Auxiliary landmark positioning method and device of mobile robot, robot and medium

Abstract

The invention discloses an auxiliary landmark positioning method and device for a mobile robot, the robot and a medium. The method comprises the following steps: determining a first path area and a second path area corresponding to a current map; controlling the mobile robot to operate in the first path area based on laser matching positioning; when the mobile robot runs to the second path area, acquiring positioning pose information corresponding to the mobile robot based on a preset landmark component in the second path area; the mileage information of the mobile robot is obtained, positioning updating is conducted on the mobile robot according to the positioning pose information and the mileage information, and the mobile robot is controlled to operate on the basis of a positioning result obtained through positioning updating. Therefore, the positioning precision and reliability of the mobile robot in the area are improved.

Description

Technical Field

[0001] The present invention relates to the field of robot positioning technology, and in particular to an auxiliary landmark positioning method, device, robot and medium for a mobile robot. Background Art

[0002] In the existing mobile robot positioning technology, usually only laser matching can achieve accurate positioning of the robot. However, in actual application, especially in complex and changeable environments and large scene changes, traditional positioning methods that rely solely on laser matching may be affected by factors such as ambient light and obstacles, resulting in reduced positioning accuracy. It is easy to lose positioning due to mismatch with the current map. As a result, traditional positioning methods that rely solely on laser matching are difficult to ensure positioning accuracy and reliability in variable path areas with high positioning loss rates. Summary of the invention

[0003] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art, and to provide a method, device, robot and medium for auxiliary landmark positioning of a mobile robot, which can perform positioning based on auxiliary landmarks in a variable path area with a high positioning loss rate, so as to improve the positioning accuracy and reliability of the mobile robot in the area.

[0004] In the first aspect, an embodiment of the present invention provides a landmark-assisted positioning method for a mobile robot, comprising: determining a first path area and a second path area corresponding to a current map; controlling the operation of the mobile robot based on laser matching positioning in the first path area; when the mobile robot runs to the second path area, obtaining the positioning posture information corresponding to the mobile robot based on the landmark components preset in the second path area; obtaining the mileage information of the mobile robot, and updating the positioning of the mobile robot according to the positioning posture information and the mileage information, so as to control the operation of the mobile robot based on the positioning result obtained by the positioning update.

[0005] In some embodiments, the landmark component includes a reflective plate component or a QR code component.

[0006] In some embodiments, when the landmark component is the reflector component, the obtaining of the positioning posture information corresponding to the mobile robot based on the landmark component preset in the second path area includes: when the mobile robot scans and recognizes the reflector component preset in the second path area, obtaining reflector identification information corresponding to the reflector assembly; obtaining posture information matching the reflector identification information based on a preset reflector posture information database, and determining the posture information as the positioning posture information corresponding to the mobile robot.

[0007] In some embodiments, when the landmark component is the QR code component, the obtaining of the positioning posture information corresponding to the mobile robot based on the landmark component preset in the second path area includes: when the mobile robot scans and identifies the QR code component preset in the second path area, obtaining the QR code identification information corresponding to the QR code component; obtaining the posture information corresponding to the QR code identification information based on a preset QR code posture information database, and determining the posture information as the positioning posture information corresponding to the mobile robot.

[0008] In some embodiments, the positioning update of the mobile robot based on the positioning posture information and the mileage information includes: calculating the robot position information corresponding to the positioning posture information based on a preset positioning algorithm; and updating the odometer data and map offset data of the mobile robot based on the robot position information and the mileage information.

[0009] In some embodiments, determining the first path area and the second path area corresponding to the current map includes: obtaining map information of the current map; determining the first path area and the second path area corresponding to the current map according to the positioning loss rate of each area in the map information, wherein the positioning loss rate of the first path area is less than the positioning loss rate of the second path area.

[0010] In some embodiments, before the mobile robot runs to the second path area, the method further includes: obtaining identification information corresponding to multiple landmark components preset in the second path area, and storing posture information corresponding to the multiple identification information in a preset database.

[0011] In a second aspect, an embodiment of the present invention provides an auxiliary landmark positioning device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the auxiliary landmark positioning method for a mobile robot as described in the embodiment of the first aspect above.

[0012] In a third aspect, an embodiment of the present invention provides a mobile robot, comprising the auxiliary landmark positioning device as described in the embodiment of the second aspect above.

[0013] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the auxiliary landmark positioning method for a mobile robot as described in the embodiment of the first aspect above.

[0014] The auxiliary landmark positioning method, device, robot and medium of a mobile robot provided according to an embodiment of the present invention have at least the following beneficial effects: the embodiment of the present application can divide the current map into two areas, a first path area and a second path area, the first path area refers to those areas with relatively simple environments and relatively reliable laser matching positioning, and the second path area refers to those areas with high positioning loss rates and complex environments and changeable paths, wherein the present application can continue to use laser matching positioning to control the operation of the mobile robot in the first path area, and laser matching in this area can still provide sufficient positioning accuracy, and when the mobile robot enters the second path area, the present application can use The positioning posture information of the mobile robot is obtained by using the landmark components pre-set in the area, that is, the mobile robot can be controlled to scan and identify the identification information on the landmark components to determine the current position of the mobile robot; further, in combination with the mileage information of the mobile robot, the positioning posture information obtained through the landmark components is corrected to reduce the positioning error caused by environmental changes, improve the positioning accuracy and reliability, and update the position of the mobile robot, so that the present application can control the operation trajectory of the mobile robot based on the updated positioning results in the second path area with a high positioning loss rate, so as to effectively improve the positioning accuracy and reliability of the mobile robot's navigation operation in changeable scenarios.

[0015] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0017] The present invention is further described below in conjunction with the accompanying drawings and embodiments;

[0018] Figure 1 is a schematic diagram of a flow chart of assisted landmark positioning of a mobile robot provided by an embodiment of the present invention;

[0019] Figure 2 is another schematic diagram of a flow chart of assisted landmark positioning of a mobile robot provided by an embodiment of the present invention;

[0020] Figure 3 is another schematic diagram of a flow chart of assisted landmark positioning of a mobile robot provided by an embodiment of the present invention;

[0021] Figure 4is another schematic diagram of a flow chart of assisted landmark positioning of a mobile robot provided by an embodiment of the present invention;

[0022] Figure 5 is another schematic diagram of a flow chart of assisted landmark positioning of a mobile robot provided by an embodiment of the present invention;

[0023] Figure 6 is another schematic diagram of a flow chart of assisted landmark positioning of a mobile robot provided by an embodiment of the present invention;

[0024] Figure 7 It is a structural schematic diagram of an auxiliary landmark positioning device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0025] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0026] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, "above", "below", "within", etc. are understood to include the number itself, "any one" means one or more, "at least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. If there is a description of the first and the second, it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0027] It should be noted that the terms such as setting, installing, and connecting in the embodiments of the present invention should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the embodiments of the present invention in combination with the specific content of the technical solution. For example, the term "connection" can be a mechanical connection, an electrical connection, or mutual communication; it can be directly connected or indirectly connected through an intermediate medium.

[0028] It should be noted that the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0029] In the existing mobile robot positioning technology, usually only laser matching can achieve accurate positioning of the robot. However, in actual application, especially in complex and changeable environments and large scene changes, traditional positioning methods that rely solely on laser matching may be affected by factors such as ambient light and obstacles, resulting in reduced positioning accuracy. It is easy to lose positioning due to mismatch with the current map. As a result, traditional positioning methods that rely solely on laser matching are difficult to ensure positioning accuracy and reliability in variable path areas with high positioning loss rates.

[0030] Based on this, the embodiments of the present application provide a method, device, robot and medium for auxiliary landmark positioning of a mobile robot, which can perform positioning based on auxiliary landmarks in a variable path area with a high positioning loss rate, so as to improve the positioning accuracy and reliability of the mobile robot in the area.

[0031] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0032] First, refer to Figure 1 , Figure 1 1 is a flow chart of the auxiliary landmark positioning of a mobile robot provided by an embodiment of the present invention; in a first aspect, an embodiment of the present invention provides an auxiliary landmark positioning method for a mobile robot, including but not limited to the following steps:

[0033] Step S110, determining a first path area and a second path area corresponding to the current map;

[0034] Step S120, controlling the mobile robot to operate based on laser matching positioning in the first path area;

[0035] Step S130, when the mobile robot runs to the second path area, obtaining the positioning posture information corresponding to the mobile robot based on the landmark components preset in the second path area;

[0036] Step S140, obtaining the mileage information of the mobile robot, and updating the positioning of the mobile robot according to the positioning posture information and the mileage information, so as to control the operation of the mobile robot based on the positioning result obtained by the positioning update.

[0037] Among them, the embodiment of the present application can divide the current map into two areas, a first path area and a second path area. The first path area refers to those areas with relatively simple environments and relatively reliable laser matching positioning, and the second path area refers to those changeable path areas with high positioning loss rates and complex environments. Among them, when the present application is in the first path area, laser matching positioning can continue to be used to control the operation of the mobile robot. Laser matching in this area can still provide sufficient positioning accuracy. When the mobile robot enters the second path area, the present application can use the landmark components pre-set in the area to obtain the positioning posture information of the mobile robot, that is, the mobile robot can be controlled to scan and identify the identification information on the landmark components to determine the current position of the mobile robot; further, in combination with the mileage information of the mobile robot, the positioning posture information obtained by the landmark components is corrected to reduce the positioning error caused by environmental changes, improve the positioning accuracy and reliability, and update the position of the mobile robot, so that the present application can control the running trajectory of the mobile robot based on the updated positioning results in the second path area with a high positioning loss rate, so as to effectively improve the positioning accuracy and reliability of the mobile robot's navigation operation in changeable scenarios.

[0038] It can be understood that in order to divide the entire navigable map space into different areas to adapt to different navigation strategies or because different areas may have different environmental characteristics, the first path area in the present application is an area with obvious landmarks that can be accurately matched using lidar, while the second path area may be an area that requires additional landmark components to assist in positioning. Laser matching positioning refers to the use of lidar sensors to obtain information about the surrounding environment and compare it with known map data to determine the position of the robot. This method can provide higher positioning accuracy when the environmental features are clear and do not change much.

[0039] In some embodiments, the landmark component includes a reflector component or a QR code component. The landmark component refers to a specific marker pre-placed in the working environment to provide identification information to help the mobile robot to locate. These landmark components can be reflector components or QR code components. The reflector component is usually a specially designed reflective material or device that can be detected by sensors such as lidar; the QR code component is a two-dimensional barcode containing specific information that can be read by a visual sensor.

[0040] In some embodiments, during the process of controlling the operation of the mobile robot based on laser matching positioning in the first path area, the mobile robot will use the laser radar sensor to obtain information about the surrounding environment, and determine its own position by matching with the stored map data. This positioning method is usually very effective when the environment features are rich and the laser radar can accurately identify surrounding objects; and when the mobile robot runs to the second path area, the positioning posture information corresponding to the mobile robot is obtained based on the preset landmark components in the second path area. It can be understood that when the mobile robot enters an area with a high laser radar positioning loss rate, such as an environment with fewer features or easily confused, it will switch to using preset landmark components for auxiliary positioning. These landmark components can be reflective board components or QR code components, which can be recognized by the robot and used to correct its position, so that the mobile robot in this application can combine the odometer data accumulated during its own driving process and the landmark positioning information obtained previously to continuously update its position estimation processing, so as to help the robot maintain good positioning accuracy even when some information is lost.

[0041] It can be understood that the odometer data is the mileage information, which refers to the travel distance information recorded by the mobile robot through the built-in sensors (such as wheel encoders) during the movement, which can be used as reference data for the mobile robot to perform self-positioning.

[0042] refer to Figure 2 , Figure 2 is another flowchart of the auxiliary landmark positioning of the mobile robot provided by an embodiment of the present invention; in some embodiments, when the landmark component is a reflector component, the positioning posture information corresponding to the mobile robot is obtained based on the landmark component preset in the second path area, including but not limited to the following steps:

[0043] Step S210, when the mobile robot scans and identifies the reflector assembly preset in the second path area, obtains reflector identification information corresponding to the reflector assembly;

[0044] Step S220, based on a preset reflector posture information database, acquiring posture information that matches the reflector identification information, and determining the posture information as the positioning posture information corresponding to the mobile robot.

[0045] In some embodiments, when the mobile robot scans and identifies the pre-set reflector assembly in the second path area, it obtains reflector identification information corresponding to the reflector assembly. The reflector assembly is a specially designed reflective material or device that can be detected by sensors such as lidar. The reflector identification information refers to a unique identifier associated with each reflector, which can be a code or other form of information used to distinguish different reflectors, so that the present application can detect the reflector and obtain its identification information, and the robot can confirm its position relative to these known fixed position landmarks.

[0046] It can be understood that the pose information matching the reflector identification information is obtained based on the preset reflector pose information database, and the pose information is determined as the positioning pose information corresponding to the mobile robot. The reflector pose information database contains the position, posture and other information of all preset reflectors. The pose information refers to the position and posture, that is, the spatial coordinates and orientation of an object. Once the robot recognizes the reflector identification information, it can find the exact pose of the reflector from the database, and then determine its own pose information.

[0047] It is worth noting that in the above embodiment, the mobile robot can use the laser radar to scan the reflector assembly and determine the position of the robot through a matching algorithm. Specifically, the laser radar can be used to scan the reflectors in the environment to obtain the reflection signal of the reflectors. The laser radar can accurately measure the distance and angle to the reflectors, thereby obtaining the position information of the reflectors. Through the data of the laser radar, it is possible to identify which are the reflectors and record their position information. The identified reflector positions can be used as positioning reference points for the robot, and the reflectors identified in real time are matched with the reflectors pre-recorded in the map data of the mobile robot, that is, the reflectors detected in real time are matched. The position of the board is compared with the reflector position data recorded in the map to find the matching reflector to determine the current position and posture of the robot; further, after a successful match, the position and posture information corresponding to the reflector is provided to the positioning algorithm as a reference for the current position and posture of the robot. The position of the robot and the offset of the map are updated based on the position and posture information provided by the reflector and the mileage information of the robot (such as the driving distance recorded by the wheel encoder). The position of the robot is updated in real time to reduce the positioning error. Through continuous positioning updates, it is ensured that the robot can maintain high-precision positioning throughout the entire operation process and can operate stably even when the environmental characteristics change greatly.

[0048] refer to Figure 3 , Figure 3is another flowchart of the assisted landmark positioning of the mobile robot provided by an embodiment of the present invention; in some embodiments, when the landmark component is a QR code component, the positioning posture information corresponding to the mobile robot is obtained based on the landmark component preset in the second path area, including but not limited to the following steps:

[0049] Step S310, when the mobile robot scans and identifies the preset two-dimensional code component in the second path area, obtains the two-dimensional code identification information corresponding to the two-dimensional code component;

[0050] Step S320, acquiring the posture information corresponding to the two-dimensional code identification information based on a preset two-dimensional code posture information database, and determining the posture information as the positioning posture information corresponding to the mobile robot.

[0051] In some embodiments, in the positioning step corresponding to the QR code component, when the mobile robot scans and recognizes the QR code component preset in the second path area, the QR code identification information corresponding to the QR code component is obtained. The QR code component can be a matrix barcode containing digital information, which can be read by an optical sensor such as a camera. The QR code identification information is similar to the reflector identification information, but it is data stored in the QR code. By reading the QR code, the robot can obtain the identification information of the QR code, thereby knowing the actual position and posture of the QR code.

[0052] It can be understood that the posture information corresponding to the QR code identification information is obtained based on the preset QR code posture information database, and the posture information is determined as the positioning posture information corresponding to the mobile robot. The QR code posture information database also stores the position and posture information of all preset QR codes. After the robot reads the QR code identification information, it can find the corresponding posture information from the database to determine its own posture.

[0053] It is worth noting that in the above embodiment, each QR code component has a unique identifier (ID), so that the mobile robot can directly determine the position of the robot by reading the QR code without the need for a complex matching algorithm. The QR code assisted positioning technology combines visual recognition technology and pre-set QR code landmarks to achieve efficient and accurate navigation and positioning of the mobile robot in complex environments. It is suitable for occasions where environmental characteristics change greatly and traditional positioning methods are difficult to maintain high precision.

[0054] In some embodiments, whether using a reflective plate or a QR code, the purpose is to provide a reliable positioning reference point for the mobile robot, ensuring that the robot can accurately know its position in different environments, so as to improve the navigation performance of the robot, especially in applications where the environment is complex, changes frequently, or has high requirements for positioning accuracy.

[0055] refer to Figure 4 , Figure 4 is another flowchart of the assisted landmark positioning of the mobile robot provided by an embodiment of the present invention; in some embodiments, the positioning of the mobile robot is updated according to the positioning posture information and the mileage information, including but not limited to the following steps:

[0056] Step S410, calculating the robot position information corresponding to the positioning posture information based on a preset positioning algorithm;

[0057] Step S420, updating the odometer data and map offset data of the mobile robot according to the robot position information and mileage information.

[0058] In some embodiments, the mobile robot obtains the posture information of landmark components (such as reflectors or QR codes) through a visual camera or other sensors, and then uses a preset positioning algorithm (such as extended Kalman filter (EKF), particle filter, etc.) to calculate the robot position information corresponding to these landmark components. It can be understood that the positioning algorithm is to convert sensor data into the precise position of the robot in the map. By calculating the robot position information corresponding to the positioning posture information, the exact position of the robot at the current moment can be determined. The positioning method based on landmark components not only improves the positioning accuracy, but also reduces the positioning errors caused by environmental changes or other factors.

[0059] In some embodiments, the method of the present application will update the robot's odometer data and map offset data based on the calculated robot position information combined with mileage information (such as the driving distance recorded by the wheel encoder). The mileage information provides the relative distance the robot has moved, and the posture information provides the absolute position. The combination of the two can more accurately reflect the robot's true position. It can be understood that by fusing the robot's position information and mileage information, the robot's position information can be updated in real time, reducing the positioning deviation caused by the accumulated error of the odometer. At the same time, updating the map offset data according to the posture information can ensure that the robot's position on the map is more accurate, thereby improving the accuracy and reliability of navigation.

[0060] refer to Figure 5 , Figure 5 is another flowchart of the assisted landmark positioning of the mobile robot provided by an embodiment of the present invention; in some embodiments, determining the first path area and the second path area corresponding to the current map includes but is not limited to the following steps:

[0061] Step S510, obtaining map information of the current map;

[0062] Step S520, determining a first path area and a second path area corresponding to the current map according to the positioning loss rate of each area in the map information, wherein the positioning loss rate of the first path area is less than the positioning loss rate of the second path area.

[0063] In some embodiments, the present application can divide the first path area and the second path area according to the positioning loss rate of each area in the map information acquired in advance. The positioning loss rate refers to the historical probability that the mobile robot cannot correctly determine its own position in a certain area. Usually, the first path area refers to those areas with rich environmental features and easy to accurately locate, while the second path area is an area with fewer features and prone to positioning loss.

[0064] It can be understood that by dividing the path areas in the above manner, the system can ensure that a more efficient positioning method is used in areas with rich features (first path areas), while additional landmark components (such as reflectors or QR codes) are used to assist positioning in areas with fewer features (second path areas), thereby improving the positioning accuracy and reliability of the entire system.

[0065] refer to Figure 6 , Figure 6 is another flowchart of the auxiliary landmark positioning of the mobile robot provided by an embodiment of the present invention; in some embodiments, before the mobile robot runs to the second path area, the method further includes but is not limited to the following steps:

[0066] Step S610, obtaining identification information corresponding to multiple landmark components preset in the second path area, and storing the position information corresponding to the multiple identification information in a preset database.

[0067] In some embodiments, multiple landmark components are preset in the second path area. These landmark components may be reflectors or QR codes. By pre-deploying landmark components, it can be ensured that the robot has sufficient reference points to assist in positioning when it runs to the second path area. Corresponding sensors (such as lidar or visual cameras) are used to collect identification information of each landmark component. For reflectors, the identification information may be a unique reflection pattern; for QR codes, it is a unique ID in the QR code. After collecting the identification information of the landmark components, it is also necessary to record the precise position and posture information of these landmark components in the map. The posture information can be obtained by scanning and measuring the robot in the initial stage, and to ensure the accuracy of the data, the collected identification information of the landmark components and their corresponding posture information are stored in a preset database, so that the mobile robot can quickly query and match landmarks based on the above database during operation, thereby achieving accurate positioning.

[0068] In some embodiments, it is possible to install reflectors at key locations in the second path area, use a laser radar to scan and record the position and reflective characteristics of each reflector, record this information, and store it in a preset database.

[0069] In some embodiments, the application may be made by pasting QR codes at key locations in the second path area, using a visual camera to scan and record the location and unique ID of each QR code, recording this information, and storing it in a preset database.

[0070] It can be understood that the present application provides a switching interface for the positioning method, which can switch from laser matching positioning to assisted landmark positioning, and only switch on the path that requires assisted landmark positioning, and provides a variety of landmark assisted positioning such as reflective boards, QR codes, etc., which is highly feasible; further, when using the positioning posture provided by the landmark assistance, it is also combined with the odometer data to reduce the positioning error caused by the positioning posture error provided by the auxiliary landmark.

[0071] Second, refer to Figure 7 , Figure 7 It is a structural schematic diagram of the auxiliary landmark positioning device 700 provided in an embodiment of the present invention, wherein the operation control device 700 includes: a memory 710, a processor 720, and a computer program stored in the memory 710 and executable on the processor 720, and when the processor 720 executes the computer program, the auxiliary landmark positioning method for the mobile robot in the above-mentioned embodiment is implemented.

[0072] The memory 710 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs and non-transitory computer executable programs, such as the assisted landmark positioning method for a mobile robot in the above-mentioned embodiment of the present invention. The processor 720 implements the assisted landmark positioning method for a mobile robot in the above-mentioned embodiment of the present invention by running the non-transitory software programs and instructions stored in the memory 710.

[0073] The memory 710 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data required to execute the auxiliary landmark positioning method of the mobile robot in the above embodiment, etc. In addition, the memory 710 may include a high-speed random access memory 710, and may also include a non-volatile memory 710, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. It should be noted that the memory 710 may optionally include a memory 710 remotely arranged relative to the processor 720, and these remote memories 710 may be connected to the terminal 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.

[0074] The non-transient software program and instructions required to implement the auxiliary landmark positioning method of the mobile robot in the above embodiment are stored in the memory, and when executed by one or more processors, the auxiliary landmark positioning method of the mobile robot in the above embodiment is executed, for example, the above embodiment is executed. Figure 1 Steps S110 to S140 of the method, Figure 2 Steps S210 to S220 of the method, Figure 3 Steps S310 to S320 of the method, Figure 4 Steps S410 to S420 of the method, Figure 5 Steps S510 to S520 of the method, Figure 6 Method step S610 in .

[0075] In a third aspect, the present invention provides a mobile robot, the mobile robot comprising the auxiliary landmark positioning device as in the second aspect.

[0076] In a fourth aspect, the present invention further provides a computer-readable storage medium storing computer-executable instructions, the computer-executable instructions being used to cause a computer to execute the method for assisted landmark positioning of a mobile robot in the embodiment of the first aspect, for example, to execute the above embodiment. Figure 1 Steps S110 to S140 of the method, Figure 2 Steps S210 to S220 of the method, Figure 3 Steps S310 to S320 of the method, Figure 4 Steps S410 to S420 of the method, Figure 5 Steps S510 to S520 of the method, Figure 6 Method step S610 in .

[0077] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to output requirements to achieve the purpose of the present embodiment.

[0078] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed methods above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium or a non-transitory medium and a communication medium or a temporary medium. As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information such as computer-readable instructions, data structures, program modules or other data. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disk DVD or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0079] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A method for assisting landmark positioning of a mobile robot, characterized in that: include: Determine a first path area and a second path area corresponding to the current map; Controlling the operation of the mobile robot based on laser matching positioning in the first path area; When the mobile robot runs to the second path area, obtaining the positioning posture information corresponding to the mobile robot based on the landmark components preset in the second path area; The mileage information of the mobile robot is obtained, and the positioning of the mobile robot is updated according to the positioning posture information and the mileage information, so as to control the operation of the mobile robot based on the positioning result obtained by the positioning update.

2. The method for assisted landmark positioning of a mobile robot according to claim 1, characterized in that: The landmark component includes a reflector component or a QR code component.

3. The method for assisted landmark positioning of a mobile robot according to claim 2, characterized in that: In the case where the landmark component is the reflector component, the acquiring the positioning posture information corresponding to the mobile robot based on the landmark component preset in the second path area includes: When the mobile robot scans and identifies the reflector assembly preset in the second path area, acquiring reflector identification information corresponding to the reflector assembly; Based on a preset reflector posture information database, posture information matching the reflector identification information is acquired, and the posture information is determined as the positioning posture information corresponding to the mobile robot.

4. The method for assisting landmark positioning of a mobile robot according to claim 2, characterized in that: In the case where the landmark component is the QR code component, the acquiring the positioning posture information corresponding to the mobile robot based on the landmark component preset in the second path area includes: When the mobile robot scans and identifies the preset two-dimensional code component in the second path area, acquiring two-dimensional code identification information corresponding to the two-dimensional code component; The posture information corresponding to the two-dimensional code identification information is acquired based on a preset two-dimensional code posture information database, and the posture information is determined as the positioning posture information corresponding to the mobile robot.

5. The method for assisting landmark positioning of a mobile robot according to claim 1, characterized in that: The updating of the positioning of the mobile robot according to the positioning posture information and the mileage information includes: Calculating the robot position information corresponding to the positioning posture information based on a preset positioning algorithm; The odometer data and map offset data of the mobile robot are updated according to the robot position information and the mileage information.

6. The method for assisted landmark positioning of a mobile robot according to claim 1, characterized in that: The determining of the first path area and the second path area corresponding to the current map includes: Get the map information of the current map; A first path area and a second path area corresponding to the current map are determined according to a positioning loss rate of each area in the map information, wherein the positioning loss rate of the first path area is less than the positioning loss rate of the second path area.

7. The method for assisting landmark positioning of a mobile robot according to claim 1, characterized in that: Before the mobile robot moves to the second path area, the method further includes: Obtain identification information corresponding to multiple landmark components preset in the second path area, and store position information corresponding to the multiple identification information in a preset database.

8. An auxiliary landmark positioning device, characterized in that: It comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the auxiliary landmark positioning method for a mobile robot as claimed in any one of claims 1 to 7.

9. A mobile robot, characterized in that: Includes the auxiliary landmark positioning device as described in claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the auxiliary landmark positioning method for a mobile robot as described in any one of claims 1 to 7.

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