Robot moving method and robot moving device

Abstract

The invention discloses a robot moving method and a robot moving device, and belongs to the technical field of robots. The robot moving method comprises the steps of determining first position information of a target object based on a target signal intensity vector set received by the target object and a plurality of reference signal intensity vector sets; based on the first position information and first information of a plurality of candidate robots in the target area, controlling a target robot in the plurality of candidate robots to move into the first area where the target object is located; and in the first area, the target robot is controlled to move to a core area where the target object is located based on the UWB signal. According to the robot moving method, the problems that Bluetooth is large in positioning error and prone to being interfered by obstacles in a complex environment are solved, meanwhile, the problem that UWB signals cannot be covered in multiple intervals with wall signal shielding is solved, a UWB base station does not need to be fixedly arranged at high cost, and the positioning precision and accuracy are high.

Description

Technical Field

[0001] The present application belongs to the field of robot technology, and in particular, relates to a robot moving method and a robot moving device. Background Art

[0002] With the widespread application of indoor positioning technology, there are more and more composite application scenarios of various technologies. In the related technology, there are methods for locating the target object based on sensors or geomagnetic signals and navigating the target object based on the positioning information, but the navigation method has low accuracy and the navigation results are prone to errors due to the large amount of collection work. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a robot moving method and a robot moving device, which solves the problem that Bluetooth positioning errors are large and easily interfered by obstacles in complex environments, and solves the problem that UWB signals cannot cover multiple intervals where wall signals are shielded, without the need for high-cost fixed deployment of UWB base stations; in addition, the final positioning accuracy of the present application reaches the centimeter level, with high positioning precision and accuracy.

[0004] In a first aspect, the present application provides a robot movement method, the method comprising:

[0005] Determine the first position information of the target object based on a target signal strength vector set and multiple reference signal strength vector sets received by the target object; the target signal strength vector set is determined based on signal strength vectors corresponding to Bluetooth beacon devices in multiple sub-areas received by the target object, the multiple sub-areas correspond one-to-one to the multiple reference signal strength vector sets, the reference signal strength vector set is determined based on signal strength vectors corresponding to the Bluetooth beacon devices in each of the sub-areas received by a reference point in the sub-area corresponding to the reference signal strength vector set, and the multiple sub-areas are obtained by dividing the target area where the target object is located;

[0006] Based on the first position information and first information of a plurality of candidate robots in the target area, controlling a target robot among the plurality of candidate robots to move to the first area where the target object is located;

[0007] In the first area, the target robot is controlled to move to a core area where the target object is located based on the UWB signal.

[0008] According to the robot movement method provided in the embodiment of the present application, the target area where the target object is located is divided into multiple sub-areas, and based on the Bluetooth signals sent by the Bluetooth beacon devices in each sub-area received by the target object, the robot is controlled to move to the first area where the target object is located, and then the Bluetooth positioning is switched to the UWB positioning. In the first area, the robot is controlled to move to the core area where the target object is located based on the UWB signal. On the basis of the coarse positioning based on Bluetooth, the UWB signal is used for precise positioning, which solves the problem that the Bluetooth positioning error is large and is easily interfered by obstacles in complex environments, and solves the problem that the UWB signal cannot cover multiple intervals where the wall signal is shielded, without the need for high-cost fixed deployment of UWB base stations. In addition, the final positioning accuracy of the present application reaches the centimeter level, and the positioning precision and accuracy are high.

[0009] In a robot movement method according to an embodiment of the present application, determining first position information of a target object based on a target signal strength vector set received by the target object and a plurality of reference signal strength vector sets includes:

[0010] Based on the target signal strength vector set and the multiple reference signal strength vector sets, respectively determine a first Euclidean distance between the target object and each of the Bluetooth beacon devices;

[0011] The first position information is determined based on the plurality of first Euclidean distances and the second position information of the reference point.

[0012] In a robot movement method according to an embodiment of the present application, determining the first position information based on the plurality of first Euclidean distances and the second position information of the reference point includes:

[0013] Based on the formula:

[0014]

[0015] Determine the first position information, where i∈[1, N r ],N r is the number of the multiple reference signal strength vector sets, is the first location information, L i is the first Euclidean distance between the target object and the Bluetooth beacon device in the i-th sub-area, (x i ,y i ) is the second position information of the reference point in the i-th sub-region, σ is a parameter, and K is the number of the multiple sub-regions.

[0016] In a robot movement method according to an embodiment of the present application, the first information includes: third position information of the candidate robot and working state information of the candidate robot, and based on the first position information and the first information of the plurality of candidate robots in the target area, controlling the target robot among the plurality of candidate robots to move to the first area where the target object is located includes:

[0017] Based on the first position information, the third position information and the working state information, determining the target robot from the multiple candidate robots; the target robot is the candidate robot that is closest to the target object and is in the best standby state;

[0018] Planning a first path based on the first location information and the third location information;

[0019] Based on the first path, the target robot is controlled to move into the first area.

[0020] In a robot movement method according to an embodiment of the present application, controlling the target robot to move into the first area based on the first path includes:

[0021] The UWB positioning tag disposed on the target object sends the UWB signal based on a target period;

[0022] When the target robot receives the UWB signal, it is determined that the target robot enters the first area.

[0023] A robot movement method according to an embodiment of the present application, wherein, in the first area, the target robot is controlled to move to the core area where the target object is located based on the UWB signal, comprising:

[0024] Based on the UWB signal, determining the relative spatial pose of the target object relative to the target robot;

[0025] Based on the grid map corresponding to the target area and the relative spatial posture, acquiring a second path between the target robot and the target object;

[0026] Based on the second path, the target robot is controlled to move to the core area.

[0027] In a robot movement method according to an embodiment of the present application, determining the relative spatial position of the target object relative to the target robot based on the UWB signal includes:

[0028] Based on the UWB signal, determining the two-dimensional relative coordinates of the target object relative to the target robot;

[0029] The relative spatial pose is acquired based on the two-dimensional relative coordinates, the first information of the target robot, and the direction of arrival corresponding to the UWB signal.

[0030] In a robot movement method according to an embodiment of the present application, determining the two-dimensional relative coordinates of the target object relative to the target robot based on the UWB signal includes:

[0031] At least two antennas disposed on the target robot respectively receive the same UWB signal sent by the target object;

[0032] Determining a target angle based on a signal arrival time difference of the UWB signal received by at least two antennas;

[0033] The two-dimensional relative coordinates are determined based on the reception times of the UWB signals received by at least two antennas respectively and the target angle.

[0034] In a robot movement method according to an embodiment of the present application, the second path between the target robot and the target object is obtained based on the grid map corresponding to the target area and the relative spatial posture, including:

[0035] Based on the grid map and the relative spatial pose, acquiring a second path between the target robot and the target object;

[0036] Controlling the target robot to move based on the second path and updating the relative spatial position of the target object relative to the target robot;

[0037] The second path is corrected based on the updated relative spatial pose.

[0038] In a second aspect, the present application provides a robot moving device, the device comprising:

[0039] A first processing module is used to determine first position information of a target object based on a target signal strength vector set and a plurality of reference signal strength vector sets received by the target object; the target signal strength vector set is determined based on signal strength vectors corresponding to Bluetooth beacon devices in a plurality of sub-areas received by the target object, the plurality of sub-areas correspond one-to-one to the plurality of reference signal strength vector sets, the reference signal strength vector set is determined based on signal strength vectors corresponding to the Bluetooth beacon devices in each of the sub-areas received by a reference point in the sub-area corresponding to the reference signal strength vector set, and the plurality of sub-areas are obtained by dividing the target area where the target object is located;

[0040] A second processing module is used to control a target robot among the multiple candidate robots to move to the first area where the target object is located based on the first position information and the first information of the multiple candidate robots in the target area;

[0041] The third processing module is used to control the target robot to move to the core area where the target object is located within the first area based on the UWB signal.

[0042] According to the robot mobile device provided in the embodiment of the present application, the target area where the target object is located is divided into multiple sub-areas, and based on the Bluetooth signals sent by the Bluetooth beacon devices in each sub-area received by the target object, the robot is controlled to move to the first area where the target object is located, and then the Bluetooth positioning is switched to the UWB positioning. In the first area, the robot is controlled to move to the core area where the target object is located based on the UWB signal. On the basis of the coarse positioning based on Bluetooth, the UWB signal is used for precise positioning, which solves the problem that the Bluetooth positioning error is large and is easily interfered by obstacles in complex environments, and solves the problem that the UWB signal cannot cover multiple intervals where the wall signal is shielded, without the need for high-cost fixed deployment of UWB base stations. In addition, the final positioning accuracy of the present application reaches the centimeter level, and the positioning precision and accuracy are high.

[0043] In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the robot movement method as described in the first aspect above is implemented.

[0044] In a fourth aspect, the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the robot movement method as described in the first aspect above.

[0045] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the robot movement method as described in the first aspect above.

[0046] The above one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0047] By dividing the target area where the target object is located into multiple sub-areas, and based on the Bluetooth signals sent by the Bluetooth beacon devices in each sub-area received by the target object, the robot is controlled to move to the first area where the target object is located, and then switched from Bluetooth positioning to UWB positioning. In the first area, the robot is controlled to move to the core area where the target object is located based on the UWB signal. On the basis of coarse positioning based on Bluetooth, precise positioning is performed through UWB signals, which solves the problem that Bluetooth positioning has large errors and is easily interfered by obstacles in complex environments. At the same time, it solves the problem that UWB signals cannot cover multiple intervals where wall signals are shielded, and there is no need for high-cost fixed deployment of UWB base stations. In addition, the final positioning accuracy of the present application reaches the centimeter level, with high positioning precision and accuracy.

[0048] Furthermore, based on the Euclidean distance between each candidate robot and the target object and the working status information of each candidate robot, a candidate robot that is closest to the target object and in the best standby state is selected from multiple candidate robots as the target robot, and then a first path is obtained based on the navigation algorithm, and autonomous navigation is performed to the first area based on the first path. The optimal robot can be selected, avoiding the problem of poor working status of the summoned robot, and coarse positioning is performed through Bluetooth, which solves the problem of multi-interval UWB signals that cannot be covered due to wall signal shielding, and realizes autonomous summoning of robots at any location in the scene.

[0049] Furthermore, by setting the UWB positioning tag of the target object to continuously send UWB signals, it is possible to switch from Bluetooth positioning to UWB positioning when the target robot receives the UWB signal. Based on the coarse positioning based on Bluetooth, precise positioning is performed through UWB signals, which solves the problem of UWB signals being unable to cover multiple intervals where there is signal shielding by walls, without the need for high-cost fixed deployment of UWB base stations.

[0050] Furthermore, through the grid map and the relative spatial posture, a second path between the target robot and the target object is obtained, and then the target robot is controlled to move based on the second path and the relative spatial posture of the target object relative to the target robot is updated, and then the second path is corrected based on the updated relative spatial posture. The optimal path can be selected for navigation, which improves the speed, stability and accuracy of the navigation process.

[0051] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0053] Figure 1 This is one of the flowcharts of the robot movement method provided in the embodiment of the present application;

[0054] Figure 2 This is the second flow chart of the robot movement method provided in the embodiment of the present application;

[0055] Figure 3 This is one of the principle schematic diagrams of the robot movement method provided in the embodiment of the present application;

[0056] Figure 4 This is the third flow chart of the robot movement method provided in the embodiment of the present application;

[0057] Figure 5 This is the second schematic diagram of the principle of the robot movement method provided in the embodiment of the present application;

[0058] Figure 6 is a schematic diagram of the structure of a robot mobile device provided in an embodiment of the present application;

[0059] Figure 7 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0061] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0062] Combine the following Figures 1 to 5 The robot movement method according to the embodiment of the present application is described.

[0063] It should be noted that the executor of the robot movement method can be the robot automatic summoning system, or it can be a server electrically connected to the robot, or it can be a mobile device set on the robot, or it can be a user terminal connected to the robot for communication, including but not limited to mobile terminals and non-mobile terminals.

[0064] For example, mobile terminals include but are not limited to mobile phones, PDA smart terminals, tablet computers, and vehicle-mounted smart terminals, etc.; non-mobile terminals include but are not limited to PC terminals, etc.

[0065] like Figure 1 As shown, the robot moving method includes: step 110, step 120 and step 130.

[0066] Step 110, determine the first position information of the target object based on the target signal strength vector set and multiple reference signal strength vector sets received by the target object; the target signal strength vector set is determined based on the signal strength vectors corresponding to the Bluetooth beacon devices in multiple sub-areas received by the target object, the multiple sub-areas correspond one-to-one to the multiple reference signal strength vector sets, the reference signal strength vector set is determined based on the signal strength vectors corresponding to the Bluetooth beacon devices in each sub-area received by the reference point in the sub-area corresponding to the reference signal strength vector set, and the multiple sub-areas are obtained by dividing the target area where the target object is located.

[0067] In this step, the target object may be a mobile terminal of a user, or may be industrial equipment in an industrial scenario.

[0068] The target object may be provided with a Bluetooth positioning terminal and a UWB positioning tag.

[0069] The target object can receive Bluetooth signals sent from the outside world, and the target object can also send UWB signals to the outside world.

[0070] The target area is the area where the target object is located, and the robot can travel in the target area.

[0071] like Figure 2 As shown, the target area where the target object is located can be divided into multiple sub-areas.

[0072] A Bluetooth beacon device is provided in each sub-area, and a reference point can be set in each sub-area. The coordinates of the reference point can be customized based on the user, and this application does not limit this.

[0073] For example, the coordinates of the reference point in the i-th sub-region can be expressed as (x i ,y i ), we can get the reference point set as Ref = {(x1,y1),(x2,y2),…,(xi ,y i )}, where i is the number of reference points, that is, the number of sub-areas.

[0074] The target object can receive the Bluetooth signal sent by the Bluetooth beacon device in each sub-area, obtain the signal strength vector corresponding to each Bluetooth beacon device, and determine the signal strength vectors corresponding to the Bluetooth beacon devices in multiple sub-areas as the target signal strength vector set. The target signal strength set can be expressed as Z = [Z1, Z2, ..., Z n ], which is the fingerprint vector corresponding to the target object.

[0075] The reference point in the target sub-area of ​​the multiple sub-areas can receive the signal strength vector corresponding to the Bluetooth beacon device in each sub-area, and then determine the reference signal strength vector set corresponding to the reference point in the target sub-area. The reference signal strength vector set can be expressed as That is, the fingerprint vector corresponding to the reference point in the target sub-region;

[0076] The multiple sub-areas correspond to the multiple reference signal strength vector sets one by one. Based on the multiple reference signal strength vector sets corresponding to the multiple sub-areas, the fingerprint library Z = {Z 1 ,Z 2 ,…,Z j}.

[0077] In the actual implementation process, the collected signal data can also be processed based on the mixed Gaussian filter model to obtain signal data with interference data such as noise filtered out, thereby improving the stability and smoothness of the signal data.

[0078] The first location information of the target object may be predicted based on a target signal strength vector set and a plurality of reference signal strength vector sets.

[0079] The first position information can be represented by coordinates.

[0080] In some embodiments, step 110 may include:

[0081] Based on the target signal strength vector set and the plurality of reference signal strength vector sets, respectively determining a first Euclidean distance between the target object and each Bluetooth beacon device;

[0082] The first position information is determined based on the plurality of first Euclidean distances and the second position information of the reference point.

[0083] In this embodiment, the first Euclidean distance is used to represent the actual distance between the target object and each Bluetooth beacon device.

[0084] The second position information is the coordinate information corresponding to the reference point.

[0085] In the actual implementation process, the target signal strength vector set can be expressed as Z = [Z1, Z2, ..., Z n ], any reference signal strength vector set in the plurality of reference signal strength vector sets is represented as X i =[S 1i ,S 2i ,…,S ni ], the first Euclidean distance can be determined based on the following formula:

[0086]

[0087] Among them, L is the first Euclidean distance, Z is the target signal strength vector set, X i is the i-th reference signal strength vector set, ‖ZX i ‖ is the Euler distance between the target signal strength vector set and the i-th reference signal strength vector set.

[0088] Then, the predicted coordinate value of the target object's location can be calculated by the K-weighted nearest neighbor algorithm, that is, the first location information, which can be expressed as

[0089] In some embodiments, determining the first position information based on the plurality of first Euclidean distances and the second position information of the reference point may include:

[0090] Based on the formula:

[0091]

[0092] First position information is determined.

[0093] In this embodiment, i∈[1, N r ],N r is the number of multiple reference signal strength vector sets, is the first position information, L i is the first Euclidean distance between the target object and the Bluetooth beacon device in the i-th sub-area, (xi,iy) is the second position information of the reference point in the i-th sub-area, σ is a parameter, and K is the number of multiple sub-areas.

[0094] By setting σ in the formula, we can avoid the denominator of the fraction being 0.

[0095] Step 120: Based on the first position information and the first information of the multiple candidate robots in the target area, control the target robot among the multiple candidate robots to move to the first area where the target object is located.

[0096] In this embodiment, a plurality of candidate robots are arranged in the target area.

[0097] Different candidate robots may correspond to different first information.

[0098] The first information is used to characterize the position information and working status information of the candidate robot.

[0099] The target robot may be determined from a plurality of candidate robots based on the first position information and the first information.

[0100] Then, based on the first position information, the target robot may be controlled to move into the first area where the target object is located.

[0101] The first area is an area where the UWB signal sent by the target object can be received.

[0102] In some embodiments, the first information may include: third position information of the candidate robot and working status information of the candidate robot, and step 120 may include:

[0103] Based on the first position information, the third position information and the working state information, determining a target robot from a plurality of candidate robots; the target robot is a candidate robot that is closest to the target object and is in the best standby state;

[0104] Planning a first path based on the first location information and the third location information;

[0105] Based on the first path, the target robot is controlled to move into the first area.

[0106] In this embodiment, the first information may include third position information of the candidate robot and working status information of the candidate robot.

[0107] The third position information may be coordinate information of the candidate robot.

[0108] The working status information may include information such as the working status and battery power of the candidate robot.

[0109] Based on the first position information, the third position information and the working state information, the candidate robot that is closest to the target object and in the best standby state may be determined as the target robot.

[0110] The first path may be obtained based on a navigation algorithm.

[0111] The first path may be determined based on the first location information, the third location information, and the environmental information.

[0112] The environmental information may include obstacles between the target robot and the target object. For example, there may be obstacles such as going up and down stairs between the target robot and the target object.

[0113] In the actual implementation process, Figure 3As shown, the first position information of the target object can be input into the scheduling system, and the scheduling system can calculate the second Euclidean distance between the third position information of each candidate robot and the first position information of the target object;

[0114] Then, based on the second Euclidean distance and the working status information of each candidate robot, an algorithm is used to select the candidate robot that is closest to the target object and in the best standby state as the target robot;

[0115] Then, the first position information of the target object is sent to the target robot, and the target robot performs path planning through a navigation algorithm to obtain a first path;

[0116] Based on the first path, the target robot can autonomously navigate to the first area where the target object is located.

[0117] According to the robot movement method provided in the embodiment of the present application, based on the Euclidean distance between each candidate robot and the target object and the working status information of each candidate robot, a candidate robot that is closest to the target object and in the best standby state is selected from multiple candidate robots as the target robot, and then a first path is obtained based on the navigation algorithm, and autonomous navigation is performed to the first area based on the first path. The optimal robot can be selected, avoiding the problem of the summoned robot being in poor working condition, and coarse positioning is performed through Bluetooth, which solves the problem of multi-interval UWB signals being unable to cover due to wall signal shielding, and realizes autonomous summoning of the robot at any location in the scene.

[0118] like Figure 4 As shown, in some embodiments, based on the first path, controlling the target robot to move into the first area may include:

[0119] The UWB positioning tag set on the target object sends a UWB signal based on the target period;

[0120] When the target robot receives the UWB signal, it is determined that the target robot enters the first area.

[0121] In this embodiment, if Figure 3 As shown, the target object may be provided with a UWB positioning tag.

[0122] UWB is an ultra-wideband wireless communication technology.

[0123] The UWB positioning tag can send UWB signals based on a target period.

[0124] The target period may be 20ms or 50ms, etc., and may be user-defined, and this application does not limit this.

[0125] When the target robot receives the UWB signal, it can be determined that the target robot has entered the first area, and then it can switch to UWB positioning, that is, positioning based on the UWB signal.

[0126] In the case that the target robot cannot receive the UWB signal, the target robot will continue to move toward the target object based on the first path until entering the first area.

[0127] According to the robot movement method provided in the embodiment of the present application, by setting the UWB positioning tag of the target object to continuously send UWB signals, it is possible to switch from Bluetooth positioning to UWB positioning when the target robot receives the UWB signal. On the basis of coarse positioning based on Bluetooth, precise positioning is performed through UWB signals, which solves the problem that UWB signals cannot cover multiple intervals where there is signal shielding from walls, and there is no need for high-cost fixed deployment of UWB base stations.

[0128] Step 130: In the first area, the target robot is controlled to move to the core area where the target object is located based on the UWB signal.

[0129] In this step, when the target robot enters the first area, it can switch to UWB positioning, and control the target robot to move to the core area where the target object is located based on the UWB signal.

[0130] The core area where the target object is located is an area near the target object, for example, it may be an area within 0.5 meters around the target object.

[0131] In the actual implementation process, in a supermarket environment, the target object can be the user's mobile terminal. The target robot can be moved to the first area where the user's mobile terminal is located based on the Bluetooth signal, and then switch to UWB positioning in the first area. The UWB positioning tag set on the user's mobile terminal can send a UWB signal to the target robot. Based on the UWB signal, the target robot can be controlled to move to the core area where the user's mobile terminal is located.

[0132] For another example, in an industrial environment, the target object may be industrial equipment in a factory. A Bluetooth positioning terminal installed on the industrial equipment may receive Bluetooth signals sent from the outside world, and then determine the target robot from multiple candidate robots. The target robot is then controlled to move to a first area where the industrial equipment is located. In the first area, a UWB positioning tag installed on the industrial equipment may send a UWB signal to the target robot, and based on the UWB signal, the target robot is controlled to move to a core area where the industrial equipment is located.

[0133] Furthermore, in an industrial environment, for example, the target object may be the loading area or unloading area of ​​industrial equipment, the target robot may be a material robot, and the core area where the target object is located may be the loading area. A Bluetooth positioning terminal and a UWB positioning tag may be set in the loading area to control the material robot to move to the loading area of ​​the industrial equipment.

[0134] During the research and development process, the inventors discovered that there are methods in the relevant technology to locate the target object based on Bluetooth signals or UWB signals, but the positioning method based on Bluetooth signals has low accuracy, and positioning based on UWB signals requires the deployment of more positioning base stations, and UWB signals cannot cover areas where signals are shielded by walls, so the applicable scenarios are not wide.

[0135] In the present application, the target area where the target object is located is divided into multiple sub-areas, and a Bluetooth beacon device and a reference point are set in each sub-area, and the predicted position information of the target object is calculated through the signal strength corresponding to each Bluetooth beacon device received by the target object and the signal strength corresponding to each Bluetooth beacon device received by each reference point. At the same time, a target robot is selected from multiple candidate robots based on the position information and working status information of multiple candidate robots, and then the target robot is controlled to move to the first area where the target object is located, and then the Bluetooth positioning is switched to the UWB positioning. In the first area, the target robot is controlled to move to the core area where the target object is located based on the UWB signal. On the basis of the Bluetooth coarse positioning, the UWB signal is used for precise positioning, which solves the problem that the Bluetooth positioning error is large and is easily interfered by obstacles in complex environments. At the same time, it solves the problem that the UWB signal cannot cover multiple intervals with wall signal shielding, and there is no need for high-cost fixed deployment of UWB base stations. In addition, the final positioning accuracy of the present application reaches the centimeter level, and the positioning precision and accuracy are high.

[0136] According to the robot movement method provided in the embodiment of the present application, the target area where the target object is located is divided into multiple sub-areas, and based on the Bluetooth signals sent by the Bluetooth beacon devices in each sub-area received by the target object, the robot is controlled to move to the first area where the target object is located, and then the Bluetooth positioning is switched to the UWB positioning. In the first area, the robot is controlled to move to the core area where the target object is located based on the UWB signal. On the basis of the coarse positioning based on Bluetooth, the UWB signal is used for precise positioning, which solves the problem that the Bluetooth positioning error is large and is easily interfered by obstacles in complex environments, and solves the problem that the UWB signal cannot cover multiple intervals where the wall signal is shielded, without the need for high-cost fixed deployment of UWB base stations. In addition, the final positioning accuracy of the present application reaches the centimeter level, and the positioning precision and accuracy are high.

[0137] In some embodiments, step 130 may include:

[0138] Based on the UWB signal, determine the relative spatial position of the target object relative to the target robot;

[0139] Based on the grid map corresponding to the target area and the relative spatial pose, a second path between the target robot and the target object is obtained;

[0140] Based on the second path, the target robot is controlled to move to the core area where the target object is located.

[0141] In this embodiment, the relative spatial pose is the spatial pose of the target object relative to the target robot.

[0142] The relative spatial pose may include the lateral distance, longitudinal distance, and angle information of the target object relative to the target robot.

[0143] The grid map corresponds to the target area, and a grid map of the drivable area of ​​the application scenario can be constructed based on lidar and IMU sensors.

[0144] The grid map may include a plurality of grid grids, and the grid size may be user-defined, for example, the grid size may be 1 cm×1 cm.

[0145] The second path is a path between the target robot and the target object in the first area.

[0146] Based on the second path, the target robot can be controlled to move to the core area where the target object is located.

[0147] In some embodiments, determining the relative spatial position of the target object relative to the target robot based on the UWB signal may include:

[0148] Based on the UWB signal, determine the two-dimensional relative coordinates of the target object relative to the target robot;

[0149] The relative spatial pose is obtained based on the two-dimensional relative coordinates, the first information of the target robot and the arrival direction corresponding to the UWB signal.

[0150] In this embodiment, the two-dimensional relative coordinates are the two-dimensional coordinates of the target object relative to the target robot.

[0151] The two-dimensional relative coordinates may include a lateral distance and a longitudinal distance of the target object relative to the target robot.

[0152] The direction of arrival (DOA) corresponding to the UWB signal may be determined based on the elevation angle corresponding to the UWB signal, etc.

[0153] Based on the two-dimensional relative coordinates of the target object relative to the target robot, the first information of the target robot, and the arrival direction corresponding to the UWB signal, the relative spatial posture of the target object relative to the target robot can be obtained.

[0154] In some embodiments, determining the two-dimensional relative coordinates of the target object relative to the target robot based on the UWB signal may include:

[0155] At least two antennas disposed on the target robot respectively receive the same UWB signal sent by the target object;

[0156] determining a target angle based on a signal arrival time difference of the UWB signal received by at least two antennas;

[0157] The two-dimensional relative coordinates are determined based on the reception time and the target angle of the UWB signal respectively received by at least two antennas.

[0158] In this embodiment, an antenna array module may be provided on the target robot, and at least two antennas may be provided in the antenna array module.

[0159] At least two antennas can receive UWB signals sent by the target object.

[0160] The time taken by at least two antennas to receive the UWB signal is different, and thus the signal arrival time difference can be obtained.

[0161] The target angle is the signal arrival angle, such as Figure 5 As shown in θ, it can be obtained based on the signal arrival time difference of the UWB signal received by at least two antennas.

[0162] In this application, positioning is performed by a single base station based on a UWB antenna array, which avoids the limitations of multi-reference base station positioning and has low deployment cost and difficulty.

[0163] In the actual implementation process, when the distance between the target object and the target robot is much larger than the spacing between the antennas in the antenna array module, it can be considered that the UWB signals reaching each antenna are parallel;

[0164] The signal arrival time difference of UWB signals received by at least two antennas can be calculated based on the following formula:

[0165]

[0166] Among them, Δτ tdoai is the signal arrival time difference, τ toai+1 is the reception time of the UWB signal received by the first antenna, τ toaiis the receiving time of the UWB signal received by the second antenna, the first antenna is the antenna that takes a longer time to receive the UWB signal, the second antenna is the antenna that takes a shorter time to receive the UWB signal, d is the distance between the first antenna and the second antenna, θ is the target angle, and c is the speed of light;

[0167] Then the target angle is obtained based on the signal arrival time difference:

[0168]

[0169] Where θ is the target angle, Δτ tdoai is the signal arrival time difference, d is the distance between the first antenna and the second antenna, and c is the speed of light;

[0170] The average of the reception time of the UWB signal received by at least two antennas can be obtained, and then the two-dimensional relative coordinates can be determined based on the average and the target angle, which can be achieved by the following formula:

[0171]

[0172] Among them, x is the horizontal coordinate in the two-dimensional relative coordinate, y is the vertical coordinate in the two-dimensional relative coordinate, θ is the target angle, c is the speed of light, τ toa1 and τ toa2 are the receiving times of UWB signals received by the two antennas respectively.

[0173] In some embodiments, based on the grid map and relative spatial pose corresponding to the target area, obtaining the second path between the target robot and the target object may include:

[0174] Based on the grid map and the relative spatial pose, a second path between the target robot and the target object is obtained;

[0175] Controlling the target robot to move based on the second path and updating the relative spatial position of the target object relative to the target robot;

[0176] The second path is corrected based on the updated relative spatial pose.

[0177] In this embodiment, during the movement of the target robot, the relative spatial position of the target object relative to the target robot will change.

[0178] In the application, the robot side can correct the posture state of the target robot and the second path in real time based on the updated relative spatial posture to select the optimal path for navigation.

[0179] In the actual execution process, the relative spatial pose of the target object relative to the target robot can be expressed as (x′, y′, θ′), and the relative spatial pose can be mapped to the grid map coordinate system, and the mapped pose can be expressed as (x, y, θ);

[0180] Then (x, y, θ) is sent to the robot based on the serial communication protocol;

[0181] Then, based on the A* algorithm, a path search is performed to plan the optimal route from the target robot posture to the user posture (x, y, θ), which is the second path;

[0182] Then, the target robot is enabled to autonomously navigate to the core area where the target object is located through the navigation algorithm;

[0183] During the navigation process, the robot will correct the target robot's posture state and the second path in real time based on the relative distance and angle difference between the user's posture and the target robot's posture.

[0184] According to the robot movement method provided in the embodiment of the present application, a second path between a target robot and a target object is obtained through a grid map and a relative spatial posture, and then the movement of the target robot is controlled based on the second path and the relative spatial posture of the target object relative to the target robot is updated, and then the second path is corrected based on the updated relative spatial posture, and the optimal path can be selected for navigation, thereby improving the speed, stability and accuracy of the navigation process.

[0185] The robot moving device provided in the present application is described below. The robot moving device described below and the robot moving method described above can be referenced to each other.

[0186] The robot moving method provided in the embodiment of the present application can be executed by a robot moving device. In the embodiment of the present application, the robot moving device provided in the embodiment of the present application is described by taking the robot moving device executing the robot moving method as an example.

[0187] An embodiment of the present application also provides a robot moving device.

[0188] like Figure 6 As shown, the robot moving device includes: a first processing module 610 , a second processing module 620 and a third processing module 630 .

[0189] A first processing module 610 is used to determine first position information of a target object based on a target signal strength vector set and a plurality of reference signal strength vector sets received by the target object; the target signal strength vector set is determined based on signal strength vectors corresponding to Bluetooth beacon devices in a plurality of sub-areas received by the target object, the plurality of sub-areas correspond one-to-one to the plurality of reference signal strength vector sets, the reference signal strength vector set is determined based on signal strength vectors corresponding to Bluetooth beacon devices in each sub-area received by a reference point in the sub-area corresponding to the reference signal strength vector set, and the plurality of sub-areas are obtained by dividing the target area where the target object is located;

[0190] The second processing module 620 is used to control a target robot among the multiple candidate robots to move to the first area where the target object is located based on the first position information and the first information of the multiple candidate robots in the target area;

[0191] The third processing module 630 is used to control the target robot to move to the core area where the target object is located based on the UWB signal in the first area.

[0192] According to the robot mobile device provided in the embodiment of the present application, the target area where the target object is located is divided into multiple sub-areas, and based on the Bluetooth signals sent by the Bluetooth beacon devices in each sub-area received by the target object, the robot is controlled to move to the first area where the target object is located, and then the Bluetooth positioning is switched to the UWB positioning. In the first area, the robot is controlled to move to the core area where the target object is located based on the UWB signal. On the basis of the coarse positioning based on Bluetooth, the UWB signal is used for precise positioning, which solves the problem that the Bluetooth positioning error is large and is easily interfered by obstacles in complex environments, and solves the problem that the UWB signal cannot cover multiple intervals where the wall signal is shielded, without the need for high-cost fixed deployment of UWB base stations. In addition, the final positioning accuracy of the present application reaches the centimeter level, and the positioning precision and accuracy are high.

[0193] In some embodiments, the robotic mobile device may further include:

[0194] a fourth processing module, configured to respectively determine a first Euclidean distance between the target object and each Bluetooth beacon device based on the target signal strength vector set and the plurality of reference signal strength vector sets;

[0195] The fifth processing module is used to determine the first position information based on the multiple first Euclidean distances and the second position information of the reference point.

[0196] In some embodiments, the fifth processing module may also be used to:

[0197] Based on the formula:

[0198]

[0199] Determine the first position information, where i∈[1, N r ],N r is the number of multiple reference signal strength vector sets, is the first position information, L i is the first Euclidean distance between the target object and the Bluetooth beacon device in the i-th sub-area, (x i ,y i ) is the second position information of the reference point in the i-th sub-region, σ is a parameter, and K is the number of multiple sub-regions.

[0200] In some embodiments, the first information includes: the third position information of the candidate robot and the working state information of the candidate robot, and the robot moving device may further include:

[0201] a sixth processing module, configured to determine a target robot from a plurality of candidate robots based on the first position information, the third position information and the working state information; the target robot being a candidate robot that is closest to the target object and is in the best standby state;

[0202] A seventh processing module, configured to plan a first path based on the first location information and the third location information;

[0203] The eighth processing module is used to control the target robot to move into the first area based on the first path.

[0204] In some embodiments, the eighth processing module may also be used to:

[0205] The UWB positioning tag set on the target object sends a UWB signal based on the target period;

[0206] When the target robot receives the UWB signal, it is determined that the target robot enters the first area.

[0207] In some embodiments, the robotic mobile device may further include:

[0208] A ninth processing module, used for determining a relative spatial position of the target object relative to the target robot based on the UWB signal;

[0209] a tenth processing module, configured to obtain a second path between the target robot and the target object based on a grid map and a relative spatial pose corresponding to the target area;

[0210] The eleventh processing module is used to control the target robot to move to the core area based on the second path.

[0211] In some embodiments, the robotic mobile device may further include:

[0212] a twelfth processing module, for determining a two-dimensional relative coordinate of the target object relative to the target robot based on the UWB signal;

[0213] The thirteenth processing module is used to obtain the relative spatial posture based on the two-dimensional relative coordinates, the first information of the target robot and the arrival direction corresponding to the UWB signal.

[0214] In some embodiments, the twelfth processing module may also be used to:

[0215] At least two antennas disposed on the target robot respectively receive the same UWB signal sent by the target object;

[0216] determining a target angle based on a signal arrival time difference of the UWB signal received by at least two antennas;

[0217] The two-dimensional relative coordinates are determined based on the reception time and the target angle of the UWB signal respectively received by at least two antennas.

[0218] In some embodiments, the tenth processing module may also be configured to:

[0219] Based on the grid map and the relative spatial pose, a second path between the target robot and the target object is obtained;

[0220] Controlling the target robot to move based on the second path and updating the relative spatial position of the target object relative to the target robot;

[0221] The second path is corrected based on the updated relative spatial pose.

[0222] The robot mobile device in the embodiment of the present application can be an electronic device, or a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or other devices other than a terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (augmented reality, AR) / virtual reality (virtual reality, VR) device, a robot, a wearable device, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook or a personal digital assistant (personal digital assistant, PDA), etc. It can also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television (television, TV), a teller machine or a self-service machine, etc., and the embodiment of the present application is not specifically limited.

[0223] The robot mobile device in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an IOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0224] The robot moving device provided in the embodiment of the present application can achieve Figures 1 to 5 To avoid repetition, the various processes implemented by the method embodiment are not described here.

[0225] In some embodiments, Figure 7 As shown, an embodiment of the present application also provides an electronic device 700, including a processor 701, a memory 702, and a computer program stored in the memory 702 and executable on the processor 701. When the program is executed by the processor 701, each process of the above-mentioned robot movement method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0226] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0227] On the other hand, the present application also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the various processes of the above-mentioned robot movement method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0228] On the other hand, the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, it is implemented to perform the various processes of the above-mentioned robot movement method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0229] On the other hand, an embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned robot movement method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0230] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0231] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0232] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0233] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these 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.

Claims

1. A robot moving method, characterized in that: include: Determine first position information of the target object based on a target signal strength vector set received by the target object and a plurality of reference signal strength vector sets; The target signal strength vector set is determined based on signal strength vectors corresponding to Bluetooth beacon devices in multiple sub-areas received by the target object, the multiple sub-areas correspond one-to-one to the multiple reference signal strength vector sets, the reference signal strength vector set is determined based on signal strength vectors corresponding to the Bluetooth beacon devices in each of the sub-areas received by a reference point in the sub-area corresponding to the reference signal strength vector set, and the multiple sub-areas are obtained by dividing the target area where the target object is located; Based on the first position information and first information of a plurality of candidate robots in the target area, controlling a target robot among the plurality of candidate robots to move to the first area where the target object is located; In the first area, the target robot is controlled to move to a core area where the target object is located based on the UWB signal.

2. The robot moving method according to claim 1, characterized in that: The determining, based on a target signal strength vector set received by the target object and a plurality of reference signal strength vector sets, first position information of the target object includes: Based on the target signal strength vector set and the multiple reference signal strength vector sets, respectively determine a first Euclidean distance between the target object and each of the Bluetooth beacon devices; The first position information is determined based on the plurality of first Euclidean distances and the second position information of the reference point.

3. The robot moving method according to claim 2, characterized in that: The determining the first position information based on the plurality of first Euclidean distances and the second position information of the reference point comprises: Based on the formula: Determine the first position information, where i∈[1, N r ],N r is the number of the multiple reference signal strength vector sets, is the first location information, L i is the first Euclidean distance between the target object and the Bluetooth beacon device in the i-th sub-area, (x i ,i) is the second position information of the reference point in the i-th sub-area, σ is a parameter, and K is the number of the multiple sub-areas.

4. The robot moving method according to any one of claims 1 to 3, characterized in that: The first information includes: third position information of the candidate robot and working state information of the candidate robot, and the controlling the target robot among the multiple candidate robots to move to the first area where the target object is located based on the first position information and the first information of the multiple candidate robots in the target area includes: Based on the first position information, the third position information and the working state information, determining the target robot from the multiple candidate robots; the target robot is the candidate robot that is closest to the target object and is in the best standby state; Planning a first path based on the first location information and the third location information; Based on the first path, the target robot is controlled to move into the first area.

5. The robot moving method according to claim 4, characterized in that: The controlling the target robot to move into the first area based on the first path includes: The UWB positioning tag disposed on the target object sends the UWB signal based on a target period; When the target robot receives the UWB signal, it is determined that the target robot enters the first area.

6. The robot moving method according to any one of claims 1 to 3, characterized in that: The step of controlling the target robot to move to the core area where the target object is located based on the UWB signal within the first area includes: Based on the UWB signal, determining the relative spatial pose of the target object relative to the target robot; Based on the grid map corresponding to the target area and the relative spatial posture, acquiring a second path between the target robot and the target object; Based on the second path, the target robot is controlled to move to the core area.

7. The robot moving method according to claim 6, characterized in that: Determining the relative spatial position of the target object relative to the target robot based on the UWB signal includes: Based on the UWB signal, determining the two-dimensional relative coordinates of the target object relative to the target robot; The relative spatial pose is acquired based on the two-dimensional relative coordinates, the first information of the target robot, and the direction of arrival corresponding to the UWB signal.

8. The robot moving method according to claim 7, characterized in that: Determining the two-dimensional relative coordinates of the target object relative to the target robot based on the UWB signal includes: At least two antennas disposed on the target robot respectively receive the same UWB signal sent by the target object; Determining a target angle based on a signal arrival time difference of the UWB signal received by at least two antennas; The two-dimensional relative coordinates are determined based on the reception times of the UWB signals received by at least two antennas respectively and the target angle.

9. The robot moving method according to claim 6, characterized in that: The acquiring a second path between the target robot and the target object based on the grid map corresponding to the target area and the relative spatial pose comprises: Based on the grid map and the relative spatial pose, acquiring a second path between the target robot and the target object; Controlling the target robot to move based on the second path and updating the relative spatial position of the target object relative to the target robot; The second path is corrected based on the updated relative spatial pose.

10. A robot moving device, characterized in that: include: A first processing module, configured to determine first position information of a target object based on a target signal strength vector set received by the target object and a plurality of reference signal strength vector sets; The target signal strength vector set is determined based on signal strength vectors corresponding to Bluetooth beacon devices in multiple sub-areas received by the target object, the multiple sub-areas correspond one-to-one to the multiple reference signal strength vector sets, the reference signal strength vector set is determined based on signal strength vectors corresponding to the Bluetooth beacon devices in each of the sub-areas received by a reference point in the sub-area corresponding to the reference signal strength vector set, and the multiple sub-areas are obtained by dividing the target area where the target object is located; A second processing module is used to control a target robot among the multiple candidate robots to move to the first area where the target object is located based on the first position information and the first information of the multiple candidate robots in the target area; The third processing module is used to control the target robot to move to the core area where the target object is located within the first area based on the UWB signal.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the robot movement method according to any one of claims 1 to 9 is implemented.

12. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the robot movement method according to any one of claims 1 to 9 is implemented.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the robot movement method according to any one of claims 1 to 9 is implemented.

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