Robot positioning method and device, computer readable storage medium and robot

Abstract

The invention belongs to the technical field of robots, and particularly relates to a robot positioning method and device, a computer readable storage medium and a robot. The method comprises the following steps: determining relative position information between a positioning tag and a positioning base station according to a positioning signal; wherein the positioning label is located at a preset fixed position, the positioning base station is located on a robot, and the positioning signal is an interaction signal between the positioning label and the positioning base station; and positioning the robot according to the relative position information between the positioning label and the positioning base station and the coordinate information of the positioning label to obtain a positioning result of the robot. Through the method, the positioning base station can be arranged on the robot, and the positioning label is arranged at the fixed position, so that the number of the positioning base stations is effectively reduced, and the cost of the robot positioning method is reduced.

Description

Technical Field

[0001] The present application belongs to the field of robot technology, and in particular, relates to a robot positioning method, device, computer-readable storage medium and robot. Background Art

[0002] With the development of technology, people have higher and higher requirements for the accuracy of location information. In the mainstream robot positioning method, multiple positioning base stations installed at fixed positions and positioning tags installed on the robot can be used to position the robot. However, this method of setting up positioning base stations and positioning tags requires the installation of multiple positioning base stations, resulting in high costs. Summary of the invention

[0003] In view of this, the embodiments of the present application provide a robot positioning method, device, computer-readable storage medium and robot to solve the problem that the existing robot positioning method requires the installation of multiple positioning base stations, resulting in high costs.

[0004] A first aspect of an embodiment of the present application provides a robot positioning method, which may include:

[0005] Determine the relative position information between the positioning tag and the positioning base station according to the positioning signal; wherein the positioning tag is located at a preset fixed position, the positioning base station is located on the robot, and the positioning signal is an interaction signal between the positioning tag and the positioning base station;

[0006] The robot is positioned according to the relative position information between the positioning tag and the positioning base station and the coordinate information of the positioning tag to obtain a positioning result of the robot.

[0007] In a specific implementation of the first aspect, positioning the robot according to the relative position information between the positioning tag and the positioning base station and the coordinate information of the positioning tag to obtain the positioning result of the robot may include:

[0008] When the number of the detected positioning tags is one, acquiring inertial sensor data of the robot;

[0009] The robot is positioned according to the inertial sensor data, the relative position information between the positioning tag and the positioning base station, and the coordinate information of the positioning tag to obtain a positioning result of the robot.

[0010] In a specific implementation of the first aspect, positioning the robot according to the inertial sensor data, the relative position information between the positioning tag and the positioning base station, and the coordinate information of the positioning tag to obtain the positioning result of the robot may include:

[0011] Calculating the yaw angle of the robot according to the inertial sensor data;

[0012] Calculating the coordinate information of the robot according to the relative position information between the positioning tag and the positioning base station and the coordinate information of the positioning tag;

[0013] The positioning result of the robot is determined according to the yaw angle of the robot and the coordinate information of the robot.

[0014] In a specific implementation of the first aspect, positioning the robot according to the relative position information between the positioning tag and the positioning base station and the coordinate information of the positioning tag to obtain the positioning result of the robot may include:

[0015] When the number of the detected positioning tags is at least two, determining whether the detected positioning tags are valid positioning tags; wherein the valid positioning tags are positioning tags without non-line-of-sight errors;

[0016] When the number of the valid positioning tags is one, acquiring inertial sensor data of the robot;

[0017] The robot is positioned according to the inertial sensor data, the relative position information between the effective positioning tag and the positioning base station, and the coordinate information of the effective positioning tag to obtain a positioning result of the robot.

[0018] In a specific implementation of the first aspect, after determining whether the detected positioning tag is a valid positioning tag, the method may further include:

[0019] When the number of the valid positioning tags is at least two, selecting two of the valid positioning tags as target positioning tags;

[0020] The robot is positioned according to the relative position information between the target positioning tag and the positioning base station, and the coordinate information of the target positioning tag to obtain the positioning result of the robot.

[0021] In a specific implementation of the first aspect, selecting the two valid positioning tags as target positioning tags may include:

[0022] Calculating the signal quality of each of the effective positioning tags respectively;

[0023] The two valid positioning tags with the highest signal quality are selected as target positioning tags.

[0024] In a specific implementation of the first aspect, after positioning the robot according to the relative position information between the target positioning tag and the positioning base station and the coordinate information of the target positioning tag to obtain the positioning result of the robot, the method may further include:

[0025] The error of the second yaw angle is corrected according to the first yaw angle to obtain the error-corrected second yaw angle; wherein the first yaw angle is the yaw angle in the positioning result, and the second yaw angle is the yaw angle calculated according to the inertial sensor data.

[0026] A second aspect of the embodiments of the present application provides a robot positioning device, which may include:

[0027] An information determination module, used to determine the relative position information between the positioning tag and the positioning base station according to the positioning signal; wherein the positioning tag is located at a preset fixed position, the positioning base station is located on the robot, and the positioning signal is an interaction signal between the positioning tag and the positioning base station;

[0028] The robot positioning module is used to position the robot according to the relative position information between the positioning tag and the positioning base station and the coordinate information of the positioning tag to obtain the positioning result of the robot.

[0029] In a specific implementation of the second aspect, the information determination module may include:

[0030] A data acquisition unit, configured to acquire inertial sensor data of the robot when the number of the detected positioning tags is one;

[0031] The robot positioning unit is used to position the robot according to the inertial sensor data, the relative position information between the positioning tag and the positioning base station, and the coordinate information of the positioning tag to obtain the positioning result of the robot.

[0032] In a specific implementation of the second aspect, the robot positioning unit may include:

[0033] An angle calculation subunit, used for calculating the yaw angle of the robot according to the inertial sensor data;

[0034] An information calculation subunit, used to calculate the coordinate information of the robot according to the relative position information between the positioning tag and the positioning base station, and the coordinate information of the positioning tag;

[0035] The result determination subunit is used to determine the positioning result of the robot according to the yaw angle of the robot and the coordinate information of the robot.

[0036] In a specific implementation of the second aspect, the robot positioning module may include:

[0037] A tag judging unit, used for judging whether the detected positioning tags are valid positioning tags when the number of the detected positioning tags is at least two; wherein the valid positioning tags are the positioning tags without non-line-of-sight errors;

[0038] a data acquisition unit, configured to acquire inertial sensor data of the robot when the number of the valid positioning tags is one;

[0039] The robot positioning unit is used to position the robot according to the inertial sensor data, the relative position information between the effective positioning tag and the positioning base station, and the coordinate information of the effective positioning tag to obtain the positioning result of the robot.

[0040] In a specific implementation of the second aspect, the robot positioning module may further include:

[0041] A tag selection unit, configured to select two of the valid positioning tags as target positioning tags when the number of the valid positioning tags is at least two;

[0042] The robot positioning unit is used to position the robot according to the relative position information between the target positioning tag and the positioning base station and the coordinate information of the target positioning tag to obtain the positioning result of the robot.

[0043] In a specific implementation of the second aspect, the label selection unit may include:

[0044] A quality calculation subunit, used to calculate the signal quality of each of the effective positioning tags respectively;

[0045] The tag selection subunit is used to select the two valid positioning tags with the highest signal quality as target positioning tags.

[0046] In a specific implementation of the second aspect, the robot positioning device may further include:

[0047] The error correction module is used to perform error correction on the second yaw angle according to the first yaw angle to obtain the second yaw angle after error correction; wherein the first yaw angle is the yaw angle in the positioning result, and the second yaw angle is the yaw angle calculated according to the inertial sensor data.

[0048] A third aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any one of the above-mentioned robot positioning methods are implemented.

[0049] A fourth aspect of an embodiment of the present application provides a robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above-mentioned robot positioning methods when executing the computer program.

[0050] A fifth aspect of an embodiment of the present application provides a computer program product. When the computer program product runs on a robot, the robot executes the steps of any one of the above-mentioned robot positioning methods.

[0051] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the embodiments of the present application determine the relative position information between the positioning tag and the positioning base station according to the positioning signal; wherein the positioning tag is located at a preset fixed position, the positioning base station is located on the robot, and the positioning signal is an interactive signal between the positioning tag and the positioning base station; the robot is positioned according to the relative position information between the positioning tag and the positioning base station, and the coordinate information of the positioning tag, to obtain the positioning result of the robot. Through the embodiments of the present application, the positioning base station can be set on the robot, and the positioning tag can be set at a fixed position, which effectively reduces the number of positioning base stations, thereby reducing the cost of the robot positioning method. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0053] Figure 1 This is a flow chart of an embodiment of a robot positioning method in an embodiment of the present application;

[0054] Figure 2 A schematic diagram of the usage scenario of positioning tags and positioning base stations;

[0055] Figure 3 A schematic diagram of the communication process between a positioning tag and a positioning base station;

[0056] Figure 4 A flowchart of an embodiment of a robot positioning process;

[0057] Figure 5is a first schematic diagram of the robot positioning process;

[0058] Figure 6 A flowchart of another embodiment of a robot positioning process;

[0059] Figure 7 A second schematic diagram of the robot positioning process;

[0060] Figure 8 This is a structural diagram of an embodiment of a robot positioning device in an embodiment of the present application;

[0061] Fig. 9 This is a schematic block diagram of a robot in an embodiment of the present application. DETAILED DESCRIPTION

[0062] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described below are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0063] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0064] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0065] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0066] As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0067] In addition, in the description of the present application, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0068] With the development of technology, people have higher and higher requirements for the accuracy of location information. In the mainstream robot positioning method, multiple positioning base stations installed at fixed positions and positioning tags installed on the robot can be used to position the robot. However, this method of setting up positioning base stations and positioning tags requires the installation of multiple positioning base stations, resulting in high costs.

[0069] In view of this, the embodiments of the present application provide a robot positioning method, device, computer-readable storage medium and robot to solve the problem that the existing robot positioning method requires the installation of multiple positioning base stations, resulting in high costs. Through the embodiments of the present application, the positioning base station can be set on the robot and the positioning tag can be set at a fixed position, which effectively reduces the number of positioning base stations, thereby reducing the cost of the robot positioning method.

[0070] It should be noted that the executor of the method of the present application is a robot, which can be any common robot in the prior art, such as a lawn mower, a sweeper, an inspection robot, a food delivery robot, a guiding robot, etc.

[0071] See also Figure 1 , an embodiment of a robot positioning method in an embodiment of the present application may include:

[0072] Step S101: Determine the relative position information between the positioning tag and the positioning base station according to the positioning signal.

[0073] Figure 2 A specific application scenario of the method of the present application is shown. In an embodiment of the present application, the positioning tag may include one or more, and may be specifically located at a preset fixed position; the positioning base station may be provided on the robot, and may be specifically located at the center of the robot.

[0074] It should be noted that the present application does not limit the number of positioning tags and the locations where the positioning tags are set, and they can be set in a specific and situational manner according to actual conditions.

[0075] In an embodiment of the present application, the relative position information between the positioning tag and the positioning base station can be determined through the positioning signal, wherein the positioning signal is an interaction signal between the positioning tag and the positioning base station, and the relative position information between the positioning tag and the positioning base station may include the distance between the positioning tag and the positioning base station, and the direction angle of the positioning tag relative to the positioning base station.

[0076] It should be noted that the method for obtaining relative position information in the present application can be any common positioning method in the prior art, including but not limited to ultra-wideband (UWB) positioning, infrared positioning, lidar positioning, Bluetooth positioning and ultrasonic positioning, etc., and the present application does not make specific limitations on this.

[0077] In the embodiment of the present application, the UWB positioning method can be preferably used to obtain the relative position information between the positioning tag and the positioning base station. Therefore, the communication process between any positioning tag and the positioning base station in the UWB positioning method will be introduced below.

[0078] See also Figure 3 , the positioning tag can send a Poll signal to the positioning base station. At this time, the preset counter can be used to record the count K1 of the sending time of the Poll signal; then, when the positioning base station receives the Poll signal, the counter can be used to record the count K2 of the receiving time of the Poll signal; after receiving the Poll signal, the positioning base station can send a Resp signal to the positioning tag, and use the counter to record the count K3 of the sending time of the Resp signal; then, when the positioning tag receives the Resp signal, the counter can be used to record the count K4 of the receiving time of the Resp signal; after receiving the Resp signal, the positioning tag can send a Final signal to the positioning base station, and use the counter to record the count K5 of the sending time of the Final signal; then, when the positioning base station receives the Final signal, the counter can be used to record the count K6 of the receiving time of the Final signal; so far, a complete communication between the positioning tag and the positioning base station is completed.

[0079] According to the count of the counter in the above communication process, the signal flight time can be calculated:

[0080]

[0081] Where t is the signal flight time, and f is the crystal oscillator frequency of the UWB module of the positioning base station and the positioning tag. Based on this, the distance between the positioning tag and the positioning base station can be calculated:

[0082] d=c*t

[0083] Where d is the distance between the positioning tag and the positioning base station, and c is the speed of light.

[0084] In addition, the direction angle of the positioning tag relative to the positioning base station can be calculated by using the arrival angle of the multiple antennas of the positioning base station when receiving the signal sent by the positioning tag. Here, the direction angle can specifically be the angle between the line between the positioning tag and the positioning base station and the direction of the robot.

[0085] The relative position information between the positioning tag and the positioning base station can be determined based on the distance between the positioning tag and the positioning base station and the direction angle of the positioning tag relative to the positioning base station.

[0086] Step S102: Position the robot according to the relative position information between the positioning tag and the positioning base station, and the coordinate information of the positioning tag to obtain the positioning result of the robot.

[0087] In the embodiment of the present application, the positioning method of the robot can be determined according to the number of positioning tags to improve scene adaptability. Specifically, two positioning methods can be included: positioning according to one positioning tag and positioning according to two positioning tags.

[0088] It can be understood that one or more positioning tags can be set in the working area of ​​the robot to ensure that at least one positioning tag that is not blocked by obstacles within the communication range of the positioning base station can be used for robot positioning, wherein the communication range of the positioning base station can be a circular range with the maximum communication distance of the positioning base station as the radius.

[0089] In a specific implementation of an embodiment of the present application, the positioning base station can detect the number of positioning tags within its communication range through positioning signals. If the positioning tag can successfully receive the signal sent by the positioning base station and return a corresponding response signal, it indicates that the positioning tag is within the communication range of the positioning base station.

[0090] See also Figure 4 When the number of detected positioning tags is one, the robot positioning process may specifically include the following steps:

[0091] Step S401: Acquire the inertial sensor data of the robot.

[0092] In the embodiment of the present application, when the number of detected positioning tags is one, the data of the inertial sensor can be obtained, and the yaw angle α of the robot (positioning base station) can be calculated based on the inertial sensor data.

[0093] It is understandable that one or more inertial sensors may be installed on the robot for motion control related applications, and the readings of the inertial sensors may be obtained in a timely manner when the robot is positioned.

[0094] Step S402: Position the robot according to the inertial sensor data, the relative position information between the positioning tag and the positioning base station, and the coordinate information of the positioning tag to obtain the positioning result of the robot.

[0095] Specifically, the yaw angle α of the robot (positioning base station) can be calculated based on the inertial sensor data. Please refer to Figure 5 The yaw angle can be the angle between the actual movement direction of the robot (robot orientation) and the reference movement direction, that is, the angle between the y' axis of the robot's relative coordinate system x'Oy' and the y axis of the absolute coordinate system xOy. According to the robot's yaw angle α, the robot's rotation matrix can be obtained Then, according to the distance d between the positioning tag and the positioning base station and the direction angle θ of the positioning tag relative to the positioning base station, combined with the coordinates of the positioning tag The coordinates of the positioning base station can be calculated:

[0096]

[0097] in, To locate the coordinates of the base station (robot), the coordinates of the positioning tag Can be obtained when setting the positioning tag.

[0098] According to the coordinates and yaw angle of the robot, the position and posture of the robot can be determined and the positioning result of the robot can be obtained.

[0099] In the embodiment of the present application, when the number of detected positioning tags is at least two, it can be determined whether the detected positioning tags are valid positioning tags; wherein a valid positioning tag is a positioning tag without non-line-of-sight (NLOS) errors. Specifically, it can be determined whether the positioning tag has an NLOS error by detecting whether there is an NLOS signal in the positioning signal; if there is an NLOS signal in the positioning signal, it can be considered that the positioning tag has an NLOS error; if there is no NLOS signal in the positioning signal, it can be considered that the positioning tag has no NLOS error.

[0100] When the number of valid positioning tags is one, the data of the inertial sensor can be obtained according to the above process, and the robot can be positioned according to the inertial sensor data, the relative position information between the positioning tag and the positioning base station, and the coordinate information of the positioning tag.

[0101] When the number of valid positioning tags is at least two, the robot positioning process may specifically include: Figure 6 Steps shown:

[0102] Step S601: Select two valid positioning tags as target positioning tags.

[0103] It can be understood that when the number of valid positioning tags is at least two, the two valid positioning tags with the highest signal quality can be selected as target positioning tags, and the robot positioning can be performed to improve the robustness of the robot positioning method. Among them, the calculation method of the signal quality of the positioning tag can be specific and situational according to actual needs, and this application does not limit this.

[0104] In a specific implementation of the embodiment of the present application, the signal quality of each effective positioning tag can be calculated based on at least one dimension such as the power, strength and signal-to-noise ratio of the received signal, and the two effective positioning tags with the highest signal quality are selected as target positioning tags.

[0105] Step S602: Position the robot according to the relative position information between the target positioning tag and the positioning base station, and the coordinate information of the target positioning tag to obtain the positioning result of the robot.

[0106] Specifically, see Figure 7 , in order to distinguish the two target positioning tags, one of the target positioning tags can be called the first target positioning tag, and the other target positioning tag can be called the second target positioning tag; the coordinates of the first target positioning tag can be The distance between the first target positioning tag and the positioning base station can be d1, and the direction angle of the first target positioning tag relative to the positioning base station can be θ1; the coordinates of the second target positioning tag can be The distance between the second target positioning tag and the positioning base station can be d2, and the direction angle of the second target positioning tag relative to the positioning base station can be θ2. The yaw angle of the robot can be α', so the rotation matrix of the robot can be Based on this, the coordinates of the positioning base station can be calculated With the rotation matrix R':

[0107]

[0108] According to the coordinates and yaw angle of the robot, the position and posture of the robot can be determined and the positioning result of the robot can be obtained.

[0109] It is understandable that the error of the robot's inertial sensor data will accumulate over time, and when it is necessary to locate the robot based on the inertial sensor data, the accuracy of the positioning result obtained may be low. Therefore, in an embodiment of the present application, after using two valid positioning tags to locate the robot, the error of the second yaw angle calculated from the inertial sensor data can also be corrected based on the first yaw angle in the positioning result, so that a positioning result with a higher accuracy can be obtained when it is necessary to locate the robot based on the inertial sensor data. Specifically, the second yaw angle α can be made equal to the first yaw angle α' to correct the error of the second yaw angle α.

[0110] In summary, the embodiment of the present application determines the relative position information between the positioning tag and the positioning base station according to the positioning signal; wherein the positioning tag is located at a preset fixed position, the positioning base station is located on the robot, and the positioning signal is an interactive signal between the positioning tag and the positioning base station; the robot is positioned according to the relative position information between the positioning tag and the positioning base station, and the coordinate information of the positioning tag to obtain the positioning result of the robot. Through the embodiment of the present application, the positioning base station can be set on the robot, and the positioning tag can be set at a fixed position, which effectively reduces the number of positioning base stations, thereby reducing the cost of the robot positioning method.

[0111] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0112] Corresponding to a robot positioning method described in the above embodiment, Figure 8 A structural diagram of an embodiment of a robot positioning device provided in an embodiment of the present application is shown.

[0113] In this embodiment, a robot positioning device may include:

[0114] The information determination module 801 is used to determine the relative position information between the positioning tag and the positioning base station according to the positioning signal; wherein the positioning tag is located at a preset fixed position, the positioning base station is located on the robot, and the positioning signal is an interaction signal between the positioning tag and the positioning base station;

[0115] The robot positioning module 802 is used to position the robot according to the relative position information between the positioning tag and the positioning base station and the coordinate information of the positioning tag to obtain the positioning result of the robot.

[0116] In a specific implementation of the embodiment of the present application, the information determination module may include:

[0117] A data acquisition unit, configured to acquire inertial sensor data of the robot when the number of the detected positioning tags is one;

[0118] The robot positioning unit is used to position the robot according to the inertial sensor data, the relative position information between the positioning tag and the positioning base station, and the coordinate information of the positioning tag to obtain the positioning result of the robot.

[0119] In a specific implementation of the embodiment of the present application, the robot positioning unit may include:

[0120] An angle calculation subunit, used for calculating the yaw angle of the robot according to the inertial sensor data;

[0121] An information calculation subunit, used to calculate the coordinate information of the robot according to the relative position information between the positioning tag and the positioning base station, and the coordinate information of the positioning tag;

[0122] The result determination subunit is used to determine the positioning result of the robot according to the yaw angle of the robot and the coordinate information of the robot.

[0123] In a specific implementation of the embodiment of the present application, the robot positioning module may include:

[0124] A tag judging unit, used for judging whether the detected positioning tags are valid positioning tags when the number of the detected positioning tags is at least two; wherein the valid positioning tags are the positioning tags without non-line-of-sight errors;

[0125] a data acquisition unit, configured to acquire inertial sensor data of the robot when the number of the valid positioning tags is one;

[0126] The robot positioning unit is used to position the robot according to the inertial sensor data, the relative position information between the effective positioning tag and the positioning base station, and the coordinate information of the effective positioning tag to obtain the positioning result of the robot.

[0127] In a specific implementation of the embodiment of the present application, the robot positioning module may further include:

[0128] A tag selection unit, configured to select two of the valid positioning tags as target positioning tags when the number of the valid positioning tags is at least two;

[0129] The robot positioning unit is used to position the robot according to the relative position information between the target positioning tag and the positioning base station and the coordinate information of the target positioning tag to obtain the positioning result of the robot.

[0130] In a specific implementation of the embodiment of the present application, the label selection unit may include:

[0131] A quality calculation subunit, used to calculate the signal quality of each of the effective positioning tags respectively;

[0132] The tag selection subunit is used to select the two valid positioning tags with the highest signal quality as target positioning tags.

[0133] In a specific implementation of the embodiment of the present application, the robot positioning device may further include:

[0134] The error correction module is used to perform error correction on the second yaw angle according to the first yaw angle to obtain the second yaw angle after error correction; wherein the first yaw angle is the yaw angle in the positioning result, and the second yaw angle is the yaw angle calculated according to the inertial sensor data.

[0135] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices, modules and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0136] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0137] Fig. 9 A schematic block diagram of a robot provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0138] like Fig. 9 As shown, the robot 9 of this embodiment includes: a processor 90, a memory 91, and a computer program 92 stored in the memory 91 and executable on the processor 90. When the processor 90 executes the computer program 92, the steps in the above-mentioned robot positioning method embodiments are implemented, for example Figure 1 Alternatively, when the processor 90 executes the computer program 92, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Figure 8 The functions of modules 801 to 802 are shown.

[0139] Exemplarily, the computer program 92 may be divided into one or more modules / units, which are stored in the memory 91 and executed by the processor 90 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 92 in the robot 9.

[0140] The robot 9 may be any common robot in the prior art, such as a lawn mower, a sweeper, an inspection robot, a food delivery robot, a guide robot, etc. A person skilled in the art will understand that Fig. 9 It is only an example of the robot 9 and does not constitute a limitation of the robot 9. The robot 9 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the robot 9 may also include input and output devices, network access devices, buses, etc.

[0141] The processor 90 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0142] The memory 91 may be an internal storage unit of the robot 9, such as a hard disk or memory of the robot 9. The memory 91 may also be an external storage device of the robot 9, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the robot 9. Further, the memory 91 may also include both an internal storage unit of the robot 9 and an external storage device. The memory 91 is used to store the computer program and other programs and data required by the robot 9. The memory 91 may also be used to temporarily store data that has been output or is to be output.

[0143] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0144] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0145] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0146] In the embodiments provided in the present application, it should be understood that the disclosed devices / robots and methods can be implemented in other ways. For example, the device / robot embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0147] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0148] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0149] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0150] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A robot positioning method, characterized in that: include: Determine the relative position information between the positioning tag and the positioning base station according to the positioning signal; wherein the positioning tag is located at a preset fixed position, the positioning base station is located on the robot, and the positioning signal is an interaction signal between the positioning tag and the positioning base station; The robot is positioned according to the relative position information between the positioning tag and the positioning base station and the coordinate information of the positioning tag to obtain a positioning result of the robot.

2. The robot positioning method according to claim 1, characterized in that: The step of positioning the robot according to the relative position information between the positioning tag and the positioning base station and the coordinate information of the positioning tag to obtain the positioning result of the robot includes: When the number of the detected positioning tags is one, acquiring inertial sensor data of the robot; The robot is positioned according to the inertial sensor data, the relative position information between the positioning tag and the positioning base station, and the coordinate information of the positioning tag to obtain a positioning result of the robot.

3. The robot positioning method according to claim 2, characterized in that: The positioning of the robot according to the inertial sensor data, the relative position information between the positioning tag and the positioning base station, and the coordinate information of the positioning tag to obtain the positioning result of the robot includes: Calculating the yaw angle of the robot according to the inertial sensor data; Calculating the coordinate information of the robot according to the relative position information between the positioning tag and the positioning base station and the coordinate information of the positioning tag; The positioning result of the robot is determined according to the yaw angle of the robot and the coordinate information of the robot.

4. The robot positioning method according to claim 1, characterized in that: The step of positioning the robot according to the relative position information between the positioning tag and the positioning base station and the coordinate information of the positioning tag to obtain the positioning result of the robot includes: When the number of the detected positioning tags is at least two, determining whether the detected positioning tags are valid positioning tags; wherein the valid positioning tags are positioning tags without non-line-of-sight errors; When the number of the valid positioning tags is one, acquiring inertial sensor data of the robot; The robot is positioned according to the inertial sensor data, the relative position information between the effective positioning tag and the positioning base station, and the coordinate information of the effective positioning tag to obtain a positioning result of the robot.

5. The robot positioning method according to claim 4, characterized in that: After determining whether the detected positioning tag is a valid positioning tag, the method further includes: When the number of the valid positioning tags is at least two, selecting two of the valid positioning tags as target positioning tags; The robot is positioned according to the relative position information between the target positioning tag and the positioning base station, and the coordinate information of the target positioning tag to obtain the positioning result of the robot.

6. The robot positioning method according to claim 5, characterized in that: The selecting two of the valid positioning tags as target positioning tags includes: Calculating the signal quality of each of the effective positioning tags respectively; The two valid positioning tags with the highest signal quality are selected as target positioning tags.

7. The robot positioning method according to any one of claims 5 to 6, characterized in that: After positioning the robot according to the relative position information between the target positioning tag and the positioning base station and the coordinate information of the target positioning tag to obtain the positioning result of the robot, the method further includes: The error of the second yaw angle is corrected according to the first yaw angle to obtain the error-corrected second yaw angle; wherein the first yaw angle is the yaw angle in the positioning result, and the second yaw angle is the yaw angle calculated according to the inertial sensor data.

8. A robot positioning device, characterized in that: include: An information determination module, used to determine the relative position information between the positioning tag and the positioning base station according to the positioning signal; wherein the positioning tag is located at a preset fixed position, the positioning base station is located on the robot, and the positioning signal is an interaction signal between the positioning tag and the positioning base station; The robot positioning module is used to position the robot according to the relative position information between the positioning tag and the positioning base station and the coordinate information of the positioning tag to obtain the positioning result of the robot.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the robot positioning method according to any one of claims 1 to 7 are implemented.

10. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the robot positioning method according to any one of claims 1 to 7 are implemented.

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