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

Abstract

The invention discloses a robot control method, device and equipment, a storage medium and a positioning system, and relates to the technical field of robots. The method comprises the following steps: receiving first signals sent by at least two signal sending ends, wherein the signal types of the first signals comprise invalid signals and valid signals; determining at least one detection coordinate according to the first signal, and determining an area where the robot is located according to the detection coordinates and a preset area range of a first area and a second area; wherein a connecting line between any two signal transmitting ends is at least partially located in the first area, the first area is adjacent to the second area, and the danger degree of the second area is smaller than that of the first area; controlling the robot to execute safe operation under the condition that the robot is determined to be located in the second area through the at least one invalid signal; and under the condition that it is determined that the robot is located in the second area through the at least two effective signals, the robot is controlled to move according to a preset path and execute cleaning operation.

Description

Technical Field

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

[0002] With the rapid development of robot technology, various service robots are now used in large places, such as commercial places such as shopping malls and office buildings, or public places such as transportation hubs. Various service robots can include large cleaning robots responsible for cleaning shopping malls. In commercial scenarios, there are often restricted areas such as escalators and stairs where robots cannot go. If the robot moves to the restricted area, there is a risk of falling, resulting in a more serious safety accident.

[0003] In the prior art, the position range of the restricted area is demarcated, and the robot determines whether it has entered the restricted area through global positioning. However, during the design, research and implementation process, the applicant found that when the global positioning of the robot deviates, it is difficult to accurately determine whether the robot has moved into the restricted area, resulting in accidents caused by the robot still moving after entering the restricted area. Or when the robot is in the safe working area, it mistakenly thinks that it has entered the restricted area and stops working, affecting the robot's operating efficiency. Summary of the invention

[0004] The present application provides a robot control method, device, equipment and storage medium to solve the problem in the prior art that it is impossible to accurately determine whether the robot has entered a restricted area, thereby ensuring the robot's operating safety and efficiency.

[0005] In a first aspect, the present application provides a robot control method, comprising:

[0006] Receiving first signals sent by at least two signal sending ends, where signal categories of the first signals include invalid signals and valid signals;

[0007] Determine at least one detection coordinate according to the first signal, and determine the area where the robot is located according to the detection coordinate and the preset area ranges of the first area and the second area; wherein the line between any two signal sending ends is at least partially located in the first area, the first area is adjacent to the second area, and the danger level of the second area is lower than that of the first area;

[0008] In a case where it is determined through at least one invalid signal that the robot is located in the second area, controlling the robot to perform a safety operation;

[0009] When it is determined through at least two valid signals that the robot is located in the second area, the robot is controlled to move along a preset path and perform a cleaning operation.

[0010] In a second aspect, the present application provides a robot control device, comprising:

[0011] A signal receiving module, configured to receive first signals sent by at least two signal sending ends, wherein signal categories of the first signals include invalid signals and valid signals;

[0012] an area determination module, configured to determine at least one detection coordinate according to the first signal, and determine the area where the robot is located according to the detection coordinate and the area ranges of the preset first area and the second area; wherein a line between any two signal sending ends is at least partially located in the first area, the first area is adjacent to the second area, and the danger level of the second area is lower than that of the first area;

[0013] a first control module, configured to control the robot to perform a safety operation when it is determined that the robot is located in the second area through at least one invalid signal;

[0014] The second control module is configured to control the robot to move along a preset path and perform a cleaning operation when it is determined that the robot is located in the second area through at least two valid signals.

[0015] In a third aspect, the present application provides a robot control device, comprising:

[0016] One or more processors; a memory storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the robot control method as described in the first aspect.

[0017] In a fourth aspect, the present application provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to execute the robot control method as described in the first aspect.

[0018] In a fifth aspect, the present application provides a positioning system, comprising at least two signal sending terminals and a robot, wherein the robot is equipped with a signal receiving terminal, wherein:

[0019] The signal sending end is used to send a first signal to the signal receiving end;

[0020] The robot is used to receive first signals sent by at least two signal sending ends, and the signal categories of the first signals include invalid signals and valid signals; determine at least one detection coordinate according to the first signal, and determine the area where the robot is located according to the detection coordinate and the area range of the preset first area and the second area; wherein, the connection line between any two signal sending ends is at least partially located in the first area, the first area is adjacent to the second area, and the danger level of the second area is less than that of the first area; when it is determined that the robot is located in the second area through at least one invalid signal, the robot is controlled to perform a safe operation; when it is determined that the robot is located in the second area through at least two valid signals, the robot is controlled to move along a preset path and perform a cleaning operation.

[0021] In the present application, the area range of the first area and the second area is pre-planned, the danger level of the first area is greater than that of the second area, and at least two signal sending terminals are set according to the area range of the first area, so that the continuous area between any two signal sending terminals is at least partially located in the first area; when the robot is working, the first signal sent by at least two signal sending terminals is received, the detection coordinates are determined according to the received first signal, and the detection coordinates are compared with the preset area ranges of the first area and the second area to determine the area where the robot is located; if the robot is located in the second area and the first signal used to determine the area where the robot is located includes an invalid signal, then it is confirmed that the current area where the robot is located is not accurate enough, that is, the real position of the robot may be the first area that contains or is close to the place where the dangerous accident occurs, so the robot is controlled to perform a safe operation to avoid the robot from moving to the place where the dangerous accident occurs, so as to ensure the safety of the robot's operation; if the robot is located in the second area and the first signals used to determine the area where the robot is located are all valid signals, then it is confirmed that the current area where the robot is located is accurate, that is, the real position of the robot is not included in or far from the second area where the dangerous accident occurs, so the robot is controlled to move according to the preset path and perform a cleaning operation to ensure the operation efficiency of the robot. It can be seen that by using this solution, the safety of use can be guaranteed while improving the efficiency of cleaning operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a flow chart of a robot control method provided by an embodiment of the present application;

[0023] Figure 2 This is one of the schematic diagrams of a robot and an ultra-wideband base station provided in an embodiment of the present application;

[0024] Figure 3 This is the second schematic diagram of the robot and the ultra-wideband base station provided in the embodiment of the present application;

[0025] Figure 4 is a flowchart of determining whether a first signal is an invalid signal or a valid signal provided by an embodiment of the present application;

[0026] Figure 5 It is one of the schematic diagrams of a circle formed by three ultra-wideband base stations provided in an embodiment of the present application;

[0027] Figure 6 This is the second schematic diagram of a circle formed by three ultra-wideband base stations provided in an embodiment of the present application;

[0028] Figure 7 is a schematic diagram of a circle formed by two ultra-wideband base stations provided in an embodiment of the present application;

[0029] Figure 8 is a schematic diagram of a triangle formed by two ultra-wideband base stations and a robot provided in an embodiment of the present application;

[0030] Fig. 9 It is one of the schematic diagrams of the first area and the second area provided in the embodiment of the present application;

[0031] Fig.10 This is the second schematic diagram of the first area and the second area provided in the embodiment of the present application;

[0032] Fig.11 It is one of the schematic diagrams of the first area and the ultra-wideband base station provided in the embodiment of the present application;

[0033] Fig.12 This is the second schematic diagram of the first area and the ultra-wideband base station provided in the embodiment of the present application;

[0034] Fig.13 is a schematic diagram of detection coordinates and a first area and a second area provided in an embodiment of the present application;

[0035] Fig.14 is a schematic structural diagram of a robot control device provided in an embodiment of the present application;

[0036] Fig.15 It is a structural schematic diagram of a robot control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0038] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0039] In the more common existing implementation methods, the robot obtains the location range of the restricted area in the map, and obtains its own location information through global positioning during mobile operation, and compares the robot's location information with the location range of the restricted area to determine whether the robot has entered the restricted area. Global positioning has the problem of position drift caused by inaccurate positioning or positioning failure, that is, the robot's position information is biased, and it is difficult to accurately determine whether the robot has moved into the restricted area, which may cause accidents if the robot continues to move after entering the restricted area, or cause the robot to stop working when it is in the safe working area because it mistakenly thinks it has entered the restricted area, affecting the robot's operating efficiency.

[0040] To solve the above problems, this embodiment provides a robot control method to ensure the operation safety and efficiency of the robot.

[0041] The robot control method provided in this embodiment can be executed by a robot control device, which can be implemented by software and / or hardware, and can be composed of two or more physical entities or one physical entity. For example, the robot control device can be the robot itself or a processor of the robot.

[0042] The robot control device is installed with at least one type of operating system, wherein the operating system includes but is not limited to Android system, Linux system and Windows system. The robot control device can install at least one application based on the operating system, and the application can be an application that comes with the operating system or an application downloaded from a third-party device or server. In this embodiment, the robot control device has at least an application that can execute the robot control method.

[0043] For ease of understanding, this embodiment is described by taking a robot as an example of a subject that executes the robot control method.

[0044] Figure 1 A flowchart of a robot control method provided by an embodiment of the present application is given. Figure 1 , the robot control method specifically includes:

[0045] S110: Receive first signals sent by at least two signal sending ends, where signal categories of the first signals include invalid signals and valid signals.

[0046] Among them, the first signal refers to a wireless signal transmitted between the signal transmitting end and the signal receiving end. When the signal receiving end receives the first signal, the position relative to the signal transmitting end can be determined based on the characteristic information of the first signal itself and / or the information carried. For example, the first signal can be a Bluetooth signal, a wifi (Wireless Fidelity) signal, a UWB (Ultra Wide Band) signal, or other wireless signals that can be positioned through the characteristic information of the signal and / or the information carried. In one embodiment, the characteristic information of the first signal includes signal strength, and the distance between the signal transmitting end and the signal receiving end can be determined based on the signal strength of the first signal sent from the signal transmitting end and the signal strength of the first signal received by the signal receiving end. In another embodiment, the information carried by the first signal includes the timestamp of the first signal sent from the signal transmitting end and the timestamp received by the signal receiving end, and the distance between the signal transmitting end and the signal receiving end is determined based on the difference between the two timestamps.

[0047] This embodiment is described by taking the first signal as a UWB signal, the signal transmitting end as an ultra-wideband base station, and the signal receiving end as an ultra-wideband tag as an example. Exemplarily, the robot is equipped with an ultra-wideband tag, and at least two ultra-wideband base stations are set in the robot's activity scene. The robot can receive the first signal sent by each ultra-wideband base station through the ultra-wideband tag, process the characteristic information and / or the information carried by each first signal itself, and obtain the distance between the robot and each ultra-wideband base station.

[0048] In one embodiment, the process of processing the first signal to obtain the distance between the robot and the ultra-wideband base station includes: the robot is equipped with an ultra-wideband tag, the ultra-wideband tag simultaneously transmits multiple radio frequency signals to the ultra-wideband base station, the ultra-wideband base station calculates the distance between the ultra-wideband tag and the ultra-wideband base station based on the time of receiving the radio frequency signal and the transmission time parsed from the radio frequency signal, and writes the distance and the device identification in the radio frequency signal and returns it to the ultra-wideband tag. Among a batch of radio frequency signals simultaneously transmitted by the ultra-wideband tag and received by the same ultra-wideband base station, the stronger the strength or the earlier the time when the ultra-wideband tag receives the radio frequency signal returned by the ultra-wideband base station, the closer the distance between the ultra-wideband tag and the ultra-wideband base station obtained by the ultra-wideband base station processing the radio frequency signal is to the actual distance between the ultra-wideband base station and the ultra-wideband tag. When the ultra-wideband tag receives a batch of radio frequency signals simultaneously transmitted by the ultra-wideband tag and returned by the same ultra-wideband base station, the radio frequency signal whose signal strength exceeds the preset strength threshold is screened out, and the optimal radio frequency signal with the earliest reception time among the screened radio frequency signals is used as the first signal, and the distance value carried by the first signal is parsed as the distance between the robot and the ultra-wideband base station that sends the first signal. In another embodiment, when the ultra-wideband base station receives a radio frequency signal, it adds a receiving timestamp and a device identification to the radio frequency signal, and then returns the radio frequency signal to the ultra-wideband tag. After the ultra-wideband tag filters out the first signal from the received radio frequency signal, it obtains the receiving timestamp and the sending timestamp from the first signal, and determines the distance between the robot and the ultra-wideband base station that sends the first signal based on the time difference between the receiving timestamp and the sending timestamp and the speed of light.

[0049] Since the transmission speed or signal strength of the wireless signal will change due to external interference during the transmission process, the distance between the signal receiving end and the signal sending end calculated based on the received wireless signal is greater than the actual distance. In this regard, the present embodiment divides the first signal into a valid signal and an invalid signal, so that the distance value obtained by the valid signal characterization process is approximately equal to the actual distance between the signal transceiver, and the distance value obtained by the invalid signal characterization process is greater than the actual distance between the signal transceiver. For example, when the first signal is a wireless signal with low anti-interference ability such as a Bluetooth signal or a WiFi signal, it is easily interfered by the noise of nearby devices and affects the transmission rate or signal attenuation, resulting in the distance value obtained by processing the first signal being greater than the actual distance between the signal transceiver. Therefore, when the first signal is a wireless signal with low anti-interference ability such as a Bluetooth signal or a WiFi signal, it can be determined whether the first signal is interfered by the noise of nearby devices. If the first signal is interfered, the first signal is determined to be an invalid signal, and if the first signal is not interfered, the first signal is determined to be a valid signal.

[0050] As for UWB signals, their anti-interference ability is relatively strong. That is to say, when the first signal is selected as a wireless signal with strong anti-interference ability such as a UWB signal, it is not easy to be interfered by the noise of the attached equipment, unless a high-power wireless transmitter is set near the ultra-wideband base station, such as a mobile communication base station, but such equipment is generally avoided when deploying ultra-wideband base stations. However, in the process of implementing this embodiment, it was found that this type of wireless signal encountered obstacles with thick thickness or strong signal isolation ability during transmission, which would affect its transmission rate or signal attenuation, resulting in the distance value obtained by processing the first signal being greater than the actual distance between the signal transceiver. Exemplary, Figure 2 and Figure 3 Schematic diagram of a robot and an ultra-wideband base station provided in an embodiment of the present application. Figure 2 As shown, when there is no obstacle 14 on the straight path 15 between the UWB tag 13 and the UWB base station 11, at least one of the multiple RF signals sent by the UWB tag 13 is transmitted to the UWB base station 11 based on the straight path 15. The first signal is the optimal RF signal received by the UWB tag 13 from the UWB base station 11. The RF signal corresponding to the first signal is transmitted to the UWB base station 11 based on the straight path 15. The distance value obtained by processing the first signal is approximately equal to the actual distance between the robot 12 and the UWB base station 11. Figure 3As shown, when there is an obstacle 14 in the straight path 15 between the ultra-wideband tag 13 and the ultra-wideband base station 11, it will be transmitted to the ultra-wideband base station 11 based on the obstacle bypass path 16. At this time, the radio frequency signal corresponding to the first signal is not transmitted to the ultra-wideband base station 11 based on the straight path 15, and the distance value obtained by processing the first signal is greater than the actual distance between the robot 12 and the ultra-wideband base station 11. It should be noted that it is not ruled out that the radio frequency signal corresponding to the first signal passes through the obstacle on the straight path 15 and is transmitted to the ultra-wideband base station 11. If the thickness of the obstacle 14 on the straight path 15 is small and is made of a material with poor signal isolation ability, the radio frequency signal can quickly pass through the obstacle 14, and accordingly, the error between the distance value obtained by processing the first signal and the actual distance can be ignored. At this time, the distance value obtained by processing the first signal is approximately equal to the actual distance between the robot 12 and the ultra-wideband base station 11. If the obstacle 14 on the straight path 15 is thicker or has a stronger signal isolation capability, then the time required for the radio frequency signal corresponding to the first signal to pass through the obstacle 14 is longer. Accordingly, the error between the distance value obtained by processing the first signal and the actual distance is larger, that is, the distance value obtained by processing the first signal is greater than the actual distance between the robot 12 and the ultra-wideband base station 11.

[0051] Therefore, when the first signal is a wireless signal with strong anti-interference ability such as a UWB signal, it can be determined whether the first signal is an invalid signal or a valid signal by judging whether the first signal encounters an obstacle with a large thickness or a strong signal isolation ability during the transmission process. In this embodiment, when there is a first obstacle on the straight transmission path of the first signal, the first signal is determined to be an invalid signal; when there is no obstacle or a second obstacle on the straight transmission path of the first signal, the first signal is determined to be a valid signal; the signal penetration ability of the second obstacle is greater than the signal penetration ability of the first obstacle. Reference Figure 2 and Figure 3, the straight transmission path of the first signal refers to the straight path 15 between the ultra-wideband tag 13 and the ultra-wideband base station 11. The first obstacle can be understood as an object with a large thickness or a material with a strong signal isolation ability, and the second obstacle can be understood as an object with a small thickness and a material with a poor signal isolation ability. It should be noted that the understanding of the signal penetration ability of an obstacle is not limited by special conditions. As long as the same conditions (such as environment, signal, equipment performance, etc.) are met, if the obstacle 14 placed on the straight path 15 allows the robot 12 to perform a safe operation in the second area after receiving the first signal, then the signal penetration ability of the obstacle can be understood as the signal penetration ability of the above-mentioned first obstacle; similarly, if the obstacle 14 placed on the straight path 15 allows the robot 12 to move according to the preset path and perform cleaning operations after receiving the first signal, then the signal penetration ability of the obstacle can be understood as the signal penetration ability of the above-mentioned second obstacle.

[0052] Then, when there is a first obstacle on the straight path 15, the radio frequency signal corresponding to the first signal is either transmitted to the ultra-wideband base station 11 through the obstacle bypassing path 16, or takes a long time to pass through the first obstacle to be transmitted to the ultra-wideband base station 12. In either case, the distance value obtained by processing the first signal is greater than the actual distance between the robot 12 and the ultra-wideband base station 11. When there is a second obstacle or no obstacle on the straight path 15, the radio frequency signal corresponding to the first signal is quickly transmitted to the ultra-wideband base station 11 along the straight path 15 through the second obstacle, and the distance value obtained by processing the first signal is approximately equal to the actual distance between the robot 12 and the ultra-wideband base station 11.

[0053] However, the robot needs to use sensors such as cameras or lasers to determine whether there is a first obstacle, a second obstacle, or no obstacle on the straight path between it and the ultra-wideband base station. However, installing these sensors will increase the cost of the robot. In this regard, this embodiment proposes to determine whether the first signal currently received from the ultra-wideband base station is a valid signal or an invalid signal based on the stability of the distance value corresponding to the first signal sent by the same ultra-wideband base station that has been continuously received recently and the attenuation corresponding to the intensity of the first signal currently received from the ultra-wideband base station.

[0054] It should be noted that when the robot is moving or the obstacle is moving, the obstacle may move relatively to the straight path between the UWB tag and the UWB base station, causing the UWB tag to detect a sudden change in the distance. Generally speaking, if there is no obstacle with a large thickness or a material with strong signal isolation ability that moves relatively to the straight path between the UWB tag and the UWB base station in the recent time period, the distance value corresponding to the first signal received continuously recently is relatively stable and has a small fluctuation range. Among them, if the robot is stationary, the fluctuation range is about ten centimeters. If the robot moves, but due to the high signal transmission frequency of the UWB tag, the signal transmission cycle generally only moves a few centimeters, that is, the fluctuation range is about ten centimeters. If there is an obstacle with a large thickness or a material with strong signal isolation ability that moves relatively to the straight path between the UWB tag and the UWB base station in the recent time period, according to the different materials of the obstacle, the fluctuation of multiple distance values ​​corresponding to the time sliding window is large, and the fluctuation is as high as tens of centimeters or even several meters. Based on this, the stability of the distance value corresponding to the first signal received continuously recently can reflect whether there is an obstacle with a large thickness or a material with strong signal isolation ability that moves relatively to the straight path between the UWB tag and the UWB base station in the time period when the corresponding first signal is received.

[0055] It is possible that in the recent period of time, there has always been an obstacle with a large thickness or a material with strong signal isolation ability on the straight path between the ultra-wideband tag and the ultra-wideband base station. In this case, the distance value corresponding to the first signal received continuously recently is also relatively stable, that is, it is impossible to independently determine whether the first signal is a valid signal based on the distance value corresponding to the first signal received continuously recently. Therefore, this embodiment also determines whether the first signal is a valid signal in combination with the attenuation corresponding to the intensity of the currently received first signal.

[0056] The attenuation corresponding to the intensity of the first signal can be understood as the attenuation of the intensity between the first signal and the second signal of the same batch. Among them, the RF signal corresponding to the second signal of the same batch and the RF signal corresponding to the first signal refer to the RF signals that are both emitted by the ultra-wideband tag at the same time and arrive at the same ultra-wideband base station. The RF signals emitted by the ultra-wideband tag at the same time carry the same identifier. When the ultra-wideband base station receives the RF signal, it will mark the RF signal with its own device identifier and then return it to the ultra-wideband tag. Then for the robot end, it can filter out the second signal from the same batch as the first signal from the remaining received signals based on the signal identifier and device identifier of the first signal. If there is no obstacle with a large thickness or a material with strong signal isolation ability on the straight path between the current ultra-wideband tag and the ultra-wideband base station, the attenuation of the intensity between the first signal and the second signal of the same batch is small, generally less than 6db. If there is an obstacle with a large thickness or a material with a strong signal isolation ability on the straight path between the current ultra-wideband tag and the ultra-wideband base station, compared with the RF signal corresponding to the first signal, other RF signals emitted simultaneously will go around obstacles in a larger range or pass through obstacles before reaching the ultra-wideband base station, and the attenuation of the intensity between the first signal and the second signal of the same batch is relatively large, generally exceeding 6db. Based on this, the attenuation corresponding to the intensity of the first signal can reflect whether there is an obstacle with a large thickness or a material with a strong signal isolation ability on the straight path between the ultra-wideband tag and the ultra-wideband base station. However, when the obstacle with a large thickness or a material with a strong signal isolation ability just moves to the straight path between the ultra-wideband tag and the ultra-wideband base station, the attenuation of the intensity between the first signal and the second signal of the same batch will also be small, that is, it is impossible to independently determine whether the first signal is a valid signal only by the attenuation of the intensity between the first signal and the second signal of the same batch.

[0057] Figure 4 1 is a flowchart of determining whether a first signal is an invalid signal or a valid signal provided by an embodiment of the present application. Figure 4 As shown, the step of determining whether the first signal is an invalid signal or a valid signal specifically includes S1101-S1103:

[0058] S1101. Process the first signal to obtain a distance value between the robot and the corresponding signal sending end, and obtain a plurality of previous continuous distance values ​​between the robot and the corresponding signal sending end.

[0059] Exemplarily, the preset time period is used as the length of the time sliding window, the time when the ultra-wideband tag currently receives the first signal sent by a certain ultra-wideband base station is used as the end time point of the time sliding window, the start time point of the time sliding window is determined according to the length and the end time point of the time sliding window, and the first signal sent by the ultra-wideband base station received by the ultra-wideband tag within the time sliding window is determined according to the start time point and the end time point, and then the distance value obtained by processing these first signals is obtained. For example, the preset time period is ΔT, and the time when the ultra-wideband tag currently receives the first signal sent by the ultra-wideband base station A is T10, then the time period from T10-ΔT to T10 is used as the time sliding window, assuming that the ultra-wideband tag receives the first signal sent by the ultra-wideband base station A at ten consecutive time points of T1, T2, ..., T9 and T10 within T10-ΔT to T10 (where T1, T2, ..., T9 correspond to the historical first signal, and T10 corresponds to the currently received first signal), and the distance value obtained by processing the first signal received at these ten time points is obtained. The multiple distance values ​​corresponding to the time sliding window include the distance value between the robot and the ultra-wideband base station A obtained by processing the currently received first signal and the continuous distance values ​​between the robot and the ultra-wideband base station A obtained by processing before receiving the first signal.

[0060] S1102: When the stability corresponding to the acquired distance value does not satisfy a stability condition and / or when the attenuation corresponding to the strength of the first signal does not satisfy an attenuation condition, determine that the first signal is an invalid signal.

[0061] S1103: When the stability corresponding to the acquired distance value satisfies a stability condition and the attenuation corresponding to the intensity of the first signal satisfies an attenuation condition, determine that the first signal is a valid signal.

[0062] Exemplarily, the judgment process of the stability condition is: the maximum distance value and the minimum distance value are screened out from the acquired distance values, and the stability corresponding to the acquired distance value is judged whether it meets the stability condition by the fluctuation range between the maximum distance value and the minimum distance value. When the fluctuation range between the maximum distance value and the minimum distance value is large, it is determined that the stability corresponding to the acquired distance value does not meet the stability condition; when the fluctuation range between the maximum distance value and the minimum distance value is small, it is determined that the stability corresponding to the acquired distance value meets the stability condition. Alternatively, according to the variance of the acquired distance value, it is judged whether the stability corresponding to the acquired distance value meets the stability condition. When the variance of the acquired distance value is small, it is determined that the stability corresponding to the acquired distance value meets the stability condition; when the variance of the acquired distance value is large, it is determined that the stability corresponding to the acquired distance value does not meet the stability condition.

[0063] Since the relative movement of the obstacle to the straight path between the ultra-wideband tag and the ultra-wideband base station occurs in an instant, the ultra-wideband tag detects a sudden change in the distance at two adjacent time points, that is, the distance values ​​corresponding to the two continuously received first signals differ greatly. The fluctuation amplitude between the maximum distance value and the minimum distance value or the variance of the obtained distance value represents the global change of the obtained distance value, which cannot accurately represent the change of the distance value corresponding to the two continuously received first signals. In this regard, this embodiment proposes to determine the fluctuation amplitude between each two consecutive distance values ​​based on the obtained distance value; when each fluctuation amplitude is less than or equal to the preset fluctuation threshold, it is determined that the stability corresponding to the obtained distance value meets the stability condition. Exemplarily, the distance value corresponding to T10 in the time sliding window is subtracted from the distance value corresponding to T9, and the distance value corresponding to T9 is subtracted from the distance value corresponding to T8, and so on, to obtain the fluctuation amplitude between the distance values ​​corresponding to the two time points before and after the ten consecutive time points of T1, T2, ..., T9 and T10. The preset fluctuation threshold can be understood as the maximum fluctuation amplitude of the distance value obtained by processing the currently received first signal and the distance value obtained by processing the last received first signal when an obstacle with a large thickness or a material with a strong signal isolation ability initially moves to the straight path between the ultra-wideband tag and the ultra-wideband base station. If the fluctuation amplitudes generated corresponding to T1, T2, ..., T9 and T10 are all less than or equal to the preset fluctuation threshold, it can be determined that the multiple distance values ​​corresponding to the time sliding window are relatively stable, and then it can be determined that the stability corresponding to the obtained distance value meets the stability condition; if any fluctuation amplitude generated corresponding to T1, T2, ..., T9 and T10 is greater than the preset fluctuation threshold, it can be determined that the multiple distance values ​​corresponding to the time sliding window are unstable, and then it can be determined that the stability corresponding to the obtained distance value does not meet the stability condition.

[0064] Exemplarily, the process of determining the attenuation condition is as follows: obtaining the second signal with the highest intensity from the same batch of second signals corresponding to the first signal, and determining the difference between the intensity of the first signal and the intensity of the second signal as the attenuation degree corresponding to the intensity of the first signal; if the attenuation degree corresponding to the intensity of the first signal is small, determining that the attenuation degree corresponding to the intensity of the first signal meets the attenuation condition; if the attenuation degree corresponding to the intensity of the first signal is large, determining that the attenuation degree corresponding to the intensity of the first signal does not meet the attenuation condition.

[0065] Since the intensity difference between the first signal and the second signal with the highest intensity cannot accurately characterize the attenuation of the intensity between the first signal and the remaining second signals. In this regard, the present embodiment proposes to determine the intensity average value of the second signals of the same batch as the first signal, and determine the attenuation corresponding to the intensity of the first signal according to the difference between the intensity average value and the intensity value of the first signal. Since the intensity average value characterizes the intensity of all second signals, the attenuation of the intensity between the first signal and all second signals can be accurately characterized by the difference between the intensity average value and the intensity value of the first signal. In this embodiment, the difference between the intensity average value and the intensity value of the first signal can be directly determined as the attenuation corresponding to the intensity of the first signal to improve the calculation efficiency. In another embodiment, the variance of the corresponding second signal can be determined by the intensity value of each second signal. When the variance of the second signal is greater than a certain threshold, it indicates that the intensity variation between each second signal is large, that is, there is a high possibility that there are obstacles with large thickness or strong signal isolation ability of the material on the straight path between the robot and the ultra-wideband base station. At this time, the difference between the intensity average value and the intensity value of the first signal can be multiplied by a weight coefficient greater than one, and the difference after multiplying by the weight coefficient is determined as the attenuation corresponding to the intensity of the first signal. When the variance of the second signal is less than a certain threshold, it indicates that the intensity variation between each second signal is small, that is, the possibility of an obstacle with a large thickness or a material with a strong signal isolation ability on the straight path between the robot and the ultra-wideband base station is small. At this time, the difference between the average intensity value and the intensity value of the first signal can be multiplied by a weight coefficient less than one, and the difference after multiplying by the weight coefficient is determined as the attenuation degree corresponding to the intensity of the first signal. Further, after determining the attenuation degree corresponding to the intensity of the first signal, the attenuation degree corresponding to the intensity of the first signal is compared with the preset signal attenuation threshold to determine whether the attenuation degree corresponding to the intensity of the first signal meets the attenuation condition. Among them, the preset signal attenuation threshold can be understood as the maximum difference between the intensity value of the first signal and the intensity of the second signal of the same batch when there is no obstacle on the straight path or the thickness of the obstacle is small and the signal isolation ability of the material is poor. When the attenuation degree corresponding to the intensity of the first signal is less than or equal to the preset signal attenuation threshold, it is determined that the attenuation degree corresponding to the intensity of the first signal meets the attenuation condition. When the attenuation degree corresponding to the intensity of the first signal is greater than the preset signal attenuation threshold, it is determined that the attenuation degree corresponding to the intensity of the first signal does not meet the signal attenuation condition.

[0066] It should be noted that the judgment process of the attenuation condition and the judgment process of the stability condition can be performed simultaneously, or one of the judgment processes can be performed first and then the other judgment process. For example, the judgment process of the attenuation condition is performed first and then the judgment process of the stability condition, or the judgment process of the stability condition is performed first and then the judgment process of the linear attenuation condition. If the judgment process performed first does not meet the corresponding conditions, the first signal can be directly determined to be an invalid signal without continuing to perform the next judgment process. If the corresponding conditions are met in both judgment processes, the first signal can be determined to be a valid signal.

[0067] S120. Determine at least one detection coordinate based on the first signal, and determine the area where the robot is located based on the detection coordinates and the preset area ranges of the first area and the second area; wherein the line between any two signal sending ends is at least partially located in the first area, the first area and the second area are adjacently arranged, and the danger level of the second area is less than that of the first area.

[0068] In this embodiment, the detection coordinates can be regarded as the coordinates of the robot predicted based on the first signal. When two ultra-wideband base stations are set in the robot activity scene, one or two detection coordinates can be determined based on the first signals sent by the two ultra-wideband base stations. When more than three ultra-wideband base stations are set in the robot activity scene, one or more detection coordinates can be determined based on the first signals sent by more than three ultra-wideband base stations, or the first signals sent by more than three ultra-wideband base stations can be combined in pairs to determine two detection coordinates, thereby obtaining more than two detection coordinates. It is easy to understand that this embodiment provides two ways to determine the detection coordinates, one is to determine the detection coordinates based on two first signals, and the other is to determine the detection coordinates based on more than three first signals.

[0069] The process of determining the detection coordinates based on more than three first signals is as follows: processing the received first signals to obtain the distance between the robot and the corresponding ultra-wideband base station that sends the first signal, forming a circle corresponding to the ultra-wideband base station with the installation coordinates of the ultra-wideband base station as the center and the distance between the ultra-wideband base station and the robot as the radius, determining the intersection coordinates of the circles corresponding to each ultra-wideband base station, and determining the intersection coordinates as the detection coordinates. Figure 5 and Figure 6 is a schematic diagram of a circle formed by three ultra-wideband base stations provided in an embodiment of the present application. Figure 5As shown, after the robot 12 receives the first signals sent by the ultra-wideband base station A, the ultra-wideband base station B and the ultra-wideband base station C, the robot 12 processes the three first signals to obtain the distances between the robot and the ultra-wideband base station A, the ultra-wideband base station B and the ultra-wideband base station C, which are a1, b1 and c1 respectively. If the three first signals are all valid signals, the distance a1, the distance b1 and the distance c1 can be regarded as the actual distances between the robot and the ultra-wideband base station A, the ultra-wideband base station B and the ultra-wideband base station C, respectively. Correspondingly, with the ultra-wideband base station A, the ultra-wideband base station B and the ultra-wideband base station C as the center and the distance a1, the distance b1 and the distance c1 as the radius, the circles formed by the three ultra-wideband base stations intersect at one point, which is the coordinate of the robot 12. Therefore, the robot can determine a detection coordinate based on the installation coordinates of the ultra-wideband base station A, the ultra-wideband base station B and the ultra-wideband base station C and the distance a1, the distance b1 and the distance c1. As shown Figure 6 As shown, if there is at least one invalid signal among the three first signals, the circles formed by the ultra-wideband base station A, the ultra-wideband base station B and the ultra-wideband base station C intersect at three points, and the coordinates of these three points are the detection coordinates calculated by the robot. One of these three points may be the coordinate of the robot, or there may be no coordinate of the robot. Similarly, if the detection coordinates are determined based on more than four first signals, the circle formed by the ultra-wideband base station can be determined according to the installation coordinates of the ultra-wideband base station and the distance from the robot, and the intersection coordinates of the circles of each ultra-wideband base station are determined as the detection coordinates.

[0070] The process of determining the detection coordinates based on the two first signals is: processing the two first signals to determine the distance between the robot and the two signal sending ends that send the two first signals; determining one or two detection coordinates according to the distance between the robot and the two signal sending ends and the installation coordinates of the two signal sending ends. In one embodiment, after processing the two first signals to obtain the distance between the robot and the two ultra-wideband base stations, a circle corresponding to the ultra-wideband base station is formed with the installation coordinates of the ultra-wideband base station as the center and the distance between the ultra-wideband base station and the robot as the radius, and the intersection coordinates of the two ultra-wideband base station circles are determined, and the intersection coordinates are determined as the detection coordinates. Exemplarily, Figure 7 is a schematic diagram of a circle formed by two ultra-wideband base stations provided in an embodiment of the present application. Figure 7As shown, after the robot receives the first signal sent by the ultra-wideband base station A and the ultra-wideband base station B, it processes the first signal to obtain the distance between the robot and the ultra-wideband base station A and the ultra-wideband base station B. With the installation coordinates of the ultra-wideband base station A and the ultra-wideband base station B as the center and the distance between the robot and the ultra-wideband base station A and the ultra-wideband base station B as the radius, the circles formed by the two ultra-wideband base stations intersect at two points, and the coordinates of the two intersections are determined as the detection coordinates. It should be noted that if the circles formed by the two ultra-wideband base stations are tangent, the circles formed by the two ultra-wideband base stations intersect at one point, and a detection coordinate can be calculated at this time.

[0071] In another embodiment, the detection coordinates are determined by the triangle geometry principle satisfied between the two ultra-wideband base stations and the robot. The detection process is determined as follows: according to the distance between the two signal transmitting ends and the distance between the robot and the two signal transmitting ends, the area of ​​the triangle formed between the robot and the two signal transmitting ends is determined; according to the distance between the two signal transmitting ends and the area of ​​the triangle, the height of the triangle is determined, and according to the height of the triangle and the distance between the robot and the two signal transmitting ends, the distance between the foot of the triangle and the two signal transmitting ends is determined; according to the installation coordinates of the two signal transmitting ends, the unit direction vector between the two signal transmitting ends, and the distance between the foot of the triangle and the two signal transmitting ends, the foot coordinates of the triangle are determined; according to the foot coordinates of the triangle, the height of the triangle, and the unit vector perpendicular to the unit direction vector, two detection coordinates are determined.

[0072] For ease of understanding, this embodiment combines Figure 8 Schematic diagram of the triangle formed by two UWB base stations and the robot. Figure 8As shown, P1 and P2 are the detection coordinates to be determined, which can be regarded as virtual robots. After the robot receives the first signal sent by the ultra-wideband base station A and the ultra-wideband base station B, it determines the distance between the robot and the ultra-wideband base station A and the distance between the robot and the ultra-wideband base station B as a1 and b1 respectively based on the first signal. It should be noted that the distance used to determine the detection coordinates in this embodiment refers to the two-dimensional distance projected into the horizontal plane. When the ultra-wideband base station and the ultra-wideband tag are installed in the same horizontal plane, the distance obtained by processing the first signal is the two-dimensional distance. When the ultra-wideband base station and the ultra-wideband tag are installed in different horizontal planes, the distance obtained by processing the first signal is a three-dimensional distance, and the three-dimensional distance can be projected into the horizontal plane to obtain a two-dimensional distance. The projection processing process is to determine the difference between the installation height of the ultra-wideband base station and the installation height of the ultra-wideband tag, subtract the square of the difference from the square of the distance obtained by processing the first signal, and then take the root to obtain the two-dimensional distance from the robot to the ultra-wideband base station. For example, the distance obtained by processing the first signal sent by the ultra-wideband base station is a1, the installation height of the ultra-wideband base station A is z1, and the installation height of the ultra-wideband tag is z2, then the two-dimensional distance from the robot to the ultra-wideband base station A is

[0073] This embodiment is described by taking the distance obtained by processing the first signal as a two-dimensional distance in a horizontal plane as an example. The robot pre-stores the installation coordinates (x a ,y a ) and the installation coordinates of the ultra-wideband base station B (x b ,y b ), according to the installation coordinates (x a ,y a ) and installation coordinates (x b ,y b ) can determine the distance d between UWB base station A and UWB base station B. Adding distance d, distance a1 and distance b1 can obtain the perimeter l of the triangle. The area calculation formula of the triangle is: Substituting distance d, distance a1, distance b1, and the perimeter l of the triangle into the area calculation formula, the area s of the triangle can be calculated. Point Q is the foot of the perpendicular from point P1 to the line (segment AB) connecting UWB base station A and UWB base station B. After calculating the area s of the triangle, divide the area s by the length of segment AB, which is the distance d, and multiply it by 2 to get the height h of the triangle. According to the Pythagorean theorem, based on the height h of the triangle and the distance a1, the length of segment AQ, which is the distance from the foot of the triangle to the UWB base station A, can be calculated. Based on the height h and distance b1 of the triangle, the length of line segment BQ can be calculated, that is, the distance from the foot of the triangle to the ultra-wideband base station B is The installation coordinates (x a ,y a ) minus the installation coordinate (xb ,y b ) is divided by the distance d, and the unit direction vector (x ab ,y ab ). If a1>b1, then the coordinates of point Q are If b1>a1, the coordinates of point Q are Since line segment P1Q and line segment P2Q are perpendicular to line segment AB, it can be deduced that the unit direction vectors of line segment P1Q and line segment P2Q are (-y ab ,x ab ) and (y ab ,-x ab ). Accordingly, the coordinates of P1 can be calculated as the coordinates of point Q plus the height h and (-y ab ,x ab ), that is, The coordinates of P2 are calculated as the coordinates of point Q plus the height h and (y ab ,-x ab ), that is,

[0074] It should be noted that if the distance a1 is equal to the sum of the distance b1 and the distance d, or b1 is equal to the sum of the distance a1 and the distance d, it can be determined that the robot, the ultra-wideband base station A and the ultra-wideband base station B are collinear, and a detection coordinate can be determined based on the unit direction vector between the ultra-wideband base station A and the ultra-wideband base station B, the distance d and the installation coordinates of the ultra-wideband base station A or the ultra-wideband base station B.

[0075] In this embodiment, the first area refers to an area that includes or is close to a place where a dangerous accident occurs, the second area refers to an area that is adjacent to the first area and is less dangerous than the first area, and the second area does not include and is far away from the place where the dangerous accident occurs. The first area and the second area are areas divided by coordinate ranges, and the first area and the second area can be of any shape. This embodiment is described by taking the robot as a robot that performs cleaning operations in a shopping mall as an example. Based on dangerous accident places such as escalators in the shopping mall, the coordinate range of the first area that includes or is close to the place where the dangerous accident occurs and the coordinate range of the second area that fits the first area are planned in advance. Fig. 9 and Fig.10 Schematic diagram of the first area and the second area provided in the embodiment of the present application. Fig. 9 As shown, the first area 22 includes the dangerous accident location 21, and the second area 23 completely surrounds the first area 22 and is at a relatively long distance from the dangerous accident location 21. Fig.10As shown, the first area 22 is located near the dangerous accident site 21, and guardrails 24 are set on both sides of the dangerous accident site 21. The area outside the guardrails 24 is inaccessible to the robot, so the second area 23 is set to semi-enclose the first area 22 and keep a long distance from the dangerous accident site. Fig. 9 and Fig.10 The boundary line between the first area and the second area shown is a straight line, but the boundary line can also be a curve, and the first area can be other shapes besides a square. The shape and position of the first area are set according to actual needs. After the shape and position of the first area are set, the shape and position of the second area are set outside the first area.

[0076] Fig.11 and 12 Schematic diagram of the first area and ultra-wideband base station provided in the embodiment of the present application. Fig.11 As shown, the connection between the ultra-wideband base station A and the ultra-wideband base station B is partially located in the first area. When the first signal sent to the robot by the ultra-wideband base station A or the ultra-wideband base station B is an invalid signal, the distance obtained by processing the first signal is greater than the actual distance from the ultra-wideband base station to the robot. Accordingly, the point P1' corresponding to the real coordinates of the robot will be closer to the connection between the two ultra-wideband base stations than the point P1 corresponding to the detection coordinates calculated based on the first signal sent by the ultra-wideband base station A and the ultra-wideband base station B, that is, closer to the first area. Therefore, for the same signal, the positional relationship between the detection coordinates calculated when it is an invalid signal and the detection coordinates calculated when it is a valid signal can be used to characterize the positional relationship between the second area and the first area. When it is determined that the robot is located in the second area based on the first signal whose signal category is an invalid signal, the real position of the robot is either in the first area or in the second area. The robot can first perform safety operations and then determine the real position of the robot based on the valid signal before deciding whether to perform cleaning operations. As shown Fig.12 As shown, if the line connecting the two ultra-wideband base stations is not located in the first area, the point P1' corresponding to the real coordinates of the robot will be farther away from the first area than the point P1 corresponding to the detection coordinates calculated based on the first signal sent by ultra-wideband base station A and ultra-wideband base station B. Therefore, for the same signal, the positional relationship between the detection coordinates calculated when it is an invalid signal and the detection coordinates calculated when it is a valid signal is not equivalent to the positional relationship between the second area and the first area. When determining that the robot is located in the first area based on the first signal whose signal category is an invalid signal, it may be that the robot's real position is in the second area, which does not conform to the logic of the second area as a buffer of the first area.

[0077] It should be noted that when the portion of the connection between the two ultra-wideband base stations located in the first area is larger, that is, the closer the ultra-wideband base station is set to the first area, the positional relationship between the detection coordinates calculated when the same signal is an invalid signal and the detection coordinates calculated when it is a valid signal is closer to the positional relationship between the second area and the first area, that is, the calculated accuracy of the area where the robot is located is higher. Therefore, if the environment in the first area permits, all ultra-wideband base stations can be set in the first area. In this embodiment, the connection between the two ultra-wideband base stations located in the first area not only includes the connection line inside the first area but also includes the connection line continuously coinciding with the boundary line of the first area.

[0078] Furthermore, a third area is arranged adjacent to the second area, and the danger level of the third area is lower than that of the second area, that is, the distance between the third area and the place where the dangerous accident occurs is greater than the distance between the second area and the place where the dangerous accident occurs. The third area can also be regarded as an area other than the first area and the second area.

[0079] When a detection coordinate is determined, the detection coordinate is compared with the pre-stored area ranges of the first area and the second area. If the detection coordinate falls within the area range of the first area, it is determined that the robot is located in the first area; if the detection coordinate falls within the area range of the second area, it is determined that the robot is located in the second area; if the detection coordinate does not fall within the area ranges of the first area and the second area, it is determined that the robot is located in the third area.

[0080] When multiple detection coordinates are determined, each detection coordinate is compared with the pre-stored area ranges of the first area and the second area. When at least one detection coordinate falls within the area range of the first area, it is determined that the robot is located in the first area; when any detection coordinate does not fall within the area range of the first area and at least one detection coordinate falls within the area range of the second area, it is determined that the robot is located in the second area; when any detection coordinate does not fall within the area range of the first area and the second area, it is determined that the robot is located in the third area. Fig.13 Schematic diagram of the detection coordinates and the first area and the second area provided in the embodiment of the present application. Fig.13 As shown, point P1, point P2 and point P3 are respectively the position points corresponding to the detection coordinates. When any point among point P1, point P2 and point P3 falls within the range of the first area, it can be determined that the robot is located in the first area. When point P1, point P2 and point P3 all fall within the second area, or fall within the second area and the third area respectively, it can be determined that the robot is located in the second area. When point P1, point P2 and point P3 all fall within the third area, it can be determined that the robot is located in the third area. In this embodiment, reference Fig.10In real life, the robot cannot cross the guardrail 24 and move to the areas on both sides of the dangerous accident site 21. Therefore, when multiple detection coordinates are determined, the detection coordinates can be compared with the area range on both sides of the dangerous accident site 21 to filter out erroneous detection coordinates, and then the area where the robot is located is determined based on the remaining detection coordinates.

[0081] After the area where the robot is located is determined, it can be determined whether the current area where the robot is located is the actual location of the robot according to the signal category of the first signal used to determine the area where the robot is located. Fig.13 , the detection coordinates corresponding to points P2 and P3 fall within the area range of the first area, and the detection coordinates corresponding to points P2 and P3 can be regarded as the first signal used to determine the area where the robot is located. If the first signal used to calculate the detection coordinates corresponding to point P2 includes an invalid signal, the detection coordinates corresponding to point P2 are not the real position of the robot; if the first signal used to calculate the detection coordinates corresponding to point P2 includes an invalid signal, the detection coordinates corresponding to point P2 are not the real position of the robot, if the first signals used to calculate the detection coordinates corresponding to point P2 are all valid signals, then the detection coordinates corresponding to point P2 are the real position of the robot; the same is true for point P3. It can be understood that if the first signals used to determine the detection coordinates of points P3 and P2 both include invalid signals, then the area where the current robot is located is not the real position of the robot, if the first signals used to determine the detection coordinates of point P3 are all valid signals or the first signals used to determine the detection coordinates of P2 are all valid signals, then the area where the current robot is located is the real position of the robot.

[0082] In one embodiment, if the first signals sent by more than two ultra-wideband base stations are valid signals, the detection coordinates can be determined based on at least two valid signals to determine the area where the robot is actually located according to the detection coordinates. Exemplarily, when the received first signal includes at least two valid signals, two detection coordinates are determined according to at least two valid signals; when the received first signal includes at most one valid signal, multiple detection coordinates are determined according to every two first signals. If there are more than three ultra-wideband base stations in the shopping mall, if the first signals sent by two ultra-wideband base stations are valid signals, the detection coordinates can be determined based on the first signals sent by the two ultra-wideband base stations; if the first signals sent by more than three ultra-wideband base stations are valid signals, the first signals sent by two ultra-wideband base stations can be randomly selected to determine one or two detection coordinates, or the first signals sent by three ultra-wideband base stations can be selected to uniquely determine one detection coordinate. If only one ultra-wideband base station or no ultra-wideband base station sends a first signal whose signal category is a valid signal, then no matter how the first signal combination is, the detection coordinates calculated cannot accurately determine the real position of the robot. In order to make use of all the first signals, the received first signals can be combined in pairs, and the detection coordinates can be determined based on the first signal in each combination. The specific steps of calculating the detection coordinates through two first signals in this process can refer to the above embodiment. It is easy to understand that when there are more than three ultra-wideband base stations in the shopping mall, if the area where the robot is located is determined first and then the signal category of the first signal is used to determine whether the area where the robot is located is accurate, then it is necessary to determine the corresponding detection coordinates based on a combination of multiple first signals, which requires a large amount of calculation and a long processing time. However, this embodiment can first determine the signal category of the first signal. When the received first signal includes more than two valid signals, the actual position of the robot can be directly determined based on the two or more valid signals, which effectively improves the processing efficiency.

[0083] S130. When it is determined by at least one invalid signal that the robot is located in the second area, control the robot to perform a safety operation; when it is determined by at least two valid signals that the robot is located in the second area, control the robot to move along a preset path and perform a cleaning operation.

[0084] In this embodiment, to ensure the operation safety of the robot, when it is determined that the actual position of the robot is within the first area including the place where a dangerous accident occurs, the robot can be controlled to perform safe operations; to ensure the operation efficiency of the robot, when it is determined that the actual position of the robot is within the second area or the third area that does not include the place where a dangerous accident occurs, the robot can be controlled to move according to a preset path and perform cleaning operations.

[0085] In at least one detection coordinate used to determine that the robot is located in the second area, if there is a first signal corresponding to a detection coordinate that is a valid signal, the area where the robot is currently located can be determined to be the real location. Therefore, when the robot is determined to be located in the second area by at least two valid signals, it indicates that the real location of the robot is in the second area that does not contain the place where the dangerous accident occurred. The robot can move according to the preset path and perform the cleaning operation to clean the second area, avoiding the expansion of the dangerous area and causing some areas to be left uncleaned, thereby ensuring the cleaning effect of the robot.

[0086] In at least one detection coordinate used to determine that the robot is located in the second area, if the first signals corresponding to all the detection coordinates include at least one invalid signal, it can be determined that the current area of ​​the robot is not the real position, that is, the real position of the robot may be in the first area or in the second area. If the real position of the robot is in the first area and the robot continues to perform the cleaning operation, the robot may move to the place where the dangerous accident occurs and cause a safety accident. Therefore, when it is not certain whether the real position of the robot is in the first area or the second area, the robot is controlled to perform a safety operation first, and a radio frequency signal is transmitted through the ultra-wideband tag to receive a new first signal, and the real position of the robot is re-determined through the new first signal. In this embodiment, the robot can be controlled to temporarily stop moving or move in the opposite direction, and a radio frequency signal is transmitted through the ultra-wideband tag to receive a new first signal. If the robot is determined to be in the second area based on at least two new valid signals, it can be determined that the real position of the robot is in the second area, and the cleaning operation of the robot is resumed to avoid expanding the range of the dangerous area and causing some areas to not be cleaned, thereby ensuring the cleaning effect of the robot. If it is determined that the robot is located in the first area, it can be determined that the real position of the robot is in the first area, then the robot stops moving and reports a warning message that the robot enters the restricted area, so that the staff can manually control the robot to stay away from the dangerous area.

[0087] It should be noted that, if at least two valid signals have been screened out by the signal category of the first signal to determine the detection coordinates before step S130, or a signal group containing an invalid signal has been screened out to determine the detection coordinates, then when executing step S130, it can be directly determined based on the previous screening results whether the robot is located in the second area as the real position. If valid signals or invalid signals have not been screened out to determine the detection coordinates before step S130, but the first signals are randomly combined to determine the detection coordinates, then when executing step S130, the signal category of the first signal used to determine the area where the robot is located is determined through steps S1101-S1103. Therefore, although step S130 is written to determine that the robot is located in the second area by an invalid signal or a valid signal, in actual application, it is not necessary to first determine the signal category of the first signal and then determine the area where the robot is located, but it is also possible to first determine the area where the robot is located and then determine the signal category of the first signal.

[0088] In this embodiment, when the first signal is an invalid signal, the detection coordinates calculated based on the first signal are farther from the first area than the detection coordinates calculated for a valid signal. Therefore, regardless of whether the first signal is an invalid signal or a valid signal, if the robot is determined to be located in the first area based on the detection coordinates, it can be determined that the actual position of the robot is located in the first area. Accordingly, when the robot is located in the first area, the robot is controlled to perform safe operations. When the actual position of the robot is located in the first area containing a dangerous accident site, the robot can be controlled to stop moving to avoid the robot from continuing to move to the dangerous accident site and causing safety accidents such as falling, thereby ensuring the safety of the cleaning robot's operation. After the robot stops moving, it can report a warning message that the robot has entered a restricted area so that the staff can manually control the robot to move away from the first area.

[0089] The shortest distance from the boundary line of the second area to the boundary line of the first area can be regarded as the maximum distance between the detection coordinates calculated based on the valid signal and the detection coordinates calculated based on the invalid signal when the robot is located at any position. Therefore, regardless of whether the first signal is an invalid signal or a valid signal, if the robot is determined to be located in the third area based on the detection coordinates, it can be determined that the actual position of the robot is located in the second area or the third area that does not contain or is far away from the place where the dangerous accident occurs. Accordingly, when the robot is located in the third area, the robot is controlled to move according to the preset path and perform cleaning operations. When the actual position of the robot is located in the second area or the third area that does not contain the place where the dangerous accident occurs, the robot can be controlled to continue to perform cleaning operations to improve the cleaning efficiency and cleaning area of ​​the robot.

[0090] Exemplarily, if two ultra-wideband base stations are arranged in the shopping mall, the current area of ​​the robot can be determined first and then the signal category of the first signal can be determined. When the robot is located in the first area or the third area, the robot can be controlled to perform safety operations or cleaning operations, and there is no need to judge whether the first signal is a valid signal or an invalid signal, which greatly improves the processing efficiency of the robot. If three ultra-wideband base stations are arranged in the shopping mall, the signal category of the first signal can be determined to screen out two valid signals to determine the detection coordinates, and then the area where the robot is located can be determined according to the detection coordinates. In this embodiment, when the first signal is a valid signal, the acquired distance value can be smoothed to obtain a smoothed distance value; when the smoothed distance value is less than the distance value obtained by processing the first signal, the detection coordinates are determined by the smoothed distance value, so as to determine the area where the robot is located according to the detection coordinates, which can improve the position accuracy of the robot. Exemplarily, the distance values ​​of abnormal peaks in the multiple distance values ​​corresponding to the time sliding window are filtered out by Kalman filtering to obtain a relatively smooth distance value. The distance value after smoothing may be larger than the distance corresponding to the current first signal. Considering the ranging principle of ultra-wideband technology, the measured value will be larger than the true value. Therefore, the distance value after smoothing is compared with the distance value corresponding to the current first signal, and the smaller value is selected as the distance between the current robot and the ultra-wideband base station.

[0091] In summary, the robot control method provided by the embodiment of the present application pre-plans the area range of the first area and the second area, the danger level of the first area is greater than the danger level of the second area, and at least two signal sending ends are set according to the area range of the first area, so that the continuous area between any two signal sending ends is at least partially located in the first area; when the robot is working, it receives the first signal sent by at least two signal sending ends, determines the detection coordinates according to the received first signal, and compares the detection coordinates with the preset area range of the first area and the second area to determine the area where the robot is located; if the robot is located in the second area and the first signal used to determine the area where the robot is located includes an invalid signal, it is confirmed that the current area where the robot is located is not accurate enough, that is, the real position of the robot may be the first area that contains or is close to the place where the dangerous accident occurs, so the robot is controlled to perform a safe operation to avoid the robot from moving to the place where the dangerous accident occurs, so as to ensure the safety of the robot's operation; if the robot is located in the second area and the first signals used to determine the area where the robot is located are all valid signals, it is confirmed that the current area where the robot is located is accurate, that is, the real position of the robot is not included in or far away from the second area where the dangerous accident occurs, so the robot is controlled to move according to the preset path and perform cleaning operations to ensure the operation efficiency of the robot. It can be seen that by using this solution, the safety of use can be guaranteed while improving the efficiency of cleaning operations.

[0092] Based on the above embodiments, Fig.14This is a schematic diagram of the structure of a robot control device provided in an embodiment of the present application. Fig.14 The robot control device provided in this embodiment specifically includes: a signal receiving module 31, an area determination module 32, a first control module 33, and a second control module 34.

[0093] The signal receiving module 31 is configured as a signal receiving module, configured to receive first signals sent by at least two signal sending ends, and the signal categories of the first signals include invalid signals and valid signals;

[0094] The area determination module 32 is configured to determine at least one detection coordinate according to the first signal, and determine the area where the robot is located according to the detection coordinate and the preset area ranges of the first area and the second area; wherein the connection line between any two signal sending ends is at least partially located in the first area, the first area is adjacent to the second area, and the danger level of the second area is less than that of the first area;

[0095] A first control module 33 is configured to control the robot to perform a safety operation when it is determined that the robot is located in the second area through at least one invalid signal;

[0096] The second control module 34 is configured to control the robot to move along a preset path and perform a cleaning operation when it is determined that the robot is located in the second area through at least two valid signals.

[0097] Based on the above embodiments, the robot control device also includes: a third control module, configured to control the robot to perform safety operations when the robot is located in the first area; and / or, a fourth control module, configured to control the robot to move along a preset path and perform cleaning operations when the robot is located in the third area, wherein the third area is adjacent to the second area, and the danger level of the third area is less than that of the second area.

[0098] On the basis of the above embodiment, the robot control device includes a first signal judgment module, which includes: a first invalid signal determination submodule, which is configured to determine the first signal as an invalid signal when there is a first obstacle on the straight-line transmission path of the first signal; a first valid signal determination submodule, which is configured to determine the first signal as a valid signal when there is no obstacle or a second obstacle on the straight-line transmission path of the first signal; the signal penetration ability of the second obstacle is greater than the signal penetration ability of the first obstacle.

[0099] On the basis of the above embodiment, the robot control device includes a second signal judgment module, and the second signal judgment module includes: a distance value acquisition submodule, configured to process the first signal to obtain the distance value between the robot and the corresponding signal sending end, and obtain multiple continuous distance values ​​between the robot and the corresponding signal sending end; a second invalid signal determination submodule, configured to determine that the first signal is an invalid signal when the stability corresponding to the acquired distance value does not meet the stability condition and / or the attenuation corresponding to the intensity of the first signal does not meet the attenuation condition; a second valid signal determination submodule, configured to determine that the first signal is a valid signal when the stability corresponding to the acquired distance value meets the stability condition and the attenuation corresponding to the intensity of the first signal meets the attenuation condition.

[0100] Based on the above embodiment, the second signal judgment module includes: a fluctuation amplitude determination submodule, which is configured to determine the fluctuation amplitude between each two consecutive distance values ​​based on the acquired distance value; a stability condition judgment submodule, which is configured to determine that the stability corresponding to the acquired distance value meets the stability condition when each fluctuation amplitude is less than or equal to a preset fluctuation threshold.

[0101] On the basis of the above embodiment, the second signal judgment module includes: an attenuation degree determination submodule, configured to determine the intensity average value of the second signal from the same batch as the first signal, and determine the attenuation degree corresponding to the intensity of the first signal according to the difference between the intensity average value and the intensity value of the first signal; an attenuation condition judgment submodule, configured to determine that the attenuation degree corresponding to the intensity of the first signal meets the attenuation condition when the attenuation degree corresponding to the intensity of the first signal is less than or equal to a preset signal attenuation threshold.

[0102] Based on the above embodiment, the attenuation degree determination submodule includes: an attenuation degree determination unit configured to determine the difference between the intensity average value and the intensity value of the first signal as the attenuation degree corresponding to the intensity of the first signal.

[0103] On the basis of the above embodiment, the area determination module 32 includes: a smoothing processing submodule, which is configured to smooth the acquired distance value when the first signal is a valid signal to obtain a smoothed distance value; a first positioning submodule, which is configured to determine the detection coordinates through the smoothed distance value when the smoothed distance value is less than the distance value obtained by processing the first signal.

[0104] Based on the above embodiment, the area determination module 32 includes: a first coordinate determination submodule, configured to determine one or two detection coordinates based on at least two valid signals when the received first signal includes at least two valid signals; a second coordinate determination submodule, configured to determine multiple detection coordinates based on every two first signals when the received first signal includes at most one valid signal.

[0105] Based on the above embodiment, the second coordinate determination submodule includes: a distance determination unit, configured to process the two first signals to determine the distance between the robot and the two signal sending ends that send the two first signals; a coordinate determination unit, configured to determine one or two detection coordinates based on the distance between the robot and the two signal sending ends and the installation coordinates of the two signal sending ends.

[0106] On the basis of the above embodiment, the coordinate determination unit includes: an area determination subunit, configured to determine the area of ​​the triangle formed between the robot and the two signal sending ends according to the distance between the two signal sending ends and the distance between the robot and the two signal sending ends; a perpendicular distance determination subunit, configured to determine the height of the triangle according to the distance between the two signal sending ends and the area of ​​the triangle, and determine the distance between the perpendicular foot of the triangle and the two signal sending ends according to the height of the triangle and the distance between the robot and the two signal sending ends; a perpendicular coordinate determination subunit, configured to determine the perpendicular foot coordinates of the triangle according to the installation coordinates of the two signal sending ends, the unit direction vector between the two signal sending ends and the distance between the perpendicular foot of the triangle and the two signal sending ends; a detection coordinate determination subunit, configured to determine two detection coordinates according to the perpendicular foot coordinates of the triangle, the height of the triangle and a unit vector perpendicular to the unit direction vector.

[0107] Based on the above embodiment, the area determination module includes 32: a first positioning submodule, configured to determine that the robot is located in the first area when at least one detection coordinate falls within the area range of the first area; a second positioning submodule, configured to determine that the robot is located in the second area when any detection coordinate does not fall within the area range of the first area and at least one detection coordinate falls within the area range of the second area; a third positioning submodule, configured to determine that the robot is located in the third area when any detection coordinate does not fall within the area range of the first area and the second area.

[0108] As mentioned above, the robot control device provided by the embodiment of the present application pre-plans the area range of the first area and the second area, the danger level of the first area is greater than the danger level of the second area, and at least two signal sending ends are set according to the area range of the first area, so that the continuous area between any two signal sending ends is at least partially located in the first area; when the robot is working, it receives the first signal sent by at least two signal sending ends, determines the detection coordinates according to the received first signal, compares the detection coordinates with the preset area range of the first area and the second area, and determines the area where the robot is located; if the robot is located in the second area and the first signal used to determine the area where the robot is located includes an invalid signal, it is confirmed that the current area where the robot is located is not accurate enough, that is, the real position of the robot may be the first area that contains or is close to the place where the dangerous accident occurs, so the robot is controlled to perform a safe operation to avoid the robot from moving to the place where the dangerous accident occurs, and ensures the safety of the robot's operation; if the robot is located in the second area and the first signals used to determine the area where the robot is located are all valid signals, it is confirmed that the current area where the robot is located is accurate, that is, the real position of the robot is not included in or far from the second area where the dangerous accident occurs, so the robot is controlled to move according to the preset path and perform cleaning operations to ensure the robot's operating efficiency. It can be seen that by using this solution, the safety of use can be guaranteed while improving the efficiency of cleaning operations.

[0109] The robot control device provided in the embodiment of the present application can be used to execute the robot control method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0110] Fig.15 is a schematic diagram of a robot control device provided in an embodiment of the present application, with reference to Fig.15 The robot control device includes: a processor 41, a memory 42, a communication device 43, an input device 44 and an output device 45. The number of processors 41 in the robot control device can be one or more, and the number of memories 42 in the robot control device can be one or more. The processor 41, memory 42, communication device 43, input device 44 and output device 45 of the robot control device can be connected through a bus or other methods.

[0111] The memory 42, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the robot control method of any embodiment of the present application (for example, the signal receiving module 31, the area determination module 32, the first control module 33, and the second control module 34 in the robot control device). The memory 42 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the device, etc. In addition, the memory 42 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0112] The communication device 43 is used for data transmission.

[0113] The processor 41 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 42, that is, realizes the above-mentioned robot control method.

[0114] The input device 44 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 45 may include a display device such as a display screen.

[0115] The robot control device provided above can be used to execute the robot control method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0116] The embodiment of the present application also provides a positioning system, which includes at least two signal sending terminals and a robot, and the robot is equipped with a signal receiving terminal. The signal sending terminal is used to send a first signal to the signal receiving terminal; the robot is used to receive the first signal sent by at least two signal sending terminals, and the signal category of the first signal includes an invalid signal and a valid signal; at least one detection coordinate is determined according to the first signal, and the area where the robot is located is determined according to the detection coordinate and the area range of the preset first area and the second area; wherein the connection line between any two signal sending terminals is at least partially located in the first area, the first area is adjacent to the second area, and the danger level of the second area is less than the danger level of the first area; when the robot is determined to be located in the second area by at least one invalid signal, the robot is controlled to perform a safe operation; when the robot is determined to be located in the second area by at least two valid signals, the robot is controlled to move according to the preset path and perform a cleaning operation.

[0117] The robot in the positioning system provided above can be used to execute the robot control method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0118] An embodiment of the present application also provides a storage medium containing computer executable instructions, which are used to execute a robot control method when executed by a computer processor. The robot control method includes: receiving a first signal sent by at least two signal sending ends, the signal category of the first signal including an invalid signal and a valid signal; determining at least one detection coordinate according to the first signal, and determining the area where the robot is located according to the detection coordinate and the area range of the preset first area and the second area; wherein the connection line between any two signal sending ends is at least partially located in the first area, the first area is adjacent to the second area, and the danger level of the second area is less than the danger level of the first area; when it is determined that the robot is located in the second area by at least one invalid signal, the robot is controlled to perform a safe operation; when it is determined that the robot is located in the second area by at least two valid signals, the robot is controlled to move according to a preset path and perform a cleaning operation.

[0119] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (for example, in different computer systems connected by a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors.

[0120] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present application, whose computer executable instructions are not limited to the above robot control method, can also execute related operations in the robot control method provided in any embodiment of the present application.

[0121] The robot control device, storage medium, positioning system and robot control equipment provided in the above embodiments can execute the robot control method provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the robot control method provided in any embodiment of the present application.

[0122] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A robot control method, characterized in that: include: Receiving first signals sent by at least two signal sending ends, where signal categories of the first signals include invalid signals and valid signals; Determine at least one detection coordinate according to the first signal, and determine the area where the robot is located according to the detection coordinate and the preset area ranges of the first area and the second area; wherein the line between any two signal sending ends is at least partially located in the first area, the first area is adjacent to the second area, and the danger level of the second area is lower than that of the first area; In a case where it is determined through at least one invalid signal that the robot is located in the second area, controlling the robot to perform a safety operation; When it is determined through at least two valid signals that the robot is located in the second area, the robot is controlled to move along a preset path and perform a cleaning operation.

2. The robot control method according to claim 1, characterized in that: Also includes: When the robot is located in the first area, controlling the robot to perform a safety operation; and / or, When the robot is located in a third area, the robot is controlled to move along a preset path and perform a cleaning operation, wherein the third area is adjacent to the second area and the danger level of the third area is lower than that of the second area.

3. The robot control method according to claim 1 or 2, characterized in that: Also includes: In the case where there is a first obstacle on the straight transmission path of the first signal, the first signal is determined to be an invalid signal; In the case where there is no obstacle or there is a second obstacle on the straight transmission path of the first signal, the first signal is determined to be a valid signal; The signal penetration capability of the second obstacle is greater than the signal penetration capability of the first obstacle.

4. The robot control method according to claim 1 or 2, characterized in that: Also includes: Processing the first signal to obtain a distance value between the robot and a corresponding signal sending end, and obtaining a plurality of consecutive distance values ​​between the robot and the corresponding signal sending end; When the stability corresponding to the acquired distance value does not satisfy the stability condition and / or the attenuation corresponding to the intensity of the first signal does not satisfy the attenuation condition, determining that the first signal is an invalid signal; When the stability corresponding to the acquired distance value satisfies a stability condition and the attenuation corresponding to the intensity of the first signal satisfies an attenuation condition, it is determined that the first signal is a valid signal.

5. The robot control method according to claim 4, characterized in that: The stability corresponding to the obtained distance value is confirmed to meet the stability condition in the following manner: Based on the acquired distance values, determining a fluctuation amplitude between every two consecutive distance values; In the case where each fluctuation amplitude is less than or equal to a preset fluctuation threshold, it is determined that the stability corresponding to the acquired distance value satisfies the stability condition.

6. The robot control method according to claim 4, characterized in that: The attenuation degree corresponding to the strength of the first signal is confirmed to satisfy the attenuation condition in the following manner: Determine an average value of the intensity of second signals from the same batch as the first signal, and determine an attenuation corresponding to the intensity of the first signal according to a difference between the average value of the intensity and the intensity value of the first signal; When the attenuation degree corresponding to the strength of the first signal is less than or equal to a preset signal attenuation threshold, it is determined that the attenuation degree corresponding to the strength of the first signal satisfies the attenuation condition.

7. The robot control method according to claim 6, characterized in that: The determining the attenuation degree corresponding to the intensity of the first signal according to the difference between the intensity average value and the intensity value of the first signal includes: The difference between the intensity average value and the intensity value of the first signal is determined as the attenuation degree corresponding to the intensity of the first signal.

8. The robot control method according to claim 5, characterized in that: Also includes: In the case where the first signal is a valid signal, smoothing the acquired distance value to obtain a smoothed distance value; In a case where the distance value after the smoothing process is smaller than the distance value obtained by processing the first signal, the detection coordinates are determined by the distance value after the smoothing process.

9. The robot control method according to claim 1 or 2, characterized in that: The determining at least one detection coordinate according to the first signal comprises: In a case where the received first signal includes at least two valid signals, determining one or two detection coordinates according to the at least two valid signals; In the case where the received first signals include at most one valid signal, a plurality of detection coordinates are determined based on every two first signals.

10. The robot control method according to claim 9, characterized in that: The step of determining a plurality of detection coordinates according to every two first signals comprises: Processing the two first signals to determine the distance between the robot and the two signal sending ends that send the two first signals; One or two detection coordinates are determined according to the distance between the robot and the two signal sending ends and the installation coordinates of the two signal sending ends.

11. The robot control method according to claim 10, characterized in that: The determining of a plurality of detection coordinates according to the distance between the robot and the two signal sending ends and the installation coordinates of the two signal sending ends includes: Determine the area of ​​a triangle formed between the robot and the two signal sending ends according to the distance between the two signal sending ends and the distance between the robot and the two signal sending ends; Determine the height of the triangle according to the distance between the two signal sending ends and the area of ​​the triangle, and determine the distance between the foot of the triangle and the two signal sending ends according to the height of the triangle and the distance between the robot and the two signal sending ends; Determine the foot coordinates of the triangle according to the installation coordinates of the two signal transmitting ends, the unit direction vector between the two signal transmitting ends, and the distance between the foot of the triangle and the two signal transmitting ends; Two detection coordinates are determined according to the perpendicular coordinate of the triangle, the height of the triangle, and a unit vector perpendicular to the unit direction vector.

12. The robot control method according to claim 1 or 2, characterized in that: Determining the area where the robot is located according to the detected coordinates and the preset area ranges of the first area and the second area includes: In a case where at least one detection coordinate falls within the area range of the first area, determining that the robot is located within the first area; In a case where any of the detected coordinates does not fall within the area range of the first area and at least one detected coordinate falls within the area range of the second area, determining that the robot is located within the second area; When any of the detected coordinates does not fall within the area ranges of the first area and the second area, it is determined that the robot is located in a third area.

13. A robot control device, characterized in that: include: A signal receiving module, configured to receive first signals sent by at least two signal sending ends, wherein signal categories of the first signals include invalid signals and valid signals; an area determination module, configured to determine at least one detection coordinate according to the first signal, and determine the area where the robot is located according to the detection coordinate and the area ranges of the preset first area and the second area; wherein a line between any two signal sending ends is at least partially located in the first area, the first area is adjacent to the second area, and the danger level of the second area is lower than that of the first area; a first control module, configured to control the robot to perform a safety operation when it is determined that the robot is located in the second area through at least one invalid signal; The second control module is configured to control the robot to move along a preset path and perform a cleaning operation when it is determined that the robot is located in the second area through at least two valid signals.

14. A robot control device, characterized in that: include: one or more processors; A memory stores one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the robot control method as described in any one of claims 1-12.

15. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the robot control method according to any one of claims 1 to 12 when executed by a computer processor.

16. A positioning system, characterized in that: It comprises at least two signal sending terminals and a robot, wherein the robot is equipped with a signal receiving terminal, wherein: The signal sending end is used to send a first signal to the signal receiving end; The robot is used to receive first signals sent by at least two signal sending ends, and the signal categories of the first signals include invalid signals and valid signals; determine at least one detection coordinate according to the first signal, and determine the area where the robot is located according to the detection coordinate and the area range of the preset first area and the second area; wherein, the connection line between any two signal sending ends is at least partially located in the first area, the first area is adjacent to the second area, and the danger level of the second area is less than that of the first area; when it is determined that the robot is located in the second area through at least one invalid signal, the robot is controlled to perform a safe operation; when it is determined that the robot is located in the second area through at least two valid signals, the robot is controlled to move along a preset path and perform a cleaning operation.

Images