plan based on the plan movement path. For example, Figure 2 By matching the corner column position coordinates and corner column center coordinates corresponding to the four corner columns of the building box, the plan view movement path is mapped to the environment map, and the robot movement path on the environment map is obtained.

[0054] S14. Obtaining a target operation position based on the robot movement path.

[0055] In this embodiment, the robot can be controlled to move to the positions in the building box where corresponding operations need to be performed in sequence according to the robot movement path, that is, the operation positions in the entire building box are traversed according to the robot movement path, and the robot movement path contains information on all operation positions in the building box. Specifically, the first operation position is obtained based on the robot movement path, and the first operation position is used as the target operation position to control the robot to complete the operation task of the building box starting from the first operation position.

[0056] S15. Control the robot to move to the target operating position based on the robot movement path and a preset path tracking strategy.

[0057] In this embodiment, the robot is controlled to move in the building box based on the robot moving path and the preset path tracking strategy, so that the robot can stably move to the target operating position along the robot moving path in the building box, thereby realizing the autonomous navigation of the robot. Among them, the path tracking strategy is used to realize the stable movement of the robot along the robot moving path. The radar module coordinate system and the robot coordinate system are overlapped. According to the robot moving path, the robot can be controlled to move along the trajectory in the radar module coordinate system. However, due to various motion errors, such as non-systematic errors and systematic errors, the robot may actually move along a path that deviates from the required trajectory of the robot moving path. Therefore, the path tracking strategy is also required to adjust the robot's motion state in real time to eliminate the posture and position errors of the robot during the movement as much as possible, thereby ensuring that the robot can move stably along the robot moving path.

[0058] In one embodiment, step S15 includes:

[0059] Acquire the current position and posture of the robot collected by the radar module;

[0060] Acquire a reference posture corresponding to the target operation position based on the robot movement path;

[0061] Obtaining a current velocity vector according to the current posture, the reference posture, a preset reference velocity vector and the path tracking strategy;

[0062] The robot is controlled to move to the target operating position according to the current velocity vector.

[0063] In this embodiment, the robot's posture is collected in real time by the radar module to determine the position and posture of the robot in the internal environment of the building box. The current posture of the robot collected by the radar module is obtained, and the reference posture required for the robot to move from the current position to the target operation position can be determined according to the robot's movement path. Therefore, the reference posture corresponding to the target operation position can be obtained based on the robot's movement path, that is, the reference posture is the desired posture of the robot moving from the current position to the target operation position. According to the current posture, reference posture, reference velocity vector and path tracking strategy, a suitable current velocity vector is obtained, wherein the path tracking strategy is set using the Backstepping algorithm (i.e., backstepping method). Then, the robot movement is controlled according to the current velocity vector, so that the robot moves to the target operation position.

[0064] In one embodiment, obtaining the current velocity vector according to the current posture, the reference posture, a preset reference velocity vector and the path tracking strategy includes:

[0065] Obtaining a posture error according to the current posture, the reference posture, and a first tracking strategy in the path tracking strategy;

[0066] The current velocity vector is obtained according to the posture error, the reference velocity vector and a second tracking strategy in the path tracking strategy.

[0067] In this embodiment, a Lyapunov function is constructed based on the backstepping method to derive a path tracking strategy with global asymptotic stability. The path tracking strategy includes a first tracking strategy and a second tracking strategy. The first tracking strategy is used to obtain the position and posture error of the robot in the robot coordinate system, and the second tracking strategy is used to obtain the current velocity vector that controls the movement of the robot.

[0068] Specifically, the first tracking strategy is expressed as follows:

[0069] ;

[0070] Among them, p e is the posture error, x e For p e The x-axis coordinate value, y e For p e The y-axis coordinate value, θ e For p e The robot deflection angle in p r is the reference pose; p c is the current posture, θ is p c The current robot deflection angle in .

[0071] More specifically, the second tracking strategy is expressed as follows:

[0072] ;

[0073] Wherein, q is the current velocity vector, v is the current linear velocity in q, and w is the current angular velocity in q; v r is the reference linear velocity in the reference velocity vector, w r k is the reference angular velocity in the reference velocity vector; x is the preset first parameter value, k y is the preset second parameter value, k θ is the preset third parameter value.

[0074] The current pose is , that is, the current posture includes three parameters, x is p c The current x-axis coordinate value in , y is p c The current y-axis coordinate value in, θ is p c The current robot deflection angle in , x, y, and θ also represent the x-axis distance, y-axis distance, and deflection angle of the actual robot's current position relative to the origin of the radar module coordinate system. The reference pose is , x r ,y r ,θ r They are p r The reference x-axis coordinate value, reference y-axis coordinate value and reference robot deflection angle in r ,y r ,θ rIt can also be understood as the x-axis distance, y-axis distance and deflection angle of the desired current position of the robot relative to the origin of the radar module coordinate system. In addition, the current posture and reference posture are both data in the radar module coordinate system, and the difference between the reference posture and the current posture is the error in the radar module coordinate system. Then the error in the radar module coordinate system needs to be converted to the robot coordinate system. Therefore, the posture error in the robot coordinate system can be obtained according to the current posture, reference posture and the first tracking strategy in the path tracking strategy.

[0075] The Lyapunov function is constructed based on the backstepping method as follows:

[0076] ;

[0077] Where V is the Lyapunov function, and the following can be obtained by differentiating V:

[0078] ;

[0079] Therefore, the second tracking initial strategy of the second tracking strategy in the path tracking strategy can be designed as follows:

[0080] ;

[0081] Among them, k1>0, k2>0, k3>0, let k x =k1,k y =k1k2, k θ = k3, and finally the second tracking strategy can be obtained from the second tracking initial strategy. x , k y , k θ It is set according to the first sub-parameter value k1, the second sub-parameter value k2, and the third sub-parameter value k3. Appropriate parameters can be obtained by manual parameter adjustment or adaptive adjustment. Preferably, k1=1.5, k2=0.9, and k3=4.5 are obtained by manual parameter adjustment.

[0082] See also Figure 3 The robot positioning and navigation control method provided in the embodiment of the present invention also includes steps S16 to S18.

[0083] S16. Acquire an image of the operating point captured by a depth camera module in the robot, and obtain a precise position of the operating point based on the image of the operating point.

[0084] In this embodiment, the robot is controlled to move to the target operation position based on the robot movement path and path tracking strategy. However, the data source for controlling the movement of the robot is the radar module. Therefore, it is affected by the radar accuracy and the system error and non-system error of the robot body. Even if it moves to the corresponding target operation position, there is still a certain error, and it cannot guarantee that the robot will accurately reach the predetermined position where the operation needs to be performed. Therefore, the robot movement path and path tracking strategy are to roughly locate the operation point. After controlling the robot to move to the target operation position, it is necessary to use the depth camera module to perform secondary fine positioning of the operation point, so as to facilitate the subsequent precise control of the robot to complete the corresponding operation at the operation point. The operation point of the floor inside the building box is marked with a crosshair. After the robot moves to the target operation position, the image of the operation point collected by the depth camera module is obtained, and the crosshair mark is recognized by the image to obtain the precise position of the operation point. Visual positioning is performed by the depth camera module, which is conducive to ensuring positioning accuracy.

[0085] S17. Control the robot to complete corresponding operations based on the precise position of the operation point.

[0086] In this embodiment, after obtaining the precise position of the operation point, the corresponding operation execution module in the robot is controlled to move to the operation point corresponding to the precise position of the operation point according to the precise position of the operation point, and complete the corresponding operation. Specifically, the nail on the operation execution module is driven into the operation point, so that the robot automatically completes the task of driving nails at the operation point inside the building box corresponding to the precise position of the operation point.

[0087] In one embodiment, step S17 includes:

[0088] Obtaining a movement vector according to the precise position of the operating point and a preset coordinate transformation strategy;

[0089] According to the movement vector, the operation execution module in the robot is controlled to move to the operation point corresponding to the precise position of the operation point, and the operation execution module is controlled to complete the corresponding operation.

[0090] In this embodiment, specifically, the coordinate conversion strategy is expressed as follows:

[0091] ;

[0092] in, is the movement vector, is the stored transformation matrix, is the precise position of the operating point, It is the stored nail head position.

[0093] The operation execution module in the robot includes a three-axis module and a nail driver. The three-axis module is used to realize the movement of the nail driver in space, and the nail driver is used to perform the nailing function. The precise position of the operation point is identified by the operation point image collected by the depth camera module. The precise position of the operation point refers to the position of the operation point in the camera coordinate system. Therefore, the precise position of the operation point is converted into the coordinates relative to the nail driver, and then converted into the movement vector in the three-axis module coordinate system. Specifically, the position of the operation point in the camera coordinate system is obtained as the precise position of the operation point. , through the stored transformation matrix , the position of the operating point in the three-axis module coordinate system is ,Right now , and according to the nail head position in the nailer in the three-axis module coordinate system , the relative coordinate relationship between the nailing head and the operating point can be calculated as ,Right now The moving vector can be used to know the distance and direction that each module in the three-axis module needs to move, and then the three-axis module can be controlled according to the moving vector to drive the nail driver to move to the operating point corresponding to the precise position of the operating point.

[0094] More specifically, before step S11, corresponding control can be executed to first obtain the conversion matrix and the nailing head position and save them. As the initial transformation matrix, the transformation relationship between the operating point in the camera coordinate system and the three-axis module coordinate system is: , in order to facilitate the determination of the transformation matrix , rewrite the transformation relationship as follows:

[0095] ;

[0096] ;

[0097] in, is the position of the operating point in the three-axis module coordinate system; The position of the nailing head in the three-axis module coordinate system; is the position of the operating point in the camera coordinate system obtained by the depth camera module, and =(X1, Y1); the six parameters a, b, c, d, e, and f are still unknown parameters at this time. Further, the positions of the preset n groups of operating points in the camera coordinate system are obtained through the depth camera module. ,and is (X1, Y1), n ​​≥ 6, and the distance (ΔX, ΔY) from the nailing head to the operating point obtained by manual measurement is obtained. Substituting the obtained n groups (X1, Y1) and (ΔX, ΔY) into the above formula, the values ​​of a, b, c, d, e, and f can be calculated, where a, b, c, and d form the initial transformation matrix , and is composed of e and f , and finally obtain the initial transformation matrix The average value is used as the transformation matrix and stored , get The average value of the nail head position and store.

[0098] S18. If a feedback signal is received after the robot completes the corresponding operation, and it is determined that the target operation position is not the last operation position corresponding to the robot's movement path, then the next operation position corresponding to the target operation position is obtained based on the robot's movement path, the target operation position is updated using the next operation position, and the step of controlling the robot to move to the target operation position based on the robot's movement path and a preset path tracking strategy is returned to execute.

[0099] In this embodiment, receiving the feedback signal sent by the robot after completing the corresponding operation indicates that the operation task of the operation point corresponding to the current target operation position has been completed, that is, the nailer has completed the nailing task on the corresponding nailing point. And it is determined that the target operation position is not the last operation position corresponding to the robot's moving path, indicating that the operation task of the entire box has not been completed. The next operation position corresponding to the target operation position is obtained based on the robot's moving path to update the target operation position, and return to execute step S15 to perform the next round of corresponding operations until the operation task of the entire box is completed.

[0100] The robot positioning and navigation control method provided in the embodiment of the present invention can realize the functions of autonomous positioning and navigation, autonomous path planning, and autonomous search for operating positions of the robot in a building box by integrating radar navigation, thereby improving the accuracy of robot positioning and improving the operating efficiency of the robot.

[0101] The embodiment of the present invention further provides a robot positioning navigation control device, which is used to execute any embodiment of the aforementioned robot positioning navigation control method. Specifically, please refer to Figure 4 , Figure 4 This is a schematic block diagram of a robot positioning, navigation and control device provided in an embodiment of the present invention. The robot positioning, navigation and control device provided in an embodiment of the present invention includes an environment map construction unit 11, a corner column position acquisition unit 12, a movement path generation unit 13, an operation position acquisition unit 14 and a movement control unit 15.

[0102] An environment map construction unit 11 is used to obtain scanning data obtained by a radar module in the robot scanning inside a building box, and to construct an environment map based on the scanning data;

[0103] A corner column position acquisition unit 12, configured to obtain corner column position coordinates corresponding to four corner columns of the building box respectively based on a preset corner column matching strategy and the environment map;

[0104] A moving path generating unit 13, configured to generate a robot moving path corresponding to the environment map based on the position coordinates of the corner columns respectively corresponding to the four corner columns of the building box;

[0105] An operation position acquisition unit 14, used to obtain a target operation position based on the robot movement path;

[0106] The mobile control unit 15 is used to control the robot to move to the target operating position based on the robot's moving path and a preset path tracking strategy.

[0107] In one embodiment, before executing the step of acquiring scanning data obtained by scanning the radar module in the robot in the building box and constructing the environmental map based on the scanning data, the environment map constructing unit 11 is further used to:

[0108] Controlling the robot to initialize;

[0109] If it is detected that the communication status of the robot is abnormal, an abnormal prompt message is generated.

[0110] In one embodiment, when the corner column position acquisition unit 12 executes the step of obtaining the corner column position coordinates corresponding to the four corner columns of the building box respectively based on the preset corner column matching strategy and the environment map, it is specifically used to:

[0111] Acquire the coordinates of an initial point corresponding to a preset initial position of the robot in the building box from the environmental map;

[0112] According to the coordinates of the initial point, the initial distances between the four corner columns of the building box and the radar initial point are obtained respectively, and an initial distance set is formed; wherein the radar initial point is the position corresponding to the radar module when the robot is located at the initial position of the robot in the building box;

[0113] Based on the corner column matching strategy, the initial point coordinates and the initial distance set, the corner column position coordinates corresponding to the four corner columns of the building box on the environment map are obtained.

[0114] In one embodiment, when the moving path generating unit 13 executes the step of generating the robot moving path corresponding to the environment map based on the corner column position coordinates respectively corresponding to the four corner columns of the building box, it is specifically used to:

[0115] Acquire box information of the building box, and generate a box plan according to the box information;

[0116] Acquire the center coordinates of the corner columns corresponding to the four corner columns of the building box on the box plan, and generate a plan moving path based on the box plan and the center coordinates of the corner columns corresponding to the four corner columns of the building box;

[0117] The plan view moving path is mapped onto the environment map according to the corner column position coordinates and the corner column center coordinates respectively corresponding to the four corner columns of the building box to obtain the robot moving path.

[0118] In one embodiment, when the mobile control unit 15 executes the step of controlling the robot to move to the target operation position based on the robot movement path and the preset path tracking strategy, it is specifically used to:

[0119] Acquire the current position and posture of the robot collected by the radar module;

[0120] Acquire a reference posture corresponding to the target operation position based on the robot movement path;

[0121] Obtaining a current velocity vector according to the current posture, the reference posture, a preset reference velocity vector and the path tracking strategy;

[0122] The robot is controlled to move to the target operating position according to the current velocity vector.

[0123] In one embodiment, when the mobile control unit 15 executes the step of obtaining the current velocity vector according to the current posture, the reference posture, the preset reference velocity vector and the path tracking strategy, it is specifically used to:

[0124] Obtaining a posture error according to the current posture, the reference posture, and a first tracking strategy in the path tracking strategy;

[0125] The current velocity vector is obtained according to the posture error, the reference velocity vector and a second tracking strategy in the path tracking strategy.

[0126] In one embodiment, the robot positioning navigation control device provided by the embodiment of the present invention further includes an operation point precision determination unit, an operation completion unit and an operation position update unit.

[0127] An operating point precision determination unit, used to obtain an operating point image captured by a depth camera module in the robot, and obtain a precise position of the operating point based on the operating point image;

[0128] An operation completion unit, used to control the robot to complete a corresponding operation based on the precise position of the operation point;

[0129] An operation position updating unit is used to, if receiving a feedback signal sent by the robot after completing a corresponding operation and determining that the target operation position is not the last operation position corresponding to the robot's movement path, obtain a next operation position corresponding to the target operation position based on the robot's movement path, update the target operation position using the next operation position, and return to execute the step of controlling the robot to move to the target operation position based on the robot's movement path and a preset path tracking strategy.

[0130] In one embodiment, when the operation completion unit executes the control of the robot to complete the corresponding operation steps based on the precise position of the operation point, it is specifically used to:

[0131] Obtaining a movement vector according to the precise position of the operating point and a preset coordinate transformation strategy;

[0132] According to the movement vector, the operation execution module in the robot is controlled to move to the operation point corresponding to the precise position of the operation point, and the operation execution module is controlled to complete the corresponding operation.

[0133] The robot positioning and navigation control device provided in the embodiment of the present invention is used to execute the robot positioning and navigation control method provided in any of the aforementioned embodiments. By integrating radar navigation, the robot can realize the functions of autonomous positioning and navigation, autonomous path planning, and autonomous search for operating positions within a building box, thereby improving the accuracy of the robot's positioning and improving the robot's operating efficiency.

[0134] The robot positioning navigation control method can be implemented in the form of a computer program. Figure 5 Runs on the computer device shown.

[0135] See also Figure 5 , Figure 5 5 is a schematic block diagram of a computer device provided by an embodiment of the present invention. The computer device 500 includes a processor 502 , a memory and a network interface 505 connected via a device bus 501 , wherein the memory may include a storage medium 503 and an internal memory 504 .

[0136] The storage medium 503 can store an operating device 5031 and a computer program 5032. When the computer program 5032 is executed, the processor 502 can execute a robot positioning navigation control method.

[0137] The processor 502 is used to provide computing and control capabilities to support the operation of the entire computer device 500 .

[0138] The internal memory 504 provides an environment for the operation of the computer program 5032 in the storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can execute the robot positioning and navigation control method.

[0139] The network interface 505 is used for network communication, such as providing data information transmission, etc. Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device 500 to which the solution of the present invention is applied. The specific computer device 500 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0140] The processor 502 is used to run the computer program 5032 stored in the memory to implement the robot positioning and navigation control method disclosed in the embodiment of the present invention.

[0141] Those skilled in the art will understand that Figure 5 The embodiments of the computer device shown in the figure do not constitute a limitation on the specific composition of the computer device. In other embodiments, the computer device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. For example, in some embodiments, the computer device may only include a memory and a processor. In such embodiments, the structure and function of the memory and the processor are the same as those of the embodiment of the present invention. Figure 5 The embodiments shown are consistent and will not be described again here.

[0142] It should be understood that in the embodiment of the present invention, the processor 502 may be a central processing unit (CPU), and the processor 502 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0143] In another embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the robot positioning navigation control method disclosed in the embodiment of the present invention is implemented.

[0144] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the above-described equipment, devices and units can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. Those of ordinary skill in the art can appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0145] In the several embodiments provided by the present invention, it should be understood that the disclosed equipment, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. Units with the same function may also be combined into one unit. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices or units, or may be an electrical, mechanical or other form of connection.

[0146] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0147] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0148] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a backend server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), disk or optical disk and other media that can store program codes.

[0149] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A robot positioning and navigation control method, characterized in that: include: Obtaining scanning data obtained by a radar module in the robot scanning inside the building box, and constructing an environment map based on the scanning data; Based on a preset corner column matching strategy and the environment map, obtaining corner column position coordinates corresponding to four corner columns of the building box respectively; Generate a robot movement path corresponding to the environment map based on the corner column position coordinates corresponding to the four corner columns of the building box; Obtaining a target operating position based on the robot movement path; Controlling the robot to move to the target operating position based on the robot moving path and a preset path tracking strategy; Acquire an operation point image captured by a depth camera module in the robot, and obtain a precise position of the operation point based on the operation point image; Control the robot to complete the corresponding operation based on the precise position of the operation point; If a feedback signal is received after the robot completes the corresponding operation, and it is determined that the target operation position is not the last operation position corresponding to the robot's movement path, the next operation position corresponding to the target operation position is obtained based on the robot's movement path, the target operation position is updated using the next operation position, and the step of controlling the robot to move to the target operation position based on the robot's movement path and a preset path tracking strategy is returned to execute.

2. The robot positioning and navigation control method according to claim 1, characterized in that: The method of obtaining the corner column position coordinates corresponding to the four corner columns of the building box based on the preset corner column matching strategy and the environment map includes: Acquire the coordinates of an initial point corresponding to a preset initial position of the robot in the building box from the environmental map; According to the coordinates of the initial point, the initial distances between the four corner columns of the building box and the radar initial point are obtained respectively, and an initial distance set is formed; wherein the radar initial point is the position corresponding to the radar module when the robot is located at the initial position of the robot in the building box; Based on the corner column matching strategy, the initial point coordinates and the initial distance set, the corner column position coordinates corresponding to the four corner columns of the building box on the environment map are obtained.

3. The robot positioning and navigation control method according to claim 1, characterized in that: The generating of the robot movement path corresponding to the environment map based on the corner column position coordinates corresponding to the four corner columns of the building box respectively comprises: Acquire box information of the building box, and generate a box plan according to the box information; Acquire the center coordinates of the corner columns corresponding to the four corner columns of the building box on the box plan, and generate a plan moving path based on the box plan and the center coordinates of the corner columns corresponding to the four corner columns of the building box; The plan view moving path is mapped onto the environment map according to the corner column position coordinates and the corner column center coordinates respectively corresponding to the four corner columns of the building box to obtain the robot moving path.

4. The robot positioning and navigation control method according to claim 1, characterized in that: The controlling the robot to move to the target operation position based on the robot movement path and a preset path tracking strategy includes: Acquire the current position and posture of the robot collected by the radar module; Acquire a reference posture corresponding to the target operation position based on the robot movement path; Obtaining a current velocity vector according to the current posture, the reference posture, a preset reference velocity vector and the path tracking strategy; The robot is controlled to move to the target operating position according to the current velocity vector.

5. The robot positioning and navigation control method according to claim 4, characterized in that: The obtaining of the current velocity vector according to the current posture, the reference posture, the preset reference velocity vector and the path tracking strategy includes: Obtaining a posture error according to the current posture, the reference posture, and a first tracking strategy in the path tracking strategy; The current velocity vector is obtained according to the posture error, the reference velocity vector and a second tracking strategy in the path tracking strategy.

6. The robot positioning and navigation control method according to claim 1, characterized in that: The controlling the robot to complete the corresponding operation based on the precise position of the operation point includes: Obtaining a movement vector according to the precise position of the operating point and a preset coordinate transformation strategy; According to the movement vector, the operation execution module in the robot is controlled to move to the operation point corresponding to the precise position of the operation point, and the operation execution module is controlled to complete the corresponding operation.

7. A robot positioning navigation control device, characterized in that: include: An environment map construction unit, used to obtain scan data obtained by a radar module in the robot scanning inside the building box, and to construct an environment map based on the scan data; A corner column position acquisition unit, configured to obtain corner column position coordinates corresponding to four corner columns of the building box based on a preset corner column matching strategy and the environment map; A moving path generating unit, configured to generate a robot moving path corresponding to the environment map based on the position coordinates of the corner columns respectively corresponding to the four corner columns of the building box; An operation position acquisition unit, used to obtain a target operation position based on the movement path of the robot; A mobile control unit, used for controlling the robot to move to the target operating position based on the robot's moving path and a preset path tracking strategy; An operating point precision determination unit, used to obtain an operating point image captured by a depth camera module in the robot, and obtain a precise position of the operating point based on the operating point image; An operation completion unit, used to control the robot to complete a corresponding operation based on the precise position of the operation point; An operation position updating unit is used to, if receiving a feedback signal sent by the robot after completing a corresponding operation and determining that the target operation position is not the last operation position corresponding to the robot's movement path, obtain a next operation position corresponding to the target operation position based on the robot's movement path, update the target operation position using the next operation position, and return to execute the step of controlling the robot to move to the target operation position based on the robot's movement path and a preset path tracking strategy.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the robot positioning and navigation control method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, enables the processor to execute the robot positioning and navigation control method according to any one of claims 1 to 6.

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