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

Abstract

The invention discloses a robot movement control method, device and equipment and a storage medium, and relates to the technical field of robots. According to the technical scheme, the method comprises the steps that a first signal is received, the first signal is used for determining the current position of the robot, the position comprises a second area adjacent to the first area, and the danger degree of the second area is smaller than that of the first area; under the condition that the first signal is determined to be an invalid signal and the current position of the robot is a second area, the robot is controlled to execute safe operation; and when it is determined that the first signal is the effective signal and the current position of the robot is the second area, the robot is controlled to move according to a preset path and execute cleaning operation. Through the technical means, the problem that whether the robot enters the forbidden zone or not cannot be accurately judged in the prior art is solved, and the operation safety and the operation efficiency of the robot are guaranteed.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot movement 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 movement 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 movement control method, comprising:

[0006] receiving a first signal, wherein the first signal is used to determine a current position of the robot, wherein the position includes a second area adjacent to the first area, and a danger level of the second area is lower than a danger level of the first area;

[0007] When it is determined that the first signal is an invalid signal and the current location of the robot is the second area, controlling the robot to perform a safety operation;

[0008] When it is determined that the first signal is a valid signal and the current position of the robot is the second area, the robot is controlled to move along a preset path and perform a cleaning operation.

[0009] In a second aspect, the present application provides a robot movement control device, comprising:

[0010] A first positioning module is configured to receive a first signal, wherein the first signal is used to determine a current position of the robot, wherein the position includes a second area adjacent to the first area, and a danger level of the second area is lower than a danger level of the first area;

[0011] A first control module is configured to control the robot to perform a safety operation when it is determined that the first signal is an invalid signal and the current location of the robot is the second area;

[0012] 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 first signal is a valid signal and the current location of the robot is a second area.

[0013] In a third aspect, the present application provides a robot movement control device, comprising:

[0014] 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 movement control method as described in the first aspect.

[0015] 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 movement control method as described in the first aspect.

[0016] In a fifth aspect, the present application provides a positioning system, including an ultra-wideband base station and a robot, wherein the robot is equipped with an ultra-wideband tag, wherein:

[0017] The ultra-wideband base station is used to send a first signal to the ultra-wideband tag;

[0018] The robot is used to receive a first signal, where the first signal is used to determine the current position of the robot, where the position includes a second area adjacent to the first area, and the danger level of the second area is less than that of the first area; when it is determined that the first signal is an invalid signal and the current position of the robot is the second area, the robot is controlled to perform a safe operation; when it is determined that the first signal is a valid signal and the current position of the robot is the second area, the robot is controlled to move along a preset path and perform a cleaning operation.

[0019] In the present application, based on receiving the first signal to determine the current position of the robot, the position includes a first area and a second area adjacent to the first area, and the danger level of the second area is less than that of the first area; if the current position of the robot is the second area and the first signal is an invalid signal, it is confirmed that the current position of the robot is not accurate enough, that is, the real position of the robot may be the first area containing the place where the dangerous accident occurred, so the robot is controlled to perform a safe operation to avoid the robot from moving to the place where the dangerous accident occurred in the first area, so as to ensure the safety of the robot's operation; if the current position of the robot is the second area and the first signal is a valid signal, it is confirmed that the current position of the robot is accurate, that is, the real position of the robot is the second area that does not contain the place where the dangerous accident occurred, 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a flow chart of a robot movement control method provided by an embodiment of the present application;

[0021] Figure 2 It is one of the schematic diagrams of the first area and the second area provided in the embodiment of the present application;

[0022] Figure 3 This is the second schematic diagram of the first area and the second area provided in the embodiment of the present application;

[0023] Figure 4 is one of the schematic diagrams of the robot, the first area and the second area provided in the embodiment of the present application;

[0024] Figure 5 This is the second schematic diagram of the robot, the first area and the second area provided in the embodiment of the present application;

[0025] Figure 6 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 7 is a flowchart of determining subsequent operations to be performed by the robot based on multiple first signals provided by an embodiment of the present application;

[0027] Figure 8 is a structural schematic diagram of a robot movement control device provided in an embodiment of the present application;

[0028] Fig. 9 It is a structural schematic diagram of a robot movement control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] 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.

[0030] The terms "first", "second", etc. in the specification and claims of this 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 where appropriate, 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 means at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship; "more than one" can be understood as at least 2.

[0031] 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.

[0032] To solve the above problems, this embodiment provides a robot movement control method to ensure the robot's operation safety and efficiency.

[0033] The robot movement control method provided in this embodiment can be executed by a robot movement 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 movement control device can be the robot itself or a processor of the robot.

[0034] The robot movement 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 movement 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 movement control device has at least an application that can execute the robot movement control method.

[0035] For ease of understanding, this embodiment is described by taking a robot as the main body for executing the robot movement control method as an example. And this embodiment is described by taking the robot moving in a scene with a larger area to perform cleaning operations as an example. Among them, there are at least a first area and a second area in the scene, the first area refers to an area containing a dangerous accident site, the second area refers to an area adjacent to the first area and the degree of danger is less than the first area, and the second area does not contain a dangerous accident site. In addition, since the robot will be in a moving state and / or there will be moving people and / or objects in the scene it is in, there will be various different objects on the transmission path of the signal it receives.

[0036] Figure 1 A flow chart of a robot movement control method provided by an embodiment of the present application is given. Figure 1 , the robot movement control method specifically includes:

[0037] S110, receiving a first signal, where the first signal is used to determine a current position of the robot, where the position includes a second area adjacent to the first area, and a danger level of the second area is lower than a danger level of the first area.

[0038] Among them, the first signal refers to a wireless signal transmitted between the signal transmitting and receiving ends. When the signal receiving end receives the first signal, the position of the signal receiving end 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.

[0039] This embodiment is described by taking the first signal as a UWB signal as an example. Exemplarily, the robot is provided with an ultra-wideband tag, and an ultra-wideband base station is provided in the robot's activity scene. The robot can receive the first signal sent by the ultra-wideband base station through the ultra-wideband tag, process the characteristic information of the first signal itself and / or the information carried, and obtain the distance between the robot and the ultra-wideband base station.

[0040] As for the first area and the second area, they may be areas divided by coordinate ranges, or areas divided with the ultra-wideband base station as the center.

[0041] This embodiment is described by taking the robot as a robot that performs cleaning operations in a shopping mall / transportation hub as an example. When the first area and the second area are areas divided by coordinate ranges, the coordinate range of the first area including the place where the dangerous accident occurred and the coordinate range of the second area set adjacent to the first area are planned in advance based on dangerous accident places such as escalators in the shopping mall. At least two ultra-wideband base stations are installed in the shopping mall. The ultra-wideband base station sends a first signal to the robot. After receiving the first signal, the robot processes the first signal to obtain the distance between the robot and the ultra-wideband base station. The robot determines the coordinates of the robot based on the distance between it and each ultra-wideband base station and the coordinates of the ultra-wideband base station, and compares the coordinates of the robot with the coordinate ranges of the first area and the second area, respectively, to determine whether the robot is located in the first area or the second area. Figure 2 is one of the schematic diagrams of the first area and the second area provided in the embodiment of the present application. Figure 2As shown, the first area 11 is a square area, and the second area 13 is formed around the first area 11. It should be noted that the first area can be not only a square but also any shape, and the shape and position of the first area can be 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 around the first area.

[0042] When the first area and the second area are areas divided with the ultra-wideband base station as the center, an ultra-wideband base station is installed near the place where dangerous accidents occur, such as escalators in shopping malls, and a circular area containing the place where dangerous accidents occur is planned with the ultra-wideband base station as the center, and the circular area is taken as the first area, and the outer circular ring area set adjacent to the circular area is taken as the second area. The ultra-wideband base station sends a first signal to the robot, and after the robot receives the first signal, it processes the first signal to obtain the distance between the robot and the ultra-wideband base station. If the distance between the robot and the ultra-wideband base station is less than or equal to the radius of the first area, it can be determined that the robot is located in the first area; if the distance between the robot and the ultra-wideband base station is greater than the first area and less than or equal to the radius of the second area, it can be determined that the robot is located in the second area. Among them, the radius of the second area is equal to the sum of the width of the corresponding outer circular ring area and the radius of the first area.

[0043] In the case where the shape of a dangerous accident site such as an escalator in a shopping mall tends to be strip-shaped, when the first area planned by an ultra-wideband base station is used to include the dangerous accident site, a larger first area will be divided. The first area will include a large cleaning area, and the robot cannot clean the cleaning area in the first area, affecting the cleaning effect of the robot. In this regard, multiple ultra-wideband base stations can be installed near the dangerous accident site, and the circular area corresponding to the multiple ultra-wideband base stations is used as the first area. In this embodiment, the first area includes multiple circular areas with the ultra-wideband base station as the center, and the circular area is adjacent to the outer ring area, and the second area includes an area in the outer ring area that does not overlap with the circular area; wherein the first signal is used to indicate the distance between the robot and the ultra-wideband base station that sends the first signal, so as to determine the current position of the robot. Figure 3 Schematic diagram of the first area and the second area provided in the embodiment of the present application. Figure 3 As shown, two ultra-wideband base stations 12 are installed in the first area 11 (gray area), and two circular areas are planned corresponding to the two ultra-wideband base stations 12, and the union of the two circular areas is the first area 11. The outer circular area adjacent to the circular area corresponding to the ultra-wideband base station 12, and the union of the areas in the two outer circular areas that do not overlap with the circular area is the second area 13 (white area).

[0044] It can be seen from the above content that when the ultra-wideband base station corresponds to a circular area and an outer ring area, the first area includes at least one circular area with the ultra-wideband base station as the center. Correspondingly, when the first area includes a circular area with the ultra-wideband base station as the center, the first area is the circular area corresponding to the ultra-wideband base station, and the second area is the outer ring area corresponding to the ultra-wideband base station. When the first area includes multiple circular areas with the ultra-wideband base station as the center, the first area is the union of the circular areas corresponding to the multiple ultra-wideband base stations, and the second area is the union of the areas in the outer ring areas corresponding to the multiple ultra-wideband base stations that do not overlap with the circular areas.

[0045] In one embodiment, a third area is disposed 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, and the third area can also be regarded as an area other than the first area and the second area. Similarly, the third area can be an area divided by a coordinate range, or an area divided with an ultra-wideband base station as the center. When the third area is an area divided by a coordinate range, the robot can be determined to be located in the third area when the coordinates of the robot fall within the coordinate range of the third area; when the third area is an area divided by an ultra-wideband base station as the center, the robot can be determined to be located in the third area when the distance between the robot and the ultra-wideband base station is greater than the radius of the second area.

[0046] In one embodiment, when the first area includes at least two circular areas with the ultra-wideband base station as the center and the second area includes an area in the outer ring area that does not overlap with the circular area, the received multiple first signals are processed to parse the distance between the robot and the ultra-wideband base station that sends the first signal, and the robot is determined to be located in the first area, the second area, or the third area according to the distance between the robot and each ultra-wideband base station and the radius of the circular area formed by the ultra-wideband base station and the radius of the outer ring. The specific implementation process is: when the distance between the robot and any ultra-wideband base station is less than the radius of the corresponding circular area, the robot is determined to be located in the first area; when the distance between the robot and each ultra-wideband base station is greater than the radius of the corresponding circular area, and the distance between the robot and any ultra-wideband base station is less than the radius of the corresponding outer ring area, the robot is determined to be located in the second area; when the distance between the robot and each ultra-wideband base station is greater than the radius of the corresponding outer ring area, the robot is determined to be located in the third area.

[0047] refer to Figure 3, according to the location where the dangerous accident occurs, the radius of the circular area corresponding to the ultra-wideband base station A is planned in advance as R1a, the radius of the outer circular ring area adjacent to the circular area corresponding to the ultra-wideband base station A is R2a, the radius of the circular area corresponding to the ultra-wideband base station B is R1b, and the radius of the outer circular ring area adjacent to the circular area corresponding to the ultra-wideband base station B is R2b. The robot saves the radius of the circular area corresponding to each ultra-wideband base station and the radius of the outer circular ring area. Among them, the radius of the outer circular ring area is equal to the sum of the radius of the corresponding circular area and the width of the outer circular ring. When the robot receives the first signal sent by the ultra-wideband base station, it can parse the first signal to obtain the device identification of the ultra-wideband base station that sends the first signal, and the ultra-wideband base station that sends the first signal can be determined according to the device identification. When the robot receives the first signal sent by the ultra-wideband base station A and the ultra-wideband base station B, the distance between the robot and the ultra-wideband station A and the distance between the robot and the ultra-wideband base station B are determined according to the received first signal. If the distance between the robot and the ultra-wideband base station A is less than R1a or the distance between the robot and the ultra-wideband base station B is less than R1b, it can be determined that the robot is located in the circular area corresponding to the ultra-wideband base station A or the robot is located in the circular area corresponding to the ultra-wideband base station B, and then the robot is determined to be located in the first area 11. If the distance between the robot and the ultra-wideband base station A is greater than R1a and less than R2a or the distance between the robot and the ultra-wideband base station B is greater than R1b and less than R2b, it can be determined that the robot is located in the outer circular ring area corresponding to the ultra-wideband base station A that does not overlap with other circular ring areas, or the robot is located in the outer circular ring area corresponding to the ultra-wideband base station B that does not overlap with other circular ring areas, and then the robot is determined to be located in the second area 13. If the distance between the robot and the ultra-wideband base station A is greater than R2a and the distance between the robot and the ultra-wideband base station B is greater than R2b, it can be determined that the robot is neither located in the outer circular ring area nor in the circular ring area, and then the robot is determined to be located in the third area.

[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] S120. When it is determined that the first signal is an invalid signal and the robot is currently located in the second area, control the robot to perform a safety operation; when it is determined that the first signal is a valid signal and the robot is currently located in the second area, control the robot to move along a preset path and perform a cleaning operation.

[0050] In this embodiment, an invalid signal refers to a wireless signal whose distance value obtained by processing is greater than the actual distance between the signal transceiver ends, and a valid signal refers to a wireless signal whose distance value obtained by processing is approximately equal to the actual distance between the signal transceiver ends. 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 ends. 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. If the first signal is not interfered, the first signal is determined to be a valid signal.

[0051] 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 4 and Figure 5 Schematic diagram of the robot, the first area and the second area provided in the embodiment of the present application. Figure 4 As shown, the first area 11 is the circular area corresponding to the ultra-wideband base station 12, and the second area 13 is the outer ring area arranged adjacent to the circular area. When there is no obstacle 17 on the straight path 16 between the ultra-wideband tag 14 and the ultra-wideband base station 12, at least one of the multiple radio frequency signals sent by the ultra-wideband tag 14 is transmitted to the ultra-wideband base station 12 based on the straight path 16. The first signal is the optimal radio frequency signal received from the ultra-wideband base station as an ultra-wideband tag. The radio frequency signal corresponding to the first signal is transmitted to the ultra-wideband base station 12 based on the straight path 16. The first signal is processed to obtain a distance value approximately equal to the actual distance between the robot 15 and the ultra-wideband base station 12. As shown in FIG. Figure 5 As shown, when there is an obstacle 17 in the straight path 16 between the ultra-wideband tag 14 and the ultra-wideband base station 12, the multiple radio frequency signals sent by the ultra-wideband tag 14 will be transmitted to the ultra-wideband base station 12 based on the obstacle bypass path 18 when encountering the obstacle 17. At this time, the radio frequency signal corresponding to the first signal is not transmitted to the ultra-wideband base station 12 based on the straight path 16, and the distance value obtained by processing the first signal is greater than the actual distance between the robot 15 and the ultra-wideband base station 12. 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 16 and is transmitted to the ultra-wideband base station 12. If the thickness of the obstacle on the straight path 16 is small and is made of a material with poor signal isolation ability, the radio frequency signal can quickly pass through the obstacle. 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 15 and the ultra-wideband base station 12. If the thickness of the obstacle on the straight path 16 is large or the signal isolation ability of the material is strong, then the time required for the radio frequency signal corresponding to the first signal to pass through the obstacle is long. Accordingly, the error between the distance value obtained by processing the first signal and the actual distance is large, and the distance value obtained by processing the first signal is greater than the actual distance between the robot 15 and the ultra-wideband base station 12.

[0052] 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 a valid signal; wherein the signal penetration ability of the second obstacle is greater than the signal penetration ability of the first obstacle. Reference Figure 4 and Figure 5 , the straight transmission path of the first signal refers to the straight path 16 between the robot 15 and the ultra-wideband base station 12. 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 placed on the straight transmission path causes the robot 15 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 first obstacle mentioned above; similarly, if the obstacle placed on the straight transmission path causes the robot 15 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 second obstacle mentioned above.

[0053] Then, when there is a first obstacle on the straight path 16, the radio frequency signal corresponding to the first signal is either transmitted to the ultra-wideband base station 12 through the obstacle bypassing path 18, 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 15 and the ultra-wideband base station 12. When there is a second obstacle or no obstacle on the straight path 16, the radio frequency signal corresponding to the first signal is quickly transmitted to the ultra-wideband base station 12 along the straight path 16 through the second obstacle, and the distance value obtained by processing the first signal is approximately equal to the actual distance between the robot 15 and the ultra-wideband base station 12.

[0054] 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 currently received first signal is a valid signal or an invalid signal based on the stability of the distance value corresponding to the most recently received first signal and the attenuation corresponding to the intensity of the currently received first signal.

[0055] 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.

[0056] However, it is not ruled out 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, based on the distance value corresponding to the first signal received continuously recently, the first signal is independently judged to be a valid signal, which can meet the recognition and detection accuracy of certain scenarios. However, for the scenario where there is always 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, the accuracy is difficult to guarantee. Therefore, this embodiment can also judge whether the first signal is a valid signal in combination with the attenuation corresponding to the intensity of the currently received first signal.

[0057] 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 15 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 UWB tag and the UWB base station, compared with the RF signal corresponding to the first signal, other RF signals emitted simultaneously will go around the obstacle in a larger range or pass through the obstacle before reaching the UWB 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 UWB tag and the UWB 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 UWB tag and the UWB 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, only by independently judging whether the first signal is a valid signal through the attenuation of the intensity between the first signal and the second signal of the same batch, the recognition and detection accuracy of certain scenes can be met, but for the scene when the obstacle with a large thickness or a material with a strong signal isolation ability just moves to the straight path between the UWB tag and the UWB base station, the accuracy is difficult to guarantee.

[0058] Figure 6 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 6 As shown, the step of determining whether the first signal is an invalid signal or a valid signal specifically includes S1201-S1203:

[0059] S1201. Process a first signal to obtain a corresponding distance value, and obtain a plurality of continuous distance values ​​before receiving the first signal.

[0060] 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 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 ultra-wideband tag receives the first signal within the time sliding window 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 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 at ten consecutive time points of T1, T2, ..., T9 and T10 within T10-ΔT to T10 (wherein 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 obtained by processing the currently received first signal and the continuous distance values ​​obtained by processing before receiving the first signal.

[0061] S1202: When the stability corresponding to the acquired distance value does not satisfy a stability condition and / or the attenuation corresponding to the intensity of the first signal does not satisfy an attenuation condition, determine that the first signal is an invalid signal.

[0062] S1203: 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] When the first signal is a valid signal, the current position of the robot can be understood as the real position. To ensure the operation safety of the robot, when it is determined that the real position of the robot is located in the first area containing the place where the dangerous accident occurred, the robot can be controlled to perform safe operations; to ensure the operation efficiency of the robot, when it is determined that the real position of the robot is located in the second area or the third area that does not contain the place where the dangerous accident occurred, the robot can be controlled to move according to the preset path and perform cleaning operations.

[0069] When the first signal is a valid signal and the robot is currently located in the second area, indicating that the robot's actual position is within the second area that does not include the location where a dangerous accident occurs, the robot can move according to a preset path and perform cleaning operations to clean the second area, thereby avoiding expanding the scope of the dangerous area and causing some areas to remain uncleaned, thereby ensuring the cleaning effect of the robot.

[0070] When the first signal is an invalid signal and the current position of the robot is the second area, it indicates that 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 new first signal is a valid signal and the current position of the robot is determined to be the second area based on the new first signal, 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 the new first signal is a valid signal and the current position of the robot is determined to be the first area based on the new first signal, 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 has entered the restricted area, so that the staff can manually control the robot to stay away from the dangerous area.

[0071] It should be noted that regardless of whether the first signal is an invalid signal or a valid signal, the distance parsed based on the first signal is generally not less than the actual distance between the robot and the ultra-wideband base station that sends the first signal. When the robot is confirmed to be located in the first area based on the distance between the robot and the ultra-wideband base station being less than the radius of the circular area corresponding to the ultra-wideband base station, the actual distance between the robot and the ultra-wideband base station will also be less than or equal to the radius of the circular area corresponding to the ultra-wideband base station, so it can be determined that the actual position of the robot is located in the first area. Accordingly, when it is determined that the current position of the robot is the first area, the robot is controlled to perform safety 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, a warning message that the robot has entered a restricted area can be reported so that the staff can manually control the robot to move away from the first area.

[0072] In the case where the second area is composed of the outer ring area corresponding to the ultra-wideband base station, the width of the outer ring area can be understood as the maximum difference between the distance parsed based on the first signal and the actual distance between the robot and the ultra-wideband base station that sends the first signal. Regardless of whether the first signal is an invalid signal or a valid signal, when the robot is confirmed to be located in the third area based on the distance between the robot and the ultra-wideband base station being greater than the radius of the outer ring area corresponding to the ultra-wideband base station, the actual distance between the robot and the ultra-wideband base station will still be greater than the radius of the circular area corresponding to the ultra-wideband base station, so it can be determined that the real position of the robot is located in the second area or the third area that does not include the place where the dangerous accident occurred. Accordingly, when it is determined that the current position of the robot is the third area, the robot is controlled to move according to the preset path and perform the cleaning operation. When the real position of the robot is located in the second area or the third area that does not include the place where the dangerous accident occurred, the robot can be controlled to continue to perform the cleaning operation to improve the cleaning efficiency and cleaning area of ​​the robot.

[0073] In one embodiment, the current position of the robot can be determined first and then the first signal can be determined to be a valid signal or an invalid signal. When the current position of the robot is the first area or the third area, the robot can be controlled to perform a safe operation or a cleaning operation without having to determine whether the first signal is a valid signal or an invalid signal, which greatly improves the processing efficiency of the robot. In another embodiment, the first signal can also be determined to be a valid signal or an invalid signal before the current position of the robot is determined, because 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 current position of the robot is determined by the smoothed distance value, 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 smoothed distance value 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. The distance is compared with the radius of the circular area corresponding to the ultra-wideband base station and the radius of the outer ring area to determine the current position of the robot.

[0074] In one embodiment, when multiple ultra-wideband base stations are set up in a shopping mall, first signals sent by multiple ultra-wideband base stations will be received. If it is determined that the robot is located in the second area based on the distance corresponding to the received first signal, the first signal sent by the ultra-wideband base station corresponding to the outer ring area where the robot is located can be filtered out from the multiple received first signals, and the subsequent execution operation of the robot can be determined based on whether the first signal is an invalid signal or a valid signal. Figure 7 1 is a flowchart of determining the subsequent operation of the robot based on multiple first signals provided by an embodiment of the present application. Figure 7 As shown, the step of determining the subsequent operation to be performed by the robot based on the multiple first signals specifically includes S1301-S1303:

[0075] S1301. When the robot is currently located in the second area, a first signal whose corresponding distance is greater than the radius of the circular area corresponding to the ultra-wideband base station and less than the radius of the outer ring area is determined as the first signal sent by the ultra-wideband base station corresponding to the outer ring area where the robot is located.

[0076] refer to Figure 3, if the distance corresponding to the first signal sent by ultra-wideband base station A is greater than the radius of the circular area corresponding to ultra-wideband base station A and less than the radius of the outer circular area, it can be determined that the robot is located in the outer circular area of ​​ultra-wideband base station A. Similarly, if the distance corresponding to the first signal sent by ultra-wideband base station B is greater than the radius of the circular area corresponding to ultra-wideband base station B and less than the radius of the outer circular area, it can be determined that the robot is located in the outer circular area of ​​ultra-wideband base station B. Figure 3 It can be seen that the robot can be located in the outer ring area of ​​multiple ultra-wideband base stations at the same time.

[0077] It is easy to understand that if the robot is located in the outer circular area of ​​the ultra-wideband base station A and in the area outside the outer circular area of ​​the ultra-wideband base station B, the robot is far away from the corresponding circular area with respect to the ultra-wideband base station B, and the robot is safe relative to the circular area of ​​the ultra-wideband base station B, so there is no need to determine whether the first signal sent by the ultra-wideband base station B is a valid signal or an invalid signal to verify whether the real position of the robot is far away from the circular area of ​​the ultra-wideband base station B. That is, it is only necessary to determine whether the first signal sent by the ultra-wideband base station A is a valid signal or an invalid signal to verify whether the real position of the robot is in the circular area or the outer circular area of ​​the ultra-wideband base station A, and then determine whether the real position of the robot is the first area or the second area.

[0078] S1302: If any first signal among the first signals sent by the ultra-wideband base station corresponding to the outer circular ring area where the robot is located is an invalid signal, control the robot to perform a safety operation.

[0079] refer to Figure 3 , assuming that the current robot is located in the outer ring area of ​​ultra-wideband base station A and the outer ring area of ​​ultra-wideband base station B, if the first signal sent by ultra-wideband base station A is an invalid signal, it indicates that the real position of the robot may be located in the circular area or the outer ring area of ​​ultra-wideband base station A; similarly, if the first signal sent by ultra-wideband base station B is an invalid signal, it indicates that the real position of the robot may be located in the circular area or the outer ring area of ​​ultra-wideband base station B. Therefore, when it is uncertain whether the real position of the robot is in the first area or the second area, the robot is controlled to stop moving or move in the reverse direction, and transmits a radio frequency signal 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.

[0080] S1303: If the first signals sent by the ultra-wideband base station corresponding to the outer ring area where the robot is located are all valid signals, the robot is controlled to move along a preset path and perform a cleaning operation.

[0081] refer to Figure 3, assuming that the current robot is located in the outer ring area of ​​ultra-wideband base station A and the outer ring area of ​​ultra-wideband base station B, if the first signals sent by ultra-wideband base station A and ultra-wideband base station B are both valid signals, it can be determined that the actual position of the robot is located in the outer ring area of ​​ultra-wideband base station A and ultra-wideband base station B, and then the actual position of the robot is determined to be located in the second area. The robot can move according to the preset path and perform cleaning operations to clean the second area, avoiding expanding the range of the dangerous area and causing some areas to be left uncleaned, thereby ensuring the cleaning effect of the robot.

[0082] In one embodiment, when the robot is far away from the first area, the robot's ultra-wideband tag sends a radio frequency signal at a lower signal transmission frequency to reduce the power consumption of the ultra-wideband tag. The specific implementation process is: when the distance between the robot and each ultra-wideband base station is greater than the preset distance threshold, the signal transmission frequency of the ultra-wideband tag is adjusted to the first frequency value; when the distance between the robot and any ultra-wideband base station is less than or equal to the preset distance threshold, the signal transmission frequency of the ultra-wideband tag is adjusted to the second frequency value, and the second frequency value is greater than the first frequency value. Among them, the preset distance threshold is the distance between the robot and the ultra-wideband base station when the robot set in this embodiment is far away from the first area. Regardless of whether the first signal is a valid signal or an invalid signal, if the currently detected first distance is greater than the preset distance threshold, it indicates that the robot is far away from the first area, and the robot will not move to the vicinity of the first area in a short time. At this time, the ultra-wideband tag sends a radio frequency signal at the first frequency value. If the currently detected first distance is less than or equal to the preset distance threshold, it indicates that the robot is close to the first area and may be about to move to the vicinity of the first area. At this time, the ultra-wideband tag is adjusted from the first frequency value to the second frequency value, and the ultra-wideband tag sends a radio frequency signal to the ultra-wideband base station at a high frequency, so that the robot can accurately determine the relative position of the robot and the restricted area during the movement process, thereby ensuring the positioning accuracy. It can be seen that the solution of this embodiment can reduce the power consumption of the system while ensuring the positioning accuracy, so as to improve the endurance of the robot.

[0083] In summary, the robot movement control method provided in the embodiment of the present application is based on receiving a first signal to determine the current position of the robot, and the position includes a first area and a second area adjacent to the first area, and the danger level of the second area is less than that of the first area; if the current position of the robot is the second area and the first signal is an invalid signal, it is confirmed that the current position of the robot is not accurate enough, that is, the actual position of the robot may be the first area including the place where a dangerous accident occurs, and the robot is controlled to perform safety operations to avoid the robot from moving to the place where a dangerous accident occurs in the first area, thereby ensuring the safety of the robot's operation; if the current position of the robot is the second area and the first signal is a valid signal, it is confirmed that the current position of the robot is accurate, that is, the actual position of the robot is the second area that does not include the place where a dangerous accident occurs, and the robot is controlled to move according to a preset path and perform cleaning operations, thereby ensuring the robot's operation efficiency.

[0084] Based on the above embodiments, Figure 8 This is a schematic diagram of the structure of a robot movement control device provided in an embodiment of the present application. Figure 8 The robot movement control device provided in this embodiment specifically includes: a first positioning module 21, a first control module 22, and a second control module 23.

[0085] The first positioning module 21 is configured to receive a first signal, the first signal is used to determine the current position of the robot, the position includes a second area adjacent to the first area, and the danger level of the second area is less than the danger level of the first area;

[0086] The first control module 22 is configured to control the robot to perform a safety operation when it is determined that the first signal is an invalid signal and the current position of the robot is in the second area;

[0087] The second control module 23 is configured to control the robot to move along a preset path and perform a cleaning operation when it is determined that the first signal is a valid signal and the current position of the robot is the second area.

[0088] Based on the above embodiments, the robot movement control device also includes: a third control module, configured to control the robot to perform safety operations when it is determined that the current position of the robot is 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 it is determined that the current position of the robot is 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.

[0089] On the basis of the above embodiments, the robot movement control device includes a first signal judgment module, and the first signal judgment module includes: a first invalid signal determination unit, 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; and / or, a first valid signal determination unit, 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.

[0090] On the basis of the above embodiment, the robot movement control device includes a second signal judgment module, and the second signal judgment module includes: a distance value acquisition unit, configured to process the first signal to obtain a corresponding distance value, and obtain multiple continuous distance values ​​before receiving the first signal; a second invalid signal determination unit, 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 unit, 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.

[0091] Based on the above embodiment, the second signal judgment module includes: a fluctuation amplitude determination unit, configured to determine the fluctuation amplitude between each two consecutive distance values ​​based on the acquired distance value; a stability condition judgment unit, 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.

[0092] Based on the above embodiment, the second signal judgment module includes: an attenuation degree determination unit, 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 unit, 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.

[0093] Based on the above embodiment, the attenuation degree determination unit includes: an attenuation degree determination subunit 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.

[0094] Based on the above embodiment, the first positioning module 21 includes: a smoothing processing unit, configured to smooth the acquired distance value to obtain a smoothed distance value when the first signal is a valid signal; the first positioning unit is configured to determine the current position of the robot through the smoothed distance value when the smoothed distance value is less than the distance value obtained by processing the first signal.

[0095] Based on the above embodiment, the first area includes multiple circular areas with the ultra-wideband base station as the center, and the circular areas are adjacent to outer ring areas. The second area includes areas in the outer ring areas that do not overlap with the circular areas; wherein the first signal is used to indicate the distance between the robot and the ultra-wideband base station that sends the first signal, so as to determine the current position of the robot.

[0096] On the basis of the above embodiment, the first positioning module 21 includes: a second positioning unit, configured to determine that the robot is located in the first area when the distance between the robot and any ultra-wideband base station is less than the radius of the corresponding circular area; a third positioning unit, configured to determine that the robot is located in the second area when the distance between the robot and each ultra-wideband base station is greater than the radius of the corresponding circular area, and the distance between the robot and any ultra-wideband base station is less than the radius of the corresponding outer ring area; a fourth positioning unit, configured to determine that the robot is located in the third area when the distance between the robot and each ultra-wideband base station is greater than the radius of the corresponding outer ring area.

[0097] On the basis of the above embodiments, the robot movement control device includes: a signal screening module, which is configured to, when the current position of the robot is in the second area, determine the first signal whose corresponding distance is greater than the radius of the circular area corresponding to the ultra-wideband base station and less than the radius of the outer ring area as the first signal sent by the ultra-wideband base station corresponding to the outer ring area where the robot is located; a fifth control module, which is configured to control the robot to perform a safe operation if any first signal among the first signals sent by the ultra-wideband base station corresponding to the outer ring area where the robot is located is an invalid signal; and a sixth control module, which is configured to control the robot to move according to a preset path and perform a cleaning operation if all the first signals sent by the ultra-wideband base station corresponding to the outer ring area where the robot is located are valid signals.

[0098] On the basis of the above embodiment, the robot is provided with an ultra-wideband tag, and the robot receives a first signal sent by an ultra-wideband base station through the ultra-wideband tag; accordingly, the robot movement control device includes: a first frequency adjustment module, configured to adjust the signal sending frequency of the ultra-wideband tag to a first frequency value when the distance between the robot and each ultra-wideband base station is greater than a preset distance threshold; a second frequency adjustment module, configured to adjust the signal sending frequency of the ultra-wideband tag to a second frequency value when the distance between the robot and any ultra-wideband base station is less than or equal to a preset distance threshold, and the second frequency value is greater than the first frequency value.

[0099] As mentioned above, the robot movement control device provided in the embodiment of the present application determines the current position of the robot based on receiving the first signal, and the position includes a first area and a second area adjacent to the first area, and the danger level of the second area is less than that of the first area; if the current position of the robot is the second area and the first signal is an invalid signal, it is confirmed that the current position of the robot is not accurate enough, that is, the actual position of the robot may be the first area including the place where the dangerous accident occurred, so the robot is controlled to perform safety operations to avoid the robot from moving to the place where the dangerous accident occurred in the first area, thereby ensuring the safety of the robot's operation; if the current position of the robot is the second area and the first signal is a valid signal, it is confirmed that the current position of the robot is accurate, that is, the actual position of the robot is the second area that does not include the place where the dangerous accident occurred, so the robot is controlled to move according to the preset path and perform cleaning operations, thereby ensuring the robot's operation efficiency.

[0100] The robot movement control device provided in the embodiment of the present application can be used to execute the robot movement control method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0101] Fig. 9 is a schematic diagram of a robot mobile control device provided in an embodiment of the present application, with reference to Fig. 9 The robot movement control device includes: a processor 31, a memory 32, a communication device 33, an input device 34 and an output device 35. The number of processors 31 in the robot movement control device can be one or more, and the number of memories 32 in the robot movement control device can be one or more. The processor 31, memory 32, communication device 33, input device 34 and output device 35 of the robot movement control device can be connected through a bus or other methods.

[0102] The memory 32, 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 movement control method of any embodiment of the present application (for example, the first positioning module 21, the first control module 22, and the second control module 23 in the robot movement control device). The memory 32 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 32 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.

[0103] The communication device 33 is used for data transmission.

[0104] The processor 31 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 32, that is, realizes the above-mentioned robot movement control method.

[0105] The input device 34 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 35 may include a display device such as a display screen.

[0106] The robot movement control device provided above can be used to execute the robot movement control method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0107] The embodiment of the present application also provides a positioning system, which includes an ultra-wideband base station and a robot, and the robot is equipped with an ultra-wideband tag. The ultra-wideband base station is used to send a first signal to the ultra-wideband tag; the robot is used to receive the first signal, and the first signal is used to determine the current position of the robot, the position includes a second area set adjacent to the first 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 first signal is an invalid signal and the current position of the robot is the second area, the robot is controlled to perform a safe operation; when it is determined that the first signal is a valid signal and the current position of the robot is the second area, the robot is controlled to move according to a preset path and perform a cleaning operation.

[0108] The robot in the positioning system provided above can be used to execute the robot movement control method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0109] An embodiment of the present application also provides a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to execute a robot movement control method, the robot movement control method comprising: receiving a first signal, the first signal being used to determine the current position of the robot, the position including a second area adjacent to the first area, the danger level of the second area being less than the danger level of the first area; when it is determined that the first signal is an invalid signal and the current position of the robot is the second area, controlling the robot to perform a safety operation; when it is determined that the first signal is a valid signal and the current position of the robot is the second area, controlling the robot to move along a preset path and perform a cleaning operation.

[0110] 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.

[0111] Of course, the storage medium containing computer executable instructions provided in the embodiment of the present application, whose computer executable instructions are not limited to the above robot movement control method, can also execute related operations in the robot movement control method provided in any embodiment of the present application.

[0112] The robot movement control device, storage medium, positioning system and robot movement control equipment provided in the above embodiments can execute the robot movement 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 movement control method provided in any embodiment of the present application.

[0113] 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 also 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 movement control method, It is characterized in that include: receiving a first signal, wherein the first signal is used to determine a current position of the robot, wherein the position includes a second area adjacent to the first area, and a danger level of the second area is lower than a danger level of the first area; When it is determined that the first signal is an invalid signal and the current location of the robot is the second area, controlling the robot to perform a safety operation; When it is determined that the first signal is a valid signal and the current position of the robot is the second area, the robot is controlled to move along a preset path and perform a cleaning operation.

2. The robot movement control method according to claim 1, It is characterized in that Also includes: When determining that the current location of the robot is the first area, controlling the robot to perform a safety operation; and / or, When it is determined that the current position of the robot is 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 movement control method according to claim 1 or 2, It is characterized in that The determining that the first signal is an invalid signal 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; And / or, determining that the first signal is a valid signal includes: 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 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 movement control method according to claim 1 or 2, It is characterized in that Also includes: Processing the first signal to obtain a corresponding distance value, obtaining a plurality of continuous distance values ​​before receiving the first signal; 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 movement control method according to claim 4, It is 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 movement control method according to claim 4, It is 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 movement control method according to claim 6, It is 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 movement control method according to claim 4, It is characterized in that The method further comprises: In the case where the first signal is a valid signal, smoothing the acquired distance value to obtain a smoothed distance value; When the distance value after smoothing is smaller than the distance value obtained by processing the first signal, the current position of the robot is determined by the distance value after smoothing.

9. The robot movement control method according to claim 1 or 2, It is characterized in that The first area includes at least one circular area with the ultra-wideband base station as the center, and an outer ring area is arranged adjacent to the circular area. The second area includes an area in the outer ring area that does not overlap with the circular area; wherein the first signal is used to indicate the distance between the robot and the ultra-wideband base station that sends the first signal, so as to determine the current position of the robot.

10. The robot movement control method according to claim 9, It is characterized in that The number of the ultra-wideband base stations is at least 2, and the determining the current position of the robot comprises: When the distance between the robot and any of the ultra-wideband base stations is less than the radius of the corresponding circular area, determining that the robot is located in the first area; When the distance between the robot and each of the ultra-wideband base stations is greater than the radius of the corresponding circular area, and the distance between the robot and any of the ultra-wideband base stations is less than the radius of the corresponding outer ring area, it is determined that the robot is located in the second area; When the distance between the robot and each of the ultra-wideband base stations is greater than the radius of the corresponding outer ring area, it is determined that the robot is located in the third area.

11. The robot movement control method according to claim 10, It is characterized in that The method further comprises: When the current location of the robot is the second area, the first signal corresponding to a distance greater than the radius of the circular area corresponding to the ultra-wideband base station and less than the radius of the outer circular area is determined as the first signal sent by the ultra-wideband base station corresponding to the outer circular area where the robot is located; If any first signal among the first signals sent by the ultra-wideband base station corresponding to the outer ring area where the robot is located is an invalid signal, controlling the robot to perform a safe operation; If the first signals sent by the ultra-wideband base station corresponding to the outer ring area where the robot is located are all valid signals, the robot is controlled to move according to the preset path and perform the cleaning operation.

12. The robot movement control method according to claim 9, It is characterized in that The robot is provided with an ultra-wideband tag, and the robot receives a first signal sent by the ultra-wideband base station through the ultra-wideband tag; accordingly, the method further includes: When the distance between the robot and each of the ultra-wideband base stations is greater than a preset distance threshold, adjusting the signal transmission frequency of the ultra-wideband tag to a first frequency value; When the distance between the robot and any of the ultra-wideband base stations is less than or equal to a preset distance threshold, the signal sending frequency of the ultra-wideband tag is adjusted to a second frequency value, and the second frequency value is greater than the first frequency value.

13. A robot movement control device, It is characterized in that include: A first positioning module is configured to receive a first signal, wherein the first signal is used to determine a current position of the robot, wherein the position includes a second area adjacent to the first area, and a danger level of the second area is lower than a danger level of the first area; A first control module is configured to control the robot to perform a safety operation when it is determined that the first signal is an invalid signal and the current location of the robot is the second area; 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 first signal is a valid signal and the current location of the robot is a second area.

14. A robot movement control device, It is 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 movement control method as described in any one of claims 1-12.

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

16. A positioning system, It is characterized in that The invention comprises an ultra-wideband base station and a robot, wherein the robot is equipped with an ultra-wideband tag, wherein: The ultra-wideband base station is used to send a first signal to the ultra-wideband tag; The robot is used to receive a first signal, where the first signal is used to determine the current position of the robot, where the position includes a second area adjacent to the first area, and the danger level of the second area is less than that of the first area; when it is determined that the first signal is an invalid signal and the current position of the robot is the second area, the robot is controlled to perform a safe operation; when it is determined that the first signal is a valid signal and the current position of the robot is the second area, the robot is controlled to move along a preset path and perform a cleaning operation.

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