Positioning method and device of embodied robot, embodied robot and storage medium

Abstract

The present application relates to the field of equipment positioning technology, and in particular to a positioning method, device, embodied robot and storage medium for an embodied robot; the method comprises: if it is determined that the embodied robot triggers an abnormal positioning condition during driving, then according to the first score of the embodied robot, a first positioning result of the embodied robot is positioned and verified; according to the positioning verification result of the first positioning result, a target positioning result corresponding to the embodied robot is determined. The present application realizes rapid calibration of the robot positioning of the embodied robot after the embodied robot triggers an abnormal positioning condition, prevents the normal operation process of the embodied robot from being affected, and improves the positioning stability of the embodied robot after the abnormal positioning condition is triggered.

Description

Technical Field

[0001] The present application relates to the technical field of device positioning, and in particular to a positioning method and device for an embodied robot, an embodied robot and a storage medium. Background Art

[0002] With the continuous improvement of science and technology, more and more embodied robots have been produced and put into use. Among them, in order for the embodied robots to effectively complete the tasks set by users, it is necessary to ensure that the embodied robots can accurately position the robots.

[0003] However, the embodied robot may experience positioning anomalies during driving (such as robot slipping and robot position being moved, etc.), which also leads to the lack of accuracy of the embodied robot's positioning results and positioning failure. Summary of the invention

[0004] Based on this, it is necessary to provide an embodied robot positioning method, device, embodied robot and storage medium that can ensure the accuracy of the positioning results of the embodied robot and prevent positioning failure in response to the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a positioning method for an embodied robot. The method comprises:

[0006] If it is determined that the embodied robot triggers an abnormal positioning condition during driving, performing positioning verification on the first positioning result of the embodied robot according to the first score of the embodied robot;

[0007] Determining a target positioning result corresponding to the embodied robot according to a positioning verification result of the first positioning result;

[0008] The abnormal positioning condition includes: at least one of the following: the distance deviation between the first positioning result and the second positioning result exceeds the first difference threshold, the angle deviation between the second positioning result and the IMU positioning result exceeds the second difference threshold, and the score difference between the first score and the third score exceeds the third difference threshold;

[0009] The first score is the accuracy score corresponding to the first positioning result; the first positioning result is obtained by analyzing the radar point cloud positioning parameters and / or the visual image positioning parameters collected by the embodied robot; the second positioning result is obtained by analyzing the odometer positioning parameters collected by the embodied robot; the third score is the accuracy score corresponding to the historical positioning result; the historical positioning result is the most recent positioning result of the embodied robot that did not trigger abnormal positioning conditions.

[0010] In one embodiment, performing positioning verification on a first positioning result of the embodied robot according to the first score of the embodied robot includes:

[0011] If there are at least two first positioning results whose first scores are greater than the first score threshold, selecting a reference positioning result with the largest first score from each of the first positioning results;

[0012] Verify whether positioning jitter occurs in the reference positioning result; if not, determine that the positioning verification result of the first positioning result is passed; if so, determine that the positioning verification result of the first positioning result is failed;

[0013] Among them, the positioning jump phenomenon refers to the phenomenon that the interval distance between the positioning result obtained in this detection cycle and the positioning result obtained in the previous detection cycle is greater than the maximum driving distance of the embodied robot within the detection cycle.

[0014] In one embodiment, performing positioning verification on a first positioning result of the embodied robot according to the first score of the embodied robot further includes:

[0015] If there is only one first positioning result whose first score is greater than the first score threshold, verifying whether the first score of the first positioning result is greater than the second score threshold;

[0016] If the first score of the first positioning result is greater than the second score threshold, determining that the positioning verification result of the first positioning result is positioning verification passed;

[0017] If the first score of the first positioning result is not greater than the second score threshold, verify whether the first positioning result has positioning jump phenomenon; if not, determine that the positioning verification result of the first positioning result is positioning verification passed; if it occurs, determine that the positioning verification result of the first positioning result is positioning verification failed.

[0018] In one embodiment, determining a target positioning result corresponding to the embodied robot according to a positioning verification result of the first positioning result includes:

[0019] When the positioning verification result of the first positioning result is that the positioning verification is passed, the first positioning result with the largest first score is used as the target positioning result corresponding to the embodied robot.

[0020] In one embodiment, determining a target positioning result corresponding to the embodied robot according to a positioning verification result of the first positioning result further includes:

[0021] When the positioning verification result of the first positioning result is that the positioning verification fails, positioning verification is performed on the second positioning result of the embodied robot according to the second score of the embodied robot; wherein the second score is an accuracy score corresponding to the second positioning result;

[0022] According to the positioning verification result of the second positioning result, a target positioning result corresponding to the embodied robot is determined.

[0023] In one embodiment, performing positioning verification on the second positioning result of the embodied robot according to the second score of the embodied robot includes:

[0024] When the second score is greater than the third score threshold, determining the positioning verification result of the second positioning result as positioning verification passed;

[0025] When the second score is not greater than the third score threshold, it is determined that the positioning verification result of the second positioning result is positioning verification failure.

[0026] In one embodiment, determining a target positioning result corresponding to the embodied robot according to a positioning verification result of the second positioning result includes:

[0027] When the positioning verification result of the second positioning result is that the positioning verification is passed, the second positioning result is used as the target positioning result corresponding to the embodied robot.

[0028] In one embodiment, determining a target positioning result corresponding to the embodied robot according to a positioning verification result of the second positioning result further includes:

[0029] When the positioning verification result of the second positioning result is that the positioning verification fails, obtaining the historical positioning result;

[0030] If the third score is greater than the fourth score threshold, the historical positioning result is used as the target positioning result corresponding to the embodied robot.

[0031] In one embodiment, the method further comprises:

[0032] If the third score is not greater than the fourth score threshold, obtaining a local map constructed by the embodied robot based on the environment;

[0033] According to the local map, map features are matched in the pre-built global map;

[0034] According to the matching results, the target positioning result corresponding to the embodied robot is determined.

[0035] In a second aspect, the present application also provides a positioning device for an embodied robot. The device comprises:

[0036] a verification module, configured to verify the first positioning result of the embodied robot according to the first score of the embodied robot if it is determined that the embodied robot triggers an abnormal positioning condition during driving;

[0037] A determination module, used to determine a target positioning result corresponding to the embodied robot according to a positioning verification result of the first positioning result;

[0038] The abnormal positioning condition includes: at least one of the following: the distance deviation between the first positioning result and the second positioning result exceeds the first difference threshold, the angle deviation between the second positioning result and the IMU positioning result exceeds the second difference threshold, and the score difference between the first score and the third score exceeds the third difference threshold;

[0039] The first score is the accuracy score corresponding to the first positioning result; the first positioning result is obtained by analyzing the radar point cloud positioning parameters and / or the visual image positioning parameters collected by the embodied robot; the second positioning result is obtained by analyzing the odometer positioning parameters collected by the embodied robot; the third score is the accuracy score corresponding to the historical positioning result; the historical positioning result is the most recent positioning result of the embodied robot that did not trigger abnormal positioning conditions.

[0040] In a third aspect, the present application further provides an embodied robot. The embodied robot includes a processor and a memory, the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0041] If it is determined that the embodied robot triggers an abnormal positioning condition during driving, performing positioning verification on the first positioning result of the embodied robot according to the first score of the embodied robot;

[0042] Determining a target positioning result corresponding to the embodied robot according to a positioning verification result of the first positioning result;

[0043] The abnormal positioning condition includes: at least one of the following: the distance deviation between the first positioning result and the second positioning result exceeds the first difference threshold, the angle deviation between the second positioning result and the IMU positioning result exceeds the second difference threshold, and the score difference between the first score and the third score exceeds the third difference threshold;

[0044] The first score is the accuracy score corresponding to the first positioning result; the first positioning result is obtained by analyzing the radar point cloud positioning parameters and / or the visual image positioning parameters collected by the embodied robot; the second positioning result is obtained by analyzing the odometer positioning parameters collected by the embodied robot; the third score is the accuracy score corresponding to the historical positioning result; the historical positioning result is the most recent positioning result of the embodied robot that did not trigger abnormal positioning conditions.

[0045] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0046] If it is determined that the embodied robot triggers an abnormal positioning condition during driving, performing positioning verification on the first positioning result of the embodied robot according to the first score of the embodied robot;

[0047] Determining a target positioning result corresponding to the embodied robot according to a positioning verification result of the first positioning result;

[0048] The abnormal positioning condition includes: at least one of the following: the distance deviation between the first positioning result and the second positioning result exceeds the first difference threshold, the angle deviation between the second positioning result and the IMU positioning result exceeds the second difference threshold, and the score difference between the first score and the third score exceeds the third difference threshold;

[0049] The first score is the accuracy score corresponding to the first positioning result; the first positioning result is obtained by analyzing the radar point cloud positioning parameters and / or the visual image positioning parameters collected by the embodied robot; the second positioning result is obtained by analyzing the odometer positioning parameters collected by the embodied robot; the third score is the accuracy score corresponding to the historical positioning result; the historical positioning result is the most recent positioning result of the embodied robot that did not trigger abnormal positioning conditions.

[0050] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0051] If it is determined that the embodied robot triggers an abnormal positioning condition during driving, performing positioning verification on the first positioning result of the embodied robot according to the first score of the embodied robot;

[0052] Determining a target positioning result corresponding to the embodied robot according to a positioning verification result of the first positioning result;

[0053] The abnormal positioning condition includes: at least one of the following: the distance deviation between the first positioning result and the second positioning result exceeds the first difference threshold, the angle deviation between the second positioning result and the IMU positioning result exceeds the second difference threshold, and the score difference between the first score and the third score exceeds the third difference threshold;

[0054] The first score is the accuracy score corresponding to the first positioning result; the first positioning result is obtained by analyzing the radar point cloud positioning parameters and / or the visual image positioning parameters collected by the embodied robot; the second positioning result is obtained by analyzing the odometer positioning parameters collected by the embodied robot; the third score is the accuracy score corresponding to the historical positioning result; the historical positioning result is the most recent positioning result of the embodied robot that did not trigger abnormal positioning conditions.

[0055] The positioning method, device, embodied robot and storage medium of the embodied robot described above, if it is determined that the embodied robot triggers an abnormal positioning condition during driving, then based on the first score of the embodied robot, a first positioning result of the embodied robot is positioned and verified; and then, based on the positioning verification result of the first positioning result, a target positioning result corresponding to the embodied robot is determined. According to the above content, if it is detected in advance that the embodied robot triggers an abnormal positioning condition during driving, it can be determined that the positioning result of the embodied robot at this time may be deviated and cannot accurately reflect the accurate positioning of the embodied robot. Therefore, according to the first score of the embodied robot, the first positioning result of the embodied robot is positioned and verified to determine whether the first positioning result obtained by analyzing the radar point cloud positioning parameters and / or the visual image positioning parameters collected by the embodied robot is accurate. If it is determined that the first positioning result can accurately reflect the positioning result of the embodied robot according to the positioning verification result of the first positioning result, the target positioning result corresponding to the embodied robot is determined through the first positioning result; so as to realize that after the embodied robot triggers the abnormal positioning condition, the robot positioning of the embodied robot can be quickly calibrated to prevent the normal operation process of the embodied robot from being affected, thereby improving the positioning stability of the embodied robot after the abnormal positioning condition is triggered. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 An application environment diagram of a positioning method for an embodied robot provided in this application;

[0057] Figure 2 A schematic diagram of the flow of the first embodied robot positioning method provided in this application;

[0058] Figure 3 A schematic diagram of the flow of a second embodied robot positioning method provided in this application;

[0059] Figure 4 A schematic diagram of a flow chart of a third embodied robot positioning method provided in this application;

[0060] Figure 5 A schematic diagram of a flow chart of a fourth embodied robot positioning method provided in the present application;

[0061] Figure 6 A structural block diagram of a positioning device of a first embodied robot provided in the present application;

[0062] Figure 7 FIG. 4 is a diagram showing the internal structure of an embodied robot in one embodiment. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0064] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. In the description of the present application, the description of the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms is not necessarily for the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples without contradicting each other.

[0065] This method can be applied to embodied robots or servers, and can be applied to Figure 1 In the application environment shown. Among them, the terminal 102, the embodied robot 105 and the server 104 communicate through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on a cloud server or other network server. Among them, the terminal 102 can include but is not limited to various personal computers, laptops, smart phones, tablet computers, etc. The embodied robot 105 can include but is not limited to a sweeping robot (also called a cleaning robot), a dragging robot driven by a sweeping machine (i.e., a sweeping and dragging robot), a food delivery robot, an autonomously driven carrying robot, a companion robot, a service robot, etc. It can be understood that the existence forms of the various robots listed above are not limited. For example, it can be a wheeled robot, a bipedal humanoid robot, or a multi-legged robot. The server 104 can be implemented with an independent server or a server cluster consisting of multiple servers. Further, the server 104 can be integrated on the terminal 102, or the server 104 can also be set separately from the terminal 102.

[0066] In one embodiment, Figure 2 As shown, a positioning method for an embodied robot is provided, and the method is applied to Figure 1 Taking the embodied robot 105 in the example as an example, the method includes the following steps:

[0067] S201: If it is determined that the embodied robot triggers an abnormal positioning condition during driving, a first positioning result of the embodied robot is verified according to a first score of the embodied robot.

[0068] Among them, the abnormal positioning conditions include: at least one of: the distance deviation between the first positioning result and the second positioning result exceeds the first difference threshold, the angle deviation between the second positioning result and the IMU (Inertial Measurement Unit Positioning) positioning result exceeds the second difference threshold, and the score difference between the first score and the third score exceeds the third difference threshold.

[0069] Furthermore, the first score is an accuracy score corresponding to the first positioning result; the first positioning result is obtained by analyzing the radar point cloud positioning parameters and / or the visual image positioning parameters collected by the embodied robot; the second positioning result is obtained by analyzing the odometer positioning parameters collected by the embodied robot; the third score is an accuracy score corresponding to the historical positioning result; the historical positioning result is the most recent positioning result of the embodied robot that did not trigger the positioning abnormality condition, that is, it is obtained by analyzing the radar point cloud positioning parameters and / or the visual image positioning parameters collected by the embodied robot that did not trigger the positioning abnormality condition.

[0070] It should be noted that when it is necessary to determine whether the embodied robot triggers abnormal positioning conditions during driving, the positioning parameters collected by the embodied robot can be obtained, and the positioning parameters can be analyzed to determine whether the embodied robot triggers abnormal positioning conditions during driving. The positioning parameters include at least one of radar point cloud positioning parameters, visual image positioning parameters, IMU positioning parameters, and odometer positioning parameters.

[0071] In one embodiment of the present application, if radar point cloud positioning parameters and odometer positioning parameters are collected, a first positioning result is obtained based on the radar point cloud positioning parameter analysis, and a second positioning result is obtained based on the odometer positioning parameter analysis; then, the distance deviation between the first positioning result and the second positioning result is obtained; wherein the distance deviation is used to characterize the straight-line distance between the first positioning result and the second positioning result; if the distance deviation exceeds a first difference threshold, it is determined that the positioning result of the embodied robot at this time may be erroneous, that is, it is determined that the embodied robot triggers an abnormal positioning condition during driving.

[0072] In one embodiment of the present application, if the odometer positioning parameters are collected, a second positioning result is obtained based on the odometer positioning parameter analysis, and the IMU positioning result corresponding to the embodied robot is obtained; the second positioning result and the IMU positioning result are recorded in a data list of preset length, and the angular deviation between the orientation of the embodied robot corresponding to the second positioning result and the orientation of the embodied robot corresponding to the IMU positioning result under the same data length is compared; if the angular deviation exceeds the second difference threshold, it is determined that the positioning result of the embodied robot at this time may be erroneous, that is, it is determined that the embodied robot triggers an abnormal positioning condition during driving.

[0073] In one embodiment of the present application, if radar point cloud positioning parameters are collected, a first positioning result is obtained based on the radar point cloud positioning parameter analysis, and the historical positioning result of the embodied robot that did not trigger the abnormal positioning condition most recently is obtained, and the accuracy of the historical positioning result and the first positioning result are scored respectively to obtain a first score and a third score; a difference operation is performed on the first score and the third score to obtain a score difference; if the score difference exceeds the third difference threshold, it is determined that the positioning result of the embodied robot at this time may be erroneous, that is, it is determined that the embodied robot triggers an abnormal positioning condition during driving.

[0074] To further illustrate, when it is necessary to obtain the first positioning result based on the analysis of radar point cloud positioning parameters and / or visual image positioning parameters, an analysis strategy for the radar point cloud positioning parameters and / or visual image positioning parameters can be pre-set. Then, when it is necessary to obtain the first positioning result, the radar point cloud positioning parameters and / or visual image positioning parameters collected in real time by the embodied robot are analyzed according to the preset analysis strategy to obtain the first positioning result. The analysis strategy can be set or adjusted in combination with the actual application of the embodied robot, and the specific content of the analysis strategy is not limited herein.

[0075] Furthermore, when it is necessary to obtain a second positioning result based on the odometer positioning parameters analysis, an analysis strategy for the odometer positioning parameters can also be pre-set to achieve the goal that when it is necessary to determine the second positioning result, the odometer positioning parameters collected in real time by the embodied robot are analyzed according to the preset analysis strategy to obtain the second positioning result. The analysis strategy can be set or adjusted in combination with the actual application of the embodied robot, and the specific content of the analysis strategy is not limited here.

[0076] To further illustrate, the first score refers to the similarity matching score between the radar point cloud positioning parameters and / or the visual image positioning parameters corresponding to the first positioning result and the environmental data of the surrounding environment of the first positioning result (i.e., the environmental data of the surrounding environment of the embodied robot at the current moment); the third score refers to the similarity matching score between the radar point cloud positioning parameters and / or the visual image positioning parameters corresponding to the historical positioning results and the environmental data of the surrounding environment of the first positioning result (i.e., the environmental data of the surrounding environment of the embodied robot at the current moment).

[0077] It should be noted that when it is necessary to verify the first positioning result of the embodied robot according to the first score of the embodied robot, a first scoring threshold for the first score can be preset, wherein the first scoring threshold is used to characterize the scoring critical value of the first score, and if the first score is less than the first scoring threshold, it is considered that the positioning accuracy of the first positioning result is low. Then, based on the first score of the embodied robot and the size relationship between the first score and the first scoring threshold, the first positioning result of the embodied robot is verified.

[0078] In one embodiment of the present application, verification rules may be set in advance, and then, the first positioning result of the embodied robot may be positioned and verified based on the verification rules, the first score, and the relationship between the first score and the first score threshold. Specifically, the verification rules may be: if the first score is greater than the first score threshold, then the positioning verification result of the first positioning result is determined to be a positioning verification pass; if the first score is not greater than the first score threshold, then the positioning verification result of the first positioning result is determined to be a positioning verification fail.

[0079] There are many methods for performing positioning verification on the first positioning result according to the first score, and the specific process of positioning verification is not limited here.

[0080] S202: Determine a target positioning result corresponding to the embodied robot according to a positioning verification result of the first positioning result.

[0081] It should be noted that if the positioning verification result of the first positioning result is that the positioning verification is passed, the first positioning result will be used as the target positioning result corresponding to the embodied robot; if the positioning verification result of the first positioning result is that the positioning verification is failed, it indicates that the first positioning result cannot accurately reflect the positioning result of the embodied robot. Therefore, the positioning results of other positioning technologies can be re-acquired, and the positioning results of other positioning technologies can be positioned and verified to achieve the operation of determining the target positioning result corresponding to the embodied robot.

[0082] As an example, when the positioning verification result of the first positioning result is that the positioning verification failed, the second positioning result of the embodied robot is positioned verified according to the second score of the embodied robot; wherein the second score is the accuracy score corresponding to the second positioning result; and based on the positioning verification result of the second positioning result, the target positioning result corresponding to the embodied robot is determined.

[0083] In the positioning method of the embodied robot, if it is determined that the embodied robot triggers an abnormal positioning condition during driving, the first positioning result of the embodied robot is positioned and verified according to the first score of the embodied robot; and then, the target positioning result corresponding to the embodied robot is determined according to the positioning verification result of the first positioning result. According to the above content, if it is detected in advance that the embodied robot triggers an abnormal positioning condition during driving, it can be determined that the positioning result of the embodied robot at this time may be biased and cannot accurately reflect the accurate positioning of the embodied robot. Therefore, according to the first score of the embodied robot, the first positioning result of the embodied robot is positioned and verified to determine whether the first positioning result obtained by analyzing the radar point cloud positioning parameters and / or the visual image positioning parameters collected by the embodied robot is accurate. If it is determined that the first positioning result can accurately reflect the positioning result of the embodied robot according to the positioning verification result of the first positioning result, the target positioning result corresponding to the embodied robot is determined through the first positioning result; so as to realize that after the embodied robot triggers the abnormal positioning condition, the robot positioning of the embodied robot is quickly calibrated to prevent the normal operation process of the embodied robot from being affected, and the positioning stability of the embodied robot after the abnormal positioning condition is triggered is improved.

[0084] In one embodiment, if Figure 3 As shown, when it is necessary to perform positioning verification on the first positioning result of the embodied robot according to the first score of the embodied robot, the following contents may be specifically included:

[0085] S301: If there are at least two first positioning results whose first scores are greater than a first score threshold, select a reference positioning result with the largest first score from the first positioning results.

[0086] In one embodiment of the present application, if there are a total of ten first positioning results, among which the first scores of eight first positioning results are greater than the first score threshold, then the first positioning result with the largest first score is selected from the eight first positioning results whose first scores are greater than the first score threshold, and the first positioning result with the largest first score is used as the reference positioning result.

[0087] S302, verify whether positioning jump occurs in the reference positioning result; if not, determine that the positioning verification result of the first positioning result is positioning verification passed; if so, determine that the positioning verification result of the first positioning result is positioning verification failed.

[0088] Among them, the positioning jump phenomenon refers to the phenomenon that the interval distance between the positioning result obtained in this detection cycle and the positioning result obtained in the previous detection cycle is greater than the maximum driving distance of the embodied robot within the detection cycle.

[0089] Specifically, when verifying whether the reference positioning result has positioning jitter, the reference positioning result is the "positioning result obtained in this detection cycle". Therefore, based on the reference positioning result and the positioning result obtained in the previous detection cycle, verify whether the reference positioning result has positioning jitter.

[0090] In one embodiment of the present application, when it is necessary to verify whether the reference positioning result has a positioning jump phenomenon, the maximum driving distance of the embodied robot within the detection cycle can be obtained in advance based on the maximum driving speed of the embodied robot and the time length of the detection cycle; and the interval distance between the reference positioning result and the positioning result obtained in the previous detection cycle is determined; if the interval distance is greater than the maximum driving distance of the embodied robot within the detection cycle, it indicates that the embodied robot will not reach the reference positioning result, and it can be determined that the reference positioning result has a positioning jump phenomenon.

[0091] It should be noted that, when the first positioning result of the embodied robot is positioned and verified according to the first score of the embodied robot, the following contents may also be included: if there is only one first positioning result whose first score is greater than the first score threshold, then verify whether the first score of the first positioning result is greater than the second score threshold; if the first score of the first positioning result is greater than the second score threshold, then determine that the positioning verification result of the first positioning result is passed in the positioning verification; if the first score of the first positioning result is not greater than the second score threshold, then verify whether the first positioning result has a positioning jump phenomenon; if not, then determine that the positioning verification result of the first positioning result is passed in the positioning verification; if it occurs, then determine that the positioning verification result of the first positioning result is failed in the positioning verification.

[0092] Specifically, since the positioning jitter phenomenon refers to the phenomenon that the interval distance between the positioning result obtained in this detection cycle and the positioning result obtained in the previous detection cycle is greater than the maximum driving distance of the embodied robot within the detection cycle; therefore, when verifying whether the first positioning result has the positioning jitter phenomenon, the first positioning result is “the positioning result obtained in this detection cycle”, and it is possible to determine whether the first positioning result has the positioning jitter phenomenon by verifying whether the interval distance between the first positioning result and the positioning result obtained in the previous detection cycle is greater than the maximum driving distance of the embodied robot within the detection cycle.

[0093] In one embodiment, if the interval distance between the first positioning result and the positioning result obtained in the previous detection cycle is greater than the maximum driving distance of the embodied robot within the detection cycle, it is determined that the first positioning result has a positioning jump phenomenon; if the interval distance between the first positioning result and the positioning result obtained in the previous detection cycle is less than the maximum driving distance of the embodied robot within the detection cycle, it is determined that the first positioning result has not experienced a positioning jump phenomenon.

[0094] Among them, the second scoring threshold is greater than the first scoring threshold. Further, the first scoring threshold and the second scoring threshold can be set or adjusted according to actual conditions, and the value ranges of the first scoring threshold and the second scoring threshold are not limited here.

[0095] In one embodiment of the present application, if there are ten first positioning results in total, among which only one first positioning result has a first score greater than the first score threshold, or only one first positioning result is included and the first score of the first positioning result is greater than the first score threshold, then it is verified whether the first score of the first positioning result whose first score is greater than the first score threshold is greater than the second score threshold; if the first score of the first positioning result is greater than the second score threshold, then it is determined that the positioning verification result of the first positioning result is positioning verification passed; if the first score of the first positioning result is not greater than the second score threshold, then it is verified whether the first positioning result has a positioning jump phenomenon; if not, then it is determined that the positioning verification result of the first positioning result is positioning verification passed; if it occurs, then it is determined that the positioning verification result of the first positioning result is positioning verification failed.

[0096] Further, when the positioning verification result of the first positioning result is that the positioning verification is passed, the first positioning result with the largest first score is used as the target positioning result corresponding to the embodied robot.

[0097] Specifically, if only one first positioning result is included, the first positioning result itself is the first positioning result with the largest first score. Therefore, when the positioning verification result of the first positioning result is that the positioning verification passes, the first positioning result is used as the target positioning result corresponding to the embodied robot.

[0098] If multiple first positioning results are included, and the positioning verification result of the first positioning result is that the positioning verification is passed, then the first positioning result with the largest first score is the reference positioning result. Therefore, the reference positioning result is used as the target positioning result corresponding to the embodied robot.

[0099] The above-mentioned positioning method of the embodied robot, by explaining the process of positioning verification of the first positioning result of the embodied robot in two cases: there are at least two first positioning results whose first scores are greater than the first scoring threshold, and there is only one first positioning result whose first score is greater than the first scoring threshold, ensures that the present application can effectively judge whether the first positioning result can accurately reflect the positioning result of the embodied robot, so as to realize rapid calibration of the robot positioning of the embodied robot after the embodied robot triggers the abnormal positioning condition, prevent the normal operation process of the embodied robot from being affected, and improve the positioning stability of the embodied robot after the abnormal positioning condition is triggered.

[0100] In one embodiment, if Figure 4 As shown, when the positioning verification result of the first positioning result is that the positioning verification fails, the positioning results of other positioning technologies can be obtained, and the positioning results of other positioning technologies can be positioned and verified to achieve the operation of determining the target positioning result corresponding to the embodied robot. Therefore, when it is necessary to determine the target positioning result corresponding to the embodied robot according to the positioning verification result of the first positioning result, the following contents can also be included:

[0101] S401, when the positioning verification result of the first positioning result is that the positioning verification fails, performing positioning verification on the second positioning result of the embodied robot according to the second score of the embodied robot.

[0102] Among them, the second score is the accuracy score corresponding to the second positioning result; specifically, the second score is the result of comparing the similarity between the local radar map collected by the embodied robot using the radar when it is in the second positioning result and the preset global radar map; it can also be the result of converting the local radar map to a local odometer map in the odometer coordinate system, and then comparing the local odometer map with the preset global odometer map for similarity.

[0103] It should be noted that when it is necessary to perform positioning verification on the second positioning result of the embodied robot based on the second score of the embodied robot, the following contents may be included: when the second score is greater than the third score threshold, the positioning verification result of the second positioning result is determined to be the positioning verification passed; when the second score is not greater than the third score threshold, the positioning verification result of the second positioning result is determined to be the positioning verification failed.

[0104] Among them, the value range of the third scoring threshold can be set or adjusted according to the actual application scenario of the embodied robot, and the value range of the third scoring threshold is not limited here.

[0105] S402: Determine a target positioning result corresponding to the embodied robot according to a positioning verification result of the second positioning result.

[0106] It should be noted that the positioning verification result of the second positioning result includes positioning verification passed and positioning verification failed;

[0107] In one embodiment of the present application, when the positioning verification result of the second positioning result is that the positioning verification is passed, the second positioning result is used as the target positioning result corresponding to the embodied robot.

[0108] In another embodiment of the present application, when the positioning verification result of the second positioning result is that the positioning verification fails, a historical positioning result is obtained; if the third score is greater than the fourth score threshold, the historical positioning result is used as the target positioning result corresponding to the embodied robot.

[0109] Among them, the historical positioning result is the positioning result of the embodied robot most recently without triggering abnormal positioning conditions; the third score is the accuracy score corresponding to the historical positioning result.

[0110] Specifically, if the positioning verification result of the second positioning result is that the positioning verification failed, and the third score is greater than the fourth score threshold, it means that the positioning accuracy of the second positioning result is low, but the positioning accuracy of the historical positioning result is high. Therefore, the historical positioning result can be used as the target positioning result corresponding to the embodied robot.

[0111] Furthermore, if the third score is not greater than the fourth score threshold, a local map constructed by the embodied robot based on the environment is obtained; map feature matching is performed in a pre-constructed global map based on the local map; and a target positioning result corresponding to the embodied robot is determined based on the matching result.

[0112] Specifically, if the third score is not greater than the fourth score threshold, the positioning accuracy of the historical positioning results is low and cannot be used as the target positioning result corresponding to the embodied robot; therefore, the embodied robot can collect environmental characteristics of the surrounding environment according to its own set sensors, and build a local map based on the environmental characteristics; by matching map features in the local map and a pre-built global map, the overlapping area of ​​the local map in the global map is determined according to the matching results, and according to the positioning result of the embodied robot in the local map, the positioning result of the embodied robot is determined from the overlapping area of ​​the global map; this positioning result is the target positioning result corresponding to the embodied robot.

[0113] The overlapping area refers to the mapping area after the local map is mapped to the global map according to the feature correlation between the local map and the global map.

[0114] The positioning method of the embodied robot mentioned above, when the positioning verification result of the first positioning result is that the positioning verification fails, performs positioning verification on the second positioning result of the embodied robot, and combines the historical positioning results and the third score to realize the operation of determining the target positioning result corresponding to the embodied robot, thereby ensuring the accuracy of the positioning result of the embodied robot and preventing the embodied robot from being affected in its work flow.

[0115] In one embodiment, if Figure 5 As shown, when it is necessary to determine the target positioning result corresponding to the embodied robot, the following contents may be specifically included:

[0116] S501: If it is determined that the embodied robot triggers an abnormal positioning condition during driving.

[0117] S502: If there are at least two first positioning results whose first scores are greater than a first score threshold, select a reference positioning result with the largest first score from the first positioning results.

[0118] S503, verifying whether positioning jitter occurs in the reference positioning result.

[0119] S504: If it does not occur, determine that the positioning verification result of the first positioning result is positioning verification passed.

[0120] S505: If it occurs, determine that the positioning verification result of the first positioning result is positioning verification failure.

[0121] S506: If there is only one first positioning result whose first score is greater than the first score threshold, verify whether the first score of the first positioning result is greater than the second score threshold.

[0122] S507: If the first score of the first positioning result is greater than the second score threshold, determine that the positioning verification result of the first positioning result is positioning verification passed.

[0123] S508: If the first score of the first positioning result is not greater than the second score threshold, verify whether positioning jitter occurs in the first positioning result.

[0124] S509: If it does not occur, determine that the positioning verification result of the first positioning result is positioning verification passed.

[0125] S510: If it occurs, determine that the positioning verification result of the first positioning result is positioning verification failure.

[0126] S511, when the positioning verification result of the first positioning result is that the positioning verification has passed, the first positioning result with the largest first score is used as the target positioning result corresponding to the embodied robot.

[0127] S512, when the positioning verification result of the first positioning result is that the positioning verification failed, then when the second score is greater than the third score threshold, determine that the positioning verification result of the second positioning result is that the positioning verification passed; when the second score is not greater than the third score threshold, determine that the positioning verification result of the second positioning result is that the positioning verification failed.

[0128] S513, when the positioning verification result of the second positioning result is that the positioning verification is passed, the second positioning result is used as the target positioning result corresponding to the embodied robot.

[0129] S514: When the positioning verification result of the second positioning result is that the positioning verification fails, obtain a historical positioning result.

[0130] S515: If the third score is greater than the fourth score threshold, the historical positioning result is used as the target positioning result corresponding to the embodied robot.

[0131] S516: If the third score is not greater than the fourth score threshold, a local map constructed by the embodied robot based on the environment is obtained.

[0132] S517, performing map feature matching in a pre-constructed global map according to the local map; and determining a target positioning result corresponding to the embodied robot according to the matching result.

[0133] In the positioning method of the embodied robot, if it is determined that the embodied robot triggers an abnormal positioning condition during driving, the first positioning result of the embodied robot is positioned and verified according to the first score of the embodied robot; and then, the target positioning result corresponding to the embodied robot is determined according to the positioning verification result of the first positioning result. According to the above content, if it is detected in advance that the embodied robot triggers an abnormal positioning condition during driving, it can be determined that the positioning result of the embodied robot at this time may be biased and cannot accurately reflect the accurate positioning of the embodied robot. Therefore, according to the first score of the embodied robot, the first positioning result of the embodied robot is positioned and verified to determine whether the first positioning result obtained by analyzing the radar point cloud positioning parameters and / or the visual image positioning parameters collected by the embodied robot is accurate. If it is determined that the first positioning result can accurately reflect the positioning result of the embodied robot according to the positioning verification result of the first positioning result, the target positioning result corresponding to the embodied robot is determined through the first positioning result; so as to realize that after the embodied robot triggers the abnormal positioning condition, the robot positioning of the embodied robot is quickly calibrated to prevent the normal operation process of the embodied robot from being affected, and the positioning stability of the embodied robot after the abnormal positioning condition is triggered is improved.

[0134] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0135] Based on the same inventive concept, the embodiment of the present application also provides a positioning device for an embodied robot for implementing the positioning method for an embodied robot involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of the positioning device for one or more embodied robots provided below can refer to the limitations of the positioning method for an embodied robot above, and will not be repeated here.

[0136] In one embodiment, Figure 6 As shown, a positioning device for an embodied robot is provided, comprising: a verification module 10 and a determination module 20, wherein:

[0137] The verification module 10 is used to verify the first positioning result of the embodied robot according to the first score of the embodied robot if it is determined that the embodied robot triggers an abnormal positioning condition during driving.

[0138] The determination module 20 is used to determine the target positioning result corresponding to the embodied robot according to the positioning verification result of the first positioning result.

[0139] Among them, the abnormal positioning conditions include: at least one of the distance deviation between the first positioning result and the second positioning result exceeds the first difference threshold, the angle deviation between the second positioning result and the IMU positioning result exceeds the second difference threshold, and the score difference between the first score and the third score exceeds the third difference threshold; the first score is the accuracy score corresponding to the first positioning result; the first positioning result is obtained by analyzing the radar point cloud positioning parameters and / or visual image positioning parameters collected by the embodied robot; the second positioning result is obtained by analyzing the odometer positioning parameters collected by the embodied robot; the third score is the accuracy score corresponding to the historical positioning result; the historical positioning result is the most recent positioning result of the embodied robot that did not trigger the abnormal positioning condition.

[0140] In one embodiment, if there are at least two first positioning results whose first scores are greater than the first score threshold, a reference positioning result with the largest first score is selected from each of the first positioning results;

[0141] Verify whether positioning jitter occurs in the reference positioning result; if not, determine that the positioning verification result of the first positioning result is passed; if so, determine that the positioning verification result of the first positioning result is failed;

[0142] Among them, the positioning jump phenomenon refers to the phenomenon that the interval distance between the positioning result obtained in this detection cycle and the positioning result obtained in the previous detection cycle is greater than the maximum driving distance of the embodied robot within the detection cycle.

[0143] In one embodiment, if there is only one first positioning result whose first score is greater than the first score threshold, verifying whether the first score of the first positioning result is greater than the second score threshold;

[0144] If the first score of the first positioning result is greater than the second score threshold, determining that the positioning verification result of the first positioning result is positioning verification passed;

[0145] If the first score of the first positioning result is not greater than the second score threshold, verify whether the first positioning result has positioning jump phenomenon; if not, determine that the positioning verification result of the first positioning result is positioning verification passed; if it occurs, determine that the positioning verification result of the first positioning result is positioning verification failed.

[0146] In one embodiment, when the positioning verification result of the first positioning result is that the positioning verification is passed, the first positioning result with the largest first score is used as the target positioning result corresponding to the embodied robot.

[0147] In one embodiment, when the positioning verification result of the first positioning result is that the positioning verification fails, the second positioning result of the embodied robot is positioned and verified according to the second score of the embodied robot; wherein the second score is the accuracy score corresponding to the second positioning result;

[0148] According to the positioning verification result of the second positioning result, a target positioning result corresponding to the embodied robot is determined.

[0149] In one embodiment, when the second score is greater than the third score threshold, determining the positioning verification result of the second positioning result as positioning verification passed;

[0150] When the second score is not greater than the third score threshold, it is determined that the positioning verification result of the second positioning result is positioning verification failure.

[0151] In one embodiment, when the positioning verification result of the second positioning result is that the positioning verification is passed, the second positioning result is used as the target positioning result corresponding to the embodied robot.

[0152] In one embodiment, when the positioning verification result of the second positioning result is that the positioning verification fails, obtaining a historical positioning result;

[0153] If the third score is greater than the fourth score threshold, the historical positioning result is used as the target positioning result corresponding to the embodied robot.

[0154] In one embodiment, if the third score is not greater than a fourth score threshold, a local map constructed by the embodied robot based on the environment is obtained;

[0155] According to the local map, map features are matched in the pre-built global map;

[0156] According to the matching results, the target positioning result corresponding to the embodied robot is determined.

[0157] The positioning device of the embodied robot, if it is determined that the embodied robot triggers an abnormal positioning condition during driving, then the first positioning result of the embodied robot is verified according to the first score of the embodied robot; and then, the target positioning result corresponding to the embodied robot is determined according to the positioning verification result of the first positioning result. According to the above content, if it is detected in advance that the embodied robot triggers an abnormal positioning condition during driving, it can be determined that the positioning result of the embodied robot at this time may be biased and cannot accurately reflect the accurate positioning of the embodied robot. Therefore, according to the first score of the embodied robot, the first positioning result of the embodied robot is verified according to the first score of the embodied robot to determine whether the first positioning result obtained by analyzing the radar point cloud positioning parameters and / or the visual image positioning parameters collected by the embodied robot is accurate. If it is determined according to the positioning verification result of the first positioning result that the first positioning result can accurately reflect the positioning result of the embodied robot, the target positioning result corresponding to the embodied robot is determined according to the first positioning result; so as to realize that after the embodied robot triggers the abnormal positioning condition, the robot positioning of the embodied robot is quickly calibrated to prevent the normal operation process of the embodied robot from being affected, and improve the positioning stability of the embodied robot after the abnormal positioning condition is triggered.

[0158] Each module in the positioning device of the embodied robot can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor in the embodied robot in the form of hardware, or can be stored in the memory of the embodied robot in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0159] In one embodiment, an embodied robot is provided, whose internal structure diagram can be shown as follows: Figure 7 As shown. The embodied robot includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the embodied robot is used to provide computing and control capabilities. The memory of the embodied robot includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the embodied robot is used to exchange information between the processor and an external device. The communication interface of the embodied robot is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a positioning method of the embodied robot is realized. The display unit of the embodied robot is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the embodied robot can be a touch layer covering the display screen, or a button, trackball or touchpad set on the shell of the embodied robot, or an external keyboard, touchpad or mouse.

[0160] Those skilled in the art will understand that Figure 7 The structure shown in the figure is merely a block diagram of a partial structure related to the present application scheme, and does not constitute a limitation on the embodied robot to which the present application scheme is applied. The specific embodied robot may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0161] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0162] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0163] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0164] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A positioning method for an embodied robot, characterized in that: The method comprises: In the case where it is determined that the embodied robot triggers a positioning abnormality condition during driving, if there is only one first positioning result whose first score is greater than a first scoring threshold, verifying whether the first score of the first positioning result is greater than a second scoring threshold; If the first score of the first positioning result is greater than the second score threshold, determining that the positioning verification result of the first positioning result is positioning verification passed; If the first score of the first positioning result is not greater than the second score threshold, verify whether the first positioning result has a positioning jump phenomenon; if not, determine that the positioning verification result of the first positioning result is a positioning verification pass; if so, determine that the positioning verification result of the first positioning result is a positioning verification fail; When the positioning verification result of the first positioning result is that the positioning verification fails, positioning verification is performed on the second positioning result of the embodied robot according to the second score of the embodied robot; wherein the second score is an accuracy score corresponding to the second positioning result; When the positioning verification result of the second positioning result is that the positioning verification fails, obtaining a historical positioning result; If the third score is greater than the fourth score threshold, the historical positioning result is used as the target positioning result corresponding to the embodied robot; If the third score is not greater than the fourth score threshold, obtaining a local map constructed by the embodied robot based on the environment; According to the local map, map feature matching is performed in a pre-constructed global map; Determining a target positioning result corresponding to the embodied robot according to the matching result; The abnormal positioning condition includes at least one of: a distance deviation between the first positioning result and the second positioning result exceeds a first difference threshold, an angle deviation between the second positioning result and the IMU positioning result exceeds a second difference threshold, and a score difference between the first score and the third score exceeds a third difference threshold; The first score is the accuracy score corresponding to the first positioning result; the first positioning result is obtained by analyzing the radar point cloud positioning parameters and / or the visual image positioning parameters collected by the embodied robot; the second positioning result is obtained by analyzing the odometer positioning parameters collected by the embodied robot; the third score is the accuracy score corresponding to the historical positioning result; the historical positioning result is the most recent positioning result of the embodied robot that did not trigger a positioning abnormality condition.

2. The method according to claim 1, characterized in that The method further comprises: If there are at least two first positioning results whose first scores are greater than the first score threshold, selecting a reference positioning result with the largest first score from each of the first positioning results; Verify whether the reference positioning result has positioning jitter; if not, determine that the positioning verification result of the first positioning result is positioning verification passed; if so, determine that the positioning verification result of the first positioning result is positioning verification failed; The positioning jitter phenomenon refers to a phenomenon in which the interval between the positioning result obtained in the current detection cycle and the positioning result obtained in the previous detection cycle is greater than the maximum driving distance of the embodied robot in the detection cycle.

3. The method according to claim 1, characterized in that The first score refers to a similarity matching score between radar point cloud positioning parameters and / or visual image positioning parameters corresponding to the first positioning result and environmental data of the surrounding environment of the first positioning result.

4. The method according to claim 2, characterized in that: The method further comprises: When the positioning verification result of the first positioning result is that the positioning verification is passed, the first positioning result with the largest first score is used as the target positioning result corresponding to the embodied robot.

5. The method according to claim 1, characterized in that The third score refers to the similarity matching score between the radar point cloud positioning parameters and / or the visual image positioning parameters corresponding to the historical positioning result and the environmental data of the surrounding environment of the first positioning result.

6. The method according to claim 1, characterized in that The performing positioning verification on the second positioning result of the embodied robot according to the second score of the embodied robot comprises: When the second score is greater than a third score threshold, determining that the positioning verification result of the second positioning result is positioning verification passed; When the second score is not greater than a third score threshold, it is determined that the positioning verification result of the second positioning result is positioning verification failure.

7. The method according to claim 1, characterized in that The method further comprises: When the positioning verification result of the second positioning result is that the positioning verification is passed, the second positioning result is used as the target positioning result corresponding to the embodied robot.

8. The method according to claim 1, characterized in that The first scoring threshold is used to represent a critical scoring value of the first scoring.

9. The method according to claim 1, characterized in that: The second score is a result of comparing the similarity between a local radar map collected by the embodied robot using a radar when the embodied robot is in the second positioning result and a preset global radar map.

10. A positioning device for an embodied robot, characterized in that: The device comprises: A verification module, for, when the embodied robot triggers an abnormal positioning condition during driving, if there is only one first positioning result whose first score is greater than a first scoring threshold, verifying whether the first score of the first positioning result is greater than a second scoring threshold; if the first score of the first positioning result is greater than the second scoring threshold, determining that the positioning verification result of the first positioning result is a positioning verification pass; if the first score of the first positioning result is not greater than the second scoring threshold, verifying whether the first positioning result has a positioning jump phenomenon; if not, determining that the positioning verification result of the first positioning result is a positioning verification pass; if so, determining that the positioning verification result of the first positioning result is a positioning verification fail; A determination module, configured to perform positioning verification on a second positioning result of the embodied robot according to a second score of the embodied robot when the positioning verification result of the first positioning result is that the positioning verification has not passed; wherein the second score is an accuracy score corresponding to the second positioning result; when the positioning verification result of the second positioning result is that the positioning verification has not passed, obtain a historical positioning result; if the third score is greater than a fourth score threshold, use the historical positioning result as a target positioning result corresponding to the embodied robot; if the third score is not greater than the fourth score threshold, obtain a local map constructed by the embodied robot based on the environment in which it is located; perform map feature matching in a pre-constructed global map according to the local map; and determine the target positioning result corresponding to the embodied robot according to the matching result; The abnormal positioning condition includes: at least one of the following: a distance deviation between the first positioning result and the second positioning result exceeds a first difference threshold, an angle deviation between the second positioning result and the IMU positioning result exceeds a second difference threshold, and a score difference between the first score and the third score exceeds a third difference threshold; The first score is the accuracy score corresponding to the first positioning result; the first positioning result is obtained by analyzing the radar point cloud positioning parameters and / or the visual image positioning parameters collected by the embodied robot; the second positioning result is obtained by analyzing the odometer positioning parameters collected by the embodied robot; the third score is the accuracy score corresponding to the historical positioning result; the historical positioning result is the most recent positioning result of the embodied robot that did not trigger a positioning abnormality condition.

11. An embodied robot, characterized in that: The embodied robot comprises a processor and a memory, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

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

Images